diff --git a/.gitattributes b/.gitattributes
index 6b2775d065b44c2c66f81d00b7bac8806b9deb2a..4cfae25d23206acbd0b9d2eeb30d29e13650d17d 100644
--- a/.gitattributes
+++ b/.gitattributes
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dataset/desktop_supplies/office_stationery/3656004426b658169850d0078a4aca29/ballpoint_pen_001.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/3656004426b658169850d0078a4aca29/mesh/ballpoint_pen_001.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/correction_tape_013.urdf b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/correction_tape_013.urdf
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/correction_tape_013.usd b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/correction_tape_013.usd
new file mode 100644
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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/37424638507851d08d37d7477da03ba9/mesh/correction_tape_013_collision.obj b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mesh/correction_tape_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a02ea21ac3d9fd22bca932d314ac9042da9d962c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mesh/correction_tape_013_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mesh/correction_tape_013_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mesh/correction_tape_013_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..552ff733df56dd2c4d6ec949d07b73c2933c2a0e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mesh/correction_tape_013_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bf26aec9dbce607f6d57fe814dba1f446f3262b2cda7276c7dc5eeec52226da
+size 10385428
diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2687f0701f03fabdb69912413e6050b60d719e95
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl correction_tape_013_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_013_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..552ff733df56dd2c4d6ec949d07b73c2933c2a0e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bf26aec9dbce607f6d57fe814dba1f446f3262b2cda7276c7dc5eeec52226da
+size 10385428
diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/correction_tape_013.xml b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/correction_tape_013.xml
new file mode 100644
index 0000000000000000000000000000000000000000..273e2a5bcbe3d273dd900e3596025b99b89854cc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/correction_tape_013.xml
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diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013.obj b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..725d8f06ded6f94ce7c0df858639ab0fb58e5e4c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013.obj
@@ -0,0 +1,116266 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl correction_tape_013_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision.obj b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4bdae7a471d124965697362dd30548ef743e200
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision.obj
@@ -0,0 +1,19561 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_0.obj b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5630aa1afe2d1c252fd52ea7e4a7efa1090d4153
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_1.obj b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82d8dbe8901d7cd072b8b460c203b9c58d265875
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_1.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_10.obj b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..263aaa9311c4bd71333737b0dd41734ee3dd961e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_10.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_11.obj b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..776d20e6d7365679fe6932703664d4bf6cd6f26b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_11.obj
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diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_12.obj b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..996e30014b0669b1ffa39781be94f2d001cd9b58
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_12.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_13.obj b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f57d29e7180a85d32dff7aa3e8007fca99dbf00
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_13.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_14.obj b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc57fb4c180af22644a851e46aa96c44d0fb5d8e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_14.obj
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diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_15.obj b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fdca1e439fa1578c6630679bade4ea3e1db90ba
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_15.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_16.obj b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..841393c3f45307aa25f2cd6733240e90947b51dc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_16.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02063918 0.00164845 -0.00126501
+v -0.02063918 0.00164845 -0.00026501
+v -0.02063918 0.00275357 -0.00126501
+v -0.02063918 0.00275357 -0.00026501
+v -0.01963918 0.00164845 -0.00126501
+v -0.01963918 0.00164845 -0.00026501
+v -0.01963918 0.00275357 -0.00126501
+v -0.01963918 0.00275357 -0.00026501
+f 2 4 1
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+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/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_17.obj b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82c20655a4bec02078f7d2ff74d6691940f86020
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_17.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01929530 -0.00964033 -0.00108477
+v -0.01929530 -0.00964033 0.00207068
+v -0.01929530 -0.00839423 -0.00108477
+v -0.01929530 -0.00839423 0.00207068
+v -0.01829530 -0.00964033 -0.00108477
+v -0.01829530 -0.00964033 0.00207068
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+v -0.01829530 -0.00839423 0.00207068
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+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_18.obj b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8af17214c00a4d02562cc1b5502fc6657fbbfaf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_18.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+v -0.01442780 -0.01973086 -0.00571477
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+
diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_19.obj b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8c22a8ca51e9fe4f7af422aa0f3ae59362e97bd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_19.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.00800106 -0.00000546 -0.00726009
+v -0.00803379 -0.00000546 -0.00725707
+v -0.00809291 0.00068997 -0.00717764
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+
diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_2.obj b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd890c372219a96af56ea5354d88acd9b1faf5d8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_2.obj
@@ -0,0 +1,652 @@
+# https://github.com/mikedh/trimesh
+v -0.02409924 -0.01412069 0.00106154
+v -0.02408883 -0.01412070 0.00207121
+v -0.02399795 -0.01412069 0.00005112
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diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_20.obj b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc5f52d36463ba34089f0ebbb6abde46db1ed591
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_20.obj
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diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_21.obj b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3e26a103cf44bc465593da75b7fa57cdce634f5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_21.obj
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diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_22.obj b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9af5ed2a1da925c839bf5e627a1abf9c4d28ac9d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_22.obj
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diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_23.obj b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27b1b6789971666b40521b4d662f75fa62ef44c5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_23.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.01442780 -0.02162436 -0.00529680
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+v -0.01464213 -0.02032282 0.00308068
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+f 14 18 15
+f 15 18 20
+f 15 20 19
+
diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_24.obj b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1505ac1d462ec9b80459bfe003f33724f275838
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_24.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
+v -0.01878581 -0.02032281 -0.00097952
+v -0.01860195 -0.02032500 -0.00097952
+v -0.01860238 -0.02032281 -0.00098421
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diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_25.obj b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6162f985265b273cdd4501de6e1c8589b50e2601
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_25.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_3.obj b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..607a7301a85b35f136e6096b26672035e9db978b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_3.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_4.obj b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40e0013c7deb1f312702ab3d1457f57a2626b761
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_5.obj b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..074bfc6463467f13fb0c7d44bf6a481d8f3c38a5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_6.obj b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..490ca4f8504c065c55d87d8d05c654d34e7cc2e8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_7.obj b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b66f2ff566704bb5afae6cf988b4372f48a44be
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_8.obj b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34be6d66db93ff5a1aec0123554ea479234e9e63
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mjcf/mesh/correction_tape_013_collision_8.obj
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