diff --git a/.gitattributes b/.gitattributes
index 2e914981b9a84ba1ca318b5274c981c9864ddd6e..ffe12f865cf5624e7f066a53a49445e94854e755 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3135,3 +3135,6 @@ dataset/desktop_supplies/office_stationery/481287f79a065a62a8bf2ffc31c00cff/4812
 dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/marker_021.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mesh/marker_021.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/52775e064311597a99bfef996c13fef7/52775e064311597a99bfef996c13fef7.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/527fc29b5c765d7e8fc8b3c85af02897.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mesh/notebook.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mesh/notebook_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/527fc29b5c765d7e8fc8b3c85af02897.urdf b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/527fc29b5c765d7e8fc8b3c85af02897.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..784e7208393e2e20ce42ae278b93449812532ac2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/527fc29b5c765d7e8fc8b3c85af02897.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="notebook">
+   <link name="notebook">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/notebook.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/notebook_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>0.225000</scale>
+         <version>v0.1.7</version>
+         <category>notebook</category>
+         <description>blue spiral-bound notebook with white edge and sturdy cover</description>
+         <min_height>0.037</min_height>
+         <max_height>0.037</max_height>
+         <real_height>0.037</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <generate_time>20260120001134</generate_time>
+         <gs_model>mesh/notebook_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>3.9612784385681152</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/527fc29b5c765d7e8fc8b3c85af02897.usd b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/527fc29b5c765d7e8fc8b3c85af02897.usd
new file mode 100644
index 0000000000000000000000000000000000000000..98a1f426a4f48174d7b9490bf2acbb3092d1ff31
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/527fc29b5c765d7e8fc8b3c85af02897.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2abb3484f7722028dea4bc7aaf242c45f016d58f7d7a38b57ae7fa96989731e5
+size 566672
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..82fee8d50a0be2f19241709c72c57c2c6361457f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bcdca45d42ef1a3117a5d350c00fba638c57399b4c507260ef95803dca8b5d6
+size 2419985
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mesh/notebook.glb b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mesh/notebook.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5b2557c0619fc37254c3dc1677bfbc4f6cb1f2a9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mesh/notebook.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37c9f32359961025b00313f5b19afea97222791fbfcec6d814378b346f930653
+size 2831644
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mesh/notebook.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mesh/notebook.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3749d375b7b1621d9bcd4c2fb1be604e0f87ecfc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mesh/notebook.obj
@@ -0,0 +1,37990 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+
+o notebook.obj
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mesh/notebook_collision.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mesh/notebook_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abc93f5413ee07a11b294d37f43ca7b43227d3cb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mesh/notebook_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mesh/notebook_gs.ply b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mesh/notebook_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f81771f29525fd8c80ba99386d3a45d7cbd6dad2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mesh/notebook_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa7e42a11c13ae899d636268b8b13a150ab05452f87547de346df6e420ec4e6b
+size 3564873
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/527fc29b5c765d7e8fc8b3c85af02897.xml b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/527fc29b5c765d7e8fc8b3c85af02897.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c9b0848e942eb441bb379d9c1a0b32cfaf7dcb45
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/527fc29b5c765d7e8fc8b3c85af02897.xml
@@ -0,0 +1,80 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="notebook">
+  <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/notebook.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/notebook_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/notebook_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/notebook_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/notebook_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/notebook_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/notebook_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/notebook_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/notebook_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/notebook_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/notebook_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/notebook_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/notebook_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/notebook_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/notebook_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/notebook_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/notebook_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/notebook_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/notebook_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/notebook_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/notebook_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/notebook_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/notebook_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/notebook_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/notebook_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/notebook_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/notebook_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/notebook_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/notebook_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/notebook_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/notebook_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/notebook_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/notebook_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/notebook_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="notebook">
+      <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" />
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+      <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" />
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+      <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" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..82fee8d50a0be2f19241709c72c57c2c6361457f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bcdca45d42ef1a3117a5d350c00fba638c57399b4c507260ef95803dca8b5d6
+size 2419985
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f2de33920c6f91a5734f3aec66e4a577b014dd9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook.obj
@@ -0,0 +1,37990 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+
+o notebook.obj
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9281fa1c0ed764e5c4bbce6f8a4824f00217c28
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision.obj
@@ -0,0 +1,7283 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_0.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a3b6628d51346f67a5bac584f6a2a928216e7ab
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_0.obj
@@ -0,0 +1,850 @@
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diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_1.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..796b931e7dca19ee42a409278ccd5d2183114077
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_1.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_10.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4384445c96983572a556a4afb2aa6cafbf2d14d7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_10.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_11.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..121c34014f196d3ee949ce18f7a4121b31901537
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_11.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_12.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fbf63c4c4e1287673b86b6e1d0234aff8dac2b2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_12.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.02347381 -0.09015533 -0.01459942
+v 0.02130618 -0.09378656 -0.01143383
+v 0.02141343 -0.09015533 -0.01458149
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+v 0.02153385 -0.09699180 -0.00765397
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+v 0.03522266 -0.09366331 -0.01133818
+v 0.02020355 -0.09015533 -0.01238888
+v 0.03681452 -0.09015533 -0.01398364
+v 0.03730374 -0.09321002 -0.01087485
+v 0.02410227 -0.09845423 -0.00166803
+v 0.03451517 -0.09676598 -0.00731170
+v 0.02039359 -0.09813164 -0.00166803
+v 0.02033526 -0.09735410 -0.00484708
+v 0.01850256 -0.09665434 -0.00166803
+v 0.01853455 -0.09653688 -0.00344811
+v 0.03698763 -0.09651701 -0.00685434
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+
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_13.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2c3533af00446b358f0ededfbf762fe58e0f6f5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_13.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.06117147 -0.08728905 -0.01849015
+v -0.06117147 -0.08948507 -0.01812940
+v -0.06287170 -0.08948507 -0.01797363
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+
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_14.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80015a48f161cac5ec83bd4b8c00d5aabb38b5c2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_14.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.03753500 -0.09471545 0.00066956
+v 0.03756489 -0.09471547 0.00536789
+v 0.03744533 -0.09623686 0.00066956
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+
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_15.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f256ff3552b433835b09f0bb472086fe15b0861
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_15.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_16.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14ed55cbfb7fb23a4d05a389f437972838f53e7c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_16.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_17.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5a783311ee8d99550807360a2b047a066894256
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_17.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+f 28 41 42
+f 29 42 43
+f 29 43 31
+f 30 31 43
+f 32 44 45
+f 32 45 46
+f 32 46 33
+f 33 46 45
+f 33 45 50
+f 33 50 51
+f 33 51 47
+f 33 47 39
+f 33 39 38
+f 33 38 37
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+f 33 36 35
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+f 39 47 42
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+f 42 47 48
+f 42 48 43
+f 44 49 50
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+f 49 51 50
+
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_18.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..062c1dee246daeca804712e36668a8e56127fa89
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_18.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.00799279 -0.08948715 -0.01778005
+v -0.00642391 -0.08998265 -0.01774032
+v -0.00792024 -0.08998265 -0.01774032
+v -0.01134369 -0.09313607 -0.01413001
+v -0.01134369 -0.09206918 -0.01413001
+v -0.00967504 -0.08948716 -0.01574462
+v 0.00693205 -0.08948715 -0.01776741
+v -0.00642844 -0.09695251 -0.01427993
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+v -0.00796559 -0.09695251 -0.01427993
+v -0.00922614 -0.09451084 -0.01487592
+v -0.01043681 -0.09561067 -0.01328659
+v -0.01166336 -0.09705277 -0.01094052
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+v -0.01134369 -0.09206918 -0.01377241
+v -0.00930322 -0.08948717 -0.01247203
+v 0.00851001 -0.08948715 -0.01775477
+v -0.00673224 -0.10051119 -0.01075270
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+v 0.01021947 -0.08948716 -0.01701067
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+v -0.00785223 -0.10051119 -0.01075270
+v -0.00914452 -0.09823994 -0.01201874
+v -0.01142531 -0.10043676 -0.00268320
+v -0.01032346 -0.09952881 -0.00938731
+v -0.01121673 -0.10033363 -0.00704304
+v -0.01142304 -0.10043531 -0.00518641
+v -0.01142531 -0.10017039 -0.00268320
+v -0.00960249 -0.09906055 0.00067067
+v -0.00555784 -0.09760272 0.00067067
+v -0.00639897 -0.08948718 -0.01149676
+v -0.00555784 -0.10255189 -0.00518642
+v 0.00755553 -0.10033791 -0.01054319
+v 0.00924684 -0.09467267 -0.01494094
+v 0.01046886 -0.09588133 -0.01325950
+v 0.00901106 -0.09813969 -0.01190135
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+v 0.01131678 -0.09340530 -0.01431784
+v -0.00764592 -0.10409997 -0.00079226
+v -0.00916039 -0.10095800 -0.00841204
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+v -0.00555784 -0.08948718 -0.01129628
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+v 0.00926952 -0.10208792 -0.00166819
+v 0.00926952 -0.10213089 0.00067065
+v 0.01121476 -0.10043389 -0.00401066
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+v 0.01136439 -0.09743799 -0.00870281
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+v 0.01127597 -0.09839035 0.00067067
+v 0.01073411 -0.09709003 0.00067067
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+v 0.01141654 -0.09482449 -0.00880755
+v 0.01126690 -0.09983243 0.00067066
+v 0.01126237 -0.10054989 0.00067066
+v 0.01126917 -0.10055418 -0.00166819
+v 0.00994060 -0.10161678 0.00067066
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+f 68 70 69
+
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_19.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..223b3cd13cea8a793d367da4812b4e71d1229c5e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_19.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.06471618 -0.10225047 0.00066953
+v 0.06467858 -0.10095207 0.00066954
+v 0.06481436 -0.10214205 0.00185019
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+v 0.06372814 -0.10363258 0.00066953
+v 0.06444880 -0.09871352 0.00066955
+v 0.06448013 -0.09891116 0.00185021
+v 0.06424200 -0.09842806 0.00888573
+v 0.06389525 -0.10144621 0.00888572
+v 0.06413130 -0.10239322 0.00531948
+v 0.06321845 -0.10410062 0.00411285
+v 0.06332499 -0.10415551 0.00066953
+v 0.06249987 -0.10417611 0.00185019
+v 0.05765786 -0.09015596 0.01199150
+v 0.06031491 -0.09015597 0.01268051
+v 0.06095202 -0.09015598 0.01534826
+v 0.06105437 -0.09015598 0.01591955
+v 0.06334170 -0.09581894 0.01240177
+v 0.04913732 -0.09617711 0.00066956
+v 0.06310983 -0.09610854 0.01426625
+v 0.06352760 -0.09820025 0.01246581
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+v 0.04645938 -0.10163834 0.00185020
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+
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_2.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18c64ba3e61e90467a3273d728fe1b278a88d2c3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_2.obj
@@ -0,0 +1,988 @@
+# https://github.com/mikedh/trimesh
+v 0.11272347 0.08722478 -0.00518371
+v 0.11193445 0.08351160 -0.00776285
+v 0.11188514 0.08722479 -0.00762413
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+
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_20.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fcad269cf0d5285f2dceb1396097f7cc914bd03
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_20.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.06488241 -0.08328956 -0.01812662
+v 0.06251850 -0.08072678 -0.01782664
+v 0.06488241 -0.08083237 -0.01778182
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+v 0.06514958 -0.08328956 -0.01807835
+v 0.05004842 -0.08328956 -0.01777148
+v 0.04802138 -0.08121623 -0.01761977
+v 0.05004842 -0.08109780 -0.01765942
+v 0.06488241 -0.07897593 -0.01710774
+v 0.05004842 -0.07924135 -0.01706464
+v 0.01321901 -0.06871197 -0.01265472
+v 0.02039787 -0.06871197 -0.01275471
+v 0.02410347 -0.06871197 -0.01279954
+v 0.03522605 -0.06871197 -0.01283057
+v 0.07254915 -0.06871197 -0.01277195
+v 0.06683394 -0.08328957 -0.01759737
+v 0.07254915 -0.07620625 -0.01344605
+v 0.04794588 -0.08328957 -0.01766632
+v 0.02412670 -0.08328957 -0.01558551
+v 0.02085672 -0.07986207 -0.01486315
+v 0.01321901 -0.07220369 -0.01314607
+v 0.06118263 -0.06871197 -0.01279954
+v 0.06489403 -0.06871197 -0.01279264
+v 0.03893164 -0.06871197 -0.01283574
+v 0.03894326 -0.06871197 -0.01283574
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+v 0.06819305 -0.08328958 -0.01228586
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+v 0.01321901 -0.08173140 -0.00371433
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+
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_21.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8c2b0b62805e23ddcda43c7988dc5791aef3187
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_21.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.00667425 -0.08180547 0.00549948
+v 0.00933161 -0.08180547 0.00570459
+v -0.03151113 -0.08948584 0.01103095
+v -0.03286735 -0.08180547 0.00550076
+v 0.01316276 -0.08180548 0.00884402
+v 0.01023783 -0.08948585 0.01256798
+v 0.00935035 -0.08948584 0.01212828
+v -0.04633576 -0.08948584 0.01171037
+v -0.03509854 -0.08180547 0.00558793
+v 0.01321901 -0.08180548 0.00911963
+v 0.01137530 -0.08948585 0.01356916
+v -0.04880445 -0.08948585 0.01287436
+v -0.04948569 -0.08180548 0.00904400
+v 0.01321901 -0.08248663 0.01250391
+v 0.01321901 -0.08180550 0.01400376
+v 0.01137530 -0.08948586 0.01502543
+v -0.04892945 -0.08948585 0.01393067
+v -0.05062941 -0.08180550 0.01244751
+v 0.01321901 -0.08229267 0.01372046
+v 0.01241903 -0.08180551 0.01537927
+v 0.01074407 -0.08728911 0.01698806
+v 0.01110656 -0.08948586 0.01574459
+v -0.04890445 -0.08948586 0.01601123
+v -0.04957943 -0.08180551 0.01595229
+v -0.04869196 -0.08948586 0.01680089
+v 0.01006284 -0.08180551 0.01715473
+v 0.01063782 -0.08357674 0.01713550
+v 0.01033783 -0.08948586 0.01678423
+v 0.00888787 -0.08728912 0.01832255
+v 0.00848788 -0.08948587 0.01813538
+v 0.00924411 -0.08948586 0.01759056
+v -0.04847321 -0.08728912 0.01794053
+v -0.04844821 -0.08357675 0.01791619
+v -0.04832947 -0.08180552 0.01779826
+v -0.04833571 -0.08948587 0.01780720
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+v -0.02036141 -0.08948587 0.01829433
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+
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_22.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0eec2a1ed93ac2ccc7076b87fa7c069d398388ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_22.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.07600292 -0.08948717 -0.01806707
+v -0.07357873 -0.08948717 -0.01793868
+v -0.07365685 -0.09025183 -0.01786898
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+v -0.07031124 -0.09254144 -0.01313136
+v -0.06845690 -0.09883169 0.00067067
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+v -0.08568591 -0.09627607 0.00067068
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+v -0.08527230 -0.10399963 0.00010206
+v -0.08570889 -0.10335418 0.00067065
+v -0.08569510 -0.10336726 0.00067065
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+
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_23.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c27c1c3a3130e50d35456cb3f1699527110de2f4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_23.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.10566149 -0.08657714 -0.00150617
+v -0.10936913 -0.08655441 -0.00150617
+v -0.10566149 -0.08657539 -0.00166816
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+v -0.09465182 -0.08565204 -0.00856525
+v -0.09824802 -0.08605777 -0.00150617
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+v -0.10916245 -0.08584964 -0.00889270
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+v -0.09465182 -0.08538622 -0.01033088
+v -0.09465182 -0.08563630 -0.00872260
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+
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_24.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f49e64cec82fdcbe68ab4eb775e0ec8ece6e094
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_24.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+v -0.04337327 -0.10103494 0.00067239
+v -0.04277443 -0.09842803 0.00536756
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+v -0.04433015 -0.10413314 0.00185050
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+v -0.04456462 -0.09784756 0.00067240
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+
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_25.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee9f1cad08a1d0dcd24f15d64400729c45bad6e1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_25.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+v -0.01823004 -0.08948717 -0.01771740
+v -0.01826165 -0.08976798 -0.01769206
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+
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_26.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2595bb3319790de1c0cc5ac3a00d7f57dc19b190
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_26.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.06116564 -0.08276476 -0.01822757
+v -0.06371239 -0.08276476 -0.01803114
+v -0.06351394 -0.08073717 -0.01785762
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+v -0.07125338 -0.06871197 -0.01259478
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+v -0.02780996 -0.06871197 -0.01264880
+v -0.02409734 -0.06871197 -0.01265208
+v 0.01321075 -0.06871197 -0.01265535
+v -0.02039300 -0.07898058 -0.01708825
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+v 0.00926661 -0.08276476 -0.01792801
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+v -0.07125338 -0.06871201 -0.00150774
+v 0.01321075 -0.06871198 -0.01088417
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+v 0.01113532 -0.08166018 -0.01751550
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+v -0.06477076 -0.08276479 -0.01102991
+v -0.07125338 -0.08185006 -0.00150779
+v 0.01297096 -0.06871201 -0.00150774
+v 0.01321075 -0.06871613 -0.00150774
+v 0.01321075 -0.07614966 -0.01358189
+v 0.01115186 -0.08276477 -0.01752696
+v -0.06410928 -0.08276479 -0.01027528
+v -0.06274495 -0.08276479 -0.01000191
+v -0.03519385 -0.08276480 -0.00822418
+v -0.00664225 -0.08179229 -0.00150779
+v 0.01321075 -0.08176478 -0.00150779
+v 0.01321075 -0.08012231 -0.01236074
+v 0.01157355 -0.08276477 -0.01574759
+v 0.01321075 -0.08015394 -0.01232145
+v 0.00745577 -0.08276480 -0.00952392
+v 0.00921699 -0.08276479 -0.00973345
+v 0.01144126 -0.08276479 -0.01169615
+v 0.01178027 -0.08276478 -0.01236894
+v 0.01321075 -0.08176891 -0.00240975
+v 0.01321075 -0.08154329 -0.00886914
+v 0.01321075 -0.08173176 -0.00371439
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 20
+f 1 20 27
+f 1 27 33
+f 1 33 40
+f 1 40 45
+f 1 45 44
+f 1 44 43
+f 1 43 42
+f 1 42 36
+f 1 36 35
+f 1 35 34
+f 1 34 28
+f 1 28 21
+f 1 21 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
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+f 2 11 12
+f 2 12 3
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
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+f 3 17 18
+f 3 18 4
+f 4 18 5
+f 5 17 19
+f 5 19 20
+f 5 20 6
+f 5 18 17
+f 7 21 8
+f 8 22 29
+f 8 29 23
+f 8 23 13
+f 8 13 12
+f 8 12 11
+f 8 11 10
+f 8 10 9
+f 8 21 22
+f 13 23 30
+f 13 30 24
+f 13 24 17
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+f 13 15 14
+f 17 24 31
+f 17 31 38
+f 17 38 46
+f 17 46 48
+f 17 48 47
+f 17 47 41
+f 17 41 39
+f 17 39 32
+f 17 32 25
+f 17 25 26
+f 17 26 19
+f 19 26 20
+f 20 26 27
+f 21 28 29
+f 21 29 22
+f 23 29 37
+f 23 37 38
+f 23 38 31
+f 23 31 30
+f 24 30 31
+f 25 32 26
+f 26 33 27
+f 26 32 33
+f 28 34 29
+f 29 34 35
+f 29 35 36
+f 29 36 37
+f 32 39 33
+f 33 39 41
+f 33 41 40
+f 36 42 38
+f 36 38 37
+f 38 42 43
+f 38 43 44
+f 38 44 45
+f 38 45 46
+f 40 41 47
+f 40 47 45
+f 45 47 48
+f 45 48 46
+
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_27.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e658fb67fd20c5dcede49792691f4876c3fa3f5a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_27.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.06488132 -0.08357650 -0.01816582
+v 0.06488132 -0.08328956 -0.01812658
+v 0.06514933 -0.08328956 -0.01807981
+v 0.06683807 -0.08328957 -0.01759800
+v 0.06684460 -0.08357651 -0.01760551
+v 0.06682717 -0.08609777 -0.01759133
+v 0.06508832 -0.08731672 -0.01795206
+v 0.06223165 -0.08728918 -0.01799549
+v 0.05005319 -0.08357650 -0.01778755
+v 0.05005319 -0.08328956 -0.01777252
+v 0.06784040 -0.08328958 -0.01369335
+v 0.06646110 -0.08857266 -0.01718634
+v 0.06819123 -0.08328958 -0.01228797
+v 0.06698187 -0.09015382 -0.01505615
+v 0.06399011 -0.08991526 -0.01774498
+v 0.06258683 -0.08991526 -0.01774498
+v 0.04803108 -0.08592776 -0.01760803
+v 0.04794174 -0.08357651 -0.01767232
+v 0.04795045 -0.08328957 -0.01766564
+v 0.06560039 -0.09015382 -0.01684899
+v 0.06503603 -0.09015384 -0.01175357
+v 0.06698187 -0.09015383 -0.01340695
+v 0.06488132 -0.08328959 -0.01088845
+v 0.06421236 -0.09015382 -0.01752286
+v 0.06235803 -0.09015382 -0.01738926
+v 0.05005319 -0.09015382 -0.01621352
+v 0.04796135 -0.09015382 -0.01557889
+v 0.04720087 -0.09015382 -0.01524404
+v 0.04642515 -0.08328957 -0.01544359
+v 0.04781753 -0.08328957 -0.01751867
+v 0.06376131 -0.08328959 -0.01075067
+v 0.05005319 -0.09015384 -0.01017451
+v 0.04695683 -0.09015384 -0.01196233
+v 0.04593269 -0.08328959 -0.01182787
+v 0.05005319 -0.08328959 -0.00973776
+v 0.04803761 -0.08328959 -0.00963589
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 19
+f 2 19 30
+f 2 30 29
+f 2 29 34
+f 2 34 36
+f 2 36 35
+f 2 35 31
+f 2 31 23
+f 2 23 13
+f 2 13 11
+f 2 11 4
+f 2 4 3
+f 4 11 5
+f 5 11 6
+f 6 12 7
+f 6 11 13
+f 6 13 14
+f 6 14 12
+f 7 12 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 12 20 15
+f 12 14 20
+f 13 21 22
+f 13 22 14
+f 13 23 21
+f 14 22 21
+f 14 21 32
+f 14 32 33
+f 14 33 28
+f 14 28 27
+f 14 27 26
+f 14 26 25
+f 14 25 24
+f 14 24 20
+f 15 24 16
+f 15 20 24
+f 16 25 26
+f 16 26 17
+f 16 24 25
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 18 30 19
+f 21 23 31
+f 21 31 32
+f 28 33 34
+f 28 34 29
+f 31 35 32
+f 32 35 36
+f 32 36 33
+f 33 36 34
+
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_28.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8814359cb73dbd895fdcc75197b883c345d4ec0a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_28.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.03522195 -0.08357651 -0.01616475
+v 0.03522195 -0.08328957 -0.01613958
+v 0.03542794 -0.08328957 -0.01606107
+v 0.03779884 -0.08328958 -0.01495384
+v 0.03779076 -0.08357652 -0.01496390
+v 0.03760901 -0.08728920 -0.01467704
+v 0.03522195 -0.08728919 -0.01559403
+v 0.02081480 -0.08728919 -0.01519140
+v 0.02410054 -0.08357651 -0.01564837
+v 0.02412275 -0.08328957 -0.01558596
+v 0.03878638 -0.08328959 -0.01222501
+v 0.03733234 -0.08960012 -0.01427140
+v 0.03522195 -0.08999995 -0.01451398
+v 0.02345026 -0.09012897 -0.01463074
+v 0.02143479 -0.09012897 -0.01463074
+v 0.02141460 -0.09015383 -0.01458142
+v 0.02020289 -0.09015383 -0.01238910
+v 0.01928604 -0.08728921 -0.01221999
+v 0.01829244 -0.08328959 -0.01198846
+v 0.02051188 -0.08328957 -0.01515716
+v 0.02063709 -0.08357651 -0.01528198
+v 0.02065324 -0.08328957 -0.01524977
+v 0.03798868 -0.08328960 -0.00892143
+v 0.03759285 -0.09015385 -0.00888118
+v 0.03770998 -0.09015385 -0.00942373
+v 0.03768171 -0.09015384 -0.01213746
+v 0.03758679 -0.09015383 -0.01264779
+v 0.03743937 -0.09015383 -0.01335541
+v 0.03681534 -0.09015383 -0.01398352
+v 0.03522195 -0.09015383 -0.01439621
+v 0.02347247 -0.09015383 -0.01459853
+v 0.02000296 -0.09015385 -0.00870201
+v 0.01815713 -0.08328959 -0.01094263
+v 0.03525830 -0.08328960 -0.00736526
+v 0.03522195 -0.09015386 -0.00634461
+v 0.03571269 -0.09015385 -0.00685897
+v 0.01882761 -0.08328960 -0.00736526
+v 0.01851660 -0.08328960 -0.00869998
+v 0.02136411 -0.09015386 -0.00601546
+v 0.03430308 -0.08328960 -0.00731695
+v 0.02340381 -0.09015386 -0.00588260
+v 0.02027963 -0.08328960 -0.00717804
+v 0.02323619 -0.09015386 -0.00588260
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 2 10 22
+f 2 22 20
+f 2 20 19
+f 2 19 33
+f 2 33 38
+f 2 38 37
+f 2 37 42
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+f 2 40 34
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+f 2 23 11
+f 2 11 4
+f 2 4 3
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+f 7 14 15
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+f 8 15 16
+f 8 16 17
+f 8 17 18
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+f 8 20 21
+f 8 21 9
+f 9 21 22
+f 9 22 10
+f 11 23 24
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+f 11 26 27
+f 11 27 28
+f 11 28 12
+f 12 28 29
+f 12 29 13
+f 13 29 30
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+f 14 31 15
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+f 15 31 16
+f 16 31 30
+f 16 30 29
+f 16 29 28
+f 16 28 27
+f 16 27 26
+f 16 26 25
+f 16 25 24
+f 16 24 36
+f 16 36 35
+f 16 35 41
+f 16 41 43
+f 16 43 39
+f 16 39 32
+f 16 32 17
+f 17 32 18
+f 18 32 33
+f 18 33 19
+f 20 22 21
+f 23 34 35
+f 23 35 36
+f 23 36 24
+f 32 37 38
+f 32 38 33
+f 32 39 37
+f 34 40 35
+f 35 40 41
+f 37 39 42
+f 39 43 42
+f 40 42 41
+f 41 42 43
+
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_29.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfc7c46265194a126d1ee67eb24764591d84caa3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_29.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.09798207 -0.08948585 0.01245375
+v -0.09785006 -0.08948584 0.01140635
+v -0.09714407 -0.08948585 0.01477537
+v -0.11164839 -0.08580204 0.01140636
+v -0.08339741 -0.08948584 0.01140635
+v -0.09453824 -0.08948586 0.01567486
+v -0.10936397 -0.08497432 0.01372728
+v -0.11164263 -0.08579978 0.01143267
+v -0.11211903 -0.08369477 0.01252416
+v -0.11233141 -0.08365792 0.01140637
+v -0.05746530 -0.08247835 0.01140638
+v -0.05760306 -0.08948585 0.01254476
+v -0.11163690 -0.08253550 0.01449808
+v -0.08565887 -0.08948587 0.01795310
+v -0.11247490 -0.08180550 0.01246444
+v -0.11257822 -0.08232950 0.01140638
+v -0.05638049 -0.08180549 0.01140638
+v -0.05666748 -0.08948585 0.01284128
+v -0.10936397 -0.08180551 0.01502853
+v -0.11170004 -0.08180550 0.01455425
+v -0.08341464 -0.08948587 0.01821477
+v -0.08341464 -0.08728912 0.01854898
+v -0.11267005 -0.08180549 0.01140638
+v -0.05468153 -0.08180549 0.01217788
+v -0.05403868 -0.08180550 0.01248577
+v -0.05523828 -0.08948585 0.01364975
+v -0.08341464 -0.08357675 0.01844447
+v -0.08495862 -0.08180552 0.01801784
+v -0.05740790 -0.08948587 0.01836979
+v -0.05746530 -0.08728912 0.01866986
+v -0.05405590 -0.08180550 0.01324732
+v -0.05514645 -0.08948586 0.01604461
+v -0.08341464 -0.08180552 0.01811454
+v -0.06073695 -0.08357675 0.01835914
+v -0.06036960 -0.08180552 0.01815792
+v -0.05571468 -0.08948587 0.01792395
+v -0.05537604 -0.08728912 0.01790263
+v -0.05544491 -0.08469092 0.01783793
+v -0.05724145 -0.08350233 0.01831861
+v -0.05441176 -0.08180551 0.01579577
+v -0.05545639 -0.08948587 0.01782796
+v -0.05791300 -0.08180552 0.01814512
+v -0.05585818 -0.08221524 0.01750587
+v -0.05608202 -0.08180551 0.01745539
+f 1 2 5
+f 1 5 12
+f 1 12 18
+f 1 18 26
+f 1 26 32
+f 1 32 41
+f 1 41 36
+f 1 36 29
+f 1 29 21
+f 1 21 14
+f 1 14 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
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+f 2 10 16
+f 2 16 23
+f 2 23 17
+f 2 17 11
+f 2 11 5
+f 3 6 7
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 6 13 7
+f 6 14 13
+f 7 13 8
+f 8 13 9
+f 9 15 16
+f 9 16 10
+f 9 13 15
+f 11 17 12
+f 12 17 18
+f 13 19 20
+f 13 20 15
+f 13 14 19
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+f 14 22 19
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+f 15 20 19
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+f 15 33 35
+f 15 35 42
+f 15 42 44
+f 15 44 40
+f 15 40 31
+f 15 31 25
+f 15 25 24
+f 15 24 17
+f 15 17 23
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 19 22 27
+f 19 27 28
+f 21 29 22
+f 22 29 30
+f 22 30 27
+f 25 31 32
+f 25 32 26
+f 27 33 28
+f 27 30 34
+f 27 34 35
+f 27 35 33
+f 29 36 30
+f 30 36 37
+f 30 37 38
+f 30 38 39
+f 30 39 34
+f 31 40 32
+f 32 40 41
+f 34 39 42
+f 34 42 35
+f 36 41 37
+f 37 41 40
+f 37 40 38
+f 38 40 43
+f 38 43 39
+f 39 43 42
+f 40 44 43
+f 42 43 44
+
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_3.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1225a16f2ecfc0439ee294845eeaf40dab2066d8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_3.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.09024877 -0.10082764 0.00066954
+v 0.09020887 -0.10214104 0.00185012
+v 0.09019417 -0.10223688 0.00066953
+v 0.09020257 -0.09867442 0.00066955
+v 0.08986449 -0.09842837 0.00888518
+v 0.08956630 -0.10107518 0.00888517
+v 0.08976369 -0.10226552 0.00503999
+v 0.08899723 -0.10400812 0.00364789
+v 0.08905393 -0.10404102 0.00185012
+v 0.08945081 -0.10346014 0.00066953
+v 0.08922402 -0.09575296 0.01240097
+v 0.08711783 -0.09756706 0.00066955
+v 0.08697714 -0.09015602 0.01225017
+v 0.08723333 -0.09015603 0.01482979
+v 0.08733622 -0.09015604 0.01587343
+v 0.08928912 -0.09808930 0.01223453
+v 0.08900353 -0.09609919 0.01419180
+v 0.08900353 -0.09662570 0.01419180
+v 0.08917362 -0.10051292 0.01095164
+v 0.08712623 -0.10197081 0.00888517
+v 0.07790143 -0.10403961 0.00721915
+v 0.07600733 -0.10439871 0.00536764
+v 0.07600733 -0.10477069 0.00185012
+v 0.08905813 -0.10404244 0.00066953
+v 0.08349553 -0.09015602 0.01167634
+v 0.07600733 -0.09814506 0.00066955
+v 0.07229893 -0.09015603 0.01246513
+v 0.08611619 -0.09015604 0.01738515
+v 0.08568991 -0.09015605 0.01790697
+v 0.08712623 -0.09712215 0.01460266
+v 0.08563322 -0.09100303 0.01787057
+v 0.08529093 -0.09287582 0.01768506
+v 0.08712623 -0.09897778 0.01302160
+v 0.08712623 -0.10072610 0.01126370
+v 0.07442822 -0.10044283 0.01432180
+v 0.07383394 -0.10044283 0.01432180
+v 0.07600733 -0.10402960 0.00720181
+v 0.07414893 -0.10399955 0.00713420
+v 0.07395994 -0.10412973 0.00536764
+v 0.07383605 -0.10422702 0.00185012
+v 0.07390744 -0.10418122 0.00066953
+v 0.07595063 -0.10467052 0.00066953
+v 0.07685779 -0.10467482 0.00066953
+v 0.07331318 -0.09935687 0.00066955
+v 0.06946828 -0.09015603 0.01321232
+v 0.07234933 -0.09015605 0.01835944
+v 0.07229893 -0.09100303 0.01837852
+v 0.07441351 -0.09368418 0.01791216
+v 0.07229893 -0.09552120 0.01706961
+v 0.07247952 -0.09839693 0.01517649
+v 0.07012765 -0.09714075 0.01465640
+v 0.07305069 -0.10108093 0.01240095
+v 0.07292260 -0.10231131 0.00853843
+v 0.07273360 -0.10214105 0.00536764
+v 0.07018644 -0.09722087 0.01240096
+v 0.07289740 -0.10214104 0.00185012
+v 0.07342446 -0.10310390 0.00066953
+v 0.07310738 -0.10221400 0.00066953
+v 0.06922889 -0.09015603 0.01382083
+v 0.07163746 -0.09015605 0.01836811
+v 0.06988826 -0.09100303 0.01808207
+v 0.07029563 -0.09311047 0.01779254
+v 0.07229893 -0.09366558 0.01793990
+v 0.06983366 -0.09449538 0.01586474
+v 0.06898530 -0.09100302 0.01591851
+v 0.06879842 -0.09015604 0.01591851
+v 0.06990715 -0.09504762 0.01231776
+v 0.07041953 -0.09687034 0.01061186
+v 0.06977696 -0.09015605 0.01813928
+f 1 2 3
+f 1 3 10
+f 1 10 24
+f 1 24 43
+f 1 43 42
+f 1 42 41
+f 1 41 57
+f 1 57 58
+f 1 58 44
+f 1 44 26
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+f 5 16 6
+f 5 11 17
+f 5 17 18
+f 5 18 16
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+f 13 27 45
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+f 26 44 45
+f 26 45 27
+f 29 46 47
+f 29 47 31
+f 30 32 35
+f 30 35 33
+f 31 47 32
+f 32 47 48
+f 32 48 49
+f 32 49 35
+f 33 35 34
+f 35 49 36
+f 36 49 50
+f 36 50 51
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+f 38 52 53
+f 38 53 39
+f 39 53 40
+f 40 53 54
+f 40 54 55
+f 40 55 56
+f 40 56 41
+f 41 56 57
+f 44 58 59
+f 44 59 45
+f 46 60 47
+f 47 60 61
+f 47 61 62
+f 47 62 63
+f 47 63 48
+f 48 63 49
+f 49 63 62
+f 49 62 50
+f 50 62 51
+f 51 62 64
+f 51 64 65
+f 51 65 66
+f 51 66 55
+f 51 55 54
+f 51 54 53
+f 51 53 52
+f 55 66 67
+f 55 67 68
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+f 56 58 57
+f 58 68 59
+f 59 68 67
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+f 60 69 61
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+f 61 66 65
+f 61 65 64
+f 61 64 62
+
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_30.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd274c167814f710a11cf165f83712069f221739
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_30.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.08292957 -0.08370874 -0.00150784
+v -0.08292957 -0.08383479 -0.00914968
+v -0.07844470 -0.08948371 -0.01570822
+v -0.07827097 -0.08948372 -0.01332726
+v -0.07691774 -0.08948373 -0.01213845
+v -0.07608569 -0.08948373 -0.01169307
+v -0.07351752 -0.08948373 -0.01203632
+v -0.07227858 -0.08948373 -0.01223222
+v -0.07970878 -0.08326342 -0.00150784
+v -0.08292957 -0.06871201 -0.00150778
+v -0.08292957 -0.08363958 -0.01213676
+v -0.07803439 -0.08948371 -0.01766389
+v -0.07196085 -0.08948372 -0.01342605
+v -0.07125452 -0.08185016 -0.00150783
+v -0.07600226 -0.08265745 -0.00150783
+v -0.07125452 -0.06871201 -0.00150778
+v -0.08292957 -0.06871197 -0.01259213
+v -0.08292957 -0.07986140 -0.01316480
+v -0.07827669 -0.08728756 -0.01789494
+v -0.07600226 -0.08728756 -0.01853790
+v -0.07797039 -0.08948371 -0.01768063
+v -0.07215743 -0.08948371 -0.01576012
+v -0.07125452 -0.08005255 -0.01280147
+v -0.07125452 -0.08046737 -0.01240632
+v -0.07125452 -0.08174644 -0.00870428
+v -0.07125452 -0.08186032 -0.00518642
+v -0.07125452 -0.06871197 -0.01259380
+v -0.08292957 -0.06872417 -0.01259380
+v -0.07970878 -0.06871197 -0.01261055
+v -0.07600226 -0.07859252 -0.01719000
+v -0.07600226 -0.08044702 -0.01796859
+v -0.07814296 -0.08098385 -0.01776265
+v -0.07836355 -0.08357448 -0.01797363
+v -0.08292957 -0.07626829 -0.01335232
+v -0.07335865 -0.08728756 -0.01814107
+v -0.07357924 -0.08948370 -0.01793848
+v -0.07600226 -0.08948370 -0.01806574
+v -0.07600226 -0.08357448 -0.01860989
+v -0.07272661 -0.08948371 -0.01687693
+v -0.07213458 -0.08728757 -0.01573667
+v -0.07125452 -0.07615035 -0.01346618
+v -0.07228430 -0.06871197 -0.01260385
+v -0.07125452 -0.07140020 -0.01299566
+v -0.07339637 -0.08357448 -0.01813269
+v -0.07370611 -0.08075610 -0.01785976
+v -0.08292957 -0.07572333 -0.01331884
+v -0.07600226 -0.06871197 -0.01263064
+v -0.07599083 -0.06871197 -0.01263064
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 15
+f 1 15 14
+f 1 14 16
+f 1 16 10
+f 1 10 17
+f 1 17 28
+f 1 28 46
+f 1 46 34
+f 1 34 18
+f 1 18 11
+f 1 11 2
+f 2 11 3
+f 3 11 12
+f 3 12 21
+f 3 21 37
+f 3 37 36
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+f 3 39 22
+f 3 22 13
+f 3 13 8
+f 3 8 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 10 16 27
+f 10 27 42
+f 10 42 48
+f 10 48 47
+f 10 47 29
+f 10 29 17
+f 11 18 12
+f 12 19 20
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+f 12 18 19
+f 13 22 23
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+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 14 26 25
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+f 14 43 27
+f 14 27 16
+f 17 29 30
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+f 17 31 32
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+f 17 33 28
+f 18 34 19
+f 19 33 20
+f 19 34 33
+f 20 35 36
+f 20 36 37
+f 20 37 21
+f 20 33 38
+f 20 38 35
+f 22 39 35
+f 22 35 40
+f 22 40 41
+f 22 41 23
+f 27 43 44
+f 27 44 45
+f 27 45 31
+f 27 31 30
+f 27 30 42
+f 28 33 46
+f 29 47 30
+f 30 47 48
+f 30 48 42
+f 31 38 32
+f 31 45 38
+f 32 38 33
+f 33 34 46
+f 35 39 36
+f 35 38 44
+f 35 44 40
+f 38 45 44
+f 40 44 41
+f 41 44 43
+
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_31.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d283824456380fa66fbac281f18cb1f0850802b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_31.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.07098959 -0.08180544 -0.00150615
+v -0.06224743 -0.08180547 0.00574008
+v -0.05746742 -0.08247835 0.01140638
+v -0.08340102 -0.08948584 0.01140635
+v -0.08341761 -0.08948584 0.01139750
+v -0.07600722 -0.08265798 -0.00150615
+v -0.11239604 -0.08180544 -0.00150615
+v -0.05637880 -0.08180549 0.01140638
+v -0.09785156 -0.08948584 0.01140635
+v -0.09343627 -0.08948583 0.00883421
+v -0.09824391 -0.08605760 -0.00150617
+v -0.09453595 -0.08569298 -0.00150616
+v -0.09266815 -0.08546970 -0.00150616
+v -0.09257421 -0.08545842 -0.00150616
+v -0.11273312 -0.08357667 -0.00150616
+v -0.11283259 -0.08180549 0.01056206
+v -0.11267234 -0.08180549 0.01140638
+v -0.11162240 -0.08580880 0.01140636
+v -0.10936778 -0.08666283 0.00888478
+v -0.10936778 -0.08665982 0.00536720
+v -0.10936778 -0.08655454 -0.00150617
+v -0.09774657 -0.08948584 0.01058731
+v -0.09448622 -0.08948583 0.00867369
+v -0.10565983 -0.08657709 -0.00150617
+v -0.10212317 -0.08635231 -0.00150617
+v -0.10195186 -0.08634102 -0.00150617
+v -0.09841521 -0.08607113 -0.00150617
+v -0.11276076 -0.08357669 0.00185089
+v -0.11183791 -0.08581853 -0.00150617
+v -0.11181581 -0.08595537 0.00185088
+v -0.11183791 -0.08598320 0.00536720
+v -0.11281602 -0.08357671 0.00888479
+v -0.11257840 -0.08232950 0.01140638
+v -0.11164450 -0.08580204 0.01140636
+v -0.11185449 -0.08598998 0.00888478
+v -0.11179371 -0.08592754 -0.00150617
+v -0.10583113 -0.08657634 -0.00150617
+v -0.09745922 -0.08948583 0.00919696
+v -0.11232973 -0.08365792 0.01140637
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 27
+f 1 27 26
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+f 1 25 24
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+f 1 37 21
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+f 1 36 29
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+f 1 15 7
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+f 10 27 11
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+f 16 32 33
+f 16 33 17
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+f 19 35 20
+f 20 35 31
+f 20 31 30
+f 20 30 36
+f 20 36 21
+f 21 37 23
+f 21 23 38
+f 21 38 22
+f 23 37 24
+f 28 31 32
+f 29 36 30
+f 31 35 32
+f 32 35 34
+f 32 34 39
+f 32 39 33
+
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_32.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f360c0a1746d5b37f1a40285a0aa07792d98683e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_32.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.09465002 -0.08570356 -0.00150616
+v -0.09465002 -0.08570762 -0.00508174
+v -0.09134016 -0.08948373 -0.01218720
+v -0.09094665 -0.08948373 -0.01088498
+v -0.09024911 -0.08948374 -0.00895215
+v -0.08875652 -0.08948374 -0.00810871
+v -0.09453874 -0.08569136 -0.00150616
+v -0.09465002 -0.06871201 -0.00150610
+v -0.09465002 -0.08570762 -0.00518579
+v -0.09082045 -0.08948372 -0.01402228
+v -0.09465002 -0.08565271 -0.00856588
+v -0.09465002 -0.08563644 -0.00872353
+v -0.09465002 -0.08538632 -0.01033002
+v -0.08715150 -0.08948374 -0.00847919
+v -0.09257806 -0.08545752 -0.00150616
+v -0.08293071 -0.06871201 -0.00150610
+v -0.09465002 -0.06871197 -0.01252450
+v -0.09016995 -0.08948371 -0.01552945
+v -0.09465002 -0.08385715 -0.01196646
+v -0.08552009 -0.08948374 -0.00906409
+v -0.08293071 -0.08370874 -0.00150616
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+v -0.08881847 -0.08146173 -0.01756000
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+v -0.08460113 -0.08948372 -0.01311735
+v -0.08293071 -0.08363958 -0.01213673
+v -0.08293071 -0.07572333 -0.01331910
+v -0.08868654 -0.08357449 -0.01761203
+v -0.08683256 -0.08357449 -0.01624360
+v -0.08293071 -0.07626829 -0.01335221
+v -0.08293071 -0.07986140 -0.01316461
+f 1 2 3
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+f 1 6 7
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+f 1 15 21
+f 1 21 16
+f 1 16 8
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+f 1 30 29
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+f 1 11 9
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+f 6 14 15
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+f 10 13 18
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+f 17 23 24
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+f 18 30 26
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+f 24 38 25
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+f 26 30 27
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+f 28 39 40
+f 33 41 42
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+f 36 43 37
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+f 39 45 40
+f 40 45 46
+f 40 46 47
+f 40 47 42
+f 40 42 41
+f 43 46 44
+f 44 46 45
+
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_4.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed743c955f6e4e7acce7da79756f0836d3e0c9ca
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_4.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.07877843 -0.09015448 -0.01780979
+v 0.07875455 -0.09027673 -0.01780075
+v 0.07728459 -0.09015448 -0.01780979
+v 0.09083345 -0.09015449 -0.01524120
+v 0.07877192 -0.09716499 -0.01445438
+v 0.07729544 -0.09027673 -0.01780075
+v 0.09083345 -0.09100309 -0.01510554
+v 0.09285927 -0.09314519 -0.01412695
+v 0.09083345 -0.09354461 -0.01429337
+v 0.07617723 -0.09131012 -0.01606967
+v 0.07602307 -0.09015449 -0.01597379
+v 0.09332175 -0.09015450 -0.01456830
+v 0.09323490 -0.09100310 -0.01448871
+v 0.07863296 -0.10072143 -0.01098498
+v 0.07707397 -0.09716499 -0.01445438
+v 0.09083345 -0.09540100 -0.01315741
+v 0.09083345 -0.09765824 -0.01139739
+v 0.07635527 -0.09471586 -0.01519238
+v 0.09457242 -0.09015451 -0.01222763
+v 0.09290486 -0.09696316 -0.01083484
+v 0.07404067 -0.09708967 -0.01084569
+v 0.07614683 -0.09015451 -0.01200333
+v 0.07404067 -0.09614868 -0.01084568
+v 0.07404067 -0.09614868 -0.00987432
+v 0.07825949 -0.10424659 -0.00416738
+v 0.07700449 -0.10072143 -0.01098498
+v 0.08997579 -0.10088916 -0.00789001
+v 0.07453138 -0.09956438 -0.00997021
+v 0.09528677 -0.09015452 -0.00854297
+v 0.09285493 -0.09690632 -0.00870218
+v 0.09019510 -0.10223670 0.00066772
+v 0.09016903 -0.10240869 -0.00147036
+v 0.09052078 -0.10153592 -0.00518576
+v 0.07393211 -0.10068021 -0.00762773
+v 0.07310702 -0.10221396 0.00066772
+v 0.07331329 -0.09935689 0.00066774
+v 0.07600569 -0.09814583 0.00066774
+v 0.09083345 -0.09015452 -0.00818482
+v 0.07854177 -0.10448682 -0.00166934
+v 0.07695672 -0.10424659 -0.00416738
+v 0.08906168 -0.10404476 -0.00016617
+v 0.07583417 -0.10324874 -0.00527802
+v 0.07586239 -0.10143499 -0.00876008
+v 0.09485903 -0.09015452 -0.00812332
+v 0.09020161 -0.09867461 0.00066774
+v 0.09024938 -0.10082807 0.00066773
+v 0.08945034 -0.10346056 0.00066772
+v 0.07398422 -0.10413147 -0.00058944
+v 0.07372367 -0.10131987 -0.00518576
+v 0.07448362 -0.10374484 -0.00293554
+v 0.07353477 -0.10236036 -0.00172541
+v 0.07342403 -0.10310378 0.00066772
+v 0.08711837 -0.09756731 0.00066774
+v 0.07685684 -0.10467588 0.00066772
+v 0.07583417 -0.10446977 -0.00172541
+v 0.08905734 -0.10404334 0.00066772
+v 0.07390823 -0.10418122 0.00066772
+v 0.07594924 -0.10467020 0.00066772
+f 1 2 6
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+f 1 38 44
+f 1 44 29
+f 1 29 19
+f 1 19 12
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+f 22 36 37
+f 22 37 38
+f 23 35 36
+f 23 36 24
+f 25 39 40
+f 25 27 41
+f 25 41 39
+f 26 40 42
+f 26 42 43
+f 26 43 28
+f 27 33 41
+f 28 43 34
+f 29 44 45
+f 29 45 46
+f 29 46 31
+f 29 31 30
+f 31 46 45
+f 31 45 53
+f 31 53 37
+f 31 37 36
+f 31 36 35
+f 31 35 52
+f 31 52 57
+f 31 57 58
+f 31 58 54
+f 31 54 56
+f 31 56 47
+f 31 47 32
+f 32 47 41
+f 32 41 33
+f 34 48 49
+f 34 49 35
+f 34 43 50
+f 34 50 48
+f 35 49 51
+f 35 51 48
+f 35 48 52
+f 37 53 38
+f 38 53 44
+f 39 54 55
+f 39 55 40
+f 39 41 54
+f 40 55 50
+f 40 50 42
+f 41 47 56
+f 41 56 54
+f 42 50 43
+f 44 53 45
+f 48 57 52
+f 48 51 49
+f 48 50 55
+f 48 55 58
+f 48 58 57
+f 54 58 55
+
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_5.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cc82b59f3367c6b6de070de905c2ee3d3e35ba2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_5.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.07602361 -0.09015240 -0.01597525
+v 0.07701189 -0.08728737 -0.01800024
+v 0.07728318 -0.09015239 -0.01780853
+v 0.07614763 -0.09015242 -0.01200398
+v 0.07255496 -0.08266142 -0.00051638
+v 0.07255496 -0.08265930 -0.00542911
+v 0.07255496 -0.08261102 -0.00872252
+v 0.07255496 -0.08259423 -0.00900667
+v 0.07255496 -0.08221011 -0.01112925
+v 0.07255496 -0.07967881 -0.01281018
+v 0.07719404 -0.08357438 -0.01791464
+v 0.07935274 -0.08728737 -0.01800024
+v 0.07255496 -0.07622819 -0.01344694
+v 0.07255496 -0.07620720 -0.01344694
+v 0.07877915 -0.09015239 -0.01780853
+v 0.09083610 -0.09015243 -0.00818506
+v 0.10566410 -0.09007899 -0.00166842
+v 0.10566410 -0.09003282 -0.00051641
+v 0.10195516 -0.08986281 -0.00051641
+v 0.09825010 -0.08962353 -0.00051641
+v 0.09756025 -0.08954167 -0.00051641
+v 0.09599063 -0.08931079 -0.00051641
+v 0.07255496 -0.06871202 -0.00051633
+v 0.07753896 -0.08114595 -0.01768526
+v 0.07921322 -0.08357438 -0.01791464
+v 0.07255496 -0.06871197 -0.01277248
+v 0.09083610 -0.08728738 -0.01569451
+v 0.10937303 -0.06872457 -0.01209463
+v 0.10937303 -0.07243756 -0.01212717
+v 0.10937303 -0.07615054 -0.01215628
+v 0.10937303 -0.07986143 -0.01214773
+v 0.09083610 -0.09015240 -0.01524091
+v 0.09485896 -0.09015243 -0.00812173
+v 0.10566410 -0.09013355 -0.00518607
+v 0.10937303 -0.08992157 -0.00166842
+v 0.10937303 -0.08988590 -0.00051641
+v 0.10531142 -0.06871202 -0.00051633
+v 0.07600811 -0.06871197 -0.01277933
+v 0.07856987 -0.08114595 -0.01768526
+v 0.10566410 -0.06871197 -0.01263040
+v 0.10937303 -0.08357441 -0.01197144
+v 0.10937691 -0.06871198 -0.01209120
+v 0.11168676 -0.06871198 -0.01101451
+v 0.11172552 -0.07615054 -0.01106589
+v 0.11174876 -0.07986143 -0.01108131
+v 0.11172552 -0.08357441 -0.01101971
+v 0.11153561 -0.08607422 -0.01078863
+v 0.09332036 -0.09015241 -0.01456819
+v 0.09528528 -0.09015243 -0.00854282
+v 0.09457217 -0.09015242 -0.01222651
+v 0.10937303 -0.08993625 -0.00518607
+v 0.11151622 -0.08941783 -0.00166842
+v 0.11150461 -0.08940315 -0.00051641
+v 0.10743524 -0.06871622 -0.00051633
+v 0.10744686 -0.06871202 -0.00132428
+v 0.07601973 -0.06871197 -0.01277933
+v 0.07972480 -0.06871197 -0.01277590
+v 0.09084773 -0.06871197 -0.01275365
+v 0.09455279 -0.06871197 -0.01272969
+v 0.11183403 -0.06871199 -0.00870364
+v 0.11214795 -0.08728742 -0.00518606
+v 0.11177977 -0.08730210 -0.00860614
+v 0.11140384 -0.08930866 -0.00736685
+v 0.10937303 -0.08853206 -0.00965546
+v 0.10937303 -0.08952275 -0.00789749
+v 0.11151622 -0.08941572 -0.00518607
+v 0.11212469 -0.08728743 -0.00166841
+v 0.11211307 -0.08728744 -0.00051640
+v 0.11183403 -0.08471836 -0.00051639
+v 0.11137671 -0.06871200 -0.00678990
+f 1 2 3
+f 1 3 15
+f 1 15 32
+f 1 32 48
+f 1 48 50
+f 1 50 49
+f 1 49 33
+f 1 33 16
+f 1 16 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 11 25
+f 2 25 12
+f 2 12 15
+f 2 15 3
+f 2 10 13
+f 2 13 14
+f 2 14 11
+f 4 16 17
+f 4 17 18
+f 4 18 19
+f 4 19 20
+f 4 20 21
+f 4 21 22
+f 4 22 5
+f 5 23 26
+f 5 26 14
+f 5 14 13
+f 5 13 10
+f 5 10 9
+f 5 9 8
+f 5 8 7
+f 5 7 6
+f 5 22 21
+f 5 21 20
+f 5 20 19
+f 5 19 18
+f 5 18 36
+f 5 36 53
+f 5 53 68
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+f 5 54 37
+f 5 37 23
+f 11 24 39
+f 11 39 25
+f 11 14 26
+f 11 26 24
+f 12 27 15
+f 12 25 28
+f 12 28 29
+f 12 29 30
+f 12 30 31
+f 12 31 27
+f 15 27 32
+f 16 33 34
+f 16 34 17
+f 17 34 35
+f 17 35 36
+f 17 36 18
+f 23 37 55
+f 23 55 70
+f 23 70 60
+f 23 60 43
+f 23 43 42
+f 23 42 40
+f 23 40 59
+f 23 59 58
+f 23 58 57
+f 23 57 56
+f 23 56 38
+f 23 38 26
+f 24 38 56
+f 24 56 39
+f 24 26 38
+f 25 39 40
+f 25 40 28
+f 27 31 41
+f 27 41 32
+f 28 40 42
+f 28 42 43
+f 28 43 44
+f 28 44 29
+f 29 44 30
+f 30 44 45
+f 30 45 31
+f 31 45 46
+f 31 46 41
+f 32 41 47
+f 32 47 48
+f 33 49 34
+f 34 49 50
+f 34 50 48
+f 34 48 51
+f 34 51 35
+f 35 51 52
+f 35 52 53
+f 35 53 36
+f 37 54 55
+f 39 56 57
+f 39 57 58
+f 39 58 59
+f 39 59 40
+f 41 46 47
+f 43 60 45
+f 43 45 44
+f 45 60 61
+f 45 61 46
+f 46 61 62
+f 46 62 47
+f 47 62 63
+f 47 63 64
+f 47 64 48
+f 48 64 63
+f 48 63 65
+f 48 65 51
+f 51 65 63
+f 51 63 66
+f 51 66 52
+f 52 66 61
+f 52 61 67
+f 52 67 68
+f 52 68 53
+f 54 69 70
+f 54 70 55
+f 60 70 69
+f 60 69 68
+f 60 68 67
+f 60 67 61
+f 61 66 63
+f 61 63 62
+
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_6.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f40e60e618e9864fa4c01d275707f9e0387b55f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_6.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.11077010 -0.08373124 -0.00051281
+v 0.10743064 -0.06871496 -0.00051275
+v 0.11168966 -0.06871206 0.00998148
+v 0.11205748 -0.08373127 0.00807270
+v 0.07796591 -0.08373124 -0.00051281
+v 0.10739192 -0.06871203 0.00185070
+v 0.10531080 -0.06871202 -0.00051275
+v 0.11168966 -0.06871206 0.01017235
+v 0.11210589 -0.08351222 0.00883806
+v 0.11208652 -0.08373127 0.00882683
+v 0.02040128 -0.08373127 0.00881747
+v 0.01321901 -0.08177004 -0.00051280
+v 0.01457416 -0.06871202 -0.00051275
+v 0.11162191 -0.06871207 0.01272667
+v 0.11176711 -0.07243747 0.01240104
+v 0.11195101 -0.07986181 0.01240102
+v 0.11184454 -0.08337110 0.01255258
+v 0.11183486 -0.08373129 0.01242159
+v 0.11207684 -0.08373127 0.00904390
+v 0.02006250 -0.08373127 0.00905138
+v 0.01726509 -0.08373129 0.01242720
+v 0.01725541 -0.08373129 0.01247773
+v 0.01321901 -0.08248606 0.01250394
+v 0.01321901 -0.06871642 -0.00051275
+v 0.01667463 -0.06871208 0.01573384
+v 0.11122504 -0.06871207 0.01416195
+v 0.11124440 -0.06968972 0.01417879
+v 0.11132184 -0.07615111 0.01424613
+v 0.11133152 -0.07986181 0.01425735
+v 0.11129281 -0.08199650 0.01421991
+v 0.11110889 -0.08373129 0.01294368
+v 0.01784586 -0.08373129 0.01484492
+v 0.01321901 -0.08229200 0.01372028
+v 0.01321901 -0.06872383 0.01573010
+v 0.03522076 -0.06871208 0.01578998
+v 0.10992797 -0.06871207 0.01453060
+v 0.10978279 -0.06871207 0.01457177
+v 0.10971503 -0.06871207 0.01459048
+v 0.10936656 -0.07243747 0.01471022
+v 0.10936656 -0.07615111 0.01471770
+v 0.10936656 -0.07986181 0.01466716
+v 0.08432542 -0.08373131 0.01772858
+v 0.10936656 -0.08273305 0.01438833
+v 0.10936656 -0.08373129 0.01411324
+v 0.01791362 -0.08373129 0.01489170
+v 0.01321901 -0.07990740 0.01537826
+v 0.01321901 -0.07615112 0.01579182
+v 0.04635231 -0.08373131 0.01860248
+v 0.04635231 -0.08357548 0.01859125
+v 0.03523044 -0.06871208 0.01578998
+v 0.10593998 -0.06871208 0.01520614
+v 0.10564959 -0.06871208 0.01525292
+v 0.10565927 -0.07243748 0.01521922
+v 0.07148057 -0.08357548 0.01815337
+v 0.07152897 -0.08373131 0.01815898
+v 0.02039160 -0.08373130 0.01598266
+v 0.02040128 -0.08357547 0.01601448
+v 0.03893773 -0.06871208 0.01578062
+v 0.07084172 -0.08117910 0.01787081
+v 0.09453740 -0.06871208 0.01551303
+v 0.09083011 -0.06871208 0.01555794
+v 0.08712282 -0.06871208 0.01557852
+v 0.10195198 -0.06871208 0.01535210
+v 0.09824468 -0.06871208 0.01544379
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 19
+f 1 19 18
+f 1 18 31
+f 1 31 44
+f 1 44 42
+f 1 42 55
+f 1 55 48
+f 1 48 56
+f 1 56 45
+f 1 45 32
+f 1 32 22
+f 1 22 21
+f 1 21 20
+f 1 20 11
+f 1 11 5
+f 1 5 12
+f 1 12 24
+f 1 24 13
+f 1 13 7
+f 1 7 2
+f 2 6 3
+f 2 7 6
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+f 3 6 7
+f 3 7 13
+f 3 13 25
+f 3 25 35
+f 3 35 50
+f 3 50 58
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+f 3 14 8
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+f 5 11 12
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+f 13 24 25
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+f 16 28 29
+f 16 29 17
+f 16 27 28
+f 17 29 30
+f 17 30 18
+f 18 30 31
+f 22 32 23
+f 23 32 33
+f 24 34 25
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+f 28 37 38
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+f 28 39 29
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+f 29 40 41
+f 29 41 30
+f 30 41 42
+f 30 42 43
+f 30 43 44
+f 30 44 31
+f 32 45 33
+f 33 45 46
+f 34 47 48
+f 34 48 49
+f 34 49 35
+f 35 49 50
+f 38 51 39
+f 39 51 52
+f 39 52 40
+f 40 52 53
+f 40 53 42
+f 40 42 41
+f 42 52 54
+f 42 54 55
+f 42 44 43
+f 42 53 52
+f 45 56 46
+f 46 56 57
+f 46 57 47
+f 47 57 48
+f 48 55 54
+f 48 54 49
+f 48 57 56
+f 49 58 50
+f 49 54 59
+f 49 59 60
+f 49 60 61
+f 49 61 62
+f 49 62 58
+f 52 63 59
+f 52 59 54
+f 59 63 64
+f 59 64 60
+
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_7.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1f8b5d3b4441832bf49196ad92e415bc6028032
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_7.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.01321901 -0.06871586 -0.00150610
+v 0.01321901 -0.08176444 -0.00150615
+v 0.01297209 -0.06871201 -0.00150610
+v 0.01297209 -0.06871208 0.01572904
+v 0.01321901 -0.06872361 0.01572904
+v 0.01321901 -0.08178240 0.00162121
+v -0.00664530 -0.08179263 -0.00150615
+v -0.10602856 -0.06871201 -0.00150610
+v 0.00819429 -0.08074303 0.01798593
+v -0.01668239 -0.06871208 0.01579837
+v 0.01321901 -0.07614956 0.01579064
+v 0.00841651 -0.08180424 0.01808799
+v 0.01321901 -0.08180420 0.00911802
+v 0.01315728 -0.08180420 0.00884264
+v 0.00933010 -0.08180419 0.00570565
+v -0.07097899 -0.08180416 -0.00150615
+v -0.10916438 -0.06872354 -0.00150610
+v -0.10841129 -0.06871203 0.00185042
+v -0.03152198 -0.06871208 0.01581955
+v -0.05832459 -0.08074559 0.01803600
+v -0.04634922 -0.08180424 0.01816695
+v 0.01321901 -0.07990738 0.01537852
+v 0.00904614 -0.08180424 0.01777218
+v 0.01005850 -0.08180423 0.01715402
+v 0.01321901 -0.08180422 0.01400355
+v -0.11239897 -0.08180416 -0.00150615
+v -0.11215205 -0.08056736 -0.00150615
+v -0.11218909 -0.06871205 0.00928368
+v -0.08712723 -0.06871208 0.01581955
+v -0.06013942 -0.08074559 0.01803600
+v -0.06036164 -0.08180424 0.01815732
+v 0.01241653 -0.08180423 0.01537851
+v 0.01252765 -0.08180423 0.01519172
+v -0.11283107 -0.08180421 0.01056230
+v -0.11290515 -0.06871207 0.01240141
+v -0.10567054 -0.06871208 0.01581570
+v -0.08341115 -0.08180424 0.01811496
+v -0.11284341 -0.07986251 0.01240137
+v -0.11286810 -0.07614955 0.01240138
+v -0.11247305 -0.08180422 0.01246298
+v -0.11192982 -0.06871207 0.01478737
+v -0.11191748 -0.07243657 0.01477387
+v -0.11192982 -0.06872360 0.01478737
+v -0.10936191 -0.06871208 0.01562313
+v -0.08495437 -0.08180424 0.01801674
+v -0.11169526 -0.08180422 0.01455238
+v -0.11186810 -0.07986251 0.01470260
+v -0.11190514 -0.07614955 0.01475268
+v -0.10936191 -0.06872361 0.01562313
+v -0.10936191 -0.07243658 0.01557882
+v -0.10936191 -0.07614956 0.01553067
+v -0.10936191 -0.07986252 0.01542859
+v -0.10936191 -0.08180423 0.01502803
+f 1 2 7
+f 1 7 16
+f 1 16 26
+f 1 26 27
+f 1 27 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 22
+f 1 22 25
+f 1 25 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 3 8 18
+f 3 18 28
+f 3 28 35
+f 3 35 41
+f 3 41 44
+f 3 44 36
+f 3 36 29
+f 3 29 19
+f 3 19 10
+f 3 10 4
+f 4 9 5
+f 4 10 9
+f 5 9 12
+f 5 12 11
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 8 17 18
+f 9 10 19
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+f 12 21 31
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+f 12 26 16
+f 12 16 15
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+f 12 33 32
+f 12 32 24
+f 12 24 23
+f 17 27 28
+f 17 28 18
+f 19 29 30
+f 19 30 20
+f 20 30 21
+f 21 30 31
+f 22 32 33
+f 22 33 25
+f 22 24 32
+f 26 34 35
+f 26 35 27
+f 27 35 28
+f 29 36 30
+f 30 36 37
+f 30 37 31
+f 34 38 39
+f 34 39 35
+f 34 40 38
+f 35 39 42
+f 35 42 43
+f 35 43 41
+f 36 44 37
+f 37 44 45
+f 38 40 46
+f 38 46 47
+f 38 47 48
+f 38 48 39
+f 39 48 42
+f 41 43 49
+f 41 49 44
+f 42 48 49
+f 42 49 43
+f 44 49 45
+f 45 49 50
+f 45 50 51
+f 45 51 52
+f 45 52 53
+f 46 53 52
+f 46 52 47
+f 47 52 51
+f 47 51 48
+f 48 51 50
+f 48 50 49
+
diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_8.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4529db66abf485ed85523e35c21f6fc3155eb7f6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_8.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.02405030 -0.09015458 0.00803455
+v 0.02415321 -0.08373190 0.00887319
+v 0.02410175 -0.09015458 0.00803666
+v 0.02064145 -0.09015458 0.00891970
+v 0.02039704 -0.08373190 0.00881609
+v 0.05747413 -0.08373191 0.01065936
+v 0.03530592 -0.09015458 0.00886154
+v 0.02029842 -0.09015458 0.00942415
+v 0.01726262 -0.08373192 0.01242968
+v 0.02005830 -0.08373190 0.00905297
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diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_9.obj b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mjcf/mesh/notebook_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/textures/material_0.png b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/textures/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/video.mp4 b/dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/video.mp4
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