diff --git a/.gitattributes b/.gitattributes
index 8a11c46c2d5d6f59618d3cd0f5abf6d228e3445b..cd2877d4e23570625337b98c6e935f5e2aa87023 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3351,5 +3351,5 @@ dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mesh/stic
 dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/sticky_notes_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/cutter_knife_012.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/3cf7cc4da82a5bc087c52edca59c3ed0/mesh/cutter_knife_012.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/3c25f22136ee5b46943168b2c6a26d12/cutter_knife_011.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/3c25f22136ee5b46943168b2c6a26d12/mesh/cutter_knife_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mesh/staples_box_038.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/staples_box_038.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mesh/material.mtl b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8a9967fe2526970c8bf6bbb284abdc4f48d2af14
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl staples_box_038_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd staples_box_038_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mesh/material_0.png b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..218ee7bec74f66aa48a3d36cd7c04e5b0b197062
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc7565a30f7b9d277cbdc3fdfab9d739b083228e3f707fa17225baf1f46e28f0
+size 11805152
diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mesh/staples_box_038.glb b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mesh/staples_box_038.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2c77a36548ca1f6c346919c8b9a3292b70fd30cf
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mesh/staples_box_038.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b71524fc089176ba17b72f5c809dab84affd55e13d10d1acf09472355dfed4a
+size 15206456
diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mesh/staples_box_038.mtl b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mesh/staples_box_038.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2d9e6f1fa6c1412480aa2a7c882a0c04e8e79f5a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mesh/staples_box_038.mtl
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+newmtl staples_box_038_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mesh/staples_box_038.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mesh/staples_box_038.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46f422e7f38106d13b0f2a2eec451807048dbc52
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mesh/staples_box_038.obj
@@ -0,0 +1,117132 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl staples_box_038_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mesh/staples_box_038_collision.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mesh/staples_box_038_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bd7ac2795a2e49de697aad731e95da5e5da2a56
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mesh/staples_box_038_collision.obj
@@ -0,0 +1,7602 @@
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diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038.obj
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diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02fc79853a96b581dbb79f08081977dd73cb339b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision.obj
@@ -0,0 +1,7602 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_0.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36f448c6864c8faa6aa0383fad186dea24e429e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_1.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..567a210aa414e1be2c688b2e45f8d434445a43f8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_1.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_10.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab81adbe9d9f2e326a49af5da2a40f50f5e273f5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_10.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.01056715 0.01433558 0.01416666
+v -0.01050057 0.01433558 0.01407321
+v -0.01171181 0.01433558 0.01416666
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+v -0.00873948 0.00081010 0.00744393
+v -0.00873948 0.01433560 0.00744398
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+
diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_11.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95d98418162f7677d6a9cbaa42f62a4085539a3f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_11.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00532567 0.00690163 0.00548089
+v -0.00532567 0.00690163 0.00648089
+v -0.00532567 0.00790164 0.00548089
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+v -0.00432567 0.00790164 0.00648089
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+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_12.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e50ee37eb7c0f41ec4f81404bc037d18b3047007
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_12.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.00873948 0.00081010 0.00744327
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+
diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_13.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff45b89ce84e8e0b4fb9f69311d5352a3127e8f2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_13.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_14.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b0dd30875ddf1910e9b94f7131cdef206db5e3f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_14.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00872585 -0.00779904 -0.00471268
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+v 0.00872585 0.00780941 -0.00471268
+v 0.00872585 0.00780941 0.00396192
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+f 7 6 5
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+
diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_15.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc59e98dabcda9ed3f357044f3d588110a2fd66f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_15.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_16.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99000396283ee031f152d5458ebef01a71582e6b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_16.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v 0.00087945 -0.01626333 -0.00736546
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diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_17.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b01cb04a03910e136f70c848cf684b4e4760cc5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_17.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_18.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e806b7abb9cd1590b794c1708e84eca7a5cbf3b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_18.obj
@@ -0,0 +1,349 @@
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diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_19.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a2eb6ac89db9310a24fe8764a2a9b794196de58
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_19.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_2.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e0dfe9b327c491df71e6c12b8edef642cc8a7e4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_2.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_20.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c885ccc2079f69a29824c9f143d7dea959cfd9b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_20.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_21.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a43c552f5df4d831592be96b2b374ef205b38078
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_21.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_22.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e619f0ab428ed71a8f7241cd96adf3af789270d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_22.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_23.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7032210337237269292d9b6253b892784c3c5bf9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_23.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_24.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..764db5ad79f174dcef4c13c5dc8f84e18835c4d0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_24.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_25.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..535f42084881a205778d6e33189b56f34bd480b4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_25.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.00045323 0.01626006 0.00711159
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diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_26.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea492e6c71a74fe74f5d80bbc6ab24d7a2c95839
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_26.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00639721 0.00647221 0.00598076
+v -0.00639721 0.00647221 0.00744317
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+
diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_27.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2b8752f69add05d630a8733961b658ce505449b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_27.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_28.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aec3763ec266cff59dd0c0affb9bf5087089661e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_28.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_29.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f479df6859ba5e10a88cf0d30ef4bcccc7503fe
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_29.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00813331 -0.01425855 0.00556000
+v -0.00813331 -0.01425855 0.00656001
+v -0.00813331 -0.00617224 0.00556000
+v -0.00813331 -0.00617224 0.00656001
+v -0.00462648 -0.01425855 0.00556000
+v -0.00462648 -0.01425855 0.00656001
+v -0.00462648 -0.00617224 0.00556000
+v -0.00462648 -0.00617224 0.00656001
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_3.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ea1dccfa655d134721fe16d5d7893e1dbff1314
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_3.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.01196235 -0.00697053 0.01785026
+v -0.01195692 0.01370576 0.01783808
+v -0.01197396 -0.00697053 0.01785026
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+v -0.01272720 -0.01454096 0.01708076
+v -0.01209971 -0.01454096 0.01531068
+f 1 2 6
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+
diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_30.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20411abb22b34f962a87422a31d24f9e12374e70
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_30.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.01232144 0.01630684 0.01785319
+v -0.01232262 0.01630583 0.01783857
+v -0.01269967 0.01621666 0.01785319
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+
diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_31.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79ba635a7bee10068a5c2c5a36a019aca08c8210
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_31.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00045323 0.00000931 0.00444246
+v 0.00691233 0.00000931 0.00444246
+v 0.00045323 0.00000931 0.00597190
+v 0.00045323 0.01398426 0.00444251
+v 0.00691233 0.00000931 0.00600166
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+v 0.00477974 0.01398426 0.00573475
+v 0.00045323 0.01359986 0.00587472
+v 0.00050507 0.01359986 0.00587487
+v 0.00371123 0.01360397 0.00587701
+v 0.00045323 0.01258622 0.00597149
+v 0.00691233 0.01317443 0.00599026
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+f 1 14 8
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+f 16 26 18
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+f 17 21 20
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+
diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_32.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fed46ccaed3ad1fd139fa54fbd15ae477c5961d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_32.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.00045323 -0.01426690 0.00444241
+v 0.00691683 -0.01426690 0.00444241
+v 0.00045323 -0.01426690 0.00596634
+v 0.00045323 0.00000931 0.00444246
+v 0.00691683 -0.01426690 0.00597699
+v 0.00691683 0.00000931 0.00444246
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+v 0.00045323 -0.01262072 0.00597066
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+v 0.00691683 -0.01426550 0.00601742
+v 0.00691683 0.00000931 0.00577457
+v 0.00045323 -0.01159779 0.00597129
+v 0.00045323 -0.01213441 0.00597113
+v 0.00691683 0.00000792 0.00600173
+v 0.00665110 0.00000931 0.00598877
+f 1 2 5
+f 1 5 7
+f 1 7 3
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+f 1 13 12
+f 1 12 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
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+f 2 14 10
+f 2 10 5
+f 3 7 8
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+f 4 15 11
+f 4 11 6
+f 5 10 7
+f 7 12 13
+f 7 13 8
+f 7 10 14
+f 7 14 9
+f 7 9 12
+f 9 14 15
+f 11 15 14
+
diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_33.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e047a63e92845fdafcc5868516cd22cf39bbd5fb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_33.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.00903995 0.00213675 0.00744313
+v -0.00903884 -0.00617225 0.00744325
+v -0.00903995 0.00350321 0.00744313
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+v -0.00784256 0.01404826 0.00598084
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+v -0.00778067 0.01429671 0.00598084
+v -0.00620468 0.00647058 0.00598081
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+v -0.00626630 0.01429670 0.00705720
+v -0.00628129 0.01429670 0.00709519
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+f 30 39 31
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+
diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_4.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3614a16009f092bb6bfa4d78a5633de1a085cc06
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_4.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v 0.00045407 0.01398449 0.00444236
+v 0.00045407 0.01398449 0.00573259
+v 0.00045407 0.01537773 0.00444237
+v 0.00854733 0.01398449 0.00444236
+v 0.00045407 0.01487758 0.00700829
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+v 0.00893052 0.01398449 0.00508733
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+
diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_5.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31b650954ec0615e5ab0637e21c4dda61473de67
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_5.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.00810380 0.00880647 0.00598062
+v -0.00810212 0.01048694 0.00598063
+v -0.00806024 0.01102527 0.00551204
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diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_6.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00fb085dbff22f2065a18769d235981dcee99370
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_6.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_7.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b9975dea4f33fbde2a31047c04c7a354f104424
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_7.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_8.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..729abe4e3f4942b26ca220d65e4d367b7c7290ac
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_8.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.01066626 0.00081008 0.01416661
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diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_9.obj b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45eef262d11e7546ac13eb4484bc27fb2aa71f1e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/mesh/staples_box_038_collision_9.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/staples_box_038.xml b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/staples_box_038.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0977bc921562db7f066657721643892f7f9d0a11
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/mjcf/staples_box_038.xml
@@ -0,0 +1,82 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="staples_box_038">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/staples_box_038.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/staples_box_038_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/staples_box_038_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/staples_box_038_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/staples_box_038_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/staples_box_038_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/staples_box_038_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/staples_box_038_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/staples_box_038_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/staples_box_038_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/staples_box_038_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/staples_box_038_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/staples_box_038_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/staples_box_038_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/staples_box_038_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/staples_box_038_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/staples_box_038_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/staples_box_038_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/staples_box_038_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/staples_box_038_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/staples_box_038_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/staples_box_038_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/staples_box_038_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/staples_box_038_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/staples_box_038_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/staples_box_038_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/staples_box_038_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/staples_box_038_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/staples_box_038_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/staples_box_038_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/staples_box_038_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/staples_box_038_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/staples_box_038_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/staples_box_038_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/staples_box_038_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="staples_box_038">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/staples_box_038.urdf b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/staples_box_038.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..04066aef638ae9a0a2dd65567d0bc569fcbc0284
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/staples_box_038.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="staples_box_038">
+   <link name="staples_box_038">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/staples_box_038.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/staples_box_038_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0850" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>3abdec4525345566a5cf75504abe7fb2</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>staples_box</category>
+         <name>plastic staples box</name>
+         <color>gray,blue</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>transparent hinged plastic box holding colored staple strips</description>
+         <min_height>0.0300</min_height>
+         <max_height>0.0300</max_height>
+         <real_height>0.0300</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611151612</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.013353 -0.016267 -0.007528</min>
+            <max>0.009495 0.016284 0.022472</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/staples_box_038.usd b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/staples_box_038.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/staples_box_038.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d406a1076d4fe8134f4c07d1360fbf774452b7b98408e7c3434665b3a613fddd
+size 4936601
diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/textures/material_0.png b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/textures/material_0.png
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11805152
diff --git a/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/video.mp4 b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3abdec4525345566a5cf75504abe7fb2/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:552643128527a5a7414c6e24d6d91742d76f9c1a0ce12619ad708c70efef5cce
+size 783133