diff --git a/.gitattributes b/.gitattributes
index 5ab092611cb5eb762e1a80883da12247e7540e05..defbfc0d18a297ffe4af3255f3669b97a522431b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3335,5 +3335,4 @@ dataset/desktop_supplies/office_tools/243944bd29d7583d85e523ef0d0109f2/mesh/stic
 dataset/desktop_supplies/office_tools/243944bd29d7583d85e523ef0d0109f2/sticky_notes_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/2852f855d4fe55a694dcbb2712884a93/magnifier_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/2852f855d4fe55a694dcbb2712884a93/mesh/magnifier_011.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mesh/staples_box_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/staples_box_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/292ec15490195ad9ade1b50fab41c76d.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/292ec15490195ad9ade1b50fab41c76d.urdf b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/292ec15490195ad9ade1b50fab41c76d.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..079f9f0b3de125d8358791fd2c9dd5e7fbcf1b59
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/292ec15490195ad9ade1b50fab41c76d.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tissue_box_61">
+   <link name="tissue_box_61">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/tissue_box_61.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/tissue_box_61_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>0.136310</scale>
+         <version>v0.1.5</version>
+         <category>tissue box</category>
+         <description>rectangular box with smooth edges and uniform surface</description>
+         <min_height>0.12</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.135</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20251014191004</generate_time>
+         <gs_model>mesh/tissue_box_61_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.589654445648193</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/292ec15490195ad9ade1b50fab41c76d.usd b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/292ec15490195ad9ade1b50fab41c76d.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a2528ca6af018eb450f9527d320489b83a754224
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/292ec15490195ad9ade1b50fab41c76d.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49ea3475a425102e22a8e13d019bca665b4655be7dac5ca5e969671c6729cd72
+size 378782
diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mesh/material.mtl b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/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_tools/292ec15490195ad9ade1b50fab41c76d/mesh/material_0.png b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b4f056a663ec944267bae496fc4582cc878e4e5d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:026c4b7744c32486d2c5ef516892e624df008104c990ea78ba37bcab4b784f8f
+size 471756
diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mesh/tissue_box_61.glb b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mesh/tissue_box_61.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c6a56ab0f48a0254ccff7f738d330c7d66689f21
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mesh/tissue_box_61.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17ee5e5892a327cfbdeb7f87db9f8d887e835244007544d07c0d99aa06b45f88
+size 729468
diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mesh/tissue_box_61.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mesh/tissue_box_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a9eeb086fcf331d35840dd89f15b989707bb50c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mesh/tissue_box_61.obj
@@ -0,0 +1,23506 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v -0.05410331 -0.00633256 -0.05690986
+v -0.05416612 -0.01136732 -0.05705491
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mesh/tissue_box_61_collision.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mesh/tissue_box_61_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f80d1e9eae5ad908894dbffde7704095a4494ac
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mesh/tissue_box_61_collision.obj
@@ -0,0 +1,28820 @@
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new file mode 100644
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/292ec15490195ad9ade1b50fab41c76d.xml b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/292ec15490195ad9ade1b50fab41c76d.xml
new file mode 100644
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+  </asset>
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+  </worldbody>
+</mujoco>
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b4f056a663ec944267bae496fc4582cc878e4e5d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:026c4b7744c32486d2c5ef516892e624df008104c990ea78ba37bcab4b784f8f
+size 471756
diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5f8709803cbfdd2d75f28f35123b01ec7f15090
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61.obj
@@ -0,0 +1,23506 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b8b65e949491b80f2201679b2f4254a40caa5ad
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision.obj
@@ -0,0 +1,28820 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_0.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f20fcb4b0e9edfd19a73cda7a15c3738032c690
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_1.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9df059abf1079eea34f734ce66f0e3c9c1644f92
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_1.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_10.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36c3511291fd5999336cfdb471da205927567136
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_10.obj
@@ -0,0 +1,808 @@
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_11.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ce350750ca0defb03f97c0382813d6877cf7604
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_11.obj
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_12.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e948c5810aea7447c99d58b5a293c12091585691
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_12.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_13.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32e223477630591d395f014ed6e07b31d208d251
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_13.obj
@@ -0,0 +1,340 @@
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_14.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..672c95144c602db571d0a797005f029ebad575b8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_14.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_15.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e8e7c67bb166099ef5a40d1970f8edbbca1dee2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_15.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_16.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53420015ab004eb944e843f85e8782149b60e335
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_16.obj
@@ -0,0 +1,682 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_17.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eeab0263971a01586ef714fc38e3d0a580dd949d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_17.obj
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_18.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a82eff0dd14bb4f4f1d44b6066d442b65eecc3d4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_18.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_19.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..870e206b91c88772af6380f8444fbd1581bfa66e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_19.obj
@@ -0,0 +1,1510 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_2.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3447414c7e314dace74e82880a562deba0672de
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_20.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2ec2c7e41263620c4ad1438b1556f74709e7a9c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_20.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_21.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f193bada8ff894662bf4ae539345b646df5efd0f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_21.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_22.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e1ded68e1b5091bffaf40b9dba9d55ecce5fc78
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_22.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_23.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d183c275d70a27464e40b63f2cb46151665e538e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_23.obj
@@ -0,0 +1,727 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_24.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f634c8ee56a8bb3308ff9ce8ff55c5fee4098ba0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_24.obj
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_25.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d681b9b9ef4bf029659eb7a24344c10b9ffb988
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_25.obj
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_26.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10db403b4af6f0b0eb17885ce256f3a5168fc9eb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_26.obj
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_27.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86e8b9ed241a15b6c26726fa38bf5086c96fbed2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_27.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_28.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63968d12a8f20d22c969b20e9e70d70a4ad020fb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_28.obj
@@ -0,0 +1,760 @@
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_29.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5e745d71e46ae6abdcc83874aca60d9711c099e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_29.obj
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_3.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5452d9cbce604fc70c5d9476b0d928cb0c008ecc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_30.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d716d7ce64291dcd2f49427361f3b974b4d7f2f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_30.obj
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_31.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2153b6cc835059496931802d54a6a0fb4893405
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_31.obj
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_32.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fd04a323710c47a5691680956526c304231123b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_32.obj
@@ -0,0 +1,571 @@
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_33.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8e887bf971aad98a62327cd445ade45044ee76e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_33.obj
@@ -0,0 +1,2632 @@
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_34.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49fec1481805dc5d47d41e3cc6104d66fa60b922
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_34.obj
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_35.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e34a3e2a5b6884346010665b86eb20ed423e5a5f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_35.obj
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_36.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a5733ceabbb4bf4301faec685122a17247848a5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_36.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+v 0.02765357 -0.05256448 -0.06883552
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+
diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_37.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8696f1919238f87a0d337a2dd567b122b77bdac6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_37.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.05512856 0.00356954 -0.05911877
+v -0.05507924 0.00356954 -0.06047451
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+
diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_38.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4af7d32714f06b80b9ad94e14b3972a05c469c21
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_38.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
+v 0.05481718 -0.00025912 -0.05868060
+v 0.03817363 -0.00025912 -0.05868060
+v 0.05477182 -0.00025912 -0.05974844
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_39.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aa3c5fbb452f00717ac281f9b9d63ae5857b82f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_39.obj
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_4.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4be8e763c68250e76ac6925cc4abe32f17806c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_4.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_40.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbe1efbe54380a7445c4b50d5541fc493cd6299e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_40.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_41.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86a11e31dfcba23e5c205c194d77062a2e90ab32
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_41.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_42.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef334930ecf90128a01987e1f65960f1f2c0e3ef
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_42.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_43.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89bb3f1d3d9091a72767d33680f18fc05ccefda7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_43.obj
@@ -0,0 +1,697 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_44.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..731b5b201498e18b6a98fee29bb726ff3f024c31
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_44.obj
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_45.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db63a85e61bba629c34210d580545bc5618a71e5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_45.obj
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_46.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ededf3baec05393be3d89fdf581129a39f5e9839
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_46.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_47.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fd30b6ce0b67f13c8b0fb2c2e139b24ffb27b04
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_47.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v -0.05517674 -0.00495426 -0.05598022
+v -0.05516441 -0.00495426 -0.05822801
+v -0.05517674 -0.00995533 -0.05598024
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+
diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_48.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1da907971d60faa8a368626ea6aacaea71a89a71
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_48.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
+v 0.02585892 0.02974975 -0.05736357
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_49.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7eeb0ad0e4f7a8a9462c1ddd278f59f7b92e387
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_49.obj
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_5.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..564782b914d59f67016564427b263aa0296ecbf8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_5.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_50.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01fd396e1da8373d256c562c6073e415bfebdad9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_50.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_6.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af13f878337b836469db2b5d8b0dfc4c78f58e38
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_6.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_7.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9049b7f6ea28604dcbcc52217983fb82f2441da
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_7.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_8.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08af57dfa15309c7d41f7d1b911fa9682a232be0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_8.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_9.obj b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/mjcf/mesh/tissue_box_61_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/video.mp4 b/dataset/desktop_supplies/office_tools/292ec15490195ad9ade1b50fab41c76d/video.mp4
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