diff --git a/.gitattributes b/.gitattributes
index d493d2d62c1cdcf977e70e03d84fbc7c7c6a695e..05996e8cb26516ef68eb59f09a5761a6567804fd 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3237,7 +3237,4 @@ dataset/desktop_supplies/office_stationery/ba53185544755f60afef8816707c2da2/note
 dataset/desktop_supplies/office_stationery/bfd58f9684d359e581e551a950d6b55e/bfd58f9684d359e581e551a950d6b55e.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/c07d0cf9565f5750b6ff5ce58cafa5d5/c07d0cf9565f5750b6ff5ce58cafa5d5.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/c01bedfcda055b8e9c64afb060b9f37a.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/eraser_027.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mesh/eraser_027.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/c110c331ff875354bdc82a7280766eaa/mesh/notebook_038.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/c110c331ff875354bdc82a7280766eaa/notebook_038.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/c1db3cfda88a55e6bf0ed3c83de999e2.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/c1db3cfda88a55e6bf0ed3c83de999e2.urdf b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/c1db3cfda88a55e6bf0ed3c83de999e2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..62d918d26f78243acd9a8e4b37b75bf5c690c2d2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/c1db3cfda88a55e6bf0ed3c83de999e2.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="book">
+   <link name="book">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/book.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/book_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.1500" />
+         <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>0.250000</scale>
+         <version>v0.1.5</version>
+         <category>book</category>
+         <description>green hardcover book with gold decorative accents</description>
+         <min_height>0.2</min_height>
+         <max_height>0.3</max_height>
+         <real_height>0.25</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.5</max_mass>
+         <generate_time>20251014041437</generate_time>
+         <gs_model>mesh/book_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.68000590801239</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_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/c1db3cfda88a55e6bf0ed3c83de999e2.usd b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/c1db3cfda88a55e6bf0ed3c83de999e2.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e1593be5edf805a110463b9ea485440deba76ddd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/c1db3cfda88a55e6bf0ed3c83de999e2.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a592ce60bb5e082b2991768117317abf6a323e4b8dc4fe0344fc0dedf278d24
+size 681115
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mesh/book.glb b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mesh/book.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1272ee275fe6fc89558723ed22a73cef5b73f32e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mesh/book.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f12acb377c1c56aba75006bf5f85e1c4318577ac55612ffca266f6005e0fa58a
+size 1315764
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mesh/book.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mesh/book.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1afe0744d83d43113e2d9c2b70ca680b324a7716
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mesh/book.obj
@@ -0,0 +1,41714 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mesh/book_collision.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mesh/book_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9b4c9b3f7babf32707534297ee74bf728779580
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mesh/book_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mesh/book_gs.ply b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mesh/book_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..27569af97ab4a4e1e2d33db1472ac18a5e561761
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mesh/book_gs.ply
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diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae255676afc0a5ff6d65999a7d99867a619bf404
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d581eff4dc03c49ddeef39da754a93b2ecd09e2a17084006ec87f333bd3a7601
+size 858391
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/c1db3cfda88a55e6bf0ed3c83de999e2.xml b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/c1db3cfda88a55e6bf0ed3c83de999e2.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c6653052b472c69b7795242e1d06659e8e3797f0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/c1db3cfda88a55e6bf0ed3c83de999e2.xml
@@ -0,0 +1,88 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="book">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/book.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/book_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/book_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/book_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/book_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/book_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/book_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/book_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/book_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/book_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/book_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/book_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/book_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/book_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/book_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/book_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/book_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/book_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/book_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/book_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/book_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/book_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/book_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/book_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/book_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/book_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/book_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/book_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/book_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/book_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/book_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/book_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/book_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/book_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/book_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/book_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/book_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/book_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="book">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" 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/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fb4f1246c1f6348150751851eeb892f0ba25d73
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book.obj
@@ -0,0 +1,41714 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.016659 -0.020546 0.119051
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diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..718f1f8149ee280a89f9d2172c84520e51305117
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision.obj
@@ -0,0 +1,5463 @@
+# https://github.com/mikedh/trimesh
+
+o book_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_0.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea802869662494751c9cce5dad25ae24bc793d8f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_0.obj
@@ -0,0 +1,166 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_1.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f32e735b7707e915d2d84af06a6f496586949985
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_1.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+v 0.01698474 -0.09588946 0.11744415
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+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_10.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a49b6d14bf49753fdf06ad523008f3d3707b066
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_10.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.01729658 0.07313651 0.00033379
+v -0.01164179 0.08508123 0.00033383
+v -0.02135427 0.07313651 0.00033379
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+v -0.01164179 0.07313695 -0.12096675
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+v -0.01164179 0.09303551 -0.00205756
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+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_11.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..943f79924c9aa69b93ce539b287524066a899350
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_11.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00002616 -0.00205257 0.12083596
+v -0.00002616 -0.00205256 0.11707088
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+f 27 33 32
+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_12.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ef986ecbbf2f3e615d2f9e4e5f737fcf82b4330
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_12.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.02251688 0.09642829 0.10739830
+v 0.02216823 0.09872948 0.10739831
+v 0.02187034 0.10053545 0.11333073
+v 0.02247496 0.09642825 0.11744956
+v 0.02203584 0.07846046 0.11744950
+v 0.02157906 0.07846050 0.10739824
+v 0.02188137 0.10053548 0.10739832
+v 0.02188137 0.10053547 0.10921013
+v 0.02184827 0.10053544 0.11744958
+v 0.02023963 0.10303326 0.11744959
+v 0.02208659 0.09642823 0.12157016
+v 0.02180193 0.07846044 0.12157010
+v 0.01762476 0.07846050 0.10739824
+v 0.02096120 0.10191912 0.10739832
+v 0.02025066 0.10302356 0.11333074
+v 0.02002559 0.10293614 0.12157019
+v 0.02142680 0.10053542 0.12157018
+v 0.01745044 0.10325659 0.11333074
+v 0.01745044 0.10325658 0.11744959
+v 0.02020874 0.10053541 0.12429051
+v 0.02054856 0.09642822 0.12462530
+v 0.02042940 0.07846043 0.12457990
+v -0.00002616 0.07846046 0.11647297
+v -0.00002616 0.08447565 0.10739826
+v 0.02022860 0.10299447 0.10739833
+v 0.02023963 0.10300417 0.10921014
+v 0.01745044 0.10324448 0.10921014
+v 0.01722536 0.10295314 0.12178991
+v 0.01967914 0.10275409 0.12383713
+v 0.01523497 0.10283183 0.10739833
+v 0.01523938 0.10282939 0.10921014
+v 0.01526586 0.10281236 0.11744959
+v 0.01534972 0.10273468 0.12056402
+v 0.01722536 0.10085341 0.12439164
+v 0.01745044 0.09642822 0.12521122
+v 0.01745044 0.07846043 0.12516930
+v 0.01931063 0.07846043 0.12480310
+v -0.00002616 0.07846045 0.12055346
+v -0.00002616 0.08860227 0.10739828
+v 0.01745044 0.10323478 0.10739833
+v 0.01578001 0.10243367 0.12331225
+v 0.01837060 0.10275409 0.12383713
+v -0.00002616 0.08882071 0.11333069
+v -0.00002616 0.08850756 0.11744954
+v 0.01517760 0.09969553 0.12402022
+v -0.00002616 0.08411149 0.12050117
+v -0.00002616 0.08781088 0.11871902
+v -0.00002616 0.08707780 0.12000071
+v -0.00002616 0.08561406 0.12024832
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+f 1 4 5
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+f 1 6 13
+f 1 13 24
+f 1 24 39
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+f 5 12 22
+f 5 22 37
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+f 5 23 13
+f 5 13 6
+f 7 14 15
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+f 9 10 16
+f 9 16 17
+f 9 17 11
+f 10 15 18
+f 10 18 19
+f 10 19 16
+f 11 17 20
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 13 23 24
+f 14 25 26
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+f 15 26 27
+f 15 27 18
+f 16 19 28
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+f 17 29 20
+f 18 27 30
+f 18 30 19
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+f 19 32 33
+f 19 33 28
+f 20 29 34
+f 20 34 35
+f 20 35 21
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 23 38 46
+f 23 46 49
+f 23 49 48
+f 23 48 47
+f 23 47 44
+f 23 44 43
+f 23 43 39
+f 23 39 24
+f 25 40 26
+f 26 40 27
+f 27 40 30
+f 28 33 41
+f 28 41 42
+f 28 42 29
+f 29 42 34
+f 30 43 31
+f 30 39 43
+f 31 43 32
+f 32 43 33
+f 33 43 44
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+f 34 45 35
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+f 35 38 36
+f 41 44 47
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+f 41 48 45
+f 45 48 49
+f 45 49 46
+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_13.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5da5af66a22dbb1eb903b86a060d24177eb78e8c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_13.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.02110055 -0.08833809 -0.10928696
+v 0.02109641 -0.08837862 -0.10928696
+v 0.02112540 -0.08833806 -0.11742896
+v 0.01633027 -0.08833809 -0.10928696
+v 0.02107157 -0.08845677 -0.10928696
+v 0.02112126 -0.08837859 -0.11742896
+v 0.02072374 -0.08833804 -0.12150560
+v -0.00002616 -0.08833806 -0.11570324
+v -0.00002616 -0.09906088 -0.10928700
+v 0.02006327 -0.09154089 -0.10928698
+v 0.02007776 -0.09159296 -0.11742898
+v 0.01984794 -0.09120218 -0.12154751
+v 0.02071545 -0.08837857 -0.12154749
+v 0.02071959 -0.08833804 -0.12154749
+v -0.00002616 -0.08833804 -0.12332800
+v -0.00002616 -0.10307849 -0.10928702
+v 0.02002807 -0.09159155 -0.10928698
+v 0.01869264 -0.09364663 -0.11742898
+v 0.01954152 -0.09067537 -0.12376790
+v 0.01832203 -0.09325440 -0.12154751
+v 0.01984794 -0.08837856 -0.12405470
+v 0.01986036 -0.08833803 -0.12403053
+v -0.00002616 -0.08845672 -0.12345207
+v 0.01368840 -0.08833803 -0.12455904
+v -0.00002616 -0.10312189 -0.11742902
+v 0.00186208 -0.10306981 -0.10928702
+v 0.01862639 -0.09359456 -0.10928698
+v 0.01866158 -0.09361914 -0.11330884
+v 0.01675057 -0.09570320 -0.11742899
+v 0.01637789 -0.09534860 -0.12154752
+v 0.01583337 -0.09483192 -0.12385976
+v 0.01725783 -0.09222104 -0.12424647
+v 0.01985001 -0.08833803 -0.12405792
+v 0.01745038 -0.08837856 -0.12480074
+v -0.00002616 -0.08947992 -0.12451716
+v 0.01745038 -0.08833803 -0.12479913
+v -0.00002616 -0.10294386 -0.12019082
+v 0.00190970 -0.10293518 -0.12016020
+v 0.00190970 -0.10310741 -0.11742902
+v 0.00190970 -0.10306837 -0.10928702
+v 0.01668432 -0.09561205 -0.10928699
+v 0.01671745 -0.09565979 -0.11330885
+v 0.01428883 -0.09775542 -0.11742900
+v 0.01212522 -0.09897690 -0.12050339
+v 0.01347722 -0.09754410 -0.12174572
+v 0.01134467 -0.09846890 -0.12324908
+v 0.00875663 -0.09915200 -0.12406442
+v 0.01356624 -0.09565251 -0.12432382
+v 0.01356624 -0.09248589 -0.12526160
+v -0.00002616 -0.09098653 -0.12504567
+v 0.00968211 -0.09248589 -0.12555647
+v -0.00002616 -0.09248589 -0.12556936
+v -0.00002616 -0.10223469 -0.12225009
+v 0.00190970 -0.10222745 -0.12221947
+v 0.00400084 -0.10279768 -0.11966714
+v 0.00405467 -0.10281651 -0.11742902
+v 0.00391595 -0.10279772 -0.10928702
+v 0.01413976 -0.09766427 -0.10928700
+v 0.01421636 -0.09771201 -0.11330886
+v 0.01234469 -0.09912309 -0.11742900
+v 0.00968211 -0.10047049 -0.11742901
+v 0.00990365 -0.09970921 -0.12174573
+v 0.00549569 -0.10171657 -0.12124461
+v 0.00990365 -0.09689572 -0.12472505
+v 0.00579590 -0.09973091 -0.12447853
+v 0.00579590 -0.09659179 -0.12553231
+v 0.00190970 -0.09659179 -0.12574340
+v -0.00002616 -0.09659179 -0.12574823
+v -0.00002616 -0.10018101 -0.12469605
+v 0.00190970 -0.10017377 -0.12469122
+v 0.00599674 -0.10204511 -0.11742901
+v 0.00396564 -0.10279049 -0.10928702
+v 0.01219562 -0.09902325 -0.10928700
+v 0.01227429 -0.09907534 -0.11330886
+v 0.00968211 -0.10030988 -0.10928701
+v 0.00590978 -0.10198436 -0.10928701
+v 0.00586216 -0.10200462 -0.10928701
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+f 1 33 36
+f 1 36 24
+f 1 24 15
+f 1 15 8
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+f 1 9 16
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+f 1 17 10
+f 1 10 5
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+f 64 65 66
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+f 71 76 77
+f 71 77 72
+f 73 75 74
+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_14.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f518b127ba90c9423a568fe76acec2d6638ea5e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_14.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.00002616 0.08940282 -0.10271502
+v -0.00002616 0.08559926 -0.10271504
+v -0.00002616 0.08943214 -0.10094452
+v 0.01522851 0.10280100 -0.10271497
+v 0.01744596 0.07998642 -0.10271506
+v -0.00002616 0.08512064 -0.00617214
+v -0.00002616 0.08937557 -0.05561372
+v 0.01523956 0.10274198 -0.00617207
+v 0.01745038 0.10303336 -0.10271497
+v 0.02155366 0.07998642 -0.10271506
+v 0.01743269 0.07998641 -0.10094456
+v 0.01727130 0.07998620 -0.04326099
+v 0.01726467 0.07998618 -0.03914001
+v 0.01724920 0.07998609 -0.01441412
+v 0.01724920 0.07998608 -0.01028296
+v 0.01725362 0.07998605 -0.00204100
+v 0.01725804 0.07998604 0.00121508
+v -0.00002616 0.08512288 -0.00205115
+v 0.01733100 0.07998630 -0.07209769
+v 0.01732215 0.07998629 -0.06797671
+v -0.00002616 0.08909120 -0.02265604
+v 0.01525061 0.10273519 0.00121517
+v 0.01745038 0.10292470 0.00121517
+v 0.01995303 0.10280306 -0.05149269
+v 0.01994419 0.10282128 -0.09682349
+v 0.01994419 0.10282129 -0.10094447
+v 0.01994198 0.10282130 -0.10271497
+v 0.01994198 0.10277806 0.00121517
+v 0.02155145 0.07998638 -0.09270260
+v 0.02245347 0.09643015 -0.10271500
+v 0.02245789 0.09643014 -0.10094450
+v 0.02255738 0.09642991 -0.03913995
+v 0.02255959 0.09642987 -0.02677701
+v 0.02152271 0.07998604 0.00121508
+v -0.00002616 0.08513190 0.00121510
+v -0.00002616 0.08872790 0.00121512
+v 0.02162441 0.10053562 0.00121516
+v 0.02163767 0.10053575 -0.03501895
+v 0.02157135 0.10053599 -0.10094448
+v 0.02163767 0.10053576 -0.03913993
+v 0.02163325 0.10053578 -0.04326091
+v 0.02156251 0.10053600 -0.10271498
+v 0.02153377 0.07998612 -0.02265608
+v 0.02194940 0.09876282 -0.10271499
+v 0.02255738 0.09642985 -0.02265602
+v 0.02254411 0.09642984 -0.01853504
+v 0.02247115 0.09642977 0.00121514
+v 0.02180349 0.09969415 0.00121516
+f 1 2 6
+f 1 6 18
+f 1 18 35
+f 1 35 36
+f 1 36 21
+f 1 21 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 27
+f 1 27 42
+f 1 42 44
+f 1 44 30
+f 1 30 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
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+f 5 10 29
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+f 5 11 6
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+f 8 22 23
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+f 10 30 31
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+f 10 32 33
+f 10 33 29
+f 17 34 47
+f 17 47 48
+f 17 48 37
+f 17 37 28
+f 17 28 23
+f 17 23 22
+f 17 22 36
+f 17 36 35
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+f 21 36 22
+f 24 28 37
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+f 25 40 26
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+f 29 33 43
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+f 32 40 33
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+f 33 34 43
+f 34 46 47
+f 34 45 46
+f 37 48 45
+f 39 44 42
+f 45 48 46
+f 46 48 47
+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_15.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e0dfef0e52f7df303a81ce69b02bca504d0b7b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_15.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.02166770 -0.08430200 -0.00617257
+v -0.02123979 -0.08837866 -0.01029384
+v -0.02123979 -0.08837868 -0.00617258
+v -0.02166135 -0.08430202 0.00104235
+v -0.02163169 -0.08430162 -0.10945298
+v -0.02013187 -0.09140951 -0.01029386
+v -0.02115294 -0.08837833 -0.10094002
+v -0.02012975 -0.09140953 -0.00617260
+v -0.02123132 -0.08837869 -0.00205132
+v -0.02122072 -0.08837870 0.00104234
+v -0.01760250 -0.08430202 0.00104235
+v -0.01737795 -0.08430162 -0.10945298
+v -0.02116988 -0.08811637 -0.10945299
+v -0.01843715 -0.09346378 -0.00617260
+v -0.02006832 -0.09133996 -0.10094004
+v -0.01861933 -0.09326321 -0.10945301
+v -0.01851977 -0.09339417 -0.10945301
+v -0.01851977 -0.09339417 -0.10918257
+v -0.02114446 -0.08837831 -0.10506130
+v -0.02005137 -0.09134180 -0.10945301
+v -0.02012339 -0.09140206 -0.00205134
+v -0.02011492 -0.09138897 0.00104232
+v -0.00002616 -0.09940015 0.00104229
+v -0.00002616 -0.09905741 -0.09681880
+v -0.00002616 -0.09904989 -0.10945303
+v -0.02113387 -0.08837830 -0.10945299
+v -0.01649458 -0.09533093 -0.00617261
+v -0.01648822 -0.09532533 -0.00205135
+v -0.01843079 -0.09345443 -0.00205134
+v -0.01657720 -0.09548396 -0.10945302
+v -0.01883753 -0.09293620 0.00104232
+v -0.00002616 -0.10341134 0.00104228
+v -0.00002616 -0.10307979 -0.10945305
+v -0.01414951 -0.09753633 -0.10945303
+v -0.01377032 -0.09737957 -0.00205136
+v -0.01443126 -0.09686134 0.00104230
+v -0.01647551 -0.09531411 0.00104231
+v -0.01695639 -0.09485200 0.00104231
+v -0.01841808 -0.09344321 0.00104232
+v -0.00197720 -0.10339450 0.00104228
+v -0.00197720 -0.10337570 -0.02677896
+v -0.00002616 -0.10338879 -0.02677896
+v -0.00197720 -0.10308915 -0.10945305
+v -0.01220694 -0.09900312 -0.10945303
+v -0.01229803 -0.09839360 0.00104230
+v -0.01375973 -0.09736835 0.00104230
+v -0.00253222 -0.10327290 0.00104228
+v -0.00424812 -0.10289862 -0.02677896
+v -0.00409136 -0.10281038 -0.10945305
+v -0.00991272 -0.10021733 -0.10945304
+v -0.00617375 -0.10194831 0.00104229
+v -0.00705924 -0.10146374 0.00104229
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+v -0.01026225 -0.09967142 0.00104229
+v -0.01181716 -0.09872850 0.00104230
+v -0.00423118 -0.10289498 0.00104228
+v -0.00974960 -0.10030151 -0.10945304
+v -0.00627119 -0.10188991 -0.10945304
+v -0.00603393 -0.10199654 -0.10945304
+v -0.00471205 -0.10266111 0.00104228
+v -0.00619069 -0.10196691 -0.02677895
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 12
+f 1 12 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 3 9 4
+f 3 6 8
+f 4 10 22
+f 4 22 31
+f 4 31 39
+f 4 39 38
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+f 4 37 36
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+f 10 21 22
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+f 14 28 29
+f 14 29 21
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+f 23 33 25
+f 23 25 24
+f 27 30 34
+f 27 34 28
+f 28 35 36
+f 28 36 37
+f 28 37 38
+f 28 38 29
+f 28 34 35
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+f 29 39 31
+f 32 40 41
+f 32 41 42
+f 33 42 43
+f 34 44 35
+f 35 45 46
+f 35 46 36
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+f 40 47 48
+f 40 48 41
+f 41 48 49
+f 41 49 43
+f 41 43 42
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+f 44 51 52
+f 44 52 53
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+f 44 54 55
+f 44 55 45
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+f 48 56 57
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+f 48 58 59
+f 48 59 49
+f 50 57 51
+f 51 57 61
+f 51 61 60
+f 56 60 61
+f 56 61 57
+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_16.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21e54f7e0370b1ce4054dc592818d8fc433f372f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_16.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.02156453 -0.00053732 0.10739621
+v 0.02171720 0.08410202 0.10738613
+v 0.02166307 0.08229589 0.10739651
+v 0.01752954 -0.00053732 0.10739621
+v 0.02155991 -0.00053719 0.07211319
+v 0.02157471 0.00197316 0.07211320
+v 0.01727509 0.08410202 0.10739652
+v 0.02154788 0.08410241 0.00122528
+v 0.01725659 0.08410202 0.10739652
+v 0.01699151 0.00197317 0.06799771
+v 0.01708079 -0.00053718 0.06799770
+v 0.02153261 -0.00053713 0.05312583
+v 0.02152983 -0.00053712 0.05152536
+v 0.02135265 -0.00053693 0.00122497
+v 0.01706599 0.08410241 0.00122528
+v 0.01702435 0.08410241 0.00123567
+v 0.01705951 -0.00053716 0.06387183
+v 0.01723809 -0.00053693 0.00122497
+f 1 2 3
+f 1 3 7
+f 1 7 9
+f 1 9 4
+f 1 4 11
+f 1 11 17
+f 1 17 18
+f 1 18 14
+f 1 14 13
+f 1 13 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
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+f 2 15 16
+f 2 16 9
+f 2 9 7
+f 4 9 10
+f 4 10 11
+f 5 12 6
+f 6 12 13
+f 6 13 8
+f 8 13 14
+f 8 14 18
+f 8 18 15
+f 9 16 10
+f 10 17 11
+f 10 16 18
+f 10 18 17
+f 15 18 16
+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_17.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1af75c891f0140df4f41b18a3cef06b2b8bd673
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_17.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.01760363 -0.08429210 0.00104318
+v -0.01733040 -0.07195006 0.00104323
+v -0.02166293 -0.08429210 0.00104318
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+v -0.01730544 -0.06784409 -0.00617319
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+v -0.01749606 -0.08429173 -0.10091517
+v -0.02166594 -0.08426795 0.00104318
+v -0.02166508 -0.08429209 -0.00203104
+v -0.01730888 -0.06372995 -0.03914121
+v -0.01729210 -0.06373005 -0.01029542
+v -0.01733126 -0.06372984 -0.06797700
+v -0.01732739 -0.05962379 -0.09270051
+v -0.01732395 -0.05962380 -0.08857827
+v -0.01729038 -0.06373007 -0.00617317
+v -0.01728952 -0.06373008 -0.00205092
+v -0.01728909 -0.06373009 0.00104326
+v -0.02163152 -0.08429173 -0.10091517
+v -0.01734116 -0.05962376 -0.10091508
+v -0.01733255 -0.05962377 -0.09682278
+v -0.01735019 -0.06372976 -0.08857828
+v -0.01734245 -0.06372979 -0.08033377
+v -0.02166809 -0.08426794 -0.00205100
+v -0.02127223 -0.00206017 0.00104348
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+v -0.02150416 -0.00206000 -0.04738548
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+v -0.02153083 -0.00205997 -0.05561003
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+v -0.01729598 -0.01856416 -0.10091493
+v -0.01727575 -0.04832066 0.00104331
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+v -0.01728694 -0.00206013 -0.01029520
+v -0.01730200 -0.01442599 -0.10091491
+v -0.01729598 -0.01853195 -0.10091493
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+f 28 31 30
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+f 37 47 38
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+f 38 49 45
+f 38 45 39
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+f 40 51 50
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+f 43 52 44
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+f 50 58 56
+f 53 59 54
+f 54 59 60
+f 55 61 62
+f 56 60 59
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+f 56 63 60
+f 60 63 61
+f 61 63 62
+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_18.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ab4d01c5700c954980d20a8e22e4b0320f17336
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_18.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.01718778 -0.08416620 0.11411813
+v -0.01454371 -0.06784152 0.11411819
+v -0.02166375 -0.08416620 0.11411813
+v -0.01761280 -0.08416578 0.00108636
+v -0.01440885 -0.06671624 0.11411819
+v -0.02168193 -0.08016340 0.11411815
+v -0.02166526 -0.08416588 0.02679603
+v -0.01761355 -0.08416578 0.00105316
+v -0.01414672 -0.06298673 0.11411821
+v -0.01418081 -0.06373424 0.11411821
+v -0.02175012 -0.00206058 0.11411843
+v -0.02166526 -0.08416578 0.00105316
+v -0.01733096 -0.07194840 0.00105321
+v -0.01401641 -0.05940189 0.11411822
+v -0.01668169 -0.00206058 0.11411843
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+v -0.02127206 -0.00206016 0.00105346
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+v -0.01730445 -0.06784110 0.00105322
+v -0.01401111 -0.05842932 0.11411823
+v -0.01728626 -0.00206016 0.00105346
+v -0.01728930 -0.06373382 0.00105324
+v -0.01728172 -0.06063928 0.00105325
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+v -0.01727642 -0.05653199 0.00105326
+v -0.01727566 -0.05551924 0.00105327
+v -0.01727490 -0.05242470 0.00105328
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+f 1 11 6
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+f 20 22 23
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+f 20 27 21
+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_19.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7c065f07e248845a50b8576cf4a9f3ebbbdcf54
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_19.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.01749303 -0.00205253 0.10926660
+v -0.01756532 0.08054190 0.10926691
+v -0.02162139 -0.00205253 0.10926660
+v -0.01743715 -0.00205250 0.10104543
+v -0.01726907 0.08054204 0.07211706
+v -0.01745800 0.08054194 0.09743099
+v -0.01749259 0.08054193 0.10154691
+v -0.02168215 0.08054190 0.10926691
+v -0.02160410 -0.00205242 0.08027394
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+v -0.01725355 0.08054205 0.06863027
+v -0.02160055 0.04303666 0.05563194
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+v -0.02160055 0.01429511 0.06800089
+v -0.02160055 -0.00205241 0.07615802
+v -0.02160454 0.08054211 0.05152683
+v -0.02160277 0.07178626 0.05152679
+v -0.02160188 0.06767917 0.05152678
+v -0.01732672 -0.00205239 0.07211675
+v -0.01725133 0.08054205 0.06800114
+v -0.02159789 0.03893766 0.05563192
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+v -0.02158990 0.04714376 0.05152670
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+v -0.02159212 0.08054213 0.04740026
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+v -0.01716663 0.08054216 0.03915776
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+v -0.01718171 0.08054213 0.04740026
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+v -0.02134422 0.03656093 0.00033366
+v -0.01728637 -0.00205213 0.00033352
+v -0.01728637 -0.00205214 0.00215689
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+f 52 55 68
+f 52 68 53
+f 53 68 59
+f 53 59 54
+f 54 59 58
+f 54 58 70
+f 54 70 69
+f 54 69 67
+f 54 67 71
+f 54 71 62
+f 54 62 60
+f 55 59 68
+f 56 65 69
+f 56 69 57
+f 57 69 70
+f 57 70 58
+f 66 72 67
+f 67 72 71
+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_2.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1e14ace425d10adafccc0945cab412a711cb543
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_2.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.00002616 -0.00205169 -0.11590773
+v -0.01544189 -0.00205172 -0.10878848
+v -0.00002616 -0.00205168 -0.11997381
+v -0.00002616 0.00851710 -0.11541566
+v -0.02159870 -0.00205172 -0.10878848
+v -0.00002616 0.00954748 -0.11538039
+v -0.00002616 0.01057051 -0.11534673
+v -0.00002616 0.01840143 -0.11519284
+v -0.00002616 0.02046956 -0.11516558
+v -0.00002616 0.02250825 -0.11513994
+v -0.00002616 0.05124862 -0.11498116
+v -0.00002616 0.05331674 -0.11497474
+v -0.00002616 0.05535543 -0.11496994
+v -0.00002616 0.07178271 -0.11495225
+v -0.00002616 0.07313693 -0.11495224
+v -0.01730014 0.07313691 -0.10878820
+v -0.00002616 0.00608099 -0.11992089
+v -0.01751787 -0.00205166 -0.12516019
+v -0.01751787 0.01018783 -0.12516175
+v -0.01751787 0.06356911 -0.12498846
+v -0.01751787 0.07313697 -0.12495157
+v -0.02185738 -0.00205167 -0.12154768
+v -0.02158145 0.07313691 -0.10878820
+v -0.02199320 0.07313694 -0.11742683
+v -0.02196302 0.05124863 -0.11742691
+v -0.02204925 0.05124865 -0.12154748
+v -0.00002616 0.07313695 -0.11943823
+v -0.00002616 0.06984708 -0.11948792
+v -0.02061999 -0.00205166 -0.12456719
+v -0.02063077 0.01018783 -0.12456875
+v -0.02058765 0.05946229 -0.12450446
+v -0.02057687 0.06356911 -0.12449963
+v -0.02057041 0.07178275 -0.12448037
+v -0.02056825 0.07313697 -0.12447556
+v -0.02201475 0.07313696 -0.12154740
+v -0.02204493 0.05535546 -0.12154747
+v -0.02062861 0.00608101 -0.12456716
+v -0.02061136 0.04714184 -0.12451573
+v -0.02060490 0.05124866 -0.12451090
+v -0.02059843 0.05535547 -0.12450448
+f 1 2 5
+f 1 5 22
+f 1 22 29
+f 1 29 18
+f 1 18 3
+f 1 3 17
+f 1 17 28
+f 1 28 27
+f 1 27 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 8
+f 1 8 7
+f 1 7 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 16
+f 2 16 23
+f 2 23 5
+f 3 18 19
+f 3 19 20
+f 3 20 21
+f 3 21 17
+f 5 23 24
+f 5 24 25
+f 5 25 26
+f 5 26 22
+f 15 27 21
+f 15 21 34
+f 15 34 35
+f 15 35 24
+f 15 24 23
+f 15 23 16
+f 17 21 28
+f 18 29 30
+f 18 30 19
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 20 33 34
+f 20 34 21
+f 21 27 28
+f 22 26 29
+f 24 35 36
+f 24 36 26
+f 24 26 25
+f 26 36 30
+f 26 30 37
+f 26 37 29
+f 29 37 30
+f 30 36 38
+f 30 38 31
+f 31 38 39
+f 31 39 40
+f 31 40 33
+f 31 33 32
+f 33 35 34
+f 33 40 35
+f 35 40 39
+f 35 39 38
+f 35 38 36
+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_20.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f933d389dfab55fa3e2674567341798d8bd9bbb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_20.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.01728626 -0.00205212 0.00033352
+v -0.01728747 0.00608055 0.00033355
+v -0.02127207 -0.00205212 0.00033352
+v -0.01544281 -0.00205172 -0.10878848
+v -0.01729771 0.07313651 0.00033380
+v -0.02132570 0.02250783 0.00033361
+v -0.02148540 -0.00205196 -0.04334305
+v -0.02159930 -0.00205172 -0.10878848
+v -0.01730133 0.07313691 -0.10878820
+v -0.01729651 0.07313655 -0.01029428
+v -0.01729651 0.07313653 -0.00482536
+v -0.01729711 0.07313652 -0.00205885
+v -0.02135403 0.07313651 0.00033380
+v -0.02133354 0.02661464 0.00033363
+v -0.02150408 -0.00205195 -0.04738065
+v -0.02158122 0.07313691 -0.10878820
+v -0.02156736 -0.00205186 -0.07209759
+v -0.02151915 -0.00205193 -0.05158915
+v -0.02135342 0.06767547 0.00033378
+v -0.02147817 0.07313671 -0.05561579
+v -0.02155229 -0.00205189 -0.06385149
+v -0.02154205 -0.00205190 -0.05972845
+v -0.02153120 -0.00205192 -0.05569084
+v -0.02133956 0.03072146 0.00033364
+v -0.02134258 0.03482828 0.00033366
+v -0.02134378 0.03655786 0.00033366
+v -0.02134499 0.03892774 0.00033367
+v -0.02134679 0.04303456 0.00033369
+v -0.02134740 0.04477149 0.00033369
+v -0.02156133 -0.00205187 -0.06797454
+v -0.02135282 0.06356865 0.00033376
+f 1 2 5
+f 1 5 13
+f 1 13 19
+f 1 19 31
+f 1 31 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 14
+f 1 14 6
+f 1 6 3
+f 1 3 7
+f 1 7 15
+f 1 15 18
+f 1 18 23
+f 1 23 22
+f 1 22 21
+f 1 21 30
+f 1 30 17
+f 1 17 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 16
+f 4 16 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 11
+f 5 11 10
+f 5 10 9
+f 5 9 16
+f 5 16 20
+f 5 20 13
+f 6 14 7
+f 7 14 15
+f 8 17 16
+f 13 18 19
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 18
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 18
+f 16 17 30
+f 16 30 20
+f 18 29 31
+f 18 31 19
+f 20 30 21
+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_21.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd7e2b7951dc927697c8be13082987c5ebdfce76
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_21.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.02135237 -0.00036491 0.00121479
+v 0.02152418 0.07998604 0.00121508
+v 0.01723840 -0.00036491 0.00121479
+v 0.02147509 -0.00036480 -0.03089834
+v 0.02153349 0.01429603 -0.05149302
+v 0.02153476 0.01840166 -0.05149300
+v 0.02155718 -0.00036453 -0.10271535
+v 0.02153349 0.07998612 -0.02265608
+v 0.01725998 0.07998604 0.00121508
+v 0.02151868 -0.00036472 -0.05149307
+v 0.02152629 -0.00036471 -0.05561405
+v 0.02152841 0.00197912 -0.05561404
+v 0.01723798 0.00197892 0.00121480
+v 0.01723798 -0.00036491 0.00028885
+v 0.02153137 0.00608476 -0.05561403
+v 0.02153179 0.00197914 -0.05973502
+v 0.02152925 -0.00036469 -0.05973503
+v 0.01729299 -0.00036453 -0.10271535
+v 0.02155718 0.00020176 -0.10271535
+v 0.02155126 0.07998637 -0.08858162
+v 0.01725533 0.07998605 -0.00204100
+v 0.01725491 0.07673771 0.00121507
+v 0.01723586 0.01513741 0.00121485
+v 0.01723798 -0.00036490 -0.00205146
+v 0.01732261 0.07998629 -0.06797671
+v 0.01733192 0.07998630 -0.07209769
+v 0.01743433 0.07998641 -0.10094456
+v 0.01744660 0.07998642 -0.10271506
+v 0.01726337 -0.00036466 -0.06797700
+v 0.01726083 0.06767713 -0.03914005
+v 0.01726591 0.07998618 -0.03914001
+v 0.01727183 0.07998620 -0.04326099
+v 0.02155507 0.07998642 -0.10271506
+v 0.01725194 0.07998606 -0.00616198
+v 0.01723840 0.05536008 0.00121499
+v 0.01723544 0.01840147 0.00121486
+v 0.01723544 0.01840148 -0.00205139
+v 0.01723586 0.01840149 -0.00617238
+v 0.01723840 0.00197894 -0.00617244
+v 0.01723882 -0.00036489 -0.00617245
+v 0.01726083 -0.00036468 -0.06385602
+v 0.01725744 0.06767712 -0.03501907
+v 0.01725110 0.07998609 -0.01441412
+v 0.01725110 0.07998608 -0.01028296
+v 0.01723713 0.05125444 0.00121498
+v 0.01723798 0.05536009 -0.00205126
+v 0.01723629 0.05125445 -0.00205127
+v 0.01723502 0.03483189 0.00121492
+v 0.01723459 0.03893754 -0.00205132
+v 0.01723967 0.00197896 -0.01029342
+v 0.01723925 -0.00036488 -0.00795312
+v 0.01723502 0.03893755 -0.00617231
+v 0.01723756 0.01840151 -0.01029336
+v 0.01724009 -0.00036487 -0.01029343
+v 0.01723713 0.03893757 -0.01029329
+v 0.01723629 0.04714096 -0.00617228
+v 0.01723713 0.05125446 -0.00617226
+v 0.01723629 0.04714094 0.00121496
+v 0.01723502 0.04303531 -0.00205130
+v 0.01723502 0.03893753 0.00121493
+f 1 2 9
+f 1 9 22
+f 1 22 35
+f 1 35 45
+f 1 45 58
+f 1 58 60
+f 1 60 48
+f 1 48 36
+f 1 36 23
+f 1 23 13
+f 1 13 3
+f 1 3 14
+f 1 14 24
+f 1 24 40
+f 1 40 51
+f 1 51 54
+f 1 54 41
+f 1 41 29
+f 1 29 18
+f 1 18 7
+f 1 7 17
+f 1 17 11
+f 1 11 10
+f 1 10 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 20
+f 2 20 33
+f 2 33 28
+f 2 28 27
+f 2 27 26
+f 2 26 25
+f 2 25 32
+f 2 32 31
+f 2 31 43
+f 2 43 44
+f 2 44 34
+f 2 34 21
+f 2 21 9
+f 2 4 10
+f 2 10 11
+f 2 11 12
+f 2 12 5
+f 3 13 14
+f 5 12 15
+f 5 15 16
+f 5 16 7
+f 5 7 6
+f 7 16 17
+f 7 18 28
+f 7 28 33
+f 7 33 19
+f 7 19 8
+f 8 19 20
+f 9 21 22
+f 11 17 16
+f 11 16 12
+f 12 16 15
+f 13 23 14
+f 14 23 24
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 25
+f 19 33 20
+f 21 34 22
+f 22 34 35
+f 23 36 37
+f 23 37 24
+f 24 37 38
+f 24 38 39
+f 24 39 40
+f 29 41 42
+f 29 42 30
+f 30 42 31
+f 31 42 43
+f 34 44 35
+f 35 44 46
+f 35 46 47
+f 35 47 45
+f 36 48 49
+f 36 49 37
+f 37 49 52
+f 37 52 38
+f 38 50 51
+f 38 51 39
+f 38 52 53
+f 38 53 41
+f 38 41 50
+f 39 51 40
+f 41 54 50
+f 41 53 52
+f 41 52 55
+f 41 55 56
+f 41 56 42
+f 42 56 57
+f 42 57 43
+f 43 57 46
+f 43 46 44
+f 45 47 58
+f 46 57 47
+f 47 57 56
+f 47 56 52
+f 47 52 59
+f 47 59 60
+f 47 60 58
+f 48 60 49
+f 49 59 52
+f 49 60 59
+f 50 54 51
+f 52 56 55
+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_22.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c79925e81ebe654c669bdc873e7ff9f1753b9ca6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_22.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.01762503 0.07845807 0.10739651
+v 0.00967740 0.07845803 0.11681528
+v 0.02158010 0.07845807 0.10739651
+v 0.01761415 0.07359432 0.10739649
+v 0.00967740 0.07845030 0.12068244
+v 0.00968103 0.07845802 0.12068244
+v 0.01760568 0.06948835 0.10739648
+v 0.01759963 0.06537466 0.10739646
+v 0.01759721 0.06357298 0.10739645
+v 0.01759237 0.05946701 0.10739644
+v 0.01752945 -0.00032854 0.10739622
+v 0.01752945 -0.00053732 0.10739622
+v 0.00967740 -0.00052963 0.11706758
+v 0.02203622 0.07845803 0.11744936
+v 0.02158010 0.07819517 0.10739651
+v 0.01495969 0.07845800 0.12422035
+v 0.00967740 0.07178486 0.12075557
+v 0.02156437 -0.00053732 0.10739622
+v 0.00968103 -0.00053736 0.11706758
+v 0.00967740 -0.00053737 0.12090686
+v 0.02180150 0.07845801 0.12156910
+v 0.02166721 -0.00053738 0.12156881
+v 0.02180150 -0.00053737 0.11905167
+v 0.02188620 -0.00053736 0.11744907
+v 0.02156921 0.01659794 0.10739628
+v 0.02157042 0.02251332 0.10739630
+v 0.01745202 0.07845800 0.12516973
+v 0.00967740 0.06767890 0.12078343
+v 0.01494880 0.07178484 0.12423253
+v 0.01745202 0.07178484 0.12519060
+v 0.01493912 -0.00053739 0.12422180
+v 0.00967740 0.00197570 0.12090861
+v 0.02042951 0.07845800 0.12457921
+v 0.02038112 -0.00053739 0.12456671
+v 0.02116753 -0.00053738 0.12273592
+v 0.01931159 0.07845800 0.12480217
+v 0.00967740 0.06357293 0.12079386
+v 0.01494880 0.06767888 0.12423252
+v 0.00967740 0.01018763 0.12090690
+v 0.00967740 0.00608167 0.12091036
+v 0.01591549 -0.00053739 0.12458763
+v 0.01745202 0.06767888 0.12518885
+v 0.01859172 -0.00053739 0.12492904
+v 0.02041257 0.07178484 0.12458789
+v 0.02042104 0.07589081 0.12458441
+v 0.01745202 -0.00053739 0.12515898
+f 1 2 6
+f 1 6 16
+f 1 16 27
+f 1 27 36
+f 1 36 33
+f 1 33 21
+f 1 21 14
+f 1 14 3
+f 1 3 15
+f 1 15 26
+f 1 26 25
+f 1 25 18
+f 1 18 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 8
+f 1 8 7
+f 1 7 4
+f 1 4 2
+f 2 5 6
+f 2 4 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 20
+f 2 20 32
+f 2 32 40
+f 2 40 39
+f 2 39 37
+f 2 37 28
+f 2 28 17
+f 2 17 5
+f 3 14 15
+f 5 16 6
+f 5 17 16
+f 12 18 24
+f 12 24 23
+f 12 23 22
+f 12 22 35
+f 12 35 34
+f 12 34 43
+f 12 43 46
+f 12 46 41
+f 12 41 31
+f 12 31 20
+f 12 20 19
+f 12 19 13
+f 13 19 20
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 18
+f 14 18 25
+f 14 25 26
+f 14 26 15
+f 16 17 28
+f 16 28 29
+f 16 29 30
+f 16 30 27
+f 20 31 32
+f 21 33 34
+f 21 34 35
+f 21 35 22
+f 27 30 36
+f 28 37 29
+f 29 38 30
+f 29 37 39
+f 29 39 40
+f 29 40 38
+f 30 38 31
+f 30 31 41
+f 30 41 42
+f 30 42 43
+f 30 43 34
+f 30 34 44
+f 30 44 45
+f 30 45 33
+f 30 33 36
+f 31 40 32
+f 31 38 40
+f 33 45 34
+f 34 45 44
+f 41 46 42
+f 42 46 43
+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_23.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c37e499ef018312d3cbe2b1eb28bb3a5c4a88e3f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_23.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.01751867 -0.05141175 -0.12532280
+v -0.01489909 -0.05141175 -0.12434075
+v -0.01484287 -0.08429164 -0.12432176
+v -0.01751867 -0.05551771 -0.12532042
+v -0.02056529 -0.04319983 -0.12459639
+v -0.02063706 -0.01856407 -0.12459152
+v -0.02064065 -0.01445810 -0.12458434
+v -0.02062151 -0.00205971 -0.12456517
+v -0.01751867 -0.01856407 -0.12525816
+v -0.00965872 -0.08429166 -0.12083084
+v -0.01495650 -0.01856407 -0.12427373
+v -0.01749356 -0.08429164 -0.12521300
+v -0.01751867 -0.08016153 -0.12525838
+v -0.01751867 -0.07194960 -0.12527985
+v -0.01751867 -0.05962367 -0.12531088
+v -0.02050309 -0.07194960 -0.12456542
+v -0.02052701 -0.05551771 -0.12458926
+v -0.02054735 -0.04730579 -0.12459640
+v -0.02172915 -0.08016154 -0.12154764
+v -0.02186312 -0.01035215 -0.12154739
+v -0.02186671 -0.00624619 -0.12154737
+v -0.02183322 -0.00205972 -0.12160710
+v -0.01751867 -0.00205971 -0.12516013
+v -0.01501512 -0.00214022 -0.12420199
+v -0.00965872 -0.08429167 -0.11592061
+v -0.00965872 -0.02267005 -0.12050326
+v -0.01751867 -0.08429164 -0.12521540
+v -0.01751867 -0.08426749 -0.12521779
+v -0.02048395 -0.08016153 -0.12453440
+v -0.02041457 -0.08426749 -0.12450574
+v -0.02161193 -0.08426750 -0.12154766
+v -0.02179135 -0.08426752 -0.11742594
+v -0.02187748 -0.08016156 -0.11742592
+v -0.02158681 -0.00205980 -0.10091725
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+v -0.01732011 -0.05551780 -0.10091744
+v -0.00965872 -0.02359592 -0.11451304
+v -0.01729499 -0.01853195 -0.10091731
+v -0.00965872 -0.02267007 -0.11450825
+v -0.01730576 -0.05141184 -0.10091743
+v -0.01729499 -0.01856416 -0.10091731
+v -0.01729739 -0.04730588 -0.10091741
+f 1 2 3
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+f 2 9 11
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+f 3 25 39
+f 3 39 51
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+f 33 47 34
+f 34 47 46
+f 34 46 45
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+f 34 51 39
+f 34 39 50
+f 34 50 56
+f 34 56 60
+f 34 60 62
+f 34 62 61
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+f 34 58 54
+f 34 54 48
+f 39 40 50
+f 40 52 50
+f 48 53 49
+f 48 54 55
+f 48 55 53
+f 50 52 56
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+f 54 58 55
+f 55 58 59
+f 56 57 60
+f 57 59 60
+f 58 61 59
+f 59 61 62
+f 59 62 60
+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_24.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d66d3b379829f2f88d7bc8d619480fa8cbf50a4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_24.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.01745196 -0.00036445 -0.12483708
+v 0.01501548 -0.00036445 -0.12410679
+v 0.01903318 -0.00036445 -0.12455373
+v 0.01745196 -0.08833659 -0.12480055
+v 0.01368929 -0.08833659 -0.12455864
+v 0.00964312 -0.08831938 -0.12346438
+v 0.00964312 -0.00036447 -0.12019506
+v 0.02023125 -0.00036445 -0.12433717
+v 0.02012093 -0.07194945 -0.12426602
+v 0.02008298 -0.08426349 -0.12424995
+v 0.01985048 -0.08833659 -0.12405643
+v 0.02020634 -0.02267610 -0.12433034
+v 0.02020160 -0.02677503 -0.12432575
+v 0.00968108 -0.08833660 -0.12347359
+v 0.00964312 -0.08833662 -0.11723969
+v 0.00964312 -0.00036449 -0.11461082
+v 0.02074963 -0.00036446 -0.12313463
+v 0.02142814 -0.00036446 -0.12154735
+v 0.02141035 -0.00624592 -0.12154737
+v 0.02112566 -0.08426350 -0.12154766
+v 0.01986115 -0.08833659 -0.12402879
+v 0.00964312 -0.08833662 -0.11712220
+v 0.00964312 -0.00189728 -0.11450946
+v 0.01733334 -0.00036454 -0.10130215
+v 0.02157167 -0.00036447 -0.11977118
+v 0.02174367 -0.00624594 -0.11742600
+v 0.02147203 -0.08426352 -0.11742629
+v 0.02112447 -0.08833662 -0.11742630
+v 0.02071997 -0.08833660 -0.12154767
+v 0.01633455 -0.08833668 -0.10130247
+v 0.00964312 -0.08430656 -0.11664301
+v 0.00964312 -0.01792275 -0.11434826
+v 0.01431324 -0.03475771 -0.10473945
+v 0.01438204 -0.03103766 -0.10471178
+v 0.01625863 -0.03103767 -0.10130226
+v 0.02154439 -0.00036454 -0.10130215
+v 0.02176028 -0.00036448 -0.11742598
+v 0.02144475 -0.08426358 -0.10130246
+v 0.02112447 -0.08833662 -0.11738483
+v 0.01625863 -0.03105490 -0.10130226
+v 0.00964312 -0.03499017 -0.11434141
+v 0.00964312 -0.03909772 -0.11441053
+v 0.00964312 -0.04320527 -0.11452343
+v 0.00964312 -0.05551930 -0.11490589
+v 0.02109125 -0.08833668 -0.10130247
+v 0.00964312 -0.02196141 -0.11433444
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+v 0.00964312 -0.03015067 -0.11431835
+v 0.00964312 -0.03088262 -0.11432065
+v 0.00964312 -0.03424100 -0.11433680
+v 0.02154439 -0.00213845 -0.10130216
+v 0.02154083 -0.01035355 -0.10130219
+v 0.02153134 -0.02713679 -0.10130225
+v 0.02152659 -0.03088267 -0.10130226
+f 1 2 7
+f 1 7 16
+f 1 16 24
+f 1 24 36
+f 1 36 37
+f 1 37 25
+f 1 25 18
+f 1 18 17
+f 1 17 8
+f 1 8 3
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+f 1 5 6
+f 1 6 2
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+f 4 21 29
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+f 4 39 45
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+f 4 13 9
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+f 23 35 24
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+f 30 40 33
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+f 30 44 31
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+f 33 35 34
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+f 33 50 41
+f 36 51 37
+f 37 51 52
+f 37 52 53
+f 37 53 54
+f 37 54 38
+f 38 45 39
+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_25.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d13ff4c35250cb3dcaedb55bd91801bee8002f1f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_25.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.01745097 0.08003309 -0.12485993
+v 0.02025434 0.08003309 -0.12428353
+v 0.01743309 0.08003309 -0.12485560
+v 0.01491922 0.09232352 -0.12413182
+v 0.01745097 0.08821844 -0.12477973
+v 0.02024651 0.09643086 -0.12419897
+v 0.02027446 0.08003309 -0.12427920
+v 0.01488010 0.08003309 -0.12418820
+v 0.01496505 0.09643086 -0.12408197
+v 0.01745097 0.09232352 -0.12473637
+v 0.01106850 0.08009397 -0.12094005
+v 0.01106850 0.08411108 -0.12085118
+v 0.01745097 0.09643086 -0.12467352
+v 0.01996931 0.09929765 -0.12399961
+v 0.02181028 0.09643085 -0.12154671
+v 0.02168732 0.08003308 -0.12154677
+v 0.01106850 0.08003307 -0.12094005
+v 0.01517072 0.09914427 -0.12389776
+v 0.01106850 0.08821842 -0.12071899
+v 0.01745097 0.09958862 -0.12411877
+v 0.01745097 0.10164340 -0.12228776
+v 0.01978040 0.10276440 -0.12002987
+v 0.02061538 0.10061488 -0.12146001
+v 0.02156548 0.10053817 -0.11742745
+v 0.02248653 0.09643083 -0.11742747
+v 0.02169067 0.08003308 -0.12151860
+v 0.01106850 0.08003305 -0.11473409
+v 0.01106850 0.09088672 -0.12006025
+v 0.01106850 0.09158820 -0.11940367
+v 0.01477055 0.10052240 -0.12140151
+v 0.01531603 0.10273507 -0.11993019
+v 0.01745097 0.10282981 -0.12022705
+v 0.01745097 0.10307565 -0.11742744
+v 0.01996707 0.10284784 -0.11742744
+v 0.02156213 0.10053812 -0.10272516
+v 0.02194888 0.09876301 -0.10272517
+v 0.02245300 0.09643078 -0.10272518
+v 0.02209084 0.08003306 -0.11742753
+v 0.01743867 0.08003301 -0.10272524
+v 0.01106850 0.08574404 -0.10272522
+v 0.01106850 0.09220846 -0.11760083
+v 0.01414125 0.10053817 -0.11742745
+v 0.01519978 0.10281852 -0.11742744
+v 0.01745097 0.10307113 -0.11330820
+v 0.01518972 0.10282302 -0.11330820
+v 0.01994136 0.10282298 -0.10272515
+v 0.02155543 0.08003301 -0.10272524
+v 0.01106850 0.09179790 -0.10272519
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+v 0.01745097 0.10303274 -0.10272515
+v 0.01429662 0.10053812 -0.10272516
+v 0.01418708 0.10053814 -0.10918680
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+f 1 16 26
+f 1 26 38
+f 1 38 47
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+f 1 27 17
+f 1 17 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
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+f 44 52 46
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+f 49 54 50
+f 50 54 51
+f 51 54 53
+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_26.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..980eb6538d71d29531b11085dfbf7230f9c7c702
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_26.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.01164179 0.09228042 -0.10919417
+v -0.00002616 0.08946568 -0.10919418
+v -0.01164179 0.08532875 -0.10919420
+v -0.01164179 0.09234371 -0.10505579
+v -0.00002616 0.08937328 -0.05560950
+v -0.00002616 0.08551395 -0.10919420
+v -0.01164179 0.09280306 -0.07209873
+v -0.01164179 0.09284369 -0.06913968
+v -0.01164179 0.09285619 -0.06797106
+v -0.01164179 0.09304128 -0.03914169
+v -0.01164179 0.09304831 -0.03609686
+v -0.01164179 0.09305065 -0.03502473
+v -0.01164179 0.09305215 -0.01549066
+v -0.01164179 0.09303568 -0.00205697
+v -0.00002616 0.08512129 -0.00617395
+v -0.01164179 0.08506893 -0.00617395
+v -0.01164179 0.09302629 0.00033387
+v -0.00002616 0.08909028 -0.02265245
+v -0.00002616 0.08512284 -0.00205700
+v -0.01164179 0.08507361 -0.00205700
+v -0.01164179 0.08507986 0.00033384
+v -0.00002616 0.08872605 0.00033386
+v -0.01164179 0.08507673 -0.00083477
+v -0.00002616 0.08513064 0.00033384
+v -0.01164179 0.08507907 0.00005509
+f 1 2 6
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+f 1 16 20
+f 1 20 23
+f 1 23 25
+f 1 25 21
+f 1 21 17
+f 1 17 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 8
+f 1 8 7
+f 1 7 4
+f 1 4 2
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+f 2 18 22
+f 2 22 24
+f 2 24 19
+f 2 19 15
+f 2 15 6
+f 2 4 7
+f 2 7 8
+f 2 8 9
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+f 2 12 13
+f 2 13 14
+f 2 14 5
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+f 3 15 16
+f 5 14 17
+f 5 17 18
+f 15 19 16
+f 16 19 20
+f 17 21 24
+f 17 24 22
+f 17 22 18
+f 19 23 20
+f 19 24 21
+f 19 21 25
+f 19 25 23
+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_27.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99bea76feec6cc3666b19577574283ace3e1c34a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_27.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00964312 -0.08833662 -0.11712425
+v 0.00964312 -0.08833662 -0.11724060
+v 0.00964312 -0.08429878 -0.11664547
+v 0.00583353 -0.08833662 -0.11633672
+v 0.00754666 -0.08833660 -0.12334756
+v 0.00964312 -0.08830364 -0.12346301
+v 0.00964312 -0.05550652 -0.11490831
+v 0.00194916 -0.08833662 -0.11583019
+v -0.00002616 -0.08833660 -0.12332787
+v 0.00873639 0.08003308 -0.11980752
+v 0.00964312 -0.00037762 -0.12019621
+v 0.00964312 -0.04319523 -0.11452613
+v -0.00002616 -0.08833662 -0.11570401
+v -0.00002616 0.08003308 -0.11942539
+v 0.00873639 0.08003307 -0.11605600
+v 0.00964312 -0.00037764 -0.11461457
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+v 0.00964312 -0.03498770 -0.11434354
+v -0.00002616 0.05124078 -0.11498040
+v -0.00002616 0.08003306 -0.11485143
+v 0.00582311 0.08003306 -0.11487023
+v 0.00873639 0.08001657 -0.11489707
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+v 0.00964312 -0.03014229 -0.11432204
+v 0.00964312 -0.02603853 -0.11432651
+v 0.00964312 -0.02195124 -0.11433633
+v 0.00964312 -0.01791340 -0.11435153
+v 0.00579377 0.08003306 -0.11486933
+f 1 2 6
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+f 1 23 29
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+f 22 30 29
+f 22 29 23
+f 25 29 30
+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_28.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..967f2b1cc14b2c2c929717b345e9a68f13a898cf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_28.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.01106741 0.08003305 -0.11473436
+v -0.00002507 0.08003305 -0.11485026
+v 0.01106741 0.08003307 -0.12093951
+v 0.01106741 0.08574411 -0.10272522
+v 0.00579376 0.08564109 -0.10272522
+v 0.00411696 0.08562291 -0.10272522
+v 0.00190911 0.08560352 -0.10272522
+v 0.00107397 0.08560109 -0.10272522
+v 0.00023123 0.08559988 -0.10272522
+v -0.00002507 0.08559988 -0.10272522
+v -0.00002507 0.08003307 -0.11942567
+v -0.00002507 0.08204989 -0.11944528
+v -0.00002507 0.08411156 -0.11945062
+v 0.01106741 0.08009246 -0.12093951
+v 0.01106741 0.09179943 -0.10272519
+v -0.00002507 0.08940082 -0.10272520
+v -0.00002507 0.08615627 -0.11944347
+v 0.01106741 0.08411156 -0.12085213
+v -0.00002507 0.08821672 -0.11942029
+v 0.01106741 0.09241519 -0.11313844
+v -0.00002507 0.09122133 -0.11345048
+v 0.01106741 0.08821672 -0.12071838
+v 0.01106741 0.09088562 -0.12006041
+v -0.00002507 0.08972933 -0.11840035
+v 0.01106741 0.09220915 -0.11760152
+v -0.00002507 0.09122134 -0.11737328
+v 0.01106741 0.09158860 -0.11940423
+f 1 2 11
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+f 1 27 25
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+f 1 20 15
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+f 19 24 23
+f 20 25 26
+f 20 26 21
+f 23 24 26
+f 23 26 27
+f 25 27 26
+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_29.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4b8f665e6f16451386b2067c3301c4cbf30faee
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_29.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.00002616 0.07313693 -0.11495142
+v -0.01164179 0.07313693 -0.11457675
+v -0.00002616 0.07313695 -0.11943818
+v -0.00002616 0.08551365 -0.10919421
+v -0.01164179 0.07313695 -0.12097028
+v -0.01164179 0.08532711 -0.10919421
+v -0.01164179 0.07404683 -0.12097143
+v -0.00002616 0.08410889 -0.11945082
+v -0.00002616 0.08946537 -0.10919419
+v -0.01164179 0.09228070 -0.10919418
+v -0.01164179 0.08410889 -0.12095410
+v -0.00002616 0.08615518 -0.11944390
+v -0.00002616 0.09122045 -0.11345269
+v -0.01164179 0.09249390 -0.11034123
+v -0.01164179 0.08633792 -0.12091028
+v -0.00002616 0.08821670 -0.11941969
+v -0.00002616 0.09122046 -0.11737342
+v -0.01164179 0.09258338 -0.11320829
+v -0.01164179 0.08821670 -0.12082728
+v -0.01164179 0.09013546 -0.12048949
+v -0.01164179 0.09102441 -0.12021513
+v -0.00002616 0.08972809 -0.11840059
+v -0.01164179 0.09234926 -0.11754404
+v -0.01164179 0.09251676 -0.11469312
+f 1 2 5
+f 1 5 3
+f 1 3 8
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+f 1 12 16
+f 1 16 22
+f 1 22 17
+f 1 17 13
+f 1 13 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
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+f 2 18 24
+f 2 24 23
+f 2 23 21
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+f 2 20 19
+f 2 19 15
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+f 2 11 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 4 9 10
+f 4 10 6
+f 7 11 8
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+f 9 13 10
+f 10 13 14
+f 11 15 16
+f 11 16 12
+f 13 17 18
+f 13 18 14
+f 15 19 16
+f 16 19 20
+f 16 20 21
+f 16 21 22
+f 17 21 23
+f 17 23 24
+f 17 24 18
+f 17 22 21
+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_3.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af034794e272531d395670b615dfb6828049f9b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_3.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v -0.00002616 -0.09085673 0.11608220
+v -0.01367823 -0.09196571 0.12418030
+v -0.01105011 -0.09196570 0.12163356
+v -0.00002616 -0.09085672 0.11495589
+v -0.00002616 -0.08863002 0.11677960
+v -0.01751981 -0.06784160 0.12537021
+v -0.01751981 -0.07194296 0.12533790
+v -0.01751981 -0.07605312 0.12529332
+v -0.01751981 -0.08016329 0.12522979
+v -0.01751981 -0.08426466 0.12514066
+v -0.01751981 -0.08837482 0.12488219
+v -0.01732720 -0.09196571 0.12421261
+v -0.00002616 -0.08631530 0.11736450
+v -0.00002616 -0.08426463 0.11786473
+v -0.00002616 -0.06649499 0.11954368
+v -0.00002616 -0.06518362 0.11960050
+v -0.00002616 -0.06167193 0.11974980
+v -0.00002616 -0.05346041 0.12008627
+v -0.00002616 -0.05140973 0.12016872
+v -0.00002616 -0.04730836 0.12031022
+v -0.00002616 -0.04320700 0.12042499
+v -0.00002616 -0.03909684 0.12051302
+v -0.00002616 -0.03703736 0.12054866
+v -0.00002616 -0.03499548 0.12058321
+v -0.00002616 -0.03088531 0.12065231
+v -0.00002616 -0.02882583 0.12068461
+v -0.00002616 -0.02678395 0.12071582
+v -0.00002616 -0.02267379 0.12076485
+v -0.00002616 -0.01856363 0.12079606
+v -0.01140752 -0.09196569 0.12017303
+v -0.01244550 -0.09196568 0.11725307
+v -0.01347920 -0.09196567 0.11513747
+v -0.01411696 -0.09196567 0.11411811
+v -0.00002616 -0.09025823 0.11485340
+v -0.01751981 -0.06373144 0.12539029
+v -0.02032556 -0.06784160 0.12450013
+v -0.02031486 -0.07194296 0.12448341
+v -0.02029132 -0.07605312 0.12445332
+v -0.02025708 -0.08016329 0.12441431
+v -0.02022498 -0.08426466 0.12437195
+v -0.02002380 -0.08837482 0.12417587
+v -0.01971348 -0.09083035 0.12387841
+v -0.01787722 -0.09196571 0.12408338
+v -0.00002616 -0.01446226 0.12081501
+v -0.00002616 -0.08426462 0.11413373
+v -0.00002616 -0.08863001 0.11458602
+v -0.02007516 -0.09196567 0.11411811
+v -0.01400995 -0.05843307 0.11411824
+v -0.00002616 -0.01035210 0.12082728
+v -0.01751981 -0.02678397 0.12549067
+v -0.02053530 -0.01035212 0.12469642
+v -0.02144915 -0.07605311 0.12156901
+v -0.02141490 -0.08016328 0.12156900
+v -0.02137424 -0.08426465 0.12156898
+v -0.02100827 -0.08837481 0.12156897
+v -0.02006018 -0.09139362 0.12156895
+v -0.01960647 -0.09196570 0.12156895
+v -0.01668087 -0.00206134 0.11411844
+v -0.00002616 -0.00206135 0.11707070
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+v -0.02025922 -0.09170163 0.11411811
+v -0.00002616 -0.00829262 0.12083063
+v -0.01751981 -0.02267381 0.12549850
+v -0.02054172 -0.00624196 0.12469866
+v -0.02178729 -0.00624195 0.12156927
+v -0.02176803 -0.01035211 0.12156925
+v -0.02174449 -0.08016326 0.11745032
+v -0.02171239 -0.08426463 0.11745030
+v -0.02139136 -0.08837479 0.11745029
+v -0.02027420 -0.09173685 0.11745027
+v -0.02011369 -0.09196568 0.11745027
+v -0.02174877 -0.00206134 0.11411844
+v -0.00002616 -0.00206136 0.12083511
+v -0.02135712 -0.08837478 0.11411813
+v -0.00002616 -0.00624194 0.12083287
+v -0.00002616 -0.00214057 0.12083511
+v -0.01751981 -0.01035212 0.12547849
+v -0.02053958 -0.00214059 0.12469867
+v -0.02056526 -0.00206138 0.12463517
+v -0.02179371 -0.00206137 0.12156928
+v -0.02179371 -0.00214058 0.12156928
+v -0.02179585 -0.00206137 0.12148684
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+v -0.02185364 -0.02267378 0.11745053
+v -0.02168028 -0.08016325 0.11411816
+v -0.02166316 -0.08426462 0.11411814
+v -0.02174877 -0.00214055 0.11411844
+v -0.01751981 -0.00206138 0.12545512
+v -0.01751981 -0.00624196 0.12546737
+v -0.02047965 -0.00206138 0.12471316
+v -0.02053958 -0.00206138 0.12469757
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+f 80 82 81
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+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_30.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37f5ebf28b6ccf6fae1d432682db04c4f93ef823
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_30.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.01745180 0.06767756 -0.12494314
+v 0.01485580 0.06767756 -0.12421885
+v 0.01485450 0.07178558 -0.12421884
+v 0.01486234 0.07589360 -0.12420795
+v 0.01745180 0.07178558 -0.12493007
+v 0.02029878 0.06767756 -0.12433195
+v 0.02028309 0.04303732 -0.12434945
+v 0.02027002 0.02662098 -0.12434951
+v 0.02026741 0.02251296 -0.12434735
+v 0.02023081 -0.00036445 -0.12433655
+v 0.01745180 -0.00036445 -0.12483682
+v 0.01501528 -0.00036445 -0.12410818
+v 0.00873704 -0.00036447 -0.12013659
+v 0.00873704 0.06776410 -0.11989273
+v 0.00873704 0.00021002 -0.12013659
+v 0.00873704 0.00198072 -0.12013223
+v 0.00873704 0.00608087 -0.12012134
+v 0.01488064 0.08003309 -0.12418837
+v 0.00873704 0.07178556 -0.11986880
+v 0.00873704 0.07589358 -0.11984050
+v 0.02029093 0.07178558 -0.12431889
+v 0.01745180 0.07589360 -0.12489961
+v 0.02025433 0.08003309 -0.12428407
+v 0.02168697 0.08003308 -0.12154789
+v 0.02168697 0.08000160 -0.12154789
+v 0.02152880 0.02251295 -0.12154810
+v 0.02074974 -0.00036446 -0.12313376
+v 0.00873704 -0.00036449 -0.11501005
+v 0.01743350 0.08003309 -0.12485610
+v 0.00873704 0.08003307 -0.11980787
+v 0.02027394 0.08003309 -0.12427972
+v 0.02028440 0.08003309 -0.12426015
+v 0.01745180 0.08003309 -0.12486044
+v 0.02169089 0.08003308 -0.12151743
+v 0.02176017 -0.00036448 -0.11742651
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+v 0.02142815 -0.00036446 -0.12154818
+v 0.02209088 0.08003306 -0.11742622
+v 0.01729233 -0.00036453 -0.10272552
+v 0.00873704 0.00002113 -0.11500136
+v 0.00873704 0.08003306 -0.11605378
+v 0.02155626 -0.00036453 -0.10272552
+v 0.02155495 0.08003301 -0.10272523
+v 0.02155756 0.00020210 -0.10272552
+v 0.01743873 0.08003301 -0.10272523
+v 0.00873704 0.08002519 -0.11489449
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+f 41 46 45
+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_31.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45291d62a2e93b5dde84ef727bdfdc0ac7040430
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_31.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.00002616 -0.08860194 0.11458287
+v -0.00002616 -0.09879333 0.11302611
+v -0.00002616 -0.08860195 0.11678843
+v 0.00084616 -0.08860194 0.11458398
+v 0.01569099 -0.09098707 0.11302614
+v -0.00002616 -0.10337266 0.11302609
+v -0.00002616 -0.09801376 0.12398082
+v 0.01470944 -0.08860198 0.12410818
+v 0.00203080 -0.08860194 0.11458951
+v 0.01569099 -0.08860195 0.11663231
+v 0.01569099 -0.09691445 0.11302611
+v -0.00002616 -0.10336977 0.11539772
+v 0.00190925 -0.10337845 0.11302609
+v 0.00190925 -0.10337557 0.11744939
+v -0.00002616 -0.09954261 0.12398081
+v 0.01569099 -0.09025233 0.12433738
+v 0.01569099 -0.08860198 0.12427538
+v 0.01557560 -0.08860198 0.12425655
+v 0.01569099 -0.09692024 0.11332948
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+v 0.01569099 -0.09587162 0.12161362
+v 0.01569099 -0.09478103 0.12371289
+v 0.01102477 -0.09813091 0.12323125
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+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_32.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c012c2b6817db51c0f70e9c891c271ab1c910132
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_32.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00197766 -0.09659025 -0.12575177
+v -0.00002616 -0.09659025 -0.12574698
+v -0.00197766 -0.10018744 -0.12470040
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+v -0.00974818 -0.09248602 -0.12557944
+v -0.00586188 -0.09248602 -0.12557944
+v -0.00197766 -0.09248602 -0.12557306
+v -0.00002616 -0.09454551 -0.12565923
+v -0.00002616 -0.10018006 -0.12469561
+v -0.00586188 -0.09977996 -0.12452013
+v -0.00197766 -0.10224140 -0.12228176
+v -0.01001235 -0.09691844 -0.12475623
+v -0.01069314 -0.09608506 -0.12485992
+v -0.01069314 -0.09248602 -0.12551404
+v -0.01069314 -0.09151435 -0.12535927
+v -0.00002616 -0.09248602 -0.12556828
+v -0.00002616 -0.10223403 -0.12224986
+v -0.00889303 -0.09919918 -0.12410849
+v -0.00002616 -0.10294389 -0.12019018
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+v -0.00560293 -0.10176571 -0.12129260
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+v -0.00197766 -0.10313565 -0.11742851
+v -0.00420169 -0.10284249 -0.11742851
+v -0.00614380 -0.10206442 -0.11742850
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+v -0.00172394 -0.10308775 -0.10945463
+v -0.00197766 -0.10308775 -0.10945463
+v -0.00211653 -0.10307115 -0.10945463
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+v -0.01069314 -0.08430156 -0.11582186
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+v -0.01069314 -0.09980399 -0.10945462
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+v -0.00582847 -0.08430156 -0.11607393
+v -0.01069314 -0.09450316 -0.10945460
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+f 1 6 7
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+f 38 41 40
+f 38 40 39
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+f 50 55 54
+f 51 53 55
+f 53 54 55
+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_33.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1da45718dc43eb54c7fadbfb2337fae5981bc522
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_33.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00002710 -0.08429167 -0.11643106
+v -0.00582870 -0.08429167 -0.11607340
+v -0.00002710 -0.08429166 -0.12076692
+v -0.00002710 -0.00205974 -0.11590727
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+v -0.00965777 -0.03910196 -0.11462774
+v -0.00965777 -0.04319987 -0.11466984
+v -0.00965777 -0.08429167 -0.11592180
+v -0.00965777 -0.08429166 -0.12083128
+v -0.00965777 -0.02267005 -0.12050371
+v -0.00002710 -0.02267005 -0.12033292
+v -0.00002710 -0.00205973 -0.11997395
+v -0.00965777 -0.00205975 -0.11465979
+v -0.00965777 -0.00213221 -0.11465793
+v -0.00965777 -0.00624622 -0.11459297
+v -0.00965777 -0.01035218 -0.11452987
+v -0.00965777 -0.02267007 -0.11450949
+v -0.00965777 -0.01866069 -0.12045853
+v -0.00965777 -0.01856409 -0.12045729
+v -0.00965777 -0.00205973 -0.12022457
+v -0.00002710 -0.02062512 -0.12030198
+v -0.00002710 -0.01856409 -0.12026917
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+f 1 21 22
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+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
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+f 5 8 7
+f 5 7 6
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 12 22 20
+f 20 22 21
+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_34.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..915e4bf6ec1a1d7fb9c3be1332565a3f1b2fd051
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_34.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.01069314 -0.09996314 -0.11742859
+v -0.01234061 -0.09909380 -0.11742858
+v -0.01215164 -0.09896194 -0.12055088
+v -0.01069314 -0.09987113 -0.11865644
+v -0.01069314 -0.09982977 -0.11073276
+v -0.01428348 -0.09762651 -0.11742858
+v -0.01220812 -0.09900337 -0.10945303
+v -0.01415098 -0.09753761 -0.10945303
+v -0.01636101 -0.09529905 -0.12154762
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+v -0.01148484 -0.09850503 -0.12329901
+v -0.01069314 -0.09916891 -0.12247834
+v -0.01069314 -0.09949088 -0.12138571
+v -0.01069314 -0.09980372 -0.10945304
+v -0.01663903 -0.09557198 -0.11742857
+v -0.01657821 -0.09548309 -0.10945302
+v -0.01830388 -0.09322153 -0.12154761
+v -0.01589620 -0.09484214 -0.12388228
+v -0.01363513 -0.09568848 -0.12434763
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+v -0.01670419 -0.09534816 -0.10945302
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+v -0.01484277 -0.08429969 -0.12432244
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+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_35.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a8312b744a19f18cbdff94dfa9f2bff2836d3bc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_35.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.01569099 -0.08860198 0.12427610
+v 0.01470944 -0.08860198 0.12410754
+v 0.01569099 -0.08860195 0.11663312
+v 0.01569099 -0.08697275 0.12435313
+v -0.00002616 -0.04730229 0.12031021
+v -0.00002616 -0.05141415 0.12016843
+v -0.00002616 -0.05345715 0.12008581
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+v -0.00002616 -0.06167227 0.11974868
+v -0.00002616 -0.06518933 0.11960021
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+v -0.00002616 -0.08860195 0.11678828
+v -0.00002616 -0.01445909 0.12081488
+v -0.00002616 -0.01856233 0.12079588
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+v 0.01569099 -0.08750718 0.11643221
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+v 0.00579546 -0.08731753 0.11480248
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+v -0.00002616 -0.08860194 0.11458257
+v -0.00002616 -0.01035584 0.12082717
+v 0.01203709 -0.08269706 0.11508156
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+v -0.00002616 -0.00053736 0.11707102
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+v 0.01569099 -0.01856231 0.11387735
+v 0.01569099 -0.00053739 0.12450414
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+f 2 22 23
+f 2 23 5
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+f 5 20 19
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+f 5 12 11
+f 5 11 10
+f 5 10 9
+f 5 9 8
+f 5 8 7
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+f 25 34 26
+f 26 35 27
+f 26 34 35
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+f 27 36 32
+f 27 32 31
+f 28 37 30
+f 29 34 33
+f 29 38 39
+f 29 39 34
+f 30 37 40
+f 32 36 35
+f 32 35 39
+f 32 39 38
+f 32 38 41
+f 34 39 35
+f 37 42 40
+f 38 43 41
+f 38 44 45
+f 38 45 43
+f 40 42 46
+f 42 47 48
+f 42 48 46
+f 44 48 52
+f 44 52 49
+f 44 49 50
+f 44 50 51
+f 44 51 45
+f 47 52 48
+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_36.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..215c892052b6c2a7c910d3e5292bbff48d24a130
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_36.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.00967619 -0.00053737 0.12090811
+v -0.00002616 -0.00053737 0.12083643
+v 0.00816898 -0.00053736 0.11706839
+v 0.00967619 -0.00052963 0.11706795
+v 0.00967619 0.00608167 0.12091204
+v -0.00002616 0.00197570 0.12083774
+v -0.00002616 -0.00053736 0.11707100
+v -0.00002616 0.07845803 0.11647391
+v 0.00344792 0.07845803 0.11649520
+v 0.00967619 0.07845803 0.11681626
+v 0.00967619 0.01018763 0.12090685
+v -0.00002616 0.00608167 0.12083905
+v -0.00002616 0.00404028 0.12083861
+v -0.00002616 0.07845802 0.12055389
+v 0.00821837 0.07845802 0.12063773
+v 0.00967619 0.07845030 0.12068292
+v 0.00967619 0.06357293 0.12079452
+v -0.00002616 0.06357293 0.12075802
+v -0.00002616 0.07178486 0.12067637
+v -0.00002616 0.06767890 0.12073719
+v 0.00967619 0.07178486 0.12075588
+v 0.00967619 0.06767890 0.12078454
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 21
+f 1 21 22
+f 1 22 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 13
+f 2 13 12
+f 2 12 18
+f 2 18 20
+f 2 20 19
+f 2 19 14
+f 2 14 8
+f 2 8 7
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 8 14 15
+f 8 15 10
+f 8 10 9
+f 10 15 16
+f 11 17 18
+f 11 18 12
+f 14 19 16
+f 14 16 15
+f 16 19 20
+f 16 20 21
+f 17 22 18
+f 18 22 20
+f 20 22 21
+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_4.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31467aee57d089222764e1d769335f4a6ac624fa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_4.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.00002616 -0.09906051 -0.10928700
+v 0.01633163 -0.08833665 -0.10928696
+v -0.00002616 -0.10307845 -0.10928702
+v -0.00002616 -0.09905907 -0.09891302
+v 0.01632120 -0.08833672 -0.08858226
+v 0.02109969 -0.08833665 -0.10928696
+v 0.00191067 -0.10306958 -0.10928702
+v 0.00191067 -0.10338906 -0.03090340
+v -0.00002616 -0.10338907 -0.02678193
+v -0.00002616 -0.09905907 -0.09681443
+v 0.01631703 -0.08833689 -0.04350573
+v 0.02109552 -0.08837803 -0.10928696
+v 0.02122478 -0.08833680 -0.06797492
+v 0.02122061 -0.08837965 -0.06797492
+v 0.00391631 -0.10279768 -0.10928702
+v 0.00191067 -0.10340237 -0.02678193
+v 0.00396634 -0.10279029 -0.10928702
+v 0.00191067 -0.10343202 0.00122459
+v 0.00151247 -0.10342907 0.00122459
+v -0.00002616 -0.10341281 0.00122459
+v -0.00002616 -0.09939931 0.00122460
+v 0.01641711 -0.08833705 0.00122465
+v 0.01631912 -0.08833695 -0.02679268
+v 0.01631703 -0.08833689 -0.04310548
+v 0.02107050 -0.08845635 -0.10928696
+v 0.02120810 -0.08837964 -0.07209638
+v 0.02109552 -0.08837950 -0.10917879
+v 0.02126440 -0.08833691 -0.03914627
+v 0.02125606 -0.08837974 -0.04325692
+v 0.02015108 -0.09160848 -0.06797494
+v 0.02006352 -0.09154184 -0.10928698
+v 0.02019069 -0.09169726 -0.03914629
+v 0.00422695 -0.10291766 -0.03090340
+v 0.00424363 -0.10292358 -0.02678193
+v 0.00590943 -0.10198493 -0.10928701
+v 0.00426031 -0.10293844 -0.00617458
+v 0.00424988 -0.10293255 0.00122459
+v 0.02127274 -0.08833705 0.00122465
+v 0.02126231 -0.08837977 -0.03502480
+v 0.02126023 -0.08837976 -0.03914627
+v 0.01862705 -0.09359440 -0.10928698
+v 0.02019069 -0.09170022 -0.03502482
+v 0.01866666 -0.09374982 -0.03914629
+v 0.00959129 -0.10034909 -0.10928701
+v 0.00968093 -0.10030919 -0.10928701
+v 0.00620339 -0.10197349 -0.00617457
+v 0.00579268 -0.10217005 0.00122459
+v 0.02126856 -0.08837990 0.00122465
+v 0.01857910 -0.09364464 -0.10928698
+v 0.01866666 -0.09375279 -0.03502482
+v 0.02019069 -0.09168556 -0.00617454
+v 0.01668397 -0.09561149 -0.10928699
+v 0.01219527 -0.09902357 -0.10928700
+v 0.00619088 -0.10197203 0.00122460
+v 0.00619505 -0.10197350 -0.00205311
+v 0.02019278 -0.09167524 0.00122463
+v 0.01866458 -0.09374837 -0.03090336
+v 0.01863539 -0.09373960 -0.00617454
+v 0.01672149 -0.09552165 -0.03090337
+v 0.01662350 -0.09566174 -0.10928699
+v 0.01409249 -0.09769657 -0.10928700
+v 0.01379853 -0.09754327 -0.00617456
+v 0.01185544 -0.09879046 -0.00617456
+v 0.00968093 -0.10004803 0.00122460
+v 0.00896583 -0.10044258 0.00122460
+v 0.01987171 -0.09209638 0.00122463
+v 0.01861037 -0.09372779 0.00122463
+v 0.01669231 -0.09549070 -0.00617455
+v 0.01413836 -0.09766406 -0.10928700
+v 0.01667980 -0.09547741 -0.00205309
+v 0.01377142 -0.09751816 0.00122461
+v 0.01182834 -0.09877423 0.00122461
+v 0.01821008 -0.09408688 0.00122462
+v 0.01666729 -0.09546560 0.00122462
+f 1 2 6
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+f 1 41 49
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+f 1 52 60
+f 1 60 69
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+f 1 15 7
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+f 1 20 21
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+f 1 4 5
+f 1 5 2
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+f 2 13 6
+f 3 7 8
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+f 4 10 24
+f 4 24 11
+f 4 11 5
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+f 10 21 22
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+f 53 64 65
+f 53 65 54
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+f 58 68 59
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+f 59 69 60
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+f 62 72 63
+f 62 69 68
+f 63 72 64
+f 67 73 68
+f 68 73 70
+f 70 73 74
+f 70 74 71
+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_5.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb2984c6d5bf5ec595a69be22494cdd79a30e649
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_5.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.00002616 -0.09940001 0.00122460
+v 0.01569099 -0.08952466 0.04325964
+v 0.01569099 -0.08990385 0.00122464
+v -0.00002616 -0.10341284 0.00122459
+v -0.00002616 -0.09879347 0.11302611
+v 0.01569099 -0.09081881 0.10531078
+v 0.01569099 -0.09615829 0.00122462
+v 0.00190925 -0.10343215 0.00122459
+v -0.00002616 -0.10344736 0.01031885
+v -0.00002616 -0.10337188 0.11302609
+v 0.01569099 -0.09098714 0.11302614
+v 0.01377096 -0.09751843 0.00122461
+v 0.01569099 -0.09691465 0.11302611
+v 0.01448482 -0.09791889 0.11302611
+v 0.01433405 -0.09782222 0.08447382
+v 0.00424929 -0.10293279 0.00122459
+v 0.00432313 -0.10296733 0.01443371
+v 0.00190925 -0.10347773 0.01443371
+v -0.00002616 -0.10346117 0.01443371
+v 0.00162464 -0.10337739 0.11302609
+v -0.00002616 -0.10340358 0.10920671
+v 0.00190925 -0.10344634 0.10508091
+v 0.01182786 -0.09877511 0.00122461
+v 0.01239094 -0.09914098 0.08447382
+v 0.01254171 -0.09923904 0.11302611
+v 0.00579239 -0.10216995 0.00122459
+v 0.00619085 -0.10197269 0.00122460
+v 0.00624009 -0.10199342 0.01031886
+v 0.00453237 -0.10305578 0.05975184
+v 0.00190925 -0.10360756 0.05975184
+v -0.00002616 -0.10357997 0.05975184
+v 0.00190925 -0.10337739 0.11302609
+v -0.00002616 -0.10343530 0.10508091
+v 0.00457545 -0.10301181 0.10508091
+v 0.00431237 -0.10299253 0.11302609
+v 0.00190925 -0.10360621 0.06799250
+v 0.00968013 -0.10004835 0.00122460
+v 0.01233556 -0.09933973 0.11302611
+v 0.00455237 -0.10305855 0.06387764
+v 0.00626624 -0.10199757 0.01443372
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+v -0.00002616 -0.10358964 0.06387764
+v -0.00002616 -0.10358000 0.06799250
+v 0.00458006 -0.10301869 0.10096606
+v 0.00968013 -0.10060193 0.11302610
+v 0.00944475 -0.10071091 0.11302610
+v 0.00450621 -0.10296080 0.11302609
+v 0.00460929 -0.10304621 0.08035895
+v 0.00461083 -0.10303932 0.08447380
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 23
+f 1 23 37
+f 1 37 27
+f 1 27 26
+f 1 26 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 19
+f 1 19 31
+f 1 31 42
+f 1 42 43
+f 1 43 33
+f 1 33 21
+f 1 21 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 11
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+f 2 13 7
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+f 5 10 20
+f 5 20 32
+f 5 32 35
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+f 7 13 14
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+f 7 15 12
+f 8 16 17
+f 8 17 18
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+f 9 18 19
+f 10 21 22
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+f 14 25 15
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+f 16 26 17
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 18 30 19
+f 19 30 31
+f 20 22 32
+f 21 33 22
+f 22 34 35
+f 22 35 32
+f 22 33 36
+f 22 36 34
+f 23 24 37
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+f 25 38 39
+f 25 39 29
+f 25 29 40
+f 25 40 28
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+f 28 40 29
+f 29 39 41
+f 29 41 30
+f 30 41 42
+f 30 42 31
+f 33 43 36
+f 34 44 45
+f 34 45 46
+f 34 46 47
+f 34 47 35
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+f 34 41 44
+f 36 43 41
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+f 38 48 39
+f 39 48 41
+f 41 43 42
+f 41 48 49
+f 41 49 44
+f 44 49 45
+f 45 49 48
+
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_6.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10b8f25ea1eedc2d2e13829375f715101430d067
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_6.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.02166635 -0.08427235 0.02679603
+v -0.02166423 -0.08416588 0.02679603
+v -0.02166423 -0.08416578 0.00105316
+v -0.02166423 -0.08427225 0.00105316
+v -0.02135708 -0.08837964 0.11411812
+v -0.02166211 -0.08427267 0.11411813
+v -0.02166211 -0.08416620 0.11411813
+v -0.01761199 -0.08416578 0.00105316
+v -0.02122151 -0.08837922 0.00105315
+v -0.02124482 -0.08837929 0.01856184
+v -0.02025982 -0.09170324 0.11411810
+v -0.01718622 -0.08416620 0.11411813
+v -0.00002616 -0.09939958 0.00105310
+v -0.00002616 -0.09835044 0.11411808
+v -0.02011578 -0.09138910 0.00105313
+v -0.02021110 -0.09155857 0.06800008
+v -0.01998445 -0.09209682 0.11411810
+v -0.00002616 -0.10341148 0.00105309
+v -0.00002616 -0.10337007 0.11411806
+v -0.01841905 -0.09344258 0.00105313
+v -0.01880457 -0.09375673 0.11411810
+v -0.00197708 -0.10339437 0.00105309
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+v -0.00123357 -0.10336627 0.11411806
+v -0.00002616 -0.10343469 0.10508703
+v -0.01647660 -0.09531543 0.00105312
+v -0.01686001 -0.09576838 0.11411809
+v -0.00253206 -0.10327269 0.00105309
+v -0.00197708 -0.10343053 0.01031654
+v -0.00002616 -0.10345526 0.01238615
+v -0.00197708 -0.10336246 0.11411806
+v -0.00197708 -0.10339667 0.10920411
+v -0.00197708 -0.10342328 0.10508703
+v -0.00002616 -0.10357905 0.06800004
+v -0.01376099 -0.09736892 0.00105311
+v -0.01429479 -0.09770197 0.08447948
+v -0.01446425 -0.09781996 0.11411808
+v -0.00423091 -0.10289431 0.00105309
+v -0.00429234 -0.10292287 0.01031654
+v -0.00197708 -0.10344386 0.01443363
+v -0.00431353 -0.10293239 0.01443363
+v -0.00002616 -0.10346097 0.01443363
+v -0.00402756 -0.10302592 0.11411806
+v -0.00451264 -0.10294606 0.11411806
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+v -0.00002616 -0.10358474 0.06594149
+v -0.01229727 -0.09839376 0.00105311
+v -0.01235234 -0.09908237 0.08447948
+v -0.01251968 -0.09919655 0.11411808
+v -0.00471176 -0.10266234 0.00105309
+v -0.00623479 -0.10196838 0.01031655
+v -0.00617548 -0.10194933 0.00105310
+v -0.00002616 -0.10359044 0.06387188
+v -0.00197708 -0.10356192 0.06387188
+v -0.00625597 -0.10197410 0.01443364
+v -0.00447875 -0.10300482 0.06387188
+v -0.01198164 -0.09947416 0.11411807
+v -0.00645509 -0.10206383 0.11411807
+v -0.00974899 -0.10056364 0.11411807
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+v -0.01181642 -0.09872840 0.00105311
+v -0.01026373 -0.09967148 0.00105310
+v -0.00974899 -0.09997950 0.00105310
+v -0.00705880 -0.10146448 0.00105310
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diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_7.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f36c7ddf6e43fdf891247af196335f985ae319a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_7.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.02127229 -0.08833705 0.00122465
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diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_8.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96add55e6bcf0e456732b5939349647bbade4629
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_8.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.00002616 0.08872861 0.00122530
+v 0.01525021 0.10273645 0.00122535
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diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_9.obj b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52e292a5911f5be25a1f5316540d3085142bef63
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/book_collision_9.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae255676afc0a5ff6d65999a7d99867a619bf404
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d581eff4dc03c49ddeef39da754a93b2ecd09e2a17084006ec87f333bd3a7601
+size 858391
diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/textures/material_0.png b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae255676afc0a5ff6d65999a7d99867a619bf404
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/video.mp4 b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d947b5a51a809c3c1edd97a1ac80c934fe9b0e6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 199835