diff --git a/.gitattributes b/.gitattributes
index 9a0d7f0a852545131753ab8eb84e82d2b8a597e6..2dbdb4e7a42574fb69398137f3481b74c323a7d8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3095,3 +3095,5 @@ dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/glue
 dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mesh/glue_stick_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/1daf9ce988dd5fada39bd745edcdc3a8/glue_stick_018.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/1daf9ce988dd5fada39bd745edcdc3a8/mesh/glue_stick_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/correction_tape_019.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mesh/correction_tape_019.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/correction_tape_019.urdf b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/correction_tape_019.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7a5adb01a323772f9a2cf29d4433b9621ff5aa4c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/correction_tape_019.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="correction_tape_019">
+   <link name="correction_tape_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/correction_tape_019.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/correction_tape_019_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>1e02c22b9c805254b4a81de191ccde3e</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>correction_tape</category>
+         <name>cat correction tape</name>
+         <color>gray,brown</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>cute cat-themed correction tape dispenser with rounded two-tone plastic body</description>
+         <min_height>0.0248</min_height>
+         <max_height>0.0248</max_height>
+         <real_height>0.0248</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518174947</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.021465 -0.032092 -0.011686</min>
+            <max>0.021554 0.032908 0.013086</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>15</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/correction_tape_019.usd b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/correction_tape_019.usd
new file mode 100644
index 0000000000000000000000000000000000000000..fc17b314b654843e110fda297f3122df0558840b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/correction_tape_019.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37d5000e1777e924b63289053eb7fe3ae01cc91254c0ebf423a26003c2db9964
+size 5027658
diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mesh/correction_tape_019.glb b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mesh/correction_tape_019.glb
new file mode 100644
index 0000000000000000000000000000000000000000..de00e9a78d66f5b5b70aca0ef31bb72232ef2361
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mesh/correction_tape_019.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:087a7a20ddac98fc0d404ef276aecb9b924c2178d094db57fb57c5d8c4d2c8ce
+size 15565856
diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mesh/correction_tape_019.mtl b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mesh/correction_tape_019.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e6991710792653840b27c54d4ccdebc5d85bcae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mesh/correction_tape_019.mtl
@@ -0,0 +1,6 @@
+newmtl correction_tape_019_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mesh/correction_tape_019.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mesh/correction_tape_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3793d5a535a2cce4328dc323e111a324d463a3a9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mesh/correction_tape_019.obj
@@ -0,0 +1,124764 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mesh/correction_tape_019_collision.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mesh/correction_tape_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..147bbc0e0984945423544b8ca3e907e79f8213cb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mesh/correction_tape_019_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mesh/correction_tape_019_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mesh/correction_tape_019_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bfbb3e515df85317cddcb6085a0cb53701a23532
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mesh/correction_tape_019_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:196151414c3b3333065331c0432c4ff4d737783834a23a29a9b54a38073fd551
+size 12060920
diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..382b01aec63ef449b37a046e001497062dd5008f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl correction_tape_019_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd correction_tape_019_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bfbb3e515df85317cddcb6085a0cb53701a23532
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/correction_tape_019.xml b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/correction_tape_019.xml
new file mode 100644
index 0000000000000000000000000000000000000000..491a8c9a85b8dfc16ebff2c15464fcd8cc0a7769
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/correction_tape_019.xml
@@ -0,0 +1,72 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="correction_tape_019">
+  <asset>
+    <material name="material_0" texture="texture_0_correction_tape_019_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_correction_tape_019_geometry_Looks_material_0" type="2d" file="mesh/correction_tape_019_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/correction_tape_019.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/correction_tape_019_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/correction_tape_019_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/correction_tape_019_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/correction_tape_019_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/correction_tape_019_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/correction_tape_019_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/correction_tape_019_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/correction_tape_019_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/correction_tape_019_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/correction_tape_019_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/correction_tape_019_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/correction_tape_019_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/correction_tape_019_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/correction_tape_019_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/correction_tape_019_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/correction_tape_019_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/correction_tape_019_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/correction_tape_019_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/correction_tape_019_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/correction_tape_019_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/correction_tape_019_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/correction_tape_019_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/correction_tape_019_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/correction_tape_019_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/correction_tape_019_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/correction_tape_019_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/correction_tape_019_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/correction_tape_019_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/correction_tape_019_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="correction_tape_019">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b150b8ee5229386f2ec9bce5d456703b27040e3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019.obj
@@ -0,0 +1,124764 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d73d583dd8bb84ab43c832fa21dfb8a3ce7715c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision.obj
@@ -0,0 +1,21358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_0.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27ce7de71ed13d542021cf70bc202a54484df164
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_1.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2ca981a75713d07890bce78b78bcd61370a4352
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_10.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8dc3923ca6caa838231ca6fce84880f9ee16b7d
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_11.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f16068f182f0f3b146a4b9df5410610c4a824e55
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_12.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc70b281dc1536500e0d0abecc72c47a261f9632
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_12.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_13.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05003517820c2733947dda94f37935bd02afa83d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_13.obj
@@ -0,0 +1,910 @@
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diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_14.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e3319c0be407760fbf08520ed889b63c8a83a12
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_14.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_15.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ae076502044f73a2c83abc30cb58159553a6cc5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_15.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_16.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cde524679a1d9be1485d4e03a78be1f1e6dff834
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_16.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_17.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d48766a11cbf544e3e3bd79668f0b788e0f55fa6
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_18.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..600fd049226f301ae93250f8bc13de6ab542d01e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_18.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_19.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91dd6ce547a1458e04387537c03ddd67ef04929b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_19.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_2.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01644afc4e5a6bce3a772bf9488894b435801593
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_2.obj
@@ -0,0 +1,1045 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_20.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9108a6b78d353cc676cde1a4110669df2e83d055
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_20.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_21.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47a5c5d33fa8812c18866e186e396802ff89dace
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_21.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_22.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8813bb2893fc03b3512992e4f2596e11872d41be
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_22.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01488094 -0.02327843 0.00581672
+v -0.01488094 -0.02327843 0.00681671
+v -0.01488094 -0.02069897 0.00581672
+v -0.01488094 -0.02069897 0.00681671
+v 0.01339457 -0.02327843 0.00581672
+v 0.01339457 -0.02327843 0.00681671
+v 0.01339457 -0.02069897 0.00581672
+v 0.01339457 -0.02069897 0.00681671
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+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_23.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c397567ff86470d88e2c60a5332a8b3af7f175c5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_23.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.00776457 -0.03043178 0.00677495
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+
diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_24.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64087327e2daf58febaeb85dc1743f2697c3a3c0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_24.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v 0.01339456 -0.02598929 0.00826638
+v 0.01339456 -0.02598928 0.00677496
+v 0.01318079 -0.02598929 0.00830052
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+
diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_25.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3687414ee617f17f5722ade1156761236dcaf855
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_25.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.01077454 -0.02408230 0.00677497
+v -0.01089784 -0.02408231 0.00721102
+v -0.01055720 -0.02421034 0.00698478
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+v -0.01488094 -0.02408230 0.00677497
+v -0.01108870 -0.02408231 0.00744944
+v -0.00776527 -0.02606131 0.00750298
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+v -0.01488094 -0.02605446 0.00677496
+v -0.01488094 -0.02408231 0.00824410
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+v -0.00776527 -0.02614770 0.00764920
+v -0.01165294 -0.02408231 0.00804814
+v -0.00776527 -0.03043201 0.00677495
+v -0.01488094 -0.02598486 0.00698903
+v -0.01442537 -0.02649576 0.00677496
+v -0.01430695 -0.02476663 0.00830390
+v -0.01430695 -0.02408231 0.00830146
+v -0.01488094 -0.02474363 0.00821915
+v -0.00818950 -0.02627139 0.00805695
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+v -0.01222623 -0.02408231 0.00814353
+v -0.00776527 -0.03023872 0.00746281
+v -0.00792967 -0.03017843 0.00746281
+v -0.00792618 -0.03037296 0.00677495
+v -0.01488094 -0.02581393 0.00746283
+v -0.01457444 -0.02612160 0.00746282
+v -0.01422545 -0.02667849 0.00677496
+v -0.01404294 -0.02660765 0.00746282
+v -0.01427978 -0.02581704 0.00816362
+v -0.01324395 -0.02583817 0.00829781
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+v -0.01324395 -0.02408231 0.00825065
+v -0.00792967 -0.02905032 0.00832898
+v -0.00776527 -0.02888499 0.00831590
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+v -0.01488094 -0.02549632 0.00808815
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+v -0.00904769 -0.02911993 0.00819235
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+v -0.01131579 -0.02878367 0.00677495
+v -0.01117229 -0.02886633 0.00677495
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+
diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_26.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b70a240b56dfd36fcba2bda1b2a8448319cd8169
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_26.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01326017 -0.02069897 0.00581676
+v -0.01326017 -0.02069897 0.00681676
+v -0.01326017 0.00068855 0.00581676
+v -0.01326017 0.00068855 0.00681676
+v 0.01339457 -0.02069897 0.00581676
+v 0.01339457 -0.02069897 0.00681676
+v 0.01339457 0.00068855 0.00581676
+v 0.01339457 0.00068855 0.00681676
+f 2 4 1
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+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_27.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44cd254ee7ba53b3197283daf3d88c3baeb1e8f2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_27.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.01488094 -0.02408158 0.00677498
+v -0.01077398 -0.02408158 0.00677498
+v -0.01488094 -0.02408159 0.00824384
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+
diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_28.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b706c9b59ac5b134c5ade7a1fefff16acaec7a13
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_28.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.01339397 -0.02162278 0.00677482
+v 0.01339397 -0.02175572 0.00710173
+v 0.01339397 -0.02598927 0.00677480
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+v 0.01339397 -0.02598928 0.00826618
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+v 0.00803430 -0.02598928 0.00754183
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+v 0.00854849 -0.02598928 0.00786245
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+v 0.00938480 -0.02598928 0.00812017
+v 0.01226835 -0.02476644 0.00823534
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+
diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_3.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75eb5fea4c7357ee9ca907b0d00121124f5bb0d8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_3.obj
@@ -0,0 +1,550 @@
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diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_4.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..661b5d76d8e8e1692c1ba3f5417779e8a01495fd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_4.obj
@@ -0,0 +1,760 @@
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diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_5.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0ad5d83326e36e6b54dab364453eb6b8ecd175d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_5.obj
@@ -0,0 +1,1270 @@
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diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_6.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcbd9032a47ca72f0a2f57ed6a231cc06b724032
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_7.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8d4492c70bd86775c94368f9d5006c96dbce632
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_8.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff704c1a4a9da7f1f47cfead002e58d9aeb9c0b8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_9.obj b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..830c0eb1028ac1c528beb97b61c63f07a7f7bd31
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mjcf/mesh/correction_tape_019_collision_9.obj
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