diff --git a/.gitattributes b/.gitattributes
index e911cc4483877f7e9f003dafb79b892ee64f61a7..f938a8d29fe7f867ab3431c14383ad3071c51e49 100644
--- a/.gitattributes
+++ b/.gitattributes
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dataset/desktop_supplies/office_stationery/024d2abe4a7556e1bc0275e38d9d3750/marker_031.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/024d2abe4a7556e1bc0275e38d9d3750/mesh/marker_031.glb filter=lfs diff=lfs merge=lfs -text
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+dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mesh/correction_tape_001.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/correction_tape_001.urdf b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/correction_tape_001.urdf
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/correction_tape_001.usd b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/correction_tape_001.usd
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new file mode 100644
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new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mesh/correction_tape_001_collision.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mesh/correction_tape_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90f711d0ca8aa1d710f5049567d01946754ed91c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mesh/correction_tape_001_collision.obj
@@ -0,0 +1,8743 @@
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diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mesh/correction_tape_001_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mesh/correction_tape_001_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..86d73a0410c955d8528312f214658ffb47b3ab1a
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mesh/material.mtl
new file mode 100644
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+# https://github.com/mikedh/trimesh
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+newmtl correction_tape_001_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96cf7bfdc290c187e59be451bb12cf7b5903a01e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001.obj
@@ -0,0 +1,125160 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bee2448c0c3221802b0f96fe43313c33ed210aa6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision.obj
@@ -0,0 +1,8743 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_0.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e471c56ac38ea0f546062ab47accedf98b9b260
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_1.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ee18db0d308466982c38c2e20f7de74bda525aa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_1.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_10.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee6f6b41208cd1d731dfa431534e533ceb86bf20
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_10.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_11.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dce9e2a089ce52ea84ce75a7fbff2f5fa7d62cbc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_11.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_12.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2091ec5b58ec8838f977a0b1cfc47d22ed24ab56
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_12.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_13.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ba86aa0399c95b23c634800d8842fb65c906aa3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_13.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_14.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09a44d851a1e7d6ff7313f15341bf8e63342467b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_14.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00199495 0.02035921 0.00753249
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diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_15.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdfd89658f70bb7c6717f448bdd773574e4bf257
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_15.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_16.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..781b10f2433a3f681b9b5f1237ee9485cba1ad39
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_16.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.01990973 -0.00628719 0.00506160
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+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_17.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbf353f79d24b990948e9b408cf29de48c7b2fc4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_17.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.02526590 -0.00628742 -0.00028503
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+v 0.01595326 -0.01414674 -0.00660195
+v 0.01241937 -0.01206574 -0.00668527
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+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_18.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f0c07ebaab413447c8ecce156c4864115dfc0fc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_18.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.01447623 -0.02148967 0.00595137
+v -0.01447623 -0.01961876 0.00594061
+v -0.01919114 -0.02461967 0.00680749
+v -0.01447623 -0.02291042 0.00582483
+v -0.01919114 -0.01847987 0.00660559
+v -0.01447623 -0.01847987 0.00582753
+v -0.01447623 -0.02421879 0.00478696
+v -0.01991003 -0.01847987 0.00666078
+v -0.02102885 -0.01847987 0.00674289
+v -0.02102885 -0.01961876 0.00675366
+v -0.02102885 -0.02148967 0.00676038
+v -0.02102885 -0.02335937 0.00670249
+v -0.02102885 -0.02461966 0.00658941
+v -0.01447623 -0.02461966 0.00420275
+v -0.01447623 -0.02457278 0.00430236
+v -0.01447623 -0.01847983 -0.00499659
+v -0.02147213 -0.01847987 0.00642521
+v -0.02216076 -0.01961876 0.00594061
+v -0.02216730 -0.02148967 0.00594733
+v -0.02212886 -0.02335937 0.00589616
+v -0.02206016 -0.02461966 0.00579655
+v -0.01447623 -0.02461962 -0.00496700
+v -0.01447623 -0.01880738 -0.00499659
+v -0.01919114 -0.02461961 -0.00693906
+v -0.01919114 -0.01847982 -0.00692423
+v -0.02215176 -0.01847987 0.00593118
+v -0.02235704 -0.02148967 0.00478697
+v -0.02228916 -0.02335937 0.00478696
+v -0.02263675 -0.02461964 -0.00028520
+v -0.01979144 -0.02461961 -0.00694444
+v -0.02102885 -0.01961871 -0.00690135
+v -0.02102885 -0.01847982 -0.00688923
+v -0.02221719 -0.01847987 0.00547889
+v -0.02232760 -0.01961876 0.00478698
+v -0.02283058 -0.02148965 -0.00028519
+v -0.02276760 -0.02335935 -0.00028520
+v -0.02262612 -0.02461963 -0.00197727
+v -0.02113272 -0.02461962 -0.00673580
+v -0.02102885 -0.02335932 -0.00687175
+v -0.02102885 -0.02148962 -0.00690943
+v -0.02211251 -0.02148963 -0.00639656
+v -0.02210351 -0.01961872 -0.00638713
+v -0.02208879 -0.01847983 -0.00637232
+v -0.02229979 -0.01847987 0.00478698
+v -0.02279787 -0.01961874 -0.00028518
+v -0.02278642 -0.01961873 -0.00197725
+v -0.02281668 -0.02148964 -0.00197726
+v -0.02275615 -0.02335934 -0.00197727
+v -0.02272835 -0.02335934 -0.00366799
+v -0.02259504 -0.02461963 -0.00366799
+v -0.02149993 -0.02461962 -0.00655676
+v -0.02207652 -0.02335933 -0.00635754
+v -0.02252225 -0.02148963 -0.00536005
+v -0.02250017 -0.01961872 -0.00536004
+v -0.02247072 -0.01847983 -0.00536004
+v -0.02276024 -0.01847985 -0.00028518
+v -0.02275043 -0.01847984 -0.00197725
+v -0.02272835 -0.01847984 -0.00366797
+v -0.02276106 -0.01961873 -0.00366797
+v -0.02278887 -0.02148964 -0.00366798
+v -0.02245519 -0.02335933 -0.00536006
+v -0.02229489 -0.02461962 -0.00543410
+v -0.02201600 -0.02461962 -0.00628754
+v -0.02204381 -0.02461962 -0.00621216
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 15
+f 1 15 14
+f 1 14 22
+f 1 22 23
+f 1 23 16
+f 1 16 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
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+f 3 11 12
+f 3 12 13
+f 3 13 21
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+f 3 37 50
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+f 5 6 16
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+f 5 25 32
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+f 12 19 20
+f 12 20 13
+f 13 20 21
+f 16 23 24
+f 16 24 25
+f 17 26 18
+f 18 26 27
+f 18 27 19
+f 19 27 20
+f 20 27 28
+f 20 28 21
+f 21 28 29
+f 22 24 23
+f 24 30 25
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+f 25 31 32
+f 26 33 27
+f 27 33 34
+f 27 34 35
+f 27 35 36
+f 27 36 28
+f 28 36 29
+f 29 36 37
+f 30 38 39
+f 30 39 40
+f 30 40 31
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+f 31 42 32
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+f 33 44 34
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+f 34 45 35
+f 35 45 46
+f 35 46 47
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+f 35 48 36
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+f 37 49 50
+f 38 51 39
+f 39 51 52
+f 39 52 41
+f 39 41 40
+f 41 53 42
+f 41 52 53
+f 42 53 54
+f 42 54 43
+f 43 54 55
+f 44 56 45
+f 45 56 57
+f 45 57 46
+f 46 57 58
+f 46 58 59
+f 46 59 47
+f 47 59 60
+f 47 60 49
+f 47 49 48
+f 49 60 53
+f 49 53 61
+f 49 61 50
+f 50 61 62
+f 51 63 52
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+f 52 61 53
+f 53 60 54
+f 54 60 59
+f 54 59 55
+f 55 59 58
+f 61 63 64
+f 61 64 62
+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_19.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..911515b167cee2101f668e28b19dd1ebffc95472
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_19.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00975845 -0.04418530 -0.00695997
+v -0.00963768 -0.04418530 -0.00695582
+v -0.01001276 -0.04418530 -0.00689635
+v -0.01000329 -0.04393654 -0.00694061
+v -0.01447541 -0.03564400 -0.00707889
+v -0.01000329 -0.04206624 -0.00708720
+v -0.00963768 -0.04243821 -0.00704572
+v -0.00963768 -0.04418535 0.00668122
+v -0.01102104 -0.04418531 -0.00646068
+v -0.01447541 -0.03770843 -0.00675249
+v -0.01367836 -0.03645536 -0.00706782
+v -0.01447541 -0.03362144 -0.00670960
+v -0.01184082 -0.03832449 -0.00701942
+v -0.00984038 -0.04003903 -0.00674144
+v -0.00963768 -0.04030406 -0.00671931
+v -0.00963768 -0.04410863 0.00670335
+v -0.01001655 -0.04418535 0.00675175
+v -0.01447541 -0.03813852 -0.00661280
+v -0.01112665 -0.04418531 -0.00638876
+v -0.01447541 -0.03301583 -0.00652150
+v -0.00963768 -0.03231142 -0.00494480
+v -0.00963768 -0.04013784 -0.00668473
+v -0.00963768 -0.04390753 0.00676005
+v -0.01000329 -0.04393660 0.00681952
+v -0.01447541 -0.03649144 0.00674902
+v -0.01447541 -0.03821295 0.00625940
+v -0.01119958 -0.04418535 0.00595787
+v -0.01447541 -0.03916026 -0.00597797
+v -0.01152731 -0.04418531 -0.00557137
+v -0.01447541 -0.03244626 -0.00628914
+v -0.01447541 -0.03231142 -0.00622414
+v -0.00963768 -0.03231146 0.00426919
+v -0.00963768 -0.04206630 0.00688592
+v -0.01000329 -0.04206630 0.00704221
+v -0.01367836 -0.03645542 0.00697722
+v -0.01447541 -0.03460487 0.00664944
+v -0.01447541 -0.03920680 0.00478644
+v -0.01143069 -0.04418535 0.00478642
+v -0.01447541 -0.03918467 -0.00594340
+v -0.01160308 -0.04418531 -0.00535976
+v -0.01447541 -0.03231146 0.00445175
+v -0.01447541 -0.03312979 0.00611143
+v -0.01184082 -0.03832455 0.00690944
+v -0.00985458 -0.04006465 0.00651664
+v -0.00963768 -0.04017275 0.00642536
+v -0.01447541 -0.03996815 -0.00028528
+v -0.01193554 -0.04418533 -0.00028529
+v -0.01447541 -0.03950666 -0.00535284
+v -0.01190192 -0.04418532 -0.00365444
+v -0.01447541 -0.03963452 -0.00502228
+v -0.01447541 -0.03995419 -0.00197677
+v -0.01193081 -0.04418532 -0.00197678
+v -0.01192797 -0.04418532 -0.00217041
+v -0.01447541 -0.03990886 -0.00366826
+v -0.01447541 -0.03979261 -0.00439990
+f 1 2 8
+f 1 8 17
+f 1 17 27
+f 1 27 38
+f 1 38 47
+f 1 47 52
+f 1 52 53
+f 1 53 49
+f 1 49 40
+f 1 40 29
+f 1 29 19
+f 1 19 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 15
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+f 2 22 21
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+f 17 26 27
+f 18 19 28
+f 19 29 28
+f 20 30 21
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+f 21 31 41
+f 21 41 32
+f 23 33 34
+f 23 34 24
+f 24 34 35
+f 24 35 25
+f 25 35 36
+f 26 37 27
+f 27 37 38
+f 28 29 39
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+f 32 41 42
+f 32 42 36
+f 32 36 35
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+f 32 43 44
+f 32 44 45
+f 33 45 44
+f 33 44 34
+f 34 44 43
+f 34 43 35
+f 37 46 47
+f 37 47 38
+f 39 40 48
+f 40 49 50
+f 40 50 48
+f 46 51 52
+f 46 52 47
+f 49 53 54
+f 49 54 55
+f 49 55 50
+f 51 53 52
+f 51 54 53
+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_2.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1c85d0a83e2e019cbed012828254692fd244901
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_2.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.00469910 -0.02336153 0.00808213
+v 0.00497886 -0.02307718 0.00805356
+v 0.00469910 -0.01847988 0.00807825
+v 0.00306092 -0.02502984 0.00807823
+v 0.00306092 -0.03832351 0.00771962
+v 0.00497886 -0.03316256 0.00719868
+v 0.00497886 -0.01847988 0.00802109
+v 0.00412419 -0.03832351 0.00753514
+v 0.00306092 -0.01847988 0.00785350
+v 0.00306092 -0.03989872 0.00763906
+v 0.00395464 -0.04019565 0.00744029
+v 0.00497886 -0.04418398 0.00286601
+v 0.00497886 -0.01847983 -0.00494432
+v 0.00306092 -0.01847983 -0.00494562
+v 0.00306092 -0.04019565 0.00761827
+v 0.00379861 -0.04115436 0.00733896
+v 0.00306092 -0.04418398 0.00402095
+v 0.00497886 -0.04418395 -0.00518995
+v 0.00358063 -0.01847983 -0.00494562
+v 0.00310635 -0.04418395 -0.00498339
+v 0.00306092 -0.04413866 -0.00497559
+v 0.00306092 -0.04143871 0.00742080
+v 0.00306092 -0.04418395 -0.00497559
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 12
+f 2 12 18
+f 2 18 13
+f 2 13 7
+f 2 7 3
+f 2 5 8
+f 2 8 6
+f 3 7 13
+f 3 13 19
+f 3 19 14
+f 3 14 9
+f 3 9 4
+f 4 9 14
+f 4 14 21
+f 4 21 23
+f 4 23 17
+f 4 17 22
+f 4 22 15
+f 4 15 10
+f 4 10 5
+f 5 10 8
+f 6 8 11
+f 6 11 12
+f 8 10 11
+f 10 15 11
+f 11 15 16
+f 11 16 12
+f 12 16 17
+f 12 17 23
+f 12 23 20
+f 12 20 18
+f 13 18 19
+f 14 19 18
+f 14 18 20
+f 14 20 21
+f 15 22 16
+f 16 22 17
+f 20 23 21
+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_20.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e980dd0771fa1761f614cfd3ec119c6cbaef247
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_20.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.01756335 -0.00375148 -0.00701631
+v 0.01851628 -0.00375148 -0.00698999
+v 0.01572608 -0.00375148 -0.00700879
+v 0.01756335 -0.00278190 -0.00710279
+v 0.01990973 -0.00375148 -0.00694737
+v 0.01524797 -0.00375148 -0.00699625
+v 0.01572608 -0.00278190 -0.00706519
+v 0.01940110 0.00095846 -0.00709902
+v 0.01940110 -0.00091134 -0.00709526
+v 0.01940110 -0.00278190 -0.00702884
+v 0.01990973 -0.00329946 -0.00698247
+v 0.01990973 -0.00375152 0.00283126
+v 0.01511177 -0.00375148 -0.00699249
+v 0.01511177 -0.00278190 -0.00704889
+v 0.01511177 0.00403490 -0.00694986
+v 0.01940110 0.00282902 -0.00706893
+v 0.01990973 0.00282902 -0.00706893
+v 0.01990973 0.00095846 -0.00706768
+v 0.01990973 -0.00091134 -0.00705390
+v 0.01990973 -0.00142890 -0.00704012
+v 0.01990973 0.00403486 0.00347801
+v 0.01869991 0.00403485 0.00537684
+v 0.01849233 0.00373910 0.00563879
+v 0.01625678 0.00045304 0.00547334
+v 0.01511177 -0.00023146 0.00564881
+v 0.01511177 -0.00116140 0.00521640
+v 0.01511177 -0.00375152 0.00301801
+v 0.01940110 0.00403490 -0.00703634
+v 0.01511177 0.00403485 0.00570146
+v 0.01990973 0.00403490 -0.00703509
+v 0.01850829 0.00403485 0.00564380
+v 0.01751122 0.00403485 0.00567890
+v 0.01743044 0.00300124 0.00566135
+v 0.01672925 0.00170008 0.00565508
+v 0.01511177 -0.00011636 0.00566259
+v 0.01511177 0.00220393 0.00570020
+v 0.01572608 0.00403485 0.00570020
+v 0.01691007 0.00403485 0.00569268
+v 0.01567676 0.00102930 0.00567638
+v 0.01511177 0.00042865 0.00567638
+v 0.01511177 0.00100720 0.00568515
+v 0.01572608 0.00282897 0.00569770
+f 1 2 5
+f 1 5 12
+f 1 12 27
+f 1 27 13
+f 1 13 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 20
+f 5 20 19
+f 5 19 18
+f 5 18 17
+f 5 17 30
+f 5 30 21
+f 5 21 12
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 9 20 11
+f 9 11 10
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 13 27 26
+f 13 26 25
+f 13 25 35
+f 13 35 40
+f 13 40 41
+f 13 41 36
+f 13 36 29
+f 13 29 15
+f 13 15 14
+f 15 28 16
+f 15 29 37
+f 15 37 38
+f 15 38 32
+f 15 32 31
+f 15 31 22
+f 15 22 21
+f 15 21 30
+f 15 30 28
+f 16 28 17
+f 17 28 30
+f 22 31 23
+f 23 31 32
+f 23 32 33
+f 23 33 34
+f 23 34 24
+f 24 34 25
+f 25 34 35
+f 29 36 37
+f 32 38 39
+f 32 39 33
+f 33 39 34
+f 34 39 35
+f 35 39 40
+f 36 41 39
+f 36 39 42
+f 36 42 37
+f 37 42 38
+f 38 42 39
+f 39 41 40
+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_21.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a75d5c3173c16ff1df11d24d1d2cd0d018cec029
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_21.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.02123911 0.00403490 -0.00708122
+v 0.02123911 0.00470072 -0.00709134
+v 0.02246000 0.00470072 -0.00701613
+v 0.02246000 0.00425886 -0.00698720
+v 0.02246000 0.00403490 -0.00697130
+v 0.01485548 0.00403490 -0.00694961
+v 0.01485548 0.00932816 -0.00696694
+v 0.01485548 0.01031326 -0.00696838
+v 0.01940107 0.01949399 -0.00707393
+v 0.01957006 0.01949399 -0.00707682
+v 0.02123911 0.01405244 -0.00708697
+v 0.02246000 0.01281008 -0.00702911
+v 0.02246000 0.01218210 -0.00702912
+v 0.01485548 0.00844292 -0.00696550
+v 0.02246000 0.00403486 0.00284219
+v 0.01485548 0.00403485 0.00570018
+v 0.01485548 0.01405244 -0.00697271
+v 0.01485548 0.01867988 -0.00696546
+v 0.01485548 0.01949399 -0.00696401
+v 0.02123911 0.01949399 -0.00702765
+v 0.02123911 0.01779464 -0.00706815
+v 0.02123911 0.01592430 -0.00708117
+v 0.02246000 0.01779464 -0.00697847
+v 0.02246000 0.01079290 0.00751394
+v 0.01850848 0.00403485 0.00564378
+v 0.01572649 0.00403485 0.00570018
+v 0.01485548 0.01078987 0.00751972
+v 0.01485548 0.01949394 0.00570603
+v 0.02246000 0.01949399 -0.00694376
+v 0.02246000 0.01171748 0.00761808
+v 0.02123911 0.01218204 0.00767304
+v 0.01756378 0.01218204 0.00768027
+v 0.01485548 0.01218204 0.00768461
+v 0.02123911 0.01079441 0.00751538
+v 0.01756378 0.01079290 0.00751828
+v 0.01691016 0.00403485 0.00569295
+v 0.01751167 0.00403485 0.00567849
+v 0.01810797 0.00403485 0.00565824
+v 0.01485548 0.01331998 0.00748791
+v 0.01756378 0.01331695 0.00748502
+v 0.02246000 0.01331090 0.00747924
+v 0.01572649 0.01949394 0.00570458
+v 0.02246000 0.01949395 0.00342658
+v 0.02246000 0.01218204 0.00767014
+v 0.02246000 0.01293562 0.00754432
+v 0.01940107 0.01331090 0.00748357
+v 0.01762259 0.01949394 0.00566698
+v 0.01750944 0.01949394 0.00567132
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 25
+f 1 25 38
+f 1 38 37
+f 1 37 36
+f 1 36 26
+f 1 26 16
+f 1 16 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 3
+f 2 6 14
+f 2 14 7
+f 3 13 12
+f 3 12 23
+f 3 23 29
+f 3 29 43
+f 3 43 41
+f 3 41 45
+f 3 45 44
+f 3 44 30
+f 3 30 24
+f 3 24 15
+f 3 15 5
+f 3 5 4
+f 6 16 27
+f 6 27 33
+f 6 33 39
+f 6 39 28
+f 6 28 19
+f 6 19 18
+f 6 18 17
+f 6 17 8
+f 6 8 7
+f 6 7 14
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 28
+f 9 28 42
+f 9 42 48
+f 9 48 47
+f 9 47 43
+f 9 43 29
+f 9 29 20
+f 9 20 10
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 12
+f 12 22 21
+f 12 21 23
+f 15 24 25
+f 16 26 27
+f 20 29 21
+f 21 29 23
+f 24 30 31
+f 24 31 32
+f 24 32 33
+f 24 33 34
+f 24 34 35
+f 24 35 26
+f 24 26 36
+f 24 36 37
+f 24 37 38
+f 24 38 25
+f 26 35 27
+f 27 35 33
+f 28 39 40
+f 28 40 41
+f 28 41 42
+f 30 44 31
+f 31 44 45
+f 31 45 32
+f 32 45 33
+f 33 35 34
+f 33 45 40
+f 33 40 39
+f 40 45 46
+f 40 46 41
+f 41 46 45
+f 41 43 47
+f 41 47 48
+f 41 48 42
+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_22.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..684ed3951dabe0aae83bcd6cd5c0a44bf2839398
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_22.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.02278771 -0.01414676 -0.00028510
+v 0.02241320 -0.01847985 -0.00028512
+v 0.02277959 -0.01414675 -0.00197762
+v 0.02228533 -0.01414678 0.00582299
+v 0.02219601 -0.01535602 0.00569398
+v 0.02237362 -0.01847985 0.00016706
+v 0.02240813 -0.01847985 -0.00131566
+v 0.02240407 -0.01847984 -0.00197764
+v 0.02239291 -0.01847984 -0.00300676
+v 0.02238479 -0.01847984 -0.00366874
+v 0.02275625 -0.01414675 -0.00354115
+v 0.02223154 -0.01414678 0.00587260
+v 0.02114355 -0.01847987 0.00638856
+v 0.02162259 -0.01847987 0.00540763
+v 0.02190981 -0.01847987 0.00478676
+v 0.02226300 -0.01847983 -0.00491191
+v 0.02275422 -0.01414675 -0.00366872
+v 0.02125113 -0.01414678 0.00662814
+v 0.02047777 -0.01847987 0.00663095
+v 0.02200014 -0.01847983 -0.00575675
+v 0.02244264 -0.01414801 -0.00550724
+v 0.02244467 -0.01414674 -0.00549307
+v 0.01952680 -0.01414679 0.00722491
+v 0.01940095 -0.01847988 0.00694848
+v 0.02108164 -0.01847983 -0.00672775
+v 0.02214222 -0.01486609 -0.00616923
+v 0.02244162 -0.01414674 -0.00550866
+v 0.01756396 -0.01414679 0.00725043
+v 0.01241937 -0.01847987 0.00671175
+v 0.02005151 -0.01847982 -0.00696589
+v 0.01940095 -0.01587725 -0.00719836
+v 0.01940095 -0.01414673 -0.00723095
+v 0.01953288 -0.01414673 -0.00719551
+v 0.02141352 -0.01414801 -0.00667670
+v 0.02141149 -0.01414674 -0.00667670
+v 0.01241937 -0.01414678 0.00643110
+v 0.01241937 -0.01551084 0.00663663
+v 0.01241937 -0.01847983 -0.00494167
+v 0.01940095 -0.01847982 -0.00709772
+v 0.01770097 -0.01414673 -0.00706510
+v 0.02139728 -0.01414674 -0.00668095
+v 0.01241937 -0.01414674 -0.00551150
+v 0.01595329 -0.01414674 -0.00660157
+f 1 2 3
+f 1 3 11
+f 1 11 17
+f 1 17 22
+f 1 22 27
+f 1 27 35
+f 1 35 41
+f 1 41 33
+f 1 33 32
+f 1 32 40
+f 1 40 43
+f 1 43 42
+f 1 42 36
+f 1 36 28
+f 1 28 23
+f 1 23 18
+f 1 18 12
+f 1 12 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 15
+f 2 15 14
+f 2 14 13
+f 2 13 19
+f 2 19 24
+f 2 24 29
+f 2 29 38
+f 2 38 39
+f 2 39 30
+f 2 30 25
+f 2 25 20
+f 2 20 16
+f 2 16 10
+f 2 10 9
+f 2 9 8
+f 2 8 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 10 16 17
+f 10 17 11
+f 12 18 13
+f 13 18 19
+f 16 20 21
+f 16 21 17
+f 17 21 22
+f 18 23 19
+f 19 23 24
+f 20 25 26
+f 20 26 21
+f 21 26 27
+f 21 27 22
+f 23 28 24
+f 24 28 29
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 26 34 27
+f 27 34 35
+f 28 36 37
+f 28 37 29
+f 29 37 36
+f 29 36 42
+f 29 42 38
+f 30 39 31
+f 31 39 40
+f 31 40 32
+f 33 41 34
+f 34 41 35
+f 38 42 39
+f 39 42 43
+f 39 43 40
+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_23.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dbbe1003d20c1c025e6e9706bacf5f6684917ac
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_23.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.01447541 -0.03231142 -0.00622484
+v -0.01447541 -0.01847983 -0.00499706
+v -0.00963768 -0.01847983 -0.00494173
+v -0.00963768 -0.03231142 -0.00494564
+v -0.01447541 -0.03231146 0.00445151
+v -0.01447541 -0.01847987 0.00582729
+v -0.00963768 -0.01847988 0.00690058
+v -0.00963768 -0.03231146 0.00426877
+v -0.00963768 -0.03141788 0.00597909
+v -0.00963768 -0.03081809 0.00623520
+v -0.01000329 -0.02897135 0.00671394
+v -0.01184082 -0.02710024 0.00652091
+v -0.01342072 -0.02523184 0.00617602
+v -0.01447541 -0.02291123 0.00582470
+v -0.01447541 -0.01961987 0.00594054
+v -0.01367836 -0.01961987 0.00641413
+v -0.01375366 -0.01847987 0.00624940
+v -0.01184082 -0.01847988 0.00684911
+v -0.01184082 -0.01961988 0.00687356
+v -0.00963768 -0.01961988 0.00692246
+v -0.00963768 -0.02897135 0.00674225
+v -0.01000329 -0.02710025 0.00685551
+v -0.01184082 -0.02523184 0.00679375
+v -0.01367836 -0.02148962 0.00642698
+v -0.01382422 -0.02338375 0.00617731
+v -0.01447541 -0.02148962 0.00595082
+v -0.01255974 -0.01847987 0.00666894
+v -0.01184082 -0.02148963 0.00687097
+v -0.00963768 -0.02290989 0.00691344
+v -0.00963768 -0.02710025 0.00685680
+v -0.00963768 -0.02485953 0.00689928
+v -0.01184082 -0.02336074 0.00685938
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 14
+f 1 14 26
+f 1 26 15
+f 1 15 6
+f 1 6 2
+f 2 6 17
+f 2 17 27
+f 2 27 18
+f 2 18 7
+f 2 7 3
+f 3 7 20
+f 3 20 29
+f 3 29 31
+f 3 31 30
+f 3 30 21
+f 3 21 10
+f 3 10 9
+f 3 9 8
+f 3 8 4
+f 5 8 9
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 6 15 16
+f 6 16 17
+f 7 18 19
+f 7 19 20
+f 10 21 11
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 12 23 13
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 14 25 26
+f 15 26 24
+f 15 24 16
+f 16 24 19
+f 16 19 18
+f 16 18 27
+f 16 27 17
+f 19 28 20
+f 19 24 28
+f 20 28 29
+f 21 30 22
+f 22 30 31
+f 22 31 32
+f 22 32 23
+f 23 32 24
+f 24 26 25
+f 24 32 28
+f 28 32 29
+f 29 32 31
+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_24.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5da0537113b3b00e91a1913aabfee22d1cbdb593
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_24.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.02102904 0.00403490 -0.00706871
+v -0.02102904 0.00470123 -0.00707882
+v -0.02037548 0.00403490 -0.00706727
+v -0.02221334 0.00403490 -0.00701234
+v -0.02102904 0.01031313 -0.00709325
+v -0.02245249 0.00455103 -0.00700799
+v -0.02245249 0.00470123 -0.00700944
+v -0.01735232 0.00403490 -0.00697909
+v -0.02245249 0.00427938 -0.00700366
+v -0.02245249 0.00403490 -0.00698632
+v -0.02245249 0.01176245 -0.00701520
+v -0.02245249 0.01218430 -0.00701520
+v -0.02102904 0.01218430 -0.00709036
+v -0.01919218 0.02035927 -0.00704842
+v -0.01735232 0.01218270 -0.00697762
+v -0.01735232 0.00403485 0.00569320
+v -0.02245249 0.00403486 0.00322726
+v -0.02102904 0.01779460 -0.00703974
+v -0.02102904 0.01405227 -0.00707590
+v -0.02245249 0.02035927 -0.00692555
+v -0.02102904 0.01966417 -0.00700794
+v -0.02171056 0.02035927 -0.00696602
+v -0.01735432 0.02035927 -0.00697325
+v -0.01735232 0.02035767 -0.00697325
+v -0.01735232 0.01081322 0.00749860
+v -0.02102904 0.01080363 0.00750583
+v -0.02245249 0.01080523 0.00750727
+v -0.01738328 0.00403485 0.00569320
+v -0.01845474 0.00403485 0.00566140
+v -0.02245249 0.02035922 0.00427672
+v -0.01735232 0.02035925 -0.00358366
+v -0.01735232 0.01218424 0.00766483
+v -0.02102904 0.01218424 0.00767206
+v -0.02245249 0.01111523 0.00754486
+v -0.01782564 0.00403485 0.00568019
+v -0.02245249 0.01332516 0.00748849
+v -0.01833741 0.02035922 0.00565423
+v -0.01735232 0.02035922 0.00569326
+v -0.01735232 0.01332356 0.00748849
+v -0.01735432 0.01332196 0.00748994
+v -0.02245249 0.01218424 0.00767350
+v -0.01919218 0.01332196 0.00748994
+v -0.01794148 0.02035922 0.00567013
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 28
+f 1 28 35
+f 1 35 29
+f 1 29 17
+f 1 17 10
+f 1 10 4
+f 1 4 2
+f 2 5 3
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 5 8
+f 4 9 6
+f 4 10 9
+f 5 7 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 8
+f 6 9 10
+f 6 10 17
+f 6 17 27
+f 6 27 34
+f 6 34 41
+f 6 41 36
+f 6 36 30
+f 6 30 20
+f 6 20 12
+f 6 12 11
+f 6 11 7
+f 8 14 15
+f 8 15 24
+f 8 24 31
+f 8 31 38
+f 8 38 39
+f 8 39 32
+f 8 32 25
+f 8 25 16
+f 12 18 19
+f 12 19 13
+f 12 20 18
+f 13 19 14
+f 14 19 18
+f 14 18 21
+f 14 21 22
+f 14 22 20
+f 14 20 30
+f 14 30 37
+f 14 37 43
+f 14 43 38
+f 14 38 31
+f 14 31 23
+f 14 23 24
+f 14 24 15
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 17 29 27
+f 18 20 22
+f 18 22 21
+f 23 31 24
+f 25 32 26
+f 26 32 33
+f 26 33 34
+f 26 34 27
+f 27 29 35
+f 27 35 28
+f 30 36 37
+f 32 39 40
+f 32 40 33
+f 33 40 41
+f 33 41 34
+f 36 41 42
+f 36 42 38
+f 36 38 43
+f 36 43 37
+f 38 42 40
+f 38 40 39
+f 40 42 41
+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_25.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5180bace9e604e7426fe97d6c31c208542cb66b0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_25.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.01797859 -0.00214527 -0.00709421
+v -0.01919145 -0.00214527 -0.00704805
+v -0.01919145 -0.00091117 -0.00708699
+v -0.01919145 0.00095873 -0.00708410
+v 0.01511177 -0.00214527 -0.00703074
+v -0.02028996 -0.00214527 -0.00696294
+v -0.02028996 -0.00091117 -0.00700043
+v -0.02028996 0.00020678 -0.00703073
+v -0.02028996 0.00207668 -0.00706534
+v -0.02028996 0.00394718 -0.00706534
+v 0.01511177 0.00403490 -0.00694993
+v 0.01511177 -0.00214532 0.00430346
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+v -0.01111725 -0.00214533 0.00761846
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+v -0.01000142 0.00095867 0.00763434
+v -0.00816480 0.00282917 0.00764301
+v -0.00677174 0.00403484 0.00760694
+v -0.00822024 0.00403484 0.00760262
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+f 1 17 28
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+f 1 40 48
+f 1 48 46
+f 1 46 51
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+f 46 48 47
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+f 53 54 55
+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_26.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63a88cc8252013f8d7ac7327a0e498d15064b32c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_26.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00837455 -0.04418646 -0.00690143
+v 0.00837455 -0.04393700 -0.00687244
+v 0.01021234 -0.04206647 -0.00708091
+v 0.01021234 -0.04393700 -0.00692353
+v 0.01022144 -0.04418646 -0.00688072
+v 0.00722540 -0.04418647 -0.00639336
+v 0.00497904 -0.03629735 -0.00494089
+v 0.01044956 -0.04204562 -0.00701602
+v 0.01005223 -0.04004458 -0.00674541
+v 0.01044956 -0.03873089 -0.00659629
+v 0.01044956 -0.04007470 -0.00678821
+v 0.01044956 -0.04393700 -0.00681998
+v 0.01044956 -0.04418647 -0.00675094
+v 0.00497904 -0.04418647 -0.00518944
+v 0.01044956 -0.03629735 -0.00565468
+v 0.01044956 -0.03665493 -0.00580241
+v 0.01044956 -0.03832543 -0.00646927
+v 0.00497904 -0.03629738 0.00290116
+v 0.01044956 -0.04418651 0.00658330
+v 0.00497904 -0.04418650 0.00286661
+v 0.01044956 -0.03629738 0.00318419
+v 0.00726824 -0.04418651 0.00580462
+v 0.00752688 -0.04418651 0.00611941
+v 0.00791136 -0.04418651 0.00647976
+v 0.00864819 -0.04206652 0.00634860
+v 0.01006562 -0.04007320 0.00651290
+v 0.01044956 -0.03973570 0.00659850
+v 0.01044956 -0.03883442 0.00629891
+v 0.01044956 -0.03846835 0.00602692
+v 0.01044956 -0.03785591 0.00522891
+v 0.01044956 -0.04368528 0.00672551
+v 0.01022519 -0.04418651 0.00672965
+v 0.00824443 -0.04418651 0.00658606
+v 0.01021234 -0.04206653 0.00702374
+v 0.01044956 -0.04182480 0.00699889
+v 0.01021234 -0.04393705 0.00679730
+v 0.00996762 -0.04418652 0.00683320
+f 1 2 3
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+f 1 19 32
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+f 18 30 21
+f 19 31 32
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+f 24 34 25
+f 25 34 26
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+f 27 34 35
+f 31 35 36
+f 31 36 32
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+f 33 37 34
+f 34 37 35
+f 35 37 36
+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_27.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96d4b833d86fedbd1012cec46541c82c6ce9ada6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_27.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.00199495 0.02035921 0.00753235
+v 0.00199495 0.03088960 0.00716220
+v 0.00181696 0.03088960 0.00730768
+v 0.00089875 0.03219923 0.00742293
+v 0.00107306 0.02035921 0.00761878
+v 0.00199495 0.02035927 -0.00685471
+v 0.00199495 0.03219924 0.00672720
+v 0.00181941 0.03219923 0.00688132
+v 0.00038441 0.03219923 0.00742581
+v -0.00081491 0.02035921 0.00764614
+v -0.00632662 0.02035927 -0.00692673
+v 0.00199495 0.02153678 -0.00691087
+v 0.00199495 0.03219929 -0.00703183
+v -0.00081491 0.03219923 0.00743157
+v -0.00197127 0.02035921 0.00760293
+v -0.00816426 0.02035927 -0.00693825
+v 0.00199495 0.02241875 -0.00693680
+v 0.00199495 0.02340736 -0.00694688
+v -0.00816426 0.03088966 -0.00706929
+v -0.00081491 0.03219929 -0.00703471
+v -0.00355849 0.02035921 0.00746609
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+v -0.01000191 0.02035927 -0.00693969
+v -0.00081491 0.02340736 -0.00695840
+v -0.01054571 0.02901908 -0.00704048
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+v -0.00816426 0.03219929 -0.00700590
+v -0.00448897 0.03219929 -0.00702319
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+v -0.00210139 0.03219929 -0.00703183
+v -0.01054571 0.02035927 -0.00693969
+v -0.01054571 0.02848706 0.00565693
+v -0.01054571 0.02823557 0.00566558
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+v -0.01054571 0.02659563 0.00570015
+v -0.01054571 0.02035922 0.00572028
+v -0.00909720 0.02996012 0.00563534
+v -0.01054571 0.03219925 0.00344013
+v -0.01054571 0.03088966 -0.00702176
+v -0.01054571 0.03144133 -0.00699294
+v -0.01054571 0.03219929 -0.00693100
+v -0.01054571 0.03044920 0.00458670
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+f 1 4 5
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+f 1 10 15
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+f 1 23 16
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+f 25 41 40
+f 25 40 39
+f 26 39 40
+f 26 40 27
+f 27 40 41
+f 32 37 42
+f 37 38 42
+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_28.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77f60ff656f355d0764e6c85b1781f836b5b4dc6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_28.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00497904 -0.02307533 0.00805424
+v 0.01044956 -0.02686157 0.00686116
+v 0.00653731 -0.02149003 0.00789857
+v 0.00653731 -0.01961872 0.00791468
+v 0.00497904 -0.01847988 0.00802070
+v 0.00497904 -0.03316266 0.00719933
+v 0.01044956 -0.02499025 0.00687995
+v 0.01021234 -0.02897180 0.00668668
+v 0.01044956 -0.02876775 0.00664105
+v 0.01044956 -0.02311893 0.00688131
+v 0.01044956 -0.02124936 0.00688131
+v 0.01044956 -0.01961872 0.00687997
+v 0.01044956 -0.01847988 0.00687461
+v 0.00656408 -0.01847988 0.00778182
+v 0.00497904 -0.01847983 -0.00494334
+v 0.00497904 -0.03458052 0.00653098
+v 0.01014594 -0.03077161 0.00608679
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+v 0.01044956 -0.01847983 -0.00494200
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+v 0.00725646 -0.01847983 -0.00494334
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+v 0.01044956 -0.03041758 0.00608142
+v 0.00497904 -0.03629658 -0.00494072
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+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_29.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f0b652e03c7a0141978d5a6fd137a2bca8f090c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_29.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
+v 0.01987929 0.01949400 -0.00706834
+v 0.01987929 0.02853256 -0.00704490
+v 0.02123951 0.02714831 -0.00704765
+v 0.02491433 0.01966686 -0.00702978
+v 0.02491433 0.01949400 -0.00702703
+v 0.01987929 0.01949396 0.00347001
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+v 0.02307733 0.02527795 -0.00699534
+v 0.02491433 0.02153723 -0.00702564
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diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_3.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f10e6af0a6552f611a585ef5df9da343cb51d67
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_3.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_30.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..932e5d0bea7c72118a92d232af92b6d891b15a68
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_30.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_31.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79311a8c05e127e7719606ca517740e14d07d61e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_31.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_32.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..658ea805f22ad34925b6b528011aee45dbaeaaf4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_32.obj
@@ -0,0 +1,256 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_33.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af80b98f666399a720d8dcf6961c882e3a75c7af
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_33.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.01735137 -0.00278264 -0.00709735
+v -0.01183804 -0.00465300 -0.00705405
+v -0.01367813 -0.00465300 -0.00705116
+v -0.02028996 -0.00628739 -0.00694866
+v -0.01797859 -0.00214527 -0.00709302
+v 0.01388505 -0.00465300 -0.00706704
+v -0.00839697 -0.00628739 -0.00700208
+v -0.02028996 -0.00628744 0.00557755
+v -0.02028996 -0.00214527 -0.00696309
+v -0.01919145 -0.00214527 -0.00704826
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+v 0.01511177 -0.00278264 -0.00704826
+v 0.01511177 -0.00465300 -0.00699342
+v 0.01388505 -0.00628739 -0.00695588
+v 0.01204843 -0.00628739 -0.00698909
+v 0.00837172 -0.00628739 -0.00700496
+v -0.02028996 -0.00214531 0.00302092
+v -0.01548702 -0.00628745 0.00753942
+v -0.01493257 -0.00465306 0.00747157
+v -0.01466921 -0.00359848 0.00738063
+v -0.01331773 -0.00214533 0.00747735
+v -0.01395882 -0.00214533 0.00709335
+v 0.01511177 -0.00214532 0.00430285
+v 0.01511177 -0.00628739 -0.00687071
+v -0.01534494 -0.00628745 0.00755818
+v -0.01300239 -0.00214533 0.00751200
+v -0.01367813 -0.00465306 0.00764047
+v 0.01511177 -0.00214897 0.00432017
+v 0.01510484 -0.00214532 0.00432739
+v 0.01511177 -0.00628743 0.00296173
+v -0.01353951 -0.00628745 0.00758128
+v -0.01185883 -0.00214533 0.00762027
+v -0.01183804 -0.00278270 0.00765058
+v 0.01408950 -0.00214532 0.00519212
+v 0.01312614 -0.00214532 0.00561798
+v 0.01126180 -0.00377524 0.00565263
+v 0.00688163 -0.00628744 0.00578543
+v -0.01316872 -0.00628745 0.00755818
+v -0.01111725 -0.00214533 0.00761883
+v 0.00309057 -0.00628744 0.00627481
+v 0.01292515 -0.00214532 0.00565696
+v 0.00493066 -0.00628744 0.00612323
+v 0.00678807 -0.00628744 0.00581141
+f 1 2 3
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+f 3 7 4
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+f 22 26 28
+f 22 28 27
+f 24 30 29
+f 26 32 28
+f 27 28 33
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+f 29 30 31
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+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_34.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c451fed0e03c160dab7eda96cf35ac448a47ed14
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_34.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v 0.02246144 0.00403490 -0.00697191
+v 0.02246144 0.00470072 -0.00701670
+v 0.02675217 0.00470072 -0.00701670
+v 0.02491486 0.00403490 -0.00696613
+v 0.02246144 0.00403486 0.00284181
+v 0.02246144 0.01218210 -0.00702969
+v 0.02675217 0.01031326 -0.00709182
+v 0.02675217 0.00657106 -0.00706728
+v 0.02822933 0.00844291 -0.00667998
+v 0.02815274 0.00657105 -0.00663953
+v 0.02801959 0.00470071 -0.00655137
+v 0.02675217 0.00403490 -0.00695890
+v 0.02490037 0.00403485 0.00644879
+v 0.02246144 0.01079290 0.00751386
+v 0.02246144 0.01281008 -0.00702968
+v 0.02675217 0.01218210 -0.00708749
+v 0.02825969 0.01031325 -0.00669442
+v 0.02913867 0.01031325 -0.00535914
+v 0.02907381 0.00844291 -0.00535915
+v 0.02891168 0.00657105 -0.00535916
+v 0.02864260 0.00470071 -0.00535916
+v 0.02795266 0.00403489 -0.00648925
+v 0.02595529 0.00403485 0.00674937
+v 0.02675217 0.00403484 0.00686787
+v 0.02246144 0.01218204 0.00767138
+v 0.02491486 0.01949399 -0.00702676
+v 0.02246144 0.01779464 -0.00697908
+v 0.02675217 0.01405244 -0.00707158
+v 0.02824106 0.01218209 -0.00668430
+v 0.02910348 0.01218209 -0.00535914
+v 0.02941740 0.01218208 -0.00366837
+v 0.02945121 0.01031324 -0.00366837
+v 0.02938429 0.00844290 -0.00366838
+v 0.02921318 0.00657104 -0.00366839
+v 0.02894066 0.00470070 -0.00366839
+v 0.02880888 0.00403488 -0.00366840
+v 0.02861639 0.00403489 -0.00475801
+v 0.02850944 0.00403489 -0.00535917
+v 0.02675217 0.00470066 0.00694158
+v 0.02760286 0.00403485 0.00634474
+v 0.02491486 0.01949393 0.00696909
+v 0.02246144 0.01293562 0.00754422
+v 0.02491486 0.01218204 0.00766704
+v 0.02508390 0.01949399 -0.00701520
+v 0.02675217 0.01592430 -0.00702533
+v 0.02246144 0.01949399 -0.00694295
+v 0.02816723 0.01405243 -0.00664961
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+v 0.02926907 0.01405242 -0.00366836
+v 0.02930080 0.01405242 -0.00197614
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+v 0.02950917 0.01124841 0.00055568
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+v 0.02884062 0.00403488 -0.00197618
+v 0.02807271 0.00470067 0.00612943
+v 0.02749868 0.01218204 0.00726964
+v 0.02639271 0.01076566 0.00744594
+v 0.02800717 0.00403485 0.00605717
+v 0.02354947 0.01949394 0.00623064
+v 0.02246144 0.01331090 0.00747919
+v 0.02626921 0.01363322 0.00743006
+v 0.02675217 0.01779459 0.00670463
+v 0.02684324 0.01949394 0.00629856
+v 0.02657968 0.01218204 0.00749508
+v 0.02683151 0.01949398 -0.00663225
+v 0.02675217 0.01779464 -0.00687503
+v 0.02803683 0.01592429 -0.00656434
+v 0.02246144 0.01949395 0.00342569
+v 0.02868883 0.01592429 -0.00535912
+v 0.02899999 0.01592428 -0.00366835
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+v 0.02905105 0.01592427 -0.00028535
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+v 0.02820518 0.01949396 -0.00028534
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+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_35.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d93eb62e4431b2986c2930d3c48f1ee0a54e2e74
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_35.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.00306092 -0.03319060 0.00369364
+v 0.00306092 -0.03319057 -0.00493977
+v -0.00598396 -0.03319060 0.00369364
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+v 0.00306092 -0.04414018 -0.00497546
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+v -0.00598396 -0.03319057 -0.00493977
+v -0.00598396 -0.03499024 0.00369363
+v -0.00296930 -0.04418650 0.00369360
+v 0.00306092 -0.04418647 -0.00497546
+v -0.00265145 -0.03319057 -0.00494068
+v -0.00598396 -0.04418650 0.00331418
+f 1 2 5
+f 1 5 12
+f 1 12 8
+f 1 8 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 7
+f 3 7 13
+f 3 13 9
+f 4 10 13
+f 4 13 7
+f 4 7 11
+f 5 7 12
+f 6 11 7
+f 7 8 12
+f 9 13 10
+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_36.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83929978f5f00bb4e6ede4928a9d733d34af309e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_36.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.01485485 0.03069801 0.00501322
+v 0.00834423 0.03069801 0.00441373
+v 0.00834423 0.03037789 0.00484927
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+f 9 18 26
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+f 9 25 32
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+f 9 31 27
+f 9 27 19
+f 9 19 11
+f 9 11 10
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+f 16 25 26
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+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_37.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce15085c256f9a29d37136f83059429bcad33784
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_37.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.01054646 0.02035922 0.00572058
+v -0.01054646 0.02659574 0.00570062
+v -0.01184135 0.02527768 0.00570436
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+v -0.01054646 0.02035927 -0.00693975
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+v -0.01812658 0.02153649 -0.00701719
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+v -0.01054646 0.02724337 -0.00697345
+v -0.01165880 0.02724332 0.00567313
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+v -0.01321193 0.02648254 0.00565939
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+v -0.01731180 0.02035922 0.00569559
+v -0.01656677 0.02279049 0.00565937
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+v -0.01812658 0.02340711 -0.00701469
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+v -0.01270139 0.02724332 0.00557694
+v -0.01443632 0.02604318 0.00560817
+v -0.01812658 0.02081137 0.00565312
+v -0.01812658 0.02056137 0.00565812
+v -0.01812658 0.02606412 -0.00696845
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+v -0.01812658 0.02724332 0.00435513
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+v -0.01812658 0.02724337 -0.00690349
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+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_38.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2f9ef27641f1a8a8c3eba1da2fc7e12c1715add
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_38.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.00963721 -0.04418646 -0.00695614
+v -0.00963721 -0.04243851 -0.00704616
+v -0.00816497 -0.04418646 -0.00690841
+v -0.00963721 -0.04418651 0.00668096
+v -0.00816497 -0.04393685 -0.00687977
+v -0.00963721 -0.04030551 -0.00671883
+v -0.00797472 -0.04418646 -0.00684158
+v -0.00802586 -0.04418651 0.00661004
+v -0.00963721 -0.04390733 0.00676006
+v -0.00598396 -0.03716238 -0.00494445
+v -0.00963721 -0.04013842 -0.00668473
+v -0.00700920 -0.04418647 -0.00640106
+v -0.00963721 -0.04206657 0.00688691
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+v -0.00840456 -0.04206656 0.00636319
+v -0.00598396 -0.04418647 -0.00564549
+v -0.00963721 -0.03890482 -0.00632739
+v -0.00963721 -0.03716238 -0.00561410
+v -0.00598396 -0.03716241 0.00254307
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+v -0.00696522 -0.04418651 0.00554487
+v -0.00877468 -0.04060192 0.00606178
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+v -0.00963721 -0.03716241 0.00316907
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+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_39.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a84f5daa1b933a2c82de56a84e305aa6d7eee8b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_39.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.01367811 0.02724337 -0.00704203
+v -0.01551600 0.02724337 -0.00702411
+v -0.01184072 0.02901982 -0.00706822
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+v -0.01054572 0.02901982 -0.00703927
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+v -0.01561020 0.02724333 0.00293413
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+v -0.01367811 0.03463071 -0.00692206
+v -0.01054572 0.03463071 -0.00697720
+v -0.01054572 0.03089012 -0.00702134
+v -0.01054572 0.03651300 -0.00679660
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+v -0.01370736 0.03695928 -0.00028506
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+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_4.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..006c90856321df82c06fd0aa1311018cf1afcd4c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_4.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.01070281 -0.01213515 0.00673483
+v -0.01070281 -0.01416381 0.00673336
+v -0.01070281 -0.01026456 0.00662819
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+v -0.01551635 -0.01026457 0.00762589
+v -0.01735465 -0.01213516 0.00770331
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+v -0.01070281 -0.00628743 0.00380603
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+f 15 24 16
+f 15 21 25
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+f 16 26 27
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+f 16 24 26
+f 18 28 19
+f 19 28 29
+f 21 31 25
+f 22 25 31
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+f 22 33 23
+f 23 33 34
+f 23 34 24
+f 24 34 35
+f 24 35 26
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+f 28 37 38
+f 28 38 29
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+f 30 40 41
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+f 31 44 32
+f 32 35 34
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+f 37 48 38
+f 37 39 49
+f 37 49 50
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+f 38 41 40
+f 39 51 52
+f 39 52 53
+f 39 53 49
+f 42 48 50
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+f 44 46 45
+f 46 54 55
+f 46 55 47
+f 47 55 54
+f 47 54 56
+f 49 53 50
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+f 59 64 60
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+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_40.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c89d9ddb703c6cbe3db6427c7f85f46f43472cf8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_40.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v -0.01561155 0.03266392 0.00698182
+v -0.01735413 0.03089044 0.00699142
+v -0.01561155 0.03083237 0.00648584
+v -0.01561155 0.03276324 0.00694884
+v -0.01929194 0.03099398 0.00641303
+v -0.02093563 0.02724331 0.00698729
+v -0.01917855 0.02724332 0.00642675
+v -0.01561155 0.03071790 0.00644737
+v -0.01561155 0.03441301 0.00618086
+v -0.01739079 0.03282638 0.00635121
+v -0.02103367 0.02724331 0.00695844
+v -0.01874632 0.03224729 0.00600637
+v -0.02056733 0.03044014 0.00602010
+v -0.02111892 0.02909592 0.00638967
+v -0.01910183 0.02724332 0.00640065
+v -0.01561155 0.03060258 0.00636357
+v -0.01561155 0.03450896 0.00612316
+v -0.01680168 0.03396943 0.00592256
+v -0.02275750 0.02724332 0.00626739
+v -0.01900123 0.03247623 0.00478637
+v -0.01991941 0.03163452 0.00478637
+v -0.02080945 0.03069938 0.00478636
+v -0.02172849 0.02969775 0.00478636
+v -0.02228263 0.02852356 0.00596926
+v -0.02282399 0.02724332 0.00622892
+v -0.01903277 0.02724332 0.00634844
+v -0.01609323 0.02966155 0.00599537
+v -0.01561155 0.02724333 0.00343034
+v -0.01561155 0.03509563 0.00485095
+v -0.01700374 0.03412093 0.00478638
+v -0.01792277 0.03341137 0.00478637
+v -0.01837461 0.03377838 0.00074719
+v -0.02028600 0.03199732 0.00091480
+v -0.02207803 0.03010684 0.00084473
+v -0.02246849 0.02876177 0.00478636
+v -0.02352648 0.02724332 0.00504876
+v -0.01561155 0.02724333 0.00293437
+v -0.01561155 0.03584225 -0.00028595
+v -0.01624413 0.03543907 -0.00028595
+v -0.01735413 0.03462514 -0.00028595
+v -0.01842150 0.03381626 -0.00028596
+v -0.01933968 0.03301495 -0.00028596
+v -0.02037040 0.03207981 -0.00028596
+v -0.02128943 0.03111521 -0.00028597
+v -0.02214026 0.03018007 -0.00028597
+v -0.02305077 0.02901935 -0.00028597
+v -0.02377798 0.02807158 -0.00028598
+v -0.02338752 0.02751519 0.00478635
+v -0.02357167 0.02724332 0.00478635
+v -0.01735413 0.02724337 -0.00689155
+v -0.01561155 0.02724505 -0.00702344
+v -0.01561155 0.03583804 -0.00081764
+v -0.01623304 0.03543319 -0.00197718
+v -0.01735413 0.03461168 -0.00197718
+v -0.01841212 0.03380953 -0.00197719
+v -0.01933116 0.03300822 -0.00197719
+v -0.02036358 0.03207308 -0.00197719
+v -0.02128261 0.03110848 -0.00197720
+v -0.02213515 0.03017334 -0.00197720
+v -0.02304054 0.02901936 -0.00197720
+v -0.02377201 0.02806486 -0.00197721
+v -0.02431252 0.02724335 -0.00197721
+v -0.02432019 0.02724334 -0.00028598
+v -0.01744791 0.02724337 -0.00690117
+v -0.02103367 0.02724337 -0.00703031
+v -0.01919219 0.02901938 -0.00704404
+v -0.01561155 0.03276330 -0.00699045
+v -0.01561155 0.03582711 -0.00197718
+v -0.01561155 0.03578502 -0.00366842
+v -0.01620065 0.03541130 -0.00366842
+v -0.01735413 0.03456959 -0.00366842
+v -0.01838740 0.03378933 -0.00366843
+v -0.01930643 0.03298550 -0.00366843
+v -0.02034056 0.03205036 -0.00366843
+v -0.02125959 0.03108996 -0.00366844
+v -0.02211895 0.03015482 -0.00366844
+v -0.02300985 0.02901936 -0.00366844
+v -0.02375752 0.02804381 -0.00366845
+v -0.02430911 0.02724335 -0.00218879
+v -0.02283422 0.02724336 -0.00662777
+v -0.02112489 0.02910354 -0.00672942
+v -0.01929194 0.03099486 -0.00674179
+v -0.01738738 0.03282558 -0.00669369
+v -0.01561155 0.03449974 -0.00653157
+v -0.01561155 0.03540458 -0.00535965
+v -0.01590652 0.03521267 -0.00535965
+v -0.01833625 0.03374725 -0.00464525
+v -0.02025104 0.03196199 -0.00482385
+v -0.02205330 0.03007740 -0.00477990
+v -0.02428098 0.02724335 -0.00366845
+v -0.02356570 0.02777364 -0.00535968
+v -0.02391950 0.02724336 -0.00535968
+v -0.02229372 0.02853623 -0.00646427
+v -0.02057586 0.03044101 -0.00649724
+v -0.01874632 0.03224564 -0.00648761
+v -0.01679657 0.03396189 -0.00642029
+v -0.01738738 0.03419168 -0.00526898
+v -0.01802166 0.03349222 -0.00577320
+v -0.01915383 0.03272710 -0.00529784
+v -0.01997056 0.03168759 -0.00595180
+v -0.02102600 0.03088291 -0.00536654
+v -0.02180095 0.02978280 -0.00590785
+v -0.02256994 0.02910354 -0.00535006
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 28
+f 1 28 37
+f 1 37 51
+f 1 51 67
+f 1 67 84
+f 1 84 85
+f 1 85 69
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+f 23 35 24
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+f 24 36 25
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+f 26 28 27
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+f 30 32 31
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+f 34 44 45
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+f 34 46 47
+f 34 47 35
+f 35 48 36
+f 35 47 48
+f 36 48 49
+f 37 50 51
+f 38 52 53
+f 38 53 39
+f 39 53 54
+f 39 54 40
+f 40 54 41
+f 41 54 55
+f 41 55 56
+f 41 56 42
+f 42 56 57
+f 42 57 43
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+f 43 58 44
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+f 44 59 45
+f 45 59 60
+f 45 60 46
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+f 47 62 63
+f 47 63 49
+f 47 49 48
+f 50 64 51
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+f 94 102 100
+f 94 100 95
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+f 98 100 99
+f 100 102 101
+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_41.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5a85acd149e71fe25fcef4aaad552b6054e4d59
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_41.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.00963721 -0.03716130 -0.00561459
+v -0.00963721 -0.03319057 -0.00495517
+v -0.00598396 -0.03319057 -0.00493903
+v -0.00598396 -0.03716130 -0.00494402
+v -0.00963721 -0.03716133 0.00316871
+v -0.00963721 -0.03319060 0.00318736
+v -0.00598396 -0.03319062 0.00707173
+v -0.00598396 -0.03716133 0.00254408
+v -0.00598396 -0.03527296 0.00633160
+v -0.00598396 -0.03459115 0.00668055
+v -0.00761784 -0.03319061 0.00582371
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 7
+f 2 7 3
+f 3 7 10
+f 3 10 9
+f 3 9 8
+f 3 8 4
+f 5 8 9
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 7 11 10
+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_42.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c0c40efc3eb2ce4ec8de8264b8013bd425ebd5c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_42.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.00834423 0.02714648 0.00570458
+v 0.00834423 0.02700721 0.00570458
+v 0.00834423 0.02785211 0.00569062
+v 0.00199558 0.03088975 0.00716298
+v 0.00199558 0.02901904 0.00717275
+v 0.00199558 0.02700720 0.00717134
+v 0.00834423 0.02700725 -0.00417621
+v 0.00834423 0.02895688 0.00566830
+v 0.00199558 0.03281332 0.00652800
+v 0.00834423 0.02902589 0.00565574
+v 0.00762950 0.02998953 0.00564597
+v 0.00199558 0.02700726 -0.00696181
+v 0.00667549 0.02700726 -0.00696600
+v 0.00834423 0.02700975 -0.00697298
+v 0.00199558 0.03287300 0.00639123
+v 0.00834423 0.03335856 0.00376612
+v 0.00199558 0.03275990 -0.00704134
+v 0.00653690 0.03088919 -0.00706647
+v 0.00834423 0.03088919 -0.00708461
+v 0.00199558 0.03335856 0.00332791
+v 0.00834423 0.03335860 -0.00696179
+v 0.00199558 0.03335860 -0.00699110
+v 0.00286195 0.03335860 -0.00700505
+v 0.00286195 0.03275990 -0.00704273
+v 0.00469973 0.03275990 -0.00703715
+v 0.00653690 0.03275990 -0.00702878
+v 0.00834423 0.03092090 -0.00708322
+v 0.00653690 0.03335860 -0.00698133
+v 0.00411179 0.03335860 -0.00700087
+f 1 2 7
+f 1 7 14
+f 1 14 19
+f 1 19 27
+f 1 27 21
+f 1 21 16
+f 1 16 10
+f 1 10 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 12
+f 2 12 13
+f 2 13 7
+f 3 8 4
+f 4 9 15
+f 4 15 20
+f 4 20 22
+f 4 22 17
+f 4 17 12
+f 4 12 6
+f 4 6 5
+f 4 8 10
+f 4 10 11
+f 4 11 9
+f 7 13 14
+f 9 11 16
+f 9 16 15
+f 10 16 11
+f 12 17 18
+f 12 18 19
+f 12 19 14
+f 12 14 13
+f 15 16 20
+f 16 21 28
+f 16 28 29
+f 16 29 23
+f 16 23 22
+f 16 22 20
+f 17 22 23
+f 17 23 24
+f 17 24 19
+f 17 19 18
+f 19 24 25
+f 19 25 26
+f 19 26 27
+f 21 27 26
+f 21 26 28
+f 23 29 25
+f 23 25 24
+f 25 29 26
+f 26 29 28
+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_43.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf8b6b33cfd31638490496f45e45c5c2408082a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_43.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.00598396 -0.03527333 0.00633262
+v -0.00598396 -0.03499131 0.00369894
+v -0.00549613 -0.03945815 0.00702453
+v -0.00549613 -0.03945815 0.00739768
+v -0.00559883 -0.03832584 0.00747408
+v -0.00598396 -0.03459200 0.00668138
+v -0.00598396 -0.03499024 0.00369454
+v -0.00296930 -0.04418650 0.00369451
+v -0.00240621 -0.04418651 0.00649977
+v -0.00201665 -0.04418652 0.00729008
+v -0.00190686 -0.04418652 0.00741686
+v -0.00386794 -0.04140525 0.00746047
+v -0.00448327 -0.04012763 0.00753726
+v -0.00448947 -0.03832584 0.00769285
+v -0.00564398 -0.03645516 0.00750568
+v -0.00598396 -0.03319062 0.00707134
+v -0.00598396 -0.03319060 0.00369455
+v 0.00306092 -0.04418650 0.00369451
+v -0.00081432 -0.04418652 0.00767323
+v -0.00448947 -0.03645516 0.00772565
+v -0.00265145 -0.04019544 0.00775283
+v -0.00570773 -0.03319062 0.00750889
+v 0.00306092 -0.03319060 0.00369455
+v 0.00306092 -0.04418650 0.00402207
+v 0.00107416 -0.04418652 0.00759204
+v 0.00286082 -0.03832584 0.00775404
+v 0.00102369 -0.04019544 0.00775323
+v -0.00311981 -0.03319062 0.00776566
+v -0.00448947 -0.03319062 0.00773206
+v 0.00286082 -0.03319062 0.00778046
+v -0.00128356 -0.03319062 0.00777086
+v 0.00306092 -0.03319062 0.00774846
+v 0.00239866 -0.04418651 0.00659216
+v 0.00306092 -0.04143862 0.00742167
+v 0.00140529 -0.04418652 0.00747565
+v 0.00306092 -0.04019544 0.00761925
+v 0.00286082 -0.04019544 0.00765884
+v 0.00306092 -0.03832584 0.00771965
+v 0.00306092 -0.03432508 0.00774245
+v 0.00306092 -0.03990053 0.00763965
+v 0.00217909 -0.04418652 0.00686213
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 17
+f 1 17 7
+f 1 7 2
+f 2 7 3
+f 3 8 4
+f 3 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 7 17 23
+f 7 23 18
+f 7 18 8
+f 8 18 24
+f 8 24 33
+f 8 33 41
+f 8 41 35
+f 8 35 25
+f 8 25 19
+f 8 19 11
+f 8 11 10
+f 8 10 9
+f 11 19 12
+f 12 19 13
+f 13 19 14
+f 14 20 15
+f 14 19 21
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+f 15 20 22
+f 15 22 16
+f 16 22 29
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+f 16 31 30
+f 16 30 32
+f 16 32 23
+f 16 23 17
+f 18 23 32
+f 18 32 39
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+f 18 38 40
+f 18 40 36
+f 18 36 34
+f 18 34 24
+f 19 25 26
+f 19 26 27
+f 19 27 21
+f 20 28 29
+f 20 29 22
+f 20 21 28
+f 21 27 30
+f 21 30 31
+f 21 31 28
+f 24 34 33
+f 25 35 34
+f 25 34 36
+f 25 36 37
+f 25 37 26
+f 26 38 39
+f 26 39 32
+f 26 32 30
+f 26 30 27
+f 26 37 40
+f 26 40 38
+f 33 34 41
+f 34 35 41
+f 36 40 37
+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_44.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b179f8c4a16f6c42fcdf16b71c576cc7991fee1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_44.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.00286195 0.03335861 -0.00700486
+v 0.00411179 0.03335861 -0.00700064
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diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_45.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8757e75cb19011f10dfd9f7122ef97ab41682a6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_45.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_46.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e990a7ea3a0312163c4c18cb05c871190c83853c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_46.obj
@@ -0,0 +1,274 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_5.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a29a243a25a7a3b9036e583abbfcf1d3697984d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_5.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.00460428 -0.05317436 -0.00714008
+v -0.00632797 -0.05317436 -0.00713864
+v -0.00816435 -0.04767921 -0.00710139
+v -0.00816435 -0.04580878 -0.00708705
+v -0.00382814 -0.05317436 -0.00709281
+v -0.00644463 -0.05317436 -0.00711143
+v -0.01001264 -0.04418646 -0.00689656
+v -0.00975790 -0.04418646 -0.00695958
+v -0.00816435 -0.04418646 -0.00690802
+v -0.00797468 -0.04418646 -0.00684070
+v -0.00382814 -0.04418647 -0.00500458
+v -0.00382814 -0.05317440 0.00366898
+v -0.00816435 -0.04954876 -0.00694384
+v -0.00784691 -0.05317437 -0.00664309
+v -0.01102051 -0.04418647 -0.00646116
+v -0.00382814 -0.04418650 0.00309183
+v -0.00382814 -0.04957609 0.00683996
+v -0.00406701 -0.05317441 0.00470448
+v -0.00791675 -0.05317437 -0.00657291
+v -0.00914445 -0.05069953 -0.00627500
+v -0.01112606 -0.04418647 -0.00638811
+v -0.00720966 -0.04418651 0.00608949
+v -0.00382814 -0.04607805 0.00654350
+v -0.00382814 -0.04892417 0.00740569
+v -0.00409399 -0.05317441 0.00478612
+v -0.00894605 -0.05194707 -0.00583101
+v -0.00873574 -0.05317437 -0.00531971
+v -0.01152683 -0.04418647 -0.00557174
+v -0.01095861 -0.04498003 -0.00624777
+v -0.00802547 -0.04418651 0.00661082
+v -0.00382814 -0.04641062 0.00700038
+v -0.00382814 -0.04824762 0.00749163
+v -0.00632797 -0.05317442 0.00704762
+v -0.00476141 -0.05317441 0.00637017
+v -0.00874130 -0.05317437 -0.00530396
+v -0.01160222 -0.04418647 -0.00535977
+v -0.01001582 -0.04418651 0.00675118
+v -0.00382814 -0.04688218 0.00731118
+v -0.00382814 -0.04774350 0.00749163
+v -0.00737790 -0.04891449 0.00734554
+v -0.00805960 -0.04954266 0.00700324
+v -0.00794373 -0.05317441 0.00630572
+v -0.00875241 -0.05317437 -0.00526958
+v -0.00913730 -0.05253741 -0.00470241
+v -0.01190140 -0.04418648 -0.00365398
+v -0.01119907 -0.04418651 0.00595773
+v -0.00973488 -0.04767926 0.00633725
+v -0.00805960 -0.04755434 0.00720806
+v -0.00737790 -0.04809541 0.00734554
+v -0.00816435 -0.04580884 0.00708059
+v -0.00632797 -0.04691474 0.00730974
+v -0.00946665 -0.04954881 0.00609663
+v -0.00919920 -0.05087113 0.00579585
+v -0.00856988 -0.05317441 0.00478612
+v -0.00899366 -0.05317438 -0.00408083
+v -0.00902223 -0.05317438 -0.00366835
+v -0.01192759 -0.04418648 -0.00217019
+v -0.01143001 -0.04418651 0.00478616
+v -0.01100702 -0.04511380 0.00575577
+v -0.00986265 -0.04954881 0.00478614
+v -0.00915873 -0.05261133 0.00078304
+v -0.00905556 -0.05317439 -0.00028541
+v -0.00903493 -0.05317438 -0.00277750
+v -0.00904525 -0.05317438 -0.00197688
+v -0.01192997 -0.04418648 -0.00197684
+v -0.01193553 -0.04418649 -0.00028537
+v -0.01043166 -0.04767926 0.00478614
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 18
+f 1 18 25
+f 1 25 34
+f 1 34 33
+f 1 33 42
+f 1 42 54
+f 1 54 62
+f 1 62 64
+f 1 64 63
+f 1 63 56
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+f 1 43 35
+f 1 35 27
+f 1 27 19
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+f 1 14 6
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+f 17 24 18
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+f 37 41 48
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+f 40 48 41
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+f 43 55 44
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+f 45 56 57
+f 46 58 59
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+f 46 53 52
+f 46 52 47
+f 49 51 50
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+f 59 67 60
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+f 60 62 61
+f 62 66 65
+f 62 65 64
+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_6.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ff98076f8d1e8e5ad675d0dafbadcb9aa907f68
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_6.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.01388806 -0.03645389 0.00700884
+v 0.01044956 -0.04182370 0.00699916
+v 0.01470489 -0.03562099 0.00695369
+v 0.01205072 -0.01961977 0.00688206
+v 0.01044956 -0.01847988 0.00687378
+v 0.01044956 -0.01961977 0.00688068
+v 0.01044956 -0.04368324 0.00672618
+v 0.01044956 -0.04418399 0.00658279
+v 0.01470489 -0.03757616 0.00634982
+v 0.01470489 -0.01961976 0.00583978
+v 0.01388806 -0.01961976 0.00634437
+v 0.01205072 -0.01847988 0.00685173
+v 0.01044956 -0.01847983 -0.00494286
+v 0.01044956 -0.04418395 -0.00675040
+v 0.01128555 -0.04418399 0.00603546
+v 0.01470489 -0.03804419 0.00613336
+v 0.01470489 -0.01874157 0.00575016
+v 0.01470489 -0.01858556 0.00573362
+v 0.01468615 -0.01847987 0.00573362
+v 0.01394013 -0.01847987 0.00618858
+v 0.01470489 -0.01847983 -0.00502283
+v 0.01470489 -0.03453640 -0.00687859
+v 0.01388806 -0.03645383 -0.00707574
+v 0.01205072 -0.03832345 -0.00703990
+v 0.01044956 -0.04204508 -0.00701510
+v 0.01044956 -0.04399019 -0.00680417
+v 0.01131387 -0.04418395 -0.00636989
+v 0.01138968 -0.04418399 0.00593619
+v 0.01470489 -0.03871605 0.00503869
+v 0.01470489 -0.01849749 0.00572397
+v 0.01470489 -0.01847987 0.00567847
+v 0.01470489 -0.03642364 -0.00687859
+v 0.01044956 -0.04393483 -0.00681934
+v 0.01136636 -0.04393484 -0.00641538
+v 0.01177040 -0.04418395 -0.00535932
+v 0.01470489 -0.03800137 -0.00654772
+v 0.01464116 -0.03904061 -0.00577014
+v 0.01470489 -0.03897770 -0.00572327
+v 0.01158462 -0.04418399 0.00499456
+v 0.01470489 -0.03879657 0.00478640
+v 0.01397221 -0.03837882 -0.00673935
+v 0.01181247 -0.04418395 -0.00512356
+v 0.01470489 -0.03946335 -0.00476784
+v 0.01209654 -0.04418397 -0.00028578
+v 0.01470489 -0.03960680 0.00044493
+v 0.01206322 -0.04418396 -0.00366768
+v 0.01470489 -0.03961686 -0.00366767
+v 0.01208905 -0.04418396 -0.00174718
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+v 0.01470489 -0.03964453 -0.00246270
+v 0.01208780 -0.04418396 -0.00197742
+v 0.01470489 -0.03965460 -0.00197741
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+f 1 6 2
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+f 2 13 25
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+f 2 14 8
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+f 44 49 45
+f 46 47 50
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+f 48 53 49
+f 51 53 52
+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_7.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69d943f0940114c8407ac6d8134852b63d112bb9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_7.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.01070281 -0.01846003 0.00687035
+v -0.01735303 -0.01416459 0.00722981
+v -0.01070281 -0.01847988 0.00687035
+v -0.01070281 -0.01658962 0.00684772
+v -0.01933299 -0.01416459 0.00724397
+v -0.01070281 -0.01471920 0.00679679
+v -0.01070281 -0.01416458 0.00673311
+v -0.01072303 -0.01847988 0.00687035
+v -0.01070281 -0.01847983 -0.00494169
+v -0.01943889 -0.01416459 0.00723548
+v -0.02102857 -0.01847987 0.00674299
+v -0.01070281 -0.01416454 -0.00550488
+v -0.01919140 -0.01847982 -0.00692427
+v -0.02102857 -0.01416459 0.00685198
+v -0.02223748 -0.01416458 0.00602696
+v -0.02147120 -0.01847987 0.00642459
+v -0.01735541 -0.01416453 -0.00695114
+v -0.02102857 -0.01847982 -0.00688890
+v -0.01919140 -0.01587739 -0.00713795
+v -0.02244928 -0.01416458 0.00478590
+v -0.02215181 -0.01847987 0.00593071
+v -0.01919140 -0.01416453 -0.00721294
+v -0.02102857 -0.01416453 -0.00692708
+v -0.02208875 -0.01847983 -0.00637238
+v -0.02204115 -0.01416454 -0.00645443
+v -0.02229936 -0.01847987 0.00478588
+v -0.02221725 -0.01847987 0.00547929
+v -0.02285860 -0.01416456 -0.00028591
+v -0.02275984 -0.01847985 -0.00028593
+v -0.02213039 -0.01416454 -0.00641056
+v -0.02247070 -0.01847983 -0.00535915
+v -0.02256113 -0.01416454 -0.00535913
+v -0.02252900 -0.01416454 -0.00544403
+v -0.02285384 -0.01416455 -0.00197698
+v -0.02275627 -0.01847985 -0.00094821
+v -0.02272890 -0.01847984 -0.00366807
+v -0.02283004 -0.01416455 -0.00366805
+v -0.02280744 -0.01416455 -0.00381098
+v -0.02285265 -0.01416455 -0.00211991
+v -0.02275032 -0.01847984 -0.00197700
+f 1 2 3
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+f 1 7 6
+f 1 6 4
+f 1 4 2
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+f 28 34 29
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+f 31 36 37
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+f 31 38 32
+f 34 39 40
+f 34 40 35
+f 36 40 39
+f 36 39 37
+
diff --git a/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_8.obj b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb22c671c46466e814b8db0bfaec557668ad1ae0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mjcf/mesh/correction_tape_001_collision_8.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.00382814 -0.05317436 -0.00709412
+v -0.00382814 -0.04418647 -0.00500412
+v 0.00400782 -0.04418647 -0.00502966
+v 0.00400782 -0.05317436 -0.00708511
+v -0.00382814 -0.05317440 0.00366824
+v -0.00382814 -0.04418650 0.00309132
+v 0.00400782 -0.04418650 0.00302821
+v 0.00400782 -0.05317440 0.00366673
+v 0.00071420 -0.05062040 0.00746054
+v -0.00081372 -0.05058961 0.00743049
+v -0.00173952 -0.05048931 0.00732832
+v -0.00382814 -0.04957609 0.00684002
+v -0.00382814 -0.04607805 0.00654404
+v -0.00240683 -0.04418651 0.00649898
+v 0.00239859 -0.04418651 0.00659213
+v 0.00400782 -0.04607629 0.00654855
+v 0.00400782 -0.04885907 0.00743050
+v 0.00193991 -0.05048315 0.00732081
+v 0.00120586 -0.04973534 0.00776255
+v -0.00081372 -0.04954882 0.00788576
+v -0.00382814 -0.04892417 0.00740646
+v -0.00382814 -0.04641062 0.00699930
+v -0.00201642 -0.04418652 0.00728929
+v 0.00217922 -0.04418652 0.00686108
+v 0.00400782 -0.04684787 0.00731332
+v 0.00400782 -0.04770742 0.00749511
+v 0.00102331 -0.04767927 0.00824035
+v -0.00081372 -0.04767927 0.00825537
+v -0.00382814 -0.04824762 0.00749060
+v -0.00382814 -0.04688218 0.00731181
+v -0.00190673 -0.04418652 0.00741700
+v 0.00199590 -0.04459914 0.00736591
+v 0.00140529 -0.04418652 0.00747560
+v 0.00400782 -0.04716196 0.00746807
+v 0.00102331 -0.04580884 0.00799695
+v -0.00081372 -0.04580884 0.00800597
+v -0.00382814 -0.04774350 0.00749060
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