diff --git a/.gitattributes b/.gitattributes
index 5f9087e453c88dada3ac40f50e5f0efe7f13dd38..991546c4cc05893f00860647f163c8c4c601d4c5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3320,5 +3320,5 @@ dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/magnifier
 dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mesh/magnifier_029.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/1bea4263a0f258019e6d9585e4061bc4/mesh/sticky_notes_029.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/1bea4263a0f258019e6d9585e4061bc4/sticky_notes_029.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/18e6409ade2353f68584e7747dfcd2b8/mesh/sticky_notes_042.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/18e6409ade2353f68584e7747dfcd2b8/sticky_notes_042.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mesh/staples_box_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/staples_box_020.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mesh/material.mtl b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b4bae5d4ebbdef3898b8018d870363ebee9f3b2d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl staples_box_020_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd staples_box_020_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mesh/material_0.png b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..da66f88877810a91aba9d1fa6f0453191550fa53
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e46261fa378deeeab6ded373ca30a90641e83fa77daab84bb71918715adc67b9
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diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mesh/staples_box_020.glb b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mesh/staples_box_020.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d1e897cb45f5f8b8abe9920f99ca7ecf625c1ac1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mesh/staples_box_020.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 14776140
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mesh/staples_box_020.mtl b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mesh/staples_box_020.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7c24dde892fcdbc5c5beb24db5f727e039d1995f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mesh/staples_box_020.mtl
@@ -0,0 +1,6 @@
+newmtl staples_box_020_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mesh/staples_box_020.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mesh/staples_box_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3312cbfb91893aafb9bc2e3125d424a54e7d588e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mesh/staples_box_020.obj
@@ -0,0 +1,113258 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl staples_box_020_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mesh/staples_box_020_collision.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mesh/staples_box_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1037a6907df4015c7795cf96c262417e37566aab
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mesh/staples_box_020_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020.obj
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+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020.obj
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diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d581e8b594053db0346c4e895c40d8fa28094f72
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision.obj
@@ -0,0 +1,14247 @@
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diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_0.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..143b1b323758754bb3a1897a11ac9710507defba
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_1.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d278d1d79b097cb95a6d76794cef1e45bf23e90f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_1.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_10.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e65a05b16afd0e8a87c2d4964362be61919b9f0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_10.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.00827406 0.03426352 -0.01877193
+v -0.00827406 0.02461765 -0.01877095
+v -0.01110643 0.02461765 -0.01877095
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+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_11.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cbfcdcadff03449e084345e27d35a64e3dbff5e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_11.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v 0.02401115 0.03771672 0.00083743
+v 0.02608022 0.03523469 0.00083742
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+v 0.02963048 0.03523467 0.00518957
+v 0.02854997 0.03569501 0.00564568
+v 0.02713446 0.03998469 0.00561793
+v 0.02401115 0.04141483 0.00548895
+v 0.02430148 0.04141483 0.00548425
+v 0.02583062 0.04155044 0.00523807
+v 0.02713446 0.04120885 0.00518441
+v 0.02637843 0.04211780 0.00471041
+v 0.02766782 0.04205184 0.00260117
+v 0.02717256 0.04195656 0.00083744
+v 0.02725861 0.04195727 0.00415121
+v 0.02980980 0.03878181 0.00083743
+v 0.02947284 0.03965705 0.00083744
+v 0.02962457 0.04009539 0.00256305
+v 0.02931191 0.04076538 0.00340467
+v 0.03004364 0.03855530 0.00402411
+v 0.03036944 0.03716401 0.00391020
+v 0.02959633 0.03712515 0.00516086
+v 0.02962983 0.03569501 0.00518862
+v 0.02854997 0.03712515 0.00561651
+v 0.02854997 0.03855529 0.00550966
+v 0.02854669 0.03991579 0.00516228
+v 0.02807178 0.04091417 0.00498342
+v 0.02758243 0.04169340 0.00083744
+v 0.02734137 0.04186420 0.00083744
+v 0.02931191 0.04076538 0.00301210
+v 0.02866886 0.04124917 0.00256305
+v 0.02833321 0.04114949 0.00083744
+v 0.02854669 0.04114582 0.00393704
+v 0.02914639 0.04020095 0.00083744
+v 0.02921996 0.04064589 0.00206269
+v 0.02901633 0.04034681 0.00435361
+v 0.02932833 0.03939314 0.00484596
+v 0.02952211 0.03991580 0.00393704
+v 0.02946496 0.03855529 0.00501824
+v 0.02887248 0.04057480 0.00083744
+v 0.02904129 0.04037175 0.00083744
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 23
+f 1 23 35
+f 1 35 37
+f 1 37 55
+f 1 55 39
+f 1 39 38
+f 1 38 26
+f 1 26 15
+f 1 15 9
+f 1 9 5
+f 1 5 10
+f 1 10 17
+f 1 17 29
+f 1 29 45
+f 1 45 44
+f 1 44 61
+f 1 61 76
+f 1 76 75
+f 1 75 79
+f 1 79 87
+f 1 87 88
+f 1 88 81
+f 1 81 64
+f 1 64 63
+f 1 63 47
+f 1 47 30
+f 1 30 18
+f 1 18 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 21
+f 2 21 34
+f 2 34 51
+f 2 51 52
+f 2 52 36
+f 2 36 25
+f 2 25 24
+f 2 24 22
+f 2 22 13
+f 2 13 7
+f 2 7 3
+f 4 7 8
+f 5 9 10
+f 6 11 12
+f 7 13 14
+f 7 14 8
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 13 22 14
+f 14 22 24
+f 14 24 25
+f 14 25 23
+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 16 29 17
+f 18 30 19
+f 19 30 31
+f 19 31 32
+f 19 32 20
+f 20 32 49
+f 20 49 33
+f 20 33 34
+f 20 34 21
+f 23 25 35
+f 25 36 37
+f 25 37 35
+f 26 38 27
+f 27 38 39
+f 27 39 40
+f 27 40 41
+f 27 41 42
+f 27 42 28
+f 28 43 44
+f 28 44 45
+f 28 45 29
+f 28 42 46
+f 28 46 43
+f 30 47 31
+f 31 47 48
+f 31 48 32
+f 32 48 49
+f 33 49 50
+f 33 50 34
+f 34 50 51
+f 36 52 53
+f 36 53 54
+f 36 54 55
+f 36 55 37
+f 39 55 56
+f 39 56 40
+f 40 56 57
+f 40 57 41
+f 41 57 58
+f 41 58 59
+f 41 59 42
+f 42 59 46
+f 43 60 44
+f 43 46 60
+f 44 60 61
+f 46 59 62
+f 46 62 60
+f 47 63 48
+f 48 63 64
+f 48 64 65
+f 48 65 66
+f 48 66 67
+f 48 67 49
+f 49 68 50
+f 49 67 68
+f 50 68 69
+f 50 69 70
+f 50 70 51
+f 51 70 52
+f 52 70 53
+f 53 70 71
+f 53 71 54
+f 54 72 73
+f 54 73 74
+f 54 74 58
+f 54 58 57
+f 54 57 56
+f 54 56 55
+f 54 71 72
+f 58 74 59
+f 59 74 62
+f 60 75 76
+f 60 76 61
+f 60 62 66
+f 60 66 77
+f 60 77 78
+f 60 78 79
+f 60 79 75
+f 62 74 80
+f 62 80 66
+f 64 81 82
+f 64 82 65
+f 65 82 77
+f 65 77 66
+f 66 80 74
+f 66 74 83
+f 66 83 84
+f 66 84 85
+f 66 85 67
+f 67 85 84
+f 67 84 86
+f 67 86 68
+f 68 86 69
+f 69 71 70
+f 69 86 72
+f 69 72 71
+f 72 86 73
+f 73 86 84
+f 73 84 74
+f 74 84 83
+f 77 82 78
+f 78 82 79
+f 79 82 87
+f 81 88 82
+f 82 88 87
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_12.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ba14cffd0cc3dd8f95aefef76a74eb8d7e71e01
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_12.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.00621834 0.00883311 0.00083684
+v -0.00242628 0.00883311 0.00083684
+v -0.00621797 0.00883311 0.00117674
+v -0.00567641 0.01283900 0.00117676
+v -0.00567641 0.01283900 0.00083686
+v -0.00566713 0.01275000 -0.00498856
+v -0.00592251 0.00896646 -0.00498858
+v -0.00250497 0.00896646 -0.00498858
+v -0.00302834 0.01275000 -0.00498856
+v -0.00300459 0.01283900 0.00083686
+v -0.00300459 0.01283900 0.00117676
+v -0.00242665 0.00883311 0.00117674
+v -0.00613817 0.00883310 0.00260026
+v -0.00567418 0.01283899 0.00260028
+v -0.00305173 0.01283899 0.00260028
+v -0.00246636 0.00883310 0.00260026
+v -0.00542697 0.00883310 0.00386581
+v -0.00520611 0.01283899 0.00383210
+v -0.00319686 0.01283899 0.00341587
+v -0.00282976 0.00883310 0.00363772
+v -0.00402833 0.00883310 0.00407614
+v -0.00517679 0.01283899 0.00383743
+v -0.00320763 0.01283899 0.00344339
+v -0.00400160 0.01283899 0.00395191
+v -0.00402833 0.01283899 0.00395990
+f 1 2 12
+f 1 12 16
+f 1 16 20
+f 1 20 21
+f 1 21 17
+f 1 17 13
+f 1 13 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 3 13 14
+f 3 14 4
+f 4 14 18
+f 4 18 22
+f 4 22 25
+f 4 25 24
+f 4 24 23
+f 4 23 19
+f 4 19 15
+f 4 15 11
+f 4 11 10
+f 4 10 5
+f 5 10 9
+f 5 9 6
+f 6 9 8
+f 6 8 7
+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 17 21 22
+f 17 22 18
+f 19 23 20
+f 20 23 24
+f 20 24 21
+f 21 25 22
+f 21 24 25
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_13.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..556c2c64309fe3937ea06c800accd47b2f152d9c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_13.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.01908200 -0.00149037 -0.01021216
+v -0.01908053 -0.00149037 -0.01022857
+v -0.01908053 -0.00151228 -0.01022857
+v -0.01908053 -0.00447620 -0.01021217
+v -0.01905343 -0.00006118 -0.00498950
+v -0.01908053 0.00381499 -0.01021214
+v -0.01907907 0.00381499 -0.01022855
+v -0.01907907 -0.00447620 -0.01022858
+v -0.01904683 -0.00447622 -0.00498952
+v -0.01904903 0.00381497 -0.00498949
+v -0.01262120 0.00381499 -0.01022855
+v -0.01159776 -0.00447620 -0.01022858
+v -0.01274061 -0.00447622 -0.00498952
+v -0.01341387 0.00381497 -0.00498949
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 11
+f 2 11 12
+f 2 12 8
+f 2 8 3
+f 3 8 4
+f 4 8 12
+f 4 12 13
+f 4 13 9
+f 4 9 5
+f 5 10 6
+f 5 9 13
+f 5 13 14
+f 5 14 10
+f 6 10 14
+f 6 14 11
+f 6 11 7
+f 11 14 12
+f 12 14 13
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_14.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3b45dea03460882b0cd96ebb0649d1ce10d301c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_14.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.00119126 -0.01384778 -0.01104863
+v 0.00020088 -0.01923808 -0.01104865
+v -0.00119126 -0.01923597 -0.01104835
+v -0.00119126 -0.01541290 -0.00801783
+v 0.00632030 -0.01541660 -0.00801604
+v 0.00632030 -0.01385886 -0.01104863
+v 0.00161730 -0.01923861 -0.01104865
+v -0.00119126 -0.01837111 -0.00801605
+v -0.00119126 -0.01835844 -0.00801605
+v -0.00054704 -0.01541449 -0.00801604
+v 0.00632030 -0.01835369 -0.00801605
+v 0.00632030 -0.01923281 -0.01104865
+v 0.00305431 -0.01923703 -0.01104865
+v 0.00589376 -0.01923386 -0.01104865
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 14
+f 1 14 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 4 9 10
+f 4 10 5
+f 5 11 12
+f 5 12 6
+f 5 10 9
+f 5 9 8
+f 5 8 11
+f 7 13 8
+f 8 13 14
+f 8 14 11
+f 11 14 12
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_15.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c45287b31cba7cd40cb76ebbf4fafc28fd7cbae
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_15.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.00682496 0.00503129 -0.01034420
+v 0.00682496 0.00875373 -0.01034419
+v 0.00932524 0.00474817 -0.01034420
+v -0.00595583 0.00381499 -0.01022820
+v -0.00918960 0.00509159 -0.01022819
+v 0.01008201 0.01132605 -0.01034418
+v -0.00918960 0.00869122 -0.01022818
+v -0.00596165 0.01132752 -0.01022817
+v 0.01412495 0.00474817 -0.01034420
+v -0.00563566 0.00381497 -0.00498905
+v -0.01188197 0.00528201 0.00083674
+v -0.01188197 0.00528127 0.00033001
+v -0.01188197 0.00528055 -0.00309345
+v -0.01188197 0.00528056 -0.00479532
+v -0.01188197 0.00528129 -0.00498904
+v -0.00248048 0.00381499 -0.01022820
+v 0.01337399 0.01132605 -0.01034418
+v -0.01188197 0.00853824 -0.00498903
+v -0.00565603 0.01132750 -0.00498902
+v -0.00270169 0.01132752 -0.01022817
+v -0.01188197 0.00853970 -0.00167174
+v -0.01188197 0.00853969 -0.00024786
+v -0.01188197 0.00853896 0.00034315
+v -0.01188197 0.00853749 0.00083675
+v 0.01785353 0.00501731 -0.01034420
+v 0.01316733 0.00435252 -0.00498904
+v -0.00295492 0.00381497 -0.00498905
+v 0.01023919 0.00435250 0.00083674
+v -0.00578992 0.00476872 0.00083674
+v 0.01316733 0.00435251 -0.00309345
+v 0.01316442 0.00435250 0.00083674
+v 0.01785353 0.00875520 -0.01034419
+v 0.01305964 0.01132603 -0.00498902
+v -0.00592381 0.00896621 0.00083675
+v -0.00320524 0.01132750 -0.00498902
+v 0.01785353 0.00542542 -0.00498904
+v 0.01759157 0.00542614 0.00083674
+v 0.01759157 0.00836394 0.00083675
+v 0.01785353 0.00836249 -0.00498903
+v -0.00250085 0.00896621 0.00083675
+v 0.01338855 0.00892282 0.00083675
+f 1 2 6
+f 1 6 17
+f 1 17 32
+f 1 32 25
+f 1 25 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 7
+f 1 7 2
+f 2 7 8
+f 2 8 6
+f 3 9 16
+f 3 16 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 5
+f 4 16 27
+f 4 27 10
+f 5 15 18
+f 5 18 7
+f 6 8 20
+f 6 20 17
+f 7 18 8
+f 8 19 35
+f 8 35 20
+f 8 18 21
+f 8 21 22
+f 8 22 23
+f 8 23 24
+f 8 24 19
+f 9 25 26
+f 9 26 16
+f 10 27 31
+f 10 31 28
+f 10 28 29
+f 10 29 11
+f 11 24 23
+f 11 23 22
+f 11 22 21
+f 11 21 18
+f 11 18 15
+f 11 15 14
+f 11 14 13
+f 11 13 12
+f 11 29 28
+f 11 28 31
+f 11 31 37
+f 11 37 38
+f 11 38 41
+f 11 41 40
+f 11 40 34
+f 11 34 24
+f 16 26 30
+f 16 30 31
+f 16 31 27
+f 17 20 33
+f 17 33 32
+f 19 34 40
+f 19 40 35
+f 19 24 34
+f 20 35 33
+f 25 32 39
+f 25 39 36
+f 25 36 37
+f 25 37 31
+f 25 31 30
+f 25 30 26
+f 32 38 39
+f 32 33 38
+f 33 40 41
+f 33 41 38
+f 33 35 40
+f 36 39 38
+f 36 38 37
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_16.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96376ffb49bbe838869faf74da449a70c09bf0de
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_16.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.01260643 -0.01465716 -0.00024739
+v -0.01315295 -0.00907137 0.00083669
+v -0.01260771 -0.01465716 -0.00001775
+v -0.01260643 -0.01465715 -0.00167113
+v -0.01314910 -0.00907135 -0.00415292
+v -0.01314974 -0.00907136 -0.00273091
+v -0.01915053 -0.00907137 0.00083669
+v -0.01261348 -0.01465716 0.00083667
+v -0.01261155 -0.01465714 -0.00498917
+v -0.01314910 -0.00907135 -0.00498915
+v -0.01915181 -0.01041424 0.00083668
+v -0.01904161 -0.00907135 -0.00498915
+v -0.01903392 -0.00932176 -0.00801601
+v -0.01915181 -0.01465716 0.00083667
+v -0.01903584 -0.01465714 -0.00498917
+v -0.01313949 -0.01409505 -0.00801603
+v -0.01338360 -0.00932176 -0.00801601
+v -0.01903456 -0.01072641 -0.00801602
+v -0.01903520 -0.01358601 -0.00801603
+v -0.01903520 -0.01409505 -0.00801603
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 15
+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 7 11
+f 2 11 14
+f 2 14 8
+f 2 8 3
+f 2 6 5
+f 2 5 10
+f 2 10 12
+f 2 12 7
+f 4 9 10
+f 7 12 13
+f 7 13 11
+f 9 15 20
+f 9 20 16
+f 9 16 17
+f 9 17 10
+f 10 17 13
+f 10 13 12
+f 11 13 18
+f 11 18 19
+f 11 19 20
+f 11 20 14
+f 13 17 16
+f 13 16 20
+f 13 20 19
+f 13 19 18
+f 14 20 15
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_17.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdfa769d31460150f338aa7c0be1855cf43055ff
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_17.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00632240 -0.00894369 -0.01063111
+v 0.00632240 -0.00447620 -0.01063110
+v 0.00964112 -0.00915187 -0.01063111
+v -0.01902925 -0.00932022 -0.00801561
+v -0.01904675 -0.00447716 -0.00801560
+v 0.00632240 -0.00447620 -0.01043017
+v 0.01762964 -0.00447620 -0.01063110
+v 0.01383433 -0.00915187 -0.01063111
+v -0.00274176 -0.00932022 -0.00801561
+v -0.01903800 -0.00932023 -0.00519356
+v -0.01914731 -0.00907035 0.00083669
+v -0.01915168 -0.00578221 0.00083670
+v -0.01914731 -0.00524303 0.00083670
+v -0.01904237 -0.00447717 -0.00498813
+v 0.01012209 -0.00447621 -0.00828276
+v 0.01762964 -0.00447620 -0.01043353
+v 0.02551760 -0.00499263 -0.00498925
+v 0.02435452 -0.00522118 -0.00966235
+v 0.01762964 -0.00894512 -0.01063111
+v 0.02551760 -0.00884745 -0.00498926
+v 0.02551760 -0.00884794 -0.00024768
+v 0.02551760 -0.00884652 0.00083669
+v 0.01334024 -0.00915188 -0.00828277
+v -0.00274613 -0.00932023 -0.00498814
+v -0.00274176 -0.00932022 -0.00783039
+v -0.01903800 -0.00932023 -0.00498814
+v -0.00261495 -0.00907035 0.00083669
+v 0.00975917 -0.00499408 0.00083670
+v 0.02531646 -0.00499265 0.00083670
+v 0.01012209 -0.00447670 -0.00498813
+v 0.01331400 -0.00447621 -0.00828276
+v 0.02551760 -0.00499265 0.00083670
+v 0.01331400 -0.00447670 -0.00498813
+v 0.02435452 -0.00857429 -0.00966236
+v 0.01341020 -0.00899732 0.00083669
+f 1 2 7
+f 1 7 19
+f 1 19 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 15
+f 2 15 31
+f 2 31 16
+f 2 16 7
+f 2 5 6
+f 3 8 9
+f 3 9 4
+f 4 9 25
+f 4 25 24
+f 4 24 26
+f 4 26 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
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+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_18.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18bf18533c50c702375e3ea4c5da8236663d187b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_18.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.01874753 0.03426172 0.00083835
+v -0.01396564 0.03426172 0.00083835
+v -0.02103235 0.03426171 0.00354166
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+v -0.02190695 0.03796820 0.00871361
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+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_19.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c63492eb23325103864f451710a4ca1f001d6d93
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_19.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.02496146 0.04244192 0.00083688
+v 0.02571854 0.04239762 0.00083688
+v 0.02571854 0.04232381 -0.00498934
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+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_2.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29e9fe0f1598b1394651a4d9b3bd938833657d5d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_2.obj
@@ -0,0 +1,490 @@
+# https://github.com/mikedh/trimesh
+v -0.02747911 0.02996709 0.00687161
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diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_20.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08dd0ec590dd4681bb5adb7e727498526021050b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_20.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_21.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94278418ea89267f189c79e8d356f9d1af22bbe2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_21.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.02435779 -0.00522082 -0.00966257
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+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_22.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..487bda561beafadf2a97568917a82b00a885083b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_22.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.00682616 0.01132597 -0.01121593
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+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_23.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..482c060cfc36977dbe22f4f0e63fd263e6693a5b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_23.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+v -0.01686460 -0.04211814 0.00871340
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+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_24.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d0476bb993271fff65e621d9080bdf5cbf77cb9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_24.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_25.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0e37c0088bf18d69b32ea9e0e6c18219beeef94
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_25.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+f 40 46 45
+f 41 43 49
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+f 42 60 49
+f 42 49 43
+f 44 61 62
+f 44 62 59
+f 46 58 63
+f 46 63 48
+f 46 48 47
+f 49 60 54
+f 49 54 53
+f 50 64 51
+f 50 52 65
+f 50 65 64
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+f 54 60 59
+f 54 59 67
+f 55 63 58
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+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_26.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f227476551abffa3fcad015fd00bca222193a77
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_26.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.00121232 0.03223703 -0.00167036
+v -0.00121574 0.03223704 -0.00498851
+v -0.00254799 0.03707322 -0.00833917
+v -0.00254662 0.03707842 -0.00498728
+v -0.00254662 0.03707841 -0.00167034
+v -0.00121300 0.03223702 -0.00023005
+v -0.00819516 0.03223704 -0.00498851
+v -0.00319940 0.03469850 -0.00833918
+v -0.00637778 0.03707322 -0.00833917
+v -0.00617524 0.03707842 -0.00498849
+v -0.00254799 0.03707840 0.00083544
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+v -0.00820132 0.03223703 -0.00174629
+v -0.00565657 0.03469850 -0.00833918
+v -0.00638051 0.03707842 -0.00498849
+v -0.00638462 0.03707840 0.00083544
+v -0.00402872 0.03706086 0.00397400
+v -0.00289149 0.03706086 0.00352925
+v -0.00279637 0.03706086 0.00346898
+v -0.00256304 0.03706086 0.00261444
+v -0.00256236 0.03706086 0.00259877
+v -0.00326509 0.03426626 0.00340509
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+v -0.00819859 0.03223702 0.00083542
+v -0.00820269 0.03223702 -0.00024813
+v -0.00819927 0.03223702 0.00077636
+v -0.00636204 0.03706087 0.00117654
+v -0.00623203 0.03706086 0.00259877
+v -0.00544034 0.03706086 0.00377030
+v -0.00407799 0.03706086 0.00397038
+v -0.00516322 0.03426626 0.00380404
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 24
+f 1 24 26
+f 1 26 25
+f 1 25 13
+f 1 13 7
+f 1 7 2
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+f 4 11 5
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+f 24 29 28
+f 29 31 30
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_27.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b233102d55a083f99e5e7e06e599eeea47410f4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_27.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.01307273 0.03459822 0.00117709
+v 0.01307273 0.03459822 0.00083742
+v 0.01306640 0.03459821 0.00260019
+v 0.02550513 0.03292802 0.00083809
+v 0.02400881 0.03226132 0.00083741
+v 0.01062421 0.03459822 0.00083742
+v 0.01265831 0.03459821 0.00379400
+v 0.02550513 0.03290032 0.00260018
+v 0.02550513 0.03292686 0.00117708
+v 0.02550513 0.02508914 0.00083806
+v 0.02400881 0.02566587 0.00083738
+v 0.01062421 0.03459821 0.00260019
+v -0.00565813 0.03426372 0.00083742
+v 0.01155426 0.03459821 0.00397219
+v 0.02550513 0.03260965 0.00356606
+v 0.02550513 0.03289802 0.00262028
+v 0.01309487 0.02428287 0.00083738
+v 0.02550513 0.02508914 0.00117705
+v -0.00319063 0.02281568 0.00083737
+v 0.01064952 0.03459821 0.00280972
+v -0.00565813 0.03426372 0.00117744
+v -0.00562333 0.03426371 0.00260053
+v -0.00681279 0.03259467 0.00083741
+v 0.01155426 0.03140197 0.00428494
+v 0.02550513 0.03140198 0.00407234
+v 0.02550513 0.03246432 0.00367032
+v 0.01073493 0.03459821 0.00349010
+v -0.00516146 0.03426371 0.00380490
+v -0.00402578 0.03426371 0.00389928
+v -0.00402578 0.03140197 0.00426756
+v 0.02550513 0.02516526 0.00260015
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+v -0.00320328 0.02281567 0.00260048
+v -0.00566129 0.02281568 0.00083737
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+v -0.00681279 0.03231206 0.00341479
+v -0.00681279 0.02555283 0.00083738
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+v -0.00402578 0.02711459 0.00431217
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+v -0.00681279 0.03145043 0.00402192
+v -0.00681279 0.03140198 0.00403759
+v -0.00544301 0.03140197 0.00424269
+v -0.00544301 0.02711459 0.00429480
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+v 0.01267413 0.02428286 0.00380112
+v -0.00402578 0.02281567 0.00388798
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+v -0.00681279 0.02555283 0.00117740
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+v -0.00681279 0.02711459 0.00425732
+v -0.00516463 0.02281567 0.00380588
+v -0.00562966 0.02281567 0.00260048
+v -0.00681279 0.02557819 0.00260049
+v -0.00681279 0.02555398 0.00124962
+v -0.00681279 0.02599805 0.00377182
+v -0.00516779 0.02281567 0.00379838
+f 1 2 6
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+f 1 3 4
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+f 58 61 59
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_28.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e54414b6941410859aad3c4d4231a0053838b315
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_28.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.00285353 -0.03789878 0.00117700
+v -0.00285353 -0.03789878 0.00083760
+v -0.00286840 -0.03789879 0.00260086
+v 0.01338309 -0.03833067 0.00117474
+v -0.01396417 -0.03789878 0.00083760
+v 0.01338309 -0.03833067 0.00083805
+v 0.02401049 -0.03913408 0.00083805
+v 0.00374817 -0.03917205 0.00083760
+v -0.00303568 -0.03789879 0.00346265
+v 0.01336079 -0.03833068 0.00260086
+v 0.02401049 -0.03913408 0.00117700
+v -0.01396417 -0.04398072 0.00083758
+v -0.01396417 -0.03789879 0.00372363
+v 0.02401049 -0.04394774 0.00083803
+v 0.00374817 -0.04370752 0.00083758
+v -0.00402816 -0.03789879 0.00393727
+v 0.01289986 -0.03833068 0.00378628
+v 0.02401049 -0.03914841 0.00260086
+v 0.02401049 -0.03913472 0.00146952
+v -0.01396417 -0.04417925 0.00257334
+v -0.01393815 -0.04398445 0.00083758
+v -0.01393815 -0.04418672 0.00260084
+v -0.01396417 -0.04153626 0.00544090
+v 0.02401049 -0.04425580 0.00260084
+v 0.02401049 -0.04143482 0.00520472
+v 0.01155424 -0.03833068 0.00402471
+v 0.01182188 -0.03833068 0.00398144
+v 0.02401049 -0.03927785 0.00348970
+v 0.02401049 -0.03917081 0.00278340
+v -0.01396417 -0.04418236 0.00260084
+v -0.00260820 -0.04425269 0.00260084
+v -0.00402816 -0.04425206 0.00260084
+v -0.01252191 -0.04424584 0.00260084
+v 0.02288047 -0.04425642 0.00260084
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+v -0.01393815 -0.04402740 0.00402334
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+v -0.01252191 -0.04296636 0.00542376
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+v 0.02288047 -0.04378595 0.00491489
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+v 0.02401049 -0.04313439 0.00531964
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+f 73 75 74
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+f 81 82 83
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_29.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2775d8951a83c17701d6b78d0a6fb39a33427a8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_29.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.02401115 -0.04425521 0.00259923
+v 0.02430209 -0.04425521 0.00259923
+v 0.02401115 -0.04411734 0.00402330
+v 0.02401115 -0.04394637 0.00083558
+v 0.02498180 -0.04386030 -0.01033629
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+v 0.02559454 -0.04384155 -0.01033629
+v 0.02572917 -0.04383273 -0.01033629
+v 0.02401115 -0.04377764 0.00490277
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+v 0.02689553 -0.04386366 0.00259923
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+v 0.02760283 -0.04356918 0.00259923
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+v 0.02932216 -0.04092984 0.00483706
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diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_3.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d857902213163e9164ee00d6b17b48e15668454f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_3.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_30.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db1553549b0cd8e61905789ec35dd9184344bc1b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_30.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_31.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a2d67376fe4cf5fe05402eef7b73bcf3986ba66
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_31.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.01915240 0.01274858 0.00083677
+v -0.01348323 0.01274858 0.00083677
+v -0.01903355 0.01274860 -0.00498945
+v -0.01905063 0.00565940 -0.00498948
+v -0.01905348 -0.00005951 -0.00498950
+v -0.01915098 -0.00524125 0.00083670
+v -0.01188269 0.00853909 0.00052875
+v -0.01348252 0.01274858 -0.00018646
+v -0.01188269 0.00853733 0.00083675
+v -0.01348252 0.01274860 -0.00498945
+v -0.01904636 -0.00524123 -0.00498952
+v -0.01189265 -0.00524125 0.00083670
+v -0.01348110 0.01274859 -0.00303312
+v -0.01188269 0.00853911 -0.00473223
+v -0.01188269 0.00528071 0.00083674
+v -0.01348110 0.01274859 -0.00309357
+v -0.01188269 0.00853735 -0.00498947
+v -0.01190617 -0.00524123 -0.00498952
+v -0.01189336 -0.00524125 -0.00024698
+v -0.01188269 0.00527896 -0.00498948
+v -0.01188269 0.00527894 -0.00024694
+v -0.01190475 -0.00524123 -0.00451726
+f 1 2 8
+f 1 8 13
+f 1 13 16
+f 1 16 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 15
+f 1 15 9
+f 1 9 2
+f 2 7 8
+f 2 9 7
+f 3 10 17
+f 3 17 20
+f 3 20 18
+f 3 18 11
+f 3 11 5
+f 3 5 4
+f 5 11 6
+f 6 11 18
+f 6 18 22
+f 6 22 19
+f 6 19 12
+f 7 13 8
+f 7 9 15
+f 7 15 21
+f 7 21 20
+f 7 20 17
+f 7 17 14
+f 7 14 16
+f 7 16 13
+f 10 16 14
+f 10 14 17
+f 12 19 20
+f 12 20 21
+f 12 21 15
+f 18 20 22
+f 19 22 20
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_32.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42e7960e19bdfaae3c16c416579767262746cd02
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_32.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.01534873 0.03329252 -0.01088591
+v 0.01534873 0.02510429 -0.01088594
+v 0.01534873 0.03230254 -0.00498938
+v 0.02429805 0.03227528 -0.00498938
+v 0.02429805 0.03325965 -0.01088418
+v 0.02401507 0.03325244 -0.01088591
+v 0.02429805 0.02511310 -0.01088594
+v 0.02429805 0.02565816 -0.00499171
+v 0.01534873 0.02565656 -0.00498941
+v 0.02429805 0.03223200 -0.00498938
+v 0.02429805 0.02520047 -0.01088594
+v 0.02383109 0.02566377 -0.00498941
+f 1 2 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 3 9 12
+f 3 12 10
+f 3 10 4
+f 4 10 8
+f 4 8 7
+f 4 7 11
+f 4 11 5
+f 5 11 6
+f 8 10 12
+f 8 12 9
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_33.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cf97013973a31d573da4fbd2f9e73afb175dd21
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_33.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.01323794 -0.02522069 0.00117752
+v 0.01323794 -0.02522069 0.00083786
+v 0.01318734 -0.02522070 0.00259989
+v 0.02550513 -0.02607480 0.00117751
+v 0.02550513 -0.02607409 0.00083785
+v 0.01035006 -0.02522069 0.00083786
+v 0.01269940 -0.02522070 0.00379243
+v 0.02550513 -0.02612580 0.00205073
+v 0.02550513 -0.03029504 0.00083784
+v -0.00582065 -0.02523769 0.00083786
+v 0.01035006 -0.02522070 0.00175989
+v 0.01199821 -0.02522070 0.00393515
+v 0.02550513 -0.02637863 0.00294734
+v 0.02550513 -0.02617396 0.00259988
+v 0.02550513 -0.03029504 0.00117343
+v 0.01306445 -0.03245579 0.00083783
+v -0.01141932 -0.02674760 0.00083785
+v -0.00582065 -0.02523769 0.00117718
+v 0.01038620 -0.02522070 0.00259989
+v -0.00580981 -0.02523770 0.00164023
+v 0.01155003 -0.02522070 0.00400938
+v 0.02550513 -0.02719945 0.00386598
+v 0.02550513 -0.03028655 0.00257682
+v 0.01305722 -0.03245580 0.00259986
+v 0.01306445 -0.03245579 0.00117749
+v 0.01061391 -0.03245579 0.00083783
+v -0.01141932 -0.02983187 0.00083784
+v -0.01141932 -0.02674760 0.00117717
+v 0.01043319 -0.02522070 0.00296566
+v -0.00575921 -0.02523770 0.00258532
+v 0.01096450 -0.02522070 0.00372633
+v -0.00519175 -0.02523770 0.00379040
+v -0.00402431 -0.02523770 0.00392464
+v -0.00402431 -0.02723558 0.00421819
+v 0.01155003 -0.02723628 0.00424666
+v 0.02550513 -0.02866475 0.00415852
+v 0.02550513 -0.02735101 0.00389785
+v 0.02550513 -0.03028584 0.00259987
+v 0.01279699 -0.03245580 0.00337851
+v 0.01061391 -0.03245579 0.00117749
+v -0.00573752 -0.03121359 0.00083784
+v -0.01141932 -0.02983187 0.00117716
+v -0.01141932 -0.02677877 0.00262226
+v 0.01063198 -0.02522070 0.00352905
+v -0.00556403 -0.02523770 0.00310260
+v -0.01141932 -0.02738075 0.00387107
+v -0.01141932 -0.02766474 0.00393751
+v -0.01141932 -0.02866546 0.00414631
+v -0.00402431 -0.02866546 0.00430021
+v -0.00544114 -0.02866546 0.00428055
+v 0.01155003 -0.02866617 0.00430021
+v 0.02550513 -0.02994094 0.00366631
+v 0.01155003 -0.03245580 0.00397308
+v 0.01265241 -0.03245580 0.00379546
+v 0.01062114 -0.03245580 0.00259986
+v -0.00573752 -0.03121359 0.00117716
+v -0.00570138 -0.03121360 0.00259987
+v -0.01141932 -0.02982196 0.00229004
+v -0.01141932 -0.02888783 0.00402394
+v -0.00522789 -0.03121360 0.00380767
+v -0.00491706 -0.03121360 0.00385309
+v -0.00402431 -0.03121360 0.00392394
+v 0.01193677 -0.03245580 0.00391105
+v 0.01073680 -0.03245580 0.00348969
+v -0.01141932 -0.02980780 0.00259987
+v -0.01141932 -0.02958188 0.00358665
+v -0.01141932 -0.02966332 0.00336496
+f 1 2 6
+f 1 6 11
+f 1 11 19
+f 1 19 29
+f 1 29 44
+f 1 44 31
+f 1 31 21
+f 1 21 12
+f 1 12 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 16
+f 2 16 26
+f 2 26 41
+f 2 41 27
+f 2 27 17
+f 2 17 10
+f 2 10 6
+f 3 7 4
+f 4 8 14
+f 4 14 13
+f 4 13 22
+f 4 22 37
+f 4 37 36
+f 4 36 52
+f 4 52 38
+f 4 38 23
+f 4 23 15
+f 4 15 9
+f 4 9 5
+f 4 7 8
+f 6 10 18
+f 6 18 11
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 9 15 25
+f 9 25 16
+f 10 17 28
+f 10 28 18
+f 11 18 20
+f 11 20 19
+f 12 21 22
+f 12 22 13
+f 15 23 24
+f 15 24 25
+f 16 25 24
+f 16 24 39
+f 16 39 54
+f 16 54 63
+f 16 63 53
+f 16 53 64
+f 16 64 55
+f 16 55 40
+f 16 40 26
+f 17 27 42
+f 17 42 58
+f 17 58 65
+f 17 65 67
+f 17 67 66
+f 17 66 59
+f 17 59 48
+f 17 48 47
+f 17 47 46
+f 17 46 43
+f 17 43 28
+f 18 28 20
+f 19 20 30
+f 19 30 29
+f 20 28 30
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 23 38 24
+f 24 38 39
+f 26 40 56
+f 26 56 41
+f 27 41 56
+f 27 56 42
+f 28 43 30
+f 29 30 44
+f 30 43 45
+f 30 45 44
+f 31 44 32
+f 32 45 43
+f 32 43 46
+f 32 46 33
+f 32 44 45
+f 33 46 47
+f 33 47 48
+f 33 48 34
+f 34 49 35
+f 34 48 50
+f 34 50 49
+f 35 49 51
+f 35 51 36
+f 36 51 53
+f 36 53 52
+f 38 52 54
+f 38 54 39
+f 40 55 56
+f 42 56 57
+f 42 57 58
+f 48 59 60
+f 48 60 61
+f 48 61 62
+f 48 62 50
+f 49 53 51
+f 49 50 53
+f 50 62 53
+f 52 53 63
+f 52 63 54
+f 53 62 61
+f 53 61 60
+f 53 60 64
+f 55 64 57
+f 55 57 56
+f 57 64 60
+f 57 60 65
+f 57 65 58
+f 59 66 60
+f 60 66 67
+f 60 67 65
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_34.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29680504d350e9acaca3ed20b95af41af577c634
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_34.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.00639205 -0.02637049 0.00083662
+v -0.00639205 -0.03025739 0.00083661
+v -0.00639205 -0.02637004 -0.00024767
+v -0.00671897 -0.02580108 -0.01022940
+v -0.01181326 -0.02577138 -0.01022940
+v -0.01064941 -0.02679684 0.00083662
+v -0.00639205 -0.03025785 -0.00096693
+v -0.01064941 -0.02974560 0.00083661
+v -0.01181326 -0.03035149 -0.01022942
+v -0.00671897 -0.03043968 -0.01022942
+v -0.00639205 -0.02637323 -0.00169050
+v -0.00639205 -0.02637917 -0.00312466
+v -0.00639205 -0.02638830 -0.00498886
+v -0.01181326 -0.02668349 -0.00498886
+v -0.00639205 -0.03025737 -0.00498887
+v -0.01181326 -0.02994116 -0.00498887
+f 1 2 7
+f 1 7 15
+f 1 15 13
+f 1 13 12
+f 1 12 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 7
+f 3 11 4
+f 4 10 9
+f 4 9 5
+f 4 11 12
+f 4 12 13
+f 4 13 15
+f 4 15 10
+f 5 9 16
+f 5 16 14
+f 5 14 6
+f 6 14 16
+f 6 16 8
+f 7 10 15
+f 8 16 9
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_35.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..205f08097be909179bba6e81ce7de56693893b03
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_35.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.00632104 -0.02679880 -0.00498886
+v 0.00630381 -0.02679760 0.00083662
+v 0.00632104 -0.02973688 -0.00498887
+v 0.00632104 -0.02608130 -0.01022941
+v -0.00119550 -0.02678583 0.00083662
+v 0.00630381 -0.02973771 0.00083661
+v -0.00133184 -0.02605005 -0.01022724
+v 0.00632104 -0.03014795 -0.01022942
+v -0.00132210 -0.02605330 -0.01022941
+v -0.00119550 -0.02975191 0.00083661
+v -0.00133184 -0.02676349 -0.00498886
+v -0.00119401 -0.02975760 0.00083661
+v -0.00133184 -0.03019583 -0.01022942
+v -0.00133184 -0.02609794 -0.01022941
+v -0.00119550 -0.02975760 0.00083553
+v -0.00133184 -0.02981561 -0.00498887
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 4
+f 1 4 2
+f 2 5 10
+f 2 10 12
+f 2 12 6
+f 2 4 7
+f 2 7 5
+f 3 6 8
+f 4 8 13
+f 4 13 14
+f 4 14 9
+f 4 9 7
+f 5 7 11
+f 5 11 16
+f 5 16 10
+f 6 12 13
+f 6 13 8
+f 7 9 14
+f 7 14 13
+f 7 13 16
+f 7 16 11
+f 10 15 12
+f 10 16 15
+f 12 15 13
+f 13 15 16
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_36.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccb8da24f507ae5df1322709954404d0447d388a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_36.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.01011170 -0.03833005 0.00083688
+v 0.00982472 -0.03822692 -0.01023019
+v 0.01011395 -0.03832803 -0.00498899
+v 0.01338239 -0.03833005 0.00083688
+v 0.01011170 -0.03833005 0.00117597
+v 0.01366711 -0.03822692 -0.01023019
+v 0.01011207 -0.03833006 0.00141319
+v 0.01011508 -0.03833006 0.00259929
+v 0.01015533 -0.03225895 -0.01023017
+v 0.01338014 -0.03832803 -0.00498899
+v 0.01338202 -0.03833005 0.00117457
+v 0.01333387 -0.03225895 -0.01023017
+v 0.01307812 -0.03153535 0.00083550
+v 0.01336246 -0.03833006 0.00259929
+v 0.01013464 -0.03833006 0.00275000
+v 0.01074019 -0.03245653 0.00348959
+v 0.01062585 -0.03245653 0.00259931
+v 0.01057996 -0.03153535 0.00083550
+v 0.01057996 -0.03153533 -0.00498897
+v 0.01307962 -0.03153533 -0.00498897
+v 0.01307887 -0.03153535 -0.00024036
+v 0.01155335 -0.03245653 0.00397380
+v 0.01265724 -0.03245653 0.00379519
+v 0.01279979 -0.03245653 0.00337796
+v 0.01306081 -0.03245653 0.00259931
+v 0.01290134 -0.03833006 0.00378540
+v 0.01037573 -0.03833006 0.00356213
+v 0.01061193 -0.03833006 0.00370167
+v 0.01155335 -0.03833006 0.00402402
+v 0.01182039 -0.03833006 0.00398076
+f 1 2 3
+f 1 3 10
+f 1 10 4
+f 1 4 11
+f 1 11 14
+f 1 14 26
+f 1 26 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 15
+f 1 15 8
+f 1 8 7
+f 1 7 5
+f 1 5 2
+f 2 6 10
+f 2 10 3
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 12
+f 2 12 6
+f 4 10 6
+f 4 6 11
+f 6 12 13
+f 6 13 14
+f 6 14 11
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 9 19 20
+f 9 20 12
+f 12 20 21
+f 12 21 13
+f 13 21 20
+f 13 20 19
+f 13 19 18
+f 13 18 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 14 25 24
+f 14 24 23
+f 14 23 26
+f 15 27 16
+f 16 27 22
+f 16 22 18
+f 16 18 17
+f 22 27 28
+f 22 28 29
+f 22 29 23
+f 23 29 30
+f 23 30 26
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_37.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de41a70d5030429a79ebaa9122acd0f611aeca0a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_37.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.01338052 0.02172166 0.00117485
+v 0.01338052 0.02172166 0.00083770
+v 0.01338052 0.02166752 0.00259180
+v 0.02550513 0.02148865 0.00260038
+v 0.02550513 0.02150984 0.00121282
+v 0.01338052 0.01378692 0.00083767
+v 0.02550513 0.02150984 0.00083770
+v 0.01338052 0.02166674 0.00260038
+v 0.02550513 0.02148629 0.00262152
+v 0.01338052 0.01378613 0.00117713
+v 0.02550513 0.01370846 0.00083767
+v 0.01338052 0.02119602 0.00370231
+v 0.02550513 0.02118503 0.00359169
+v 0.02550513 0.01370768 0.00117713
+v 0.01338052 0.01381044 0.00260035
+v 0.01338052 0.01996116 0.00417946
+v 0.02550513 0.02103362 0.00369439
+v 0.02550513 0.01376808 0.00244185
+v 0.01338052 0.01433059 0.00385154
+v 0.02550513 0.01377592 0.00260035
+v 0.01338052 0.01567212 0.00421082
+v 0.02550513 0.01567291 0.00419068
+v 0.02550513 0.01996116 0.00408832
+v 0.01338052 0.01462949 0.00396216
+v 0.02550513 0.01431019 0.00378913
+f 1 2 6
+f 1 6 10
+f 1 10 15
+f 1 15 19
+f 1 19 24
+f 1 24 21
+f 1 21 16
+f 1 16 12
+f 1 12 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 7
+f 1 7 2
+f 2 7 11
+f 2 11 6
+f 3 8 4
+f 4 9 13
+f 4 13 17
+f 4 17 23
+f 4 23 22
+f 4 22 25
+f 4 25 20
+f 4 20 18
+f 4 18 14
+f 4 14 11
+f 4 11 7
+f 4 7 5
+f 4 8 9
+f 6 11 14
+f 6 14 10
+f 8 12 13
+f 8 13 9
+f 10 14 15
+f 12 16 17
+f 12 17 13
+f 14 18 15
+f 15 18 20
+f 15 20 19
+f 16 21 22
+f 16 22 23
+f 16 23 17
+f 19 20 25
+f 19 25 24
+f 21 24 22
+f 22 24 25
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_38.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee64eddf57a46edf1ef06836e038981e03329cec
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_38.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.01396336 0.02281707 0.00083777
+v -0.01352235 0.02281707 0.00083777
+v -0.01396336 0.02281706 0.00359917
+v -0.01396336 0.03706168 0.00083783
+v -0.00681279 0.02555304 0.00083778
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diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_39.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ac76e4ecd8a4344d9c812241370987b9ce7320a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_39.obj
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diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_4.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04184bf6c7989e0e3ba35aba71198ab90072ca60
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_4.obj
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+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_40.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93cb0006ebb055e1039c887d0404f774051d44d7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_40.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.03043142 -0.00447811 -0.00498952
+v 0.03033676 -0.00447809 -0.01021261
+v 0.02564781 -0.00447811 -0.00498952
+v 0.03043915 -0.00721339 -0.00498953
+v 0.03024390 -0.00447808 -0.01305887
+v 0.03033676 -0.00578258 -0.01021261
+v 0.03024510 -0.02008293 -0.01305892
+v 0.02435904 -0.00447809 -0.01039958
+v 0.02435904 -0.00536976 -0.00498952
+v 0.03031653 -0.02373439 -0.00498959
+v 0.03033557 -0.02373437 -0.01021268
+v 0.03012128 -0.00447808 -0.01448335
+v 0.03012306 -0.02373436 -0.01448342
+v 0.03024510 -0.02373436 -0.01305894
+v 0.02435904 -0.00447806 -0.01872720
+v 0.02435904 -0.01839956 -0.00498957
+v 0.02610021 -0.02373439 -0.00498959
+v 0.02958375 -0.00447807 -0.01581636
+v 0.02988257 -0.02373435 -0.01508200
+v 0.02958494 -0.02294261 -0.01582180
+v 0.02571805 -0.00447806 -0.01856713
+v 0.02435904 -0.01007303 -0.01872856
+v 0.02435904 -0.02373437 -0.01118923
+v 0.02923968 -0.00447807 -0.01646605
+v 0.02920992 -0.02294261 -0.01653337
+v 0.02958494 -0.02373435 -0.01582181
+v 0.02941707 -0.02373435 -0.01614060
+v 0.02691038 -0.00447806 -0.01823757
+v 0.02691752 -0.02151370 -0.01824032
+v 0.02571805 -0.02294260 -0.01857122
+v 0.02435904 -0.02373434 -0.01873130
+v 0.02920634 -0.00447807 -0.01652793
+v 0.02920992 -0.02373435 -0.01653338
+v 0.02850154 -0.02151371 -0.01722879
+v 0.02920932 -0.02151371 -0.01653337
+v 0.02697229 -0.00447806 -0.01821202
+v 0.02730981 -0.02373434 -0.01807488
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+v 0.02571805 -0.02373434 -0.01857123
+v 0.02849797 -0.00447807 -0.01722470
+v 0.02850154 -0.02373435 -0.01722880
+v 0.02810985 -0.02373435 -0.01754760
+v 0.02762649 -0.02373434 -0.01794037
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+v 0.02762530 -0.02151370 -0.01794036
+v 0.02769495 -0.00447806 -0.01787439
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+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_41.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c693479328c686b5bee6321d4781b224d932ac11
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_41.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.02429984 0.02510822 -0.01088594
+v 0.02429984 0.02565403 -0.00499287
+v 0.02429984 0.02519537 -0.01088594
+v 0.02513836 0.02461283 -0.01088594
+v 0.02530354 -0.00446340 -0.01000873
+v 0.02476535 0.01410886 -0.00498945
+v 0.02430164 0.02565403 -0.00498941
+v 0.02429984 0.03222703 -0.00498938
+v 0.02429984 0.03325451 -0.01088418
+v 0.02430164 0.03325451 -0.01088591
+v 0.03029622 0.02461283 -0.01088594
+v 0.03033286 -0.00446340 -0.01000873
+v 0.02564832 -0.00446342 -0.00498952
+v 0.02429984 0.03227290 -0.00498938
+v 0.02430044 0.04238238 -0.00498934
+v 0.02430044 0.04238698 -0.00878838
+v 0.02430044 0.04238699 -0.01022788
+v 0.02526090 0.03467186 -0.01088590
+v 0.03029682 0.02710810 -0.01088593
+v 0.03033466 0.01995715 -0.01022855
+v 0.03033226 0.01132923 -0.01022858
+v 0.03033406 -0.00436248 -0.01000873
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+v 0.02430164 0.04238238 -0.00498934
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+v 0.02571800 0.04233651 -0.00498934
+v 0.03011542 0.03467186 -0.01088590
+v 0.03029502 0.02853920 -0.01088593
+v 0.03033767 0.02853920 -0.01021178
+v 0.03033526 0.01853063 -0.01021065
+v 0.03033586 -0.00168833 -0.01000872
+v 0.03033526 -0.00291762 -0.01000872
+v 0.03043557 -0.00291764 -0.00498951
+v 0.03043317 -0.00386712 -0.00498951
+v 0.03043137 -0.00434874 -0.00498952
+v 0.02571800 0.04233652 -0.00736561
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+v 0.03010161 0.03569473 -0.01022791
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+v 0.02938923 0.03951559 -0.00878839
+v 0.02938502 0.03950641 -0.00498935
+v 0.02998027 0.03712123 -0.00498936
+f 1 2 8
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+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_42.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acbdfa5f41219affb67ee7bc813c5b7b84585ac4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_42.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.02513284 -0.02663510 0.00083662
+v 0.02513284 -0.03013146 0.00083661
+v 0.02513284 -0.02663460 -0.00023402
+v 0.02432974 -0.02540144 -0.01088646
+v 0.01763333 -0.02542371 -0.01088646
+v 0.01764213 -0.02679860 0.00083662
+v 0.01764213 -0.02973560 0.00083661
+v 0.01763333 -0.03056220 -0.01088648
+v 0.02432974 -0.03057283 -0.01088648
+v 0.02513284 -0.03013194 -0.00466691
+v 0.02513284 -0.02663408 -0.00165810
+v 0.02513284 -0.02663408 -0.00167072
+v 0.02513284 -0.02663559 -0.00499050
+v 0.01763333 -0.02679960 -0.00499050
+v 0.01763333 -0.02973508 -0.00499051
+v 0.02513284 -0.03013194 -0.00499051
+f 1 2 10
+f 1 10 16
+f 1 16 13
+f 1 13 12
+f 1 12 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 3 11 4
+f 4 9 8
+f 4 8 5
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+f 4 13 16
+f 4 16 9
+f 5 8 15
+f 5 15 14
+f 5 14 6
+f 6 14 15
+f 6 15 7
+f 7 15 8
+f 9 16 10
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_43.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..166eb88599525e5b56c78e4690a19024eda9d054
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_43.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.01402309 0.02461765 -0.01877222
+v 0.01534695 0.02461765 -0.01877222
+v 0.00608994 0.02461765 -0.01876952
+v 0.00608994 0.03140265 -0.01877084
+v 0.01296836 0.03140265 -0.01877219
+v 0.01534695 0.03426395 -0.01877218
+v 0.01534695 0.02461762 -0.01106863
+v 0.00608994 0.02461762 -0.01108887
+v 0.00608994 0.03426395 -0.01877083
+v 0.01438464 0.03426395 -0.01877218
+v 0.01534695 0.03467650 -0.01876948
+v 0.01534695 0.02565637 -0.00498941
+v 0.01319580 0.02461760 -0.00498941
+v 0.01023276 0.02461760 -0.00498941
+v 0.00608994 0.02567803 -0.00498941
+v 0.01397688 0.03467650 -0.01876948
+v 0.00608994 0.03467650 -0.01876813
+v 0.01534695 0.03467647 -0.01117787
+v 0.01534695 0.03230155 -0.00498938
+v 0.00608994 0.03221196 -0.00498938
+v 0.00608994 0.03467647 -0.01121160
+v 0.01307528 0.03467645 -0.00498937
+v 0.01062421 0.03467645 -0.00498937
+f 1 2 7
+f 1 7 13
+f 1 13 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 6
+f 1 6 2
+f 2 6 11
+f 2 11 18
+f 2 18 19
+f 2 19 12
+f 2 12 7
+f 3 8 15
+f 3 15 20
+f 3 20 21
+f 3 21 17
+f 3 17 9
+f 3 9 4
+f 4 9 5
+f 5 9 10
+f 6 10 16
+f 6 16 11
+f 7 12 13
+f 8 14 15
+f 9 16 10
+f 9 17 16
+f 11 16 17
+f 11 17 21
+f 11 21 23
+f 11 23 22
+f 11 22 18
+f 12 19 22
+f 12 22 23
+f 12 23 20
+f 12 20 15
+f 12 15 14
+f 12 14 13
+f 18 22 19
+f 20 23 21
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_44.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2e2ca38627b90ae429c6fed7cdd855d530ed5bd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_44.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.02288047 0.04272935 0.00260143
+v 0.00374817 0.04263879 0.00402407
+v 0.01863174 0.04264157 0.00402407
+v 0.02004798 0.04264157 0.00402407
+v 0.02146423 0.04264046 0.00402407
+v 0.02288047 0.04263768 0.00402407
+v 0.02401049 0.04272212 0.00260143
+v 0.02401049 0.04246490 0.00083745
+v -0.01252191 0.04246268 0.00083745
+v -0.01252191 0.04272157 0.00260097
+v 0.00164053 0.04263823 0.00402407
+v -0.00119196 0.04228821 0.00499174
+v 0.01297048 0.04228821 0.00499357
+v 0.00022429 0.04228821 0.00499220
+v 0.00305677 0.04228821 0.00499266
+v 0.02146423 0.04228766 0.00498899
+v 0.01438301 0.04228821 0.00499357
+v 0.01721550 0.04228766 0.00499357
+v 0.01863174 0.04228766 0.00499266
+v 0.02004798 0.04228766 0.00499128
+v 0.02288047 0.04228377 0.00498395
+v 0.02401049 0.04261879 0.00402407
+v 0.02401049 0.04270323 0.00289329
+v 0.02401049 0.03771697 0.00083743
+v -0.01393815 0.04246157 0.00083745
+v -0.01252191 0.04262545 0.00402407
+v -0.01110566 0.04263212 0.00402407
+v -0.00968942 0.04263323 0.00402407
+v -0.00544069 0.04263545 0.00402407
+v -0.00402816 0.04263601 0.00402407
+v -0.01393815 0.04267045 0.00260097
+v -0.00260820 0.04141429 0.00551588
+v 0.00374817 0.04141485 0.00551772
+v -0.00544069 0.04228710 0.00498991
+v -0.00402816 0.04228710 0.00499082
+v 0.00730551 0.04141485 0.00551818
+v 0.02146423 0.04141485 0.00551268
+v 0.02288047 0.04141485 0.00550718
+v 0.01579925 0.04141485 0.00551818
+v 0.01721550 0.04141485 0.00551772
+v 0.01863174 0.04141485 0.00551634
+v 0.02401049 0.04141485 0.00548885
+v 0.02401049 0.04227154 0.00496562
+v 0.02401049 0.03771642 0.00110821
+v 0.01373250 0.03705362 0.00083743
+v -0.01396417 0.04245768 0.00083745
+v -0.01396417 0.04266657 0.00259960
+v -0.01393815 0.04254156 0.00402407
+v -0.01252191 0.04227932 0.00497708
+v -0.01110566 0.04228488 0.00498624
+v -0.00968942 0.04228543 0.00498762
+v -0.00685693 0.04228655 0.00498945
+v -0.01396417 0.04266490 0.00262342
+v 0.00164053 0.04141429 0.00551726
+v -0.00402816 0.04141429 0.00551497
+v -0.01396417 0.03988424 0.00529275
+v 0.02401049 0.04006203 0.00525839
+v 0.02401049 0.03771642 0.00117785
+v 0.01373250 0.03705362 0.00117785
+v 0.01001904 0.03705362 0.00083743
+v -0.01396417 0.03706251 0.00083743
+v -0.01396417 0.04253767 0.00402315
+v -0.01396417 0.04253156 0.00404469
+v -0.01393815 0.04222321 0.00489140
+v -0.01393815 0.04141429 0.00541692
+v -0.01252191 0.04141429 0.00550031
+v -0.01110566 0.04141429 0.00550947
+v -0.00968942 0.04141429 0.00551130
+v -0.01396417 0.04139374 0.00542013
+v -0.01396417 0.03979980 0.00526893
+v 0.01155424 0.03705361 0.00404971
+v 0.02401049 0.03917589 0.00452438
+v 0.02401049 0.03774807 0.00260141
+v 0.01358010 0.03705361 0.00276681
+v 0.01363214 0.03705361 0.00260141
+v 0.01001904 0.03705362 0.00117694
+v -0.01396417 0.03706250 0.00387560
+v -0.01396417 0.04222154 0.00488819
+v -0.01396417 0.04221098 0.00489552
+v -0.01396417 0.04141540 0.00541279
+v -0.00402816 0.03706250 0.00397457
+v 0.01029412 0.03705361 0.00353243
+v 0.01295561 0.03705361 0.00376472
+v 0.02401049 0.03780974 0.00335832
+v 0.02401049 0.03840476 0.00387560
+v 0.01002648 0.03705361 0.00260141
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 3 13 17
+f 3 17 4
+f 3 12 14
+f 3 14 15
+f 3 15 13
+f 4 16 5
+f 4 17 18
+f 4 18 19
+f 4 19 20
+f 4 20 16
+f 5 16 6
+f 6 16 21
+f 6 21 22
+f 6 22 23
+f 6 23 7
+f 7 23 22
+f 7 22 43
+f 7 43 42
+f 7 42 57
+f 7 57 72
+f 7 72 85
+f 7 85 84
+f 7 84 73
+f 7 73 58
+f 7 58 44
+f 7 44 24
+f 7 24 8
+f 8 24 45
+f 8 45 60
+f 8 60 61
+f 8 61 46
+f 8 46 25
+f 8 25 9
+f 9 25 10
+f 10 26 27
+f 10 27 28
+f 10 28 29
+f 10 29 30
+f 10 30 11
+f 10 25 31
+f 10 31 26
+f 11 30 12
+f 12 32 33
+f 12 33 14
+f 12 30 29
+f 12 29 34
+f 12 34 35
+f 12 35 32
+f 13 36 39
+f 13 39 17
+f 13 15 36
+f 14 33 15
+f 15 33 36
+f 16 20 37
+f 16 37 38
+f 16 38 21
+f 17 39 18
+f 18 39 40
+f 18 40 19
+f 19 40 41
+f 19 41 20
+f 20 41 37
+f 21 38 42
+f 21 42 43
+f 21 43 22
+f 24 44 45
+f 25 46 47
+f 25 47 31
+f 26 31 48
+f 26 48 49
+f 26 49 50
+f 26 50 27
+f 27 50 28
+f 28 50 51
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+f 28 52 29
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+f 31 47 53
+f 31 53 48
+f 32 54 33
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+f 32 52 55
+f 32 55 56
+f 32 56 54
+f 33 54 56
+f 33 56 36
+f 34 52 35
+f 36 56 39
+f 37 41 56
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+f 37 57 38
+f 38 57 42
+f 39 56 40
+f 40 56 41
+f 44 58 59
+f 44 59 45
+f 45 59 75
+f 45 75 74
+f 45 74 83
+f 45 83 71
+f 45 71 82
+f 45 82 86
+f 45 86 76
+f 45 76 60
+f 46 61 77
+f 46 77 70
+f 46 70 56
+f 46 56 69
+f 46 69 80
+f 46 80 79
+f 46 79 78
+f 46 78 63
+f 46 63 62
+f 46 62 53
+f 46 53 47
+f 48 53 62
+f 48 62 63
+f 48 63 64
+f 48 64 49
+f 49 64 65
+f 49 65 66
+f 49 66 50
+f 50 67 68
+f 50 68 51
+f 50 66 67
+f 51 68 52
+f 52 68 55
+f 55 68 56
+f 56 68 67
+f 56 67 66
+f 56 66 69
+f 56 70 57
+f 57 71 72
+f 57 70 71
+f 58 73 74
+f 58 74 75
+f 58 75 59
+f 60 76 77
+f 60 77 61
+f 63 78 64
+f 64 78 79
+f 64 79 80
+f 64 80 65
+f 65 80 69
+f 65 69 66
+f 70 77 81
+f 70 81 71
+f 71 83 84
+f 71 84 85
+f 71 85 72
+f 71 81 77
+f 71 77 82
+f 73 84 83
+f 73 83 74
+f 76 86 77
+f 77 86 82
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_45.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95974d610be08f002c6b03007449e6c34b0ab634
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_45.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.01338052 0.00895476 0.00117718
+v 0.01338052 0.00895437 0.00083765
+v 0.01338052 0.00891599 0.00260040
+v 0.02400945 0.00837568 0.00260040
+v 0.02400945 0.00838383 0.00117718
+v 0.02400945 0.00838383 0.00083765
+v 0.01338052 0.00499510 0.00083764
+v 0.01338052 0.00840591 0.00381459
+v 0.02400945 0.00808692 0.00370320
+v 0.02400945 0.00831870 0.00282653
+v 0.02400945 0.00541835 0.00083764
+v 0.02400945 0.00541835 0.00117717
+v 0.01338052 0.00499549 0.00117717
+v 0.01338052 0.00709002 0.00426484
+v 0.02288465 0.00709002 0.00422357
+v 0.02400945 0.00709002 0.00420646
+v 0.02400945 0.00788460 0.00381023
+v 0.02400945 0.00545516 0.00260039
+v 0.01338052 0.00503927 0.00260039
+v 0.01338052 0.00601407 0.00400884
+v 0.02288465 0.00591213 0.00383404
+v 0.02400945 0.00684855 0.00412661
+v 0.01338052 0.00569276 0.00390349
+v 0.02400945 0.00593384 0.00381559
+f 1 2 7
+f 1 7 13
+f 1 13 19
+f 1 19 23
+f 1 23 20
+f 1 20 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 7
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 9
+f 4 9 17
+f 4 17 16
+f 4 16 22
+f 4 22 24
+f 4 24 18
+f 4 18 12
+f 4 12 11
+f 4 11 6
+f 4 6 5
+f 7 12 13
+f 7 11 12
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 12 18 13
+f 13 18 19
+f 14 20 15
+f 15 21 22
+f 15 22 16
+f 15 20 23
+f 15 23 21
+f 18 24 19
+f 19 24 21
+f 19 21 23
+f 21 24 22
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_46.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd1c58519f8deafaaea9531deaed085e1d04a8a6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_46.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.02551948 -0.01471850 0.00083667
+v 0.02551948 -0.01891300 0.00083665
+v 0.02551948 -0.01471767 -0.00082311
+v 0.01763333 -0.01525475 -0.00966261
+v 0.01764105 -0.01541600 0.00083666
+v 0.01764105 -0.01834298 0.00083665
+v 0.01763333 -0.01858477 -0.00966262
+v 0.02551948 -0.01891382 -0.00013969
+v 0.02551948 -0.01471560 -0.00498952
+v 0.02435771 -0.01524364 -0.00966261
+v 0.01763333 -0.01541804 -0.00498953
+v 0.01763333 -0.01834625 -0.00498954
+v 0.02435771 -0.01862631 -0.00966262
+v 0.02551948 -0.01891709 -0.00498954
+f 1 2 8
+f 1 8 14
+f 1 14 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 10 13
+f 4 13 7
+f 4 7 12
+f 4 12 11
+f 4 11 5
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 12 7
+f 7 13 14
+f 7 14 8
+f 9 14 13
+f 9 13 10
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_47.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50ae1672fbe9bbc580c9c664ba39fd3329f33d2a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_47.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.00311375 0.02265034 0.00083680
+v 0.00630409 0.02082655 0.00083680
+v 0.00630409 0.02082752 0.00051797
+v 0.00630409 0.02082850 -0.00208914
+v -0.00311375 0.02265036 -0.00498942
+v -0.01915571 0.02265034 0.00083680
+v 0.00630409 0.01428631 0.00083677
+v 0.00630409 0.02082851 -0.00498942
+v -0.01904855 0.02265036 -0.00498942
+v -0.01904855 0.02234801 -0.00498942
+v -0.01915073 0.01275034 0.00083677
+v 0.00630409 0.01428343 -0.00451719
+v -0.00303151 0.01275034 0.00083677
+v 0.00630409 0.01428343 -0.00498945
+v -0.01903360 0.01275036 -0.00498945
+v -0.00302901 0.01275036 -0.00445673
+v -0.00302901 0.01275036 -0.00498945
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 6
+f 1 6 11
+f 1 11 13
+f 1 13 7
+f 1 7 2
+f 2 7 12
+f 2 12 14
+f 2 14 8
+f 2 8 4
+f 2 4 3
+f 5 8 14
+f 5 14 17
+f 5 17 15
+f 5 15 10
+f 5 10 9
+f 6 9 10
+f 6 10 11
+f 7 13 12
+f 10 15 11
+f 11 15 17
+f 11 17 16
+f 11 16 13
+f 12 13 16
+f 12 16 17
+f 12 17 14
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_48.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d912aa085cf25acf11abd69e60e5aae910ec371f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_48.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v 0.03032642 0.02461632 -0.01022936
+v 0.03033126 0.02283815 -0.01022937
+v 0.03024419 0.02461633 -0.01306044
+v -0.00241271 0.02461632 -0.01022853
+v 0.00213923 0.02132013 -0.01022854
+v 0.03033610 0.01996081 -0.01022938
+v 0.03024419 0.01132753 -0.01306049
+v 0.03011841 0.02461633 -0.01448392
+v -0.01907736 0.02461632 -0.01022853
+v 0.00213923 0.01399282 -0.01022857
+v 0.03033126 0.01132882 -0.01022941
+v 0.03025870 0.01132752 -0.01158348
+v 0.03011841 0.01132753 -0.01448397
+v 0.02958147 0.02461634 -0.01581958
+v -0.01903382 0.02461633 -0.01422047
+v -0.01908219 0.01853125 -0.01022855
+v -0.00270295 0.01132882 -0.01022858
+v -0.00280937 0.01132752 -0.01022858
+v 0.02574546 0.01132752 -0.01022941
+v 0.02958147 0.01132754 -0.01581713
+v 0.02958147 0.02425082 -0.01581958
+v 0.02920416 0.02461634 -0.01653133
+v -0.01903382 0.02282125 -0.01422048
+v -0.01880163 0.02461633 -0.01493054
+v -0.01908219 0.01851044 -0.01022855
+v -0.01907736 0.01132752 -0.01022858
+v 0.02920416 0.01132754 -0.01652887
+v 0.02920416 0.02425082 -0.01653133
+v 0.02902518 0.02461634 -0.01670780
+v -0.01903382 0.01281302 -0.01421884
+v -0.01880163 0.02282125 -0.01493055
+v -0.01880163 0.01132753 -0.01492891
+v -0.01828403 0.02461634 -0.01590657
+v -0.01878712 0.01132753 -0.01496488
+v -0.01903382 0.01132753 -0.01421801
+v 0.02852209 0.01132754 -0.01719796
+v 0.02849790 0.02282126 -0.01722468
+v 0.02849790 0.02461634 -0.01722467
+v -0.01782932 0.02461634 -0.01660493
+v -0.01828403 0.01132754 -0.01590662
+v 0.02849307 0.01132754 -0.01722388
+v 0.02764653 0.01132755 -0.01790970
+v 0.02761751 0.02282127 -0.01793642
+v 0.02761751 0.02461635 -0.01793641
+v -0.01766969 0.02461634 -0.01684413
+v -0.01766969 0.02425082 -0.01684413
+v -0.01766969 0.01567345 -0.01684248
+v -0.01766969 0.01281303 -0.01684166
+v -0.01766969 0.01132754 -0.01684083
+v 0.02761267 0.01132755 -0.01793562
+v 0.02693544 0.01132755 -0.01822584
+v 0.02690642 0.02425083 -0.01823917
+v 0.02690642 0.02461635 -0.01823917
+v -0.01681832 0.02461634 -0.01755587
+v -0.01681832 0.02425082 -0.01755587
+v -0.01681348 0.01132754 -0.01755341
+v 0.02690642 0.01132755 -0.01823671
+v 0.02690642 0.01281304 -0.01823754
+v 0.02571160 0.02425083 -0.01856870
+v 0.02571160 0.02461635 -0.01856870
+v -0.01629105 0.02461635 -0.01793725
+v -0.01610723 0.01132755 -0.01806526
+v 0.02571160 0.01132755 -0.01856624
+v 0.02429909 0.02282127 -0.01873514
+v 0.02429909 0.02461635 -0.01873513
+v -0.01610723 0.02461635 -0.01806772
+v -0.01610723 0.02425083 -0.01806772
+v -0.01607821 0.01132755 -0.01807530
+v 0.02429909 0.01132755 -0.01873267
+v 0.02293496 0.01132755 -0.01876780
+v 0.02288175 0.02282127 -0.01877111
+v 0.02288175 0.02461635 -0.01877110
+v -0.01555093 0.02461635 -0.01825757
+v -0.01535744 0.02425083 -0.01832281
+v -0.01535744 0.01132755 -0.01831868
+v 0.02151762 0.01132755 -0.01876947
+v 0.02251895 0.02461635 -0.01877193
+v -0.01535744 0.02461635 -0.01832281
+v -0.01394010 0.02425083 -0.01864481
+v -0.01394010 0.01132755 -0.01864151
+v -0.01530423 0.01132755 -0.01833122
+v 0.01579988 0.01710302 -0.01877196
+v 0.01579988 0.01996084 -0.01877279
+v 0.02146441 0.02139040 -0.01877194
+v -0.01105221 0.01132755 -0.01877031
+v 0.01721239 0.02139040 -0.01877278
+v 0.01721239 0.02282127 -0.01877278
+v 0.01579988 0.02461635 -0.01877277
+v -0.01394010 0.02461635 -0.01864481
+v -0.01288556 0.02461635 -0.01872677
+v -0.01252276 0.01132755 -0.01875275
+v -0.01388689 0.01132755 -0.01864569
+v 0.01438738 0.01996084 -0.01877279
+v -0.01110542 0.01132755 -0.01877031
+v 0.01438738 0.02461635 -0.01877277
+v -0.01252276 0.02461635 -0.01875437
+v -0.01252276 0.02425083 -0.01875437
+v -0.01246955 0.01132755 -0.01875358
+v 0.01297004 0.02139040 -0.01877278
+v -0.01110542 0.02139040 -0.01877111
+v 0.01297004 0.02282127 -0.01877278
+v -0.01110542 0.02461635 -0.01877110
+v -0.01146822 0.02461635 -0.01876691
+f 1 2 3
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+f 1 14 22
+f 1 22 29
+f 1 29 38
+f 1 38 44
+f 1 44 53
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+f 13 20 21
+f 14 21 28
+f 14 28 22
+f 15 23 25
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+f 15 24 31
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+f 20 27 28
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+f 22 28 29
+f 23 30 25
+f 23 31 32
+f 23 32 30
+f 24 33 34
+f 24 34 31
+f 25 30 35
+f 25 35 26
+f 27 36 37
+f 27 37 29
+f 27 29 28
+f 29 37 38
+f 30 32 35
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+f 33 39 40
+f 33 40 34
+f 36 41 37
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+f 37 43 44
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+f 39 45 46
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+f 39 47 48
+f 39 48 40
+f 40 48 49
+f 42 50 43
+f 43 50 51
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+f 45 54 55
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+f 48 55 56
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+f 55 61 62
+f 55 62 56
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+f 58 63 59
+f 59 63 64
+f 59 64 65
+f 59 65 60
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+f 61 67 62
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+f 74 78 89
+f 74 89 79
+f 74 79 80
+f 74 80 81
+f 74 81 75
+f 76 82 83
+f 76 83 84
+f 76 84 77
+f 76 85 82
+f 77 84 86
+f 77 86 87
+f 77 87 88
+f 79 89 90
+f 79 90 91
+f 79 91 92
+f 79 92 80
+f 82 85 83
+f 83 86 84
+f 83 85 94
+f 83 94 93
+f 83 93 99
+f 83 99 101
+f 83 101 95
+f 83 95 88
+f 83 88 87
+f 83 87 86
+f 90 96 97
+f 90 97 91
+f 91 97 98
+f 93 94 100
+f 93 100 99
+f 94 98 97
+f 94 97 100
+f 95 101 102
+f 96 103 97
+f 97 103 100
+f 99 100 102
+f 99 102 101
+f 100 103 102
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_49.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68f825dfd86de9cc4791f4c1a8593532f72c30ea
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_49.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.00632184 -0.04357709 -0.01023021
+v 0.00630409 -0.04370695 0.00083656
+v 0.00630409 -0.04356638 -0.00498931
+v 0.00632184 -0.03870727 -0.01023019
+v 0.01013696 -0.04357977 -0.01023021
+v 0.00630409 -0.03917348 0.00083658
+v 0.01013696 -0.04370749 0.00083656
+v 0.00630409 -0.03917667 -0.00498929
+v 0.00630409 -0.03917348 0.00075750
+v 0.01011365 -0.03832858 0.00083658
+v 0.01016026 -0.03822717 -0.00498929
+v 0.00982625 -0.03822715 -0.01023019
+v 0.01763292 -0.04357709 -0.01023021
+v 0.01196906 -0.04370695 0.00083656
+v 0.01337947 -0.03832858 0.00083658
+v 0.01335173 -0.03822717 -0.00498929
+v 0.01366688 -0.03822715 -0.01023019
+v 0.01763292 -0.03870512 -0.01023019
+v 0.01764069 -0.04356638 -0.00498931
+v 0.01764069 -0.04370481 0.00083656
+v 0.01764069 -0.03917777 0.00083658
+v 0.01764069 -0.03917777 0.00051376
+v 0.01764069 -0.03918096 -0.00498929
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 12
+f 1 12 17
+f 1 17 18
+f 1 18 13
+f 1 13 5
+f 1 5 2
+f 2 6 9
+f 2 9 8
+f 2 8 3
+f 2 5 7
+f 2 7 14
+f 2 14 20
+f 2 20 21
+f 2 21 15
+f 2 15 10
+f 2 10 6
+f 4 8 9
+f 4 9 6
+f 4 6 10
+f 4 10 11
+f 4 11 12
+f 5 13 14
+f 5 14 7
+f 10 15 16
+f 10 16 11
+f 11 16 17
+f 11 17 12
+f 13 18 23
+f 13 23 19
+f 13 19 20
+f 13 20 14
+f 15 21 18
+f 15 18 16
+f 16 18 17
+f 18 21 22
+f 18 22 23
+f 19 23 22
+f 19 22 21
+f 19 21 20
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_5.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c625c22b6583d12c3814ba167eda9b23be75e00
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_5.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.00996151 0.00892349 -0.00498947
+v 0.01045557 0.01281865 -0.00498945
+v 0.01338771 0.00892349 -0.00498947
+v 0.00996118 0.00892348 -0.00309359
+v 0.01045524 0.01281865 -0.00451719
+v 0.01308866 0.01281865 -0.00498945
+v 0.01338939 0.00892347 -0.00024864
+v 0.00996118 0.00892347 -0.00011746
+v 0.01045524 0.01281865 -0.00450692
+v 0.01308899 0.01281863 -0.00025775
+v 0.01338973 0.00892347 0.00083675
+v 0.00996151 0.00892347 0.00083675
+v 0.01045692 0.01281863 0.00083677
+v 0.01308899 0.01281863 0.00083677
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 12
+f 1 12 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 13
+f 2 13 14
+f 2 14 10
+f 2 10 6
+f 3 6 7
+f 4 8 9
+f 4 9 5
+f 6 10 11
+f 6 11 7
+f 8 12 13
+f 8 13 9
+f 10 14 11
+f 11 14 13
+f 11 13 12
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_50.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2ea599c0667ab22fa774562a5b8ca472daa1ef3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_50.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.01847557 0.03712509 -0.00833827
+v -0.01841919 0.03855540 -0.00833827
+v -0.01847067 0.03707338 -0.00833827
+v -0.01873788 0.03707916 0.00083686
+v -0.01874033 0.03712506 0.00083686
+v -0.01859570 0.03853479 0.00083686
+v -0.01786270 0.03993400 -0.00833826
+v -0.01848538 0.03707338 -0.00741582
+v -0.00254824 0.03707338 -0.00833827
+v -0.01848538 0.03707337 -0.00498888
+v -0.00254824 0.03707916 0.00083686
+v -0.01792154 0.04007010 0.00083687
+v -0.01744104 0.04064943 -0.00833826
+v 0.00608836 0.03777667 -0.00833827
+v 0.00630409 0.03777982 -0.00498888
+v 0.00630409 0.03777928 -0.00024727
+v 0.00630409 0.03777928 0.00017129
+v -0.00255069 0.03707337 -0.00498888
+v 0.00630409 0.03777980 0.00083686
+v -0.01783819 0.04020885 0.00083687
+v -0.01748762 0.04070479 0.00083687
+v -0.01699978 0.04114270 0.00083687
+v -0.01722041 0.04083778 -0.00833826
+v 0.00608836 0.04227389 -0.00833825
+v 0.00630409 0.04226808 -0.00498886
+v 0.00630409 0.04240101 0.00083688
+v -0.01686249 0.04125771 0.00083687
+v -0.01673256 0.04124877 -0.00833826
+v -0.01394032 0.04240210 -0.00833825
+v -0.01252581 0.04246327 0.00083688
+v -0.01578874 0.04201059 0.00083687
+v -0.01599957 0.04173785 -0.00833826
+v -0.01495033 0.04223643 -0.00833825
+v -0.01394032 0.04246169 0.00083688
+v -0.01508026 0.04226595 0.00083688
+v -0.01565881 0.04196366 -0.00833826
+f 1 2 7
+f 1 7 13
+f 1 13 23
+f 1 23 28
+f 1 28 32
+f 1 32 36
+f 1 36 33
+f 1 33 29
+f 1 29 24
+f 1 24 14
+f 1 14 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 4
+f 3 9 18
+f 3 18 10
+f 3 10 8
+f 4 8 10
+f 4 10 18
+f 4 18 11
+f 4 11 19
+f 4 19 26
+f 4 26 30
+f 4 30 34
+f 4 34 35
+f 4 35 31
+f 4 31 27
+f 4 27 22
+f 4 22 21
+f 4 21 20
+f 4 20 12
+f 4 12 6
+f 4 6 5
+f 6 12 7
+f 7 12 13
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 11 18 19
+f 12 20 13
+f 13 21 22
+f 13 22 23
+f 13 20 21
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 15 26 19
+f 15 19 17
+f 15 17 16
+f 17 19 18
+f 22 27 28
+f 22 28 23
+f 24 26 25
+f 24 29 26
+f 26 29 30
+f 27 31 28
+f 28 31 32
+f 29 33 34
+f 29 34 30
+f 31 35 33
+f 31 33 36
+f 31 36 32
+f 33 35 34
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_51.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..726842199be4b9506bedab1e3b97f1f93a03591a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_51.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.01903591 -0.01904991 -0.00498957
+v -0.01915302 -0.01904993 0.00083665
+v -0.01903591 -0.01465714 -0.00498955
+v -0.00256703 -0.01904991 -0.00498957
+v -0.01915053 -0.01465716 0.00083667
+v -0.00256703 -0.01904993 0.00083665
+v -0.00254460 -0.01465714 -0.00498955
+v 0.00630409 -0.01834724 -0.00498957
+v 0.00630409 -0.01834768 -0.00309369
+v -0.00254211 -0.01465716 0.00083667
+v 0.00630409 -0.01834768 -0.00167065
+v 0.00630409 -0.01834726 0.00007180
+v 0.00630409 -0.01834640 0.00083665
+v -0.00254211 -0.01465715 -0.00167063
+v 0.00630409 -0.01541659 -0.00208928
+v 0.00630409 -0.01541701 -0.00498956
+v 0.00630409 -0.01541660 0.00083666
+f 1 2 3
+f 1 3 7
+f 1 7 16
+f 1 16 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 13
+f 2 13 17
+f 2 17 10
+f 2 10 5
+f 3 5 10
+f 3 10 14
+f 3 14 7
+f 4 8 9
+f 4 9 11
+f 4 11 6
+f 6 11 12
+f 6 12 13
+f 7 14 15
+f 7 15 16
+f 8 16 15
+f 8 15 17
+f 8 17 13
+f 8 13 12
+f 8 12 11
+f 8 11 9
+f 10 17 15
+f 10 15 14
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_52.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a91019fe5d33fae98c1692fb1ed29771f74f4008
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_52.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.00632184 -0.03014782 -0.01023016
+v 0.00632184 -0.02608036 -0.01023015
+v 0.01015471 -0.03225777 -0.01023017
+v 0.00630409 -0.02973780 0.00083661
+v 0.00630409 -0.02973695 -0.00498926
+v 0.00630409 -0.02679860 -0.00498925
+v 0.00630409 -0.02679778 -0.00209040
+v 0.00630409 -0.02679779 0.00083662
+v 0.01063299 -0.02379481 -0.00498924
+v 0.01016914 -0.02379479 -0.01023014
+v 0.01061080 -0.03225779 -0.00498927
+v 0.01333287 -0.03225777 -0.01023017
+v 0.01057972 -0.03153461 0.00083660
+v 0.01052535 -0.02469365 0.00083663
+v 0.01306765 -0.02379481 -0.00498924
+v 0.01333620 -0.02379479 -0.01023014
+v 0.01307320 -0.03225779 -0.00498927
+v 0.01763292 -0.03014865 -0.01023016
+v 0.01307653 -0.03153461 0.00083660
+v 0.01313312 -0.02469365 0.00083663
+v 0.01764069 -0.02679862 0.00083662
+v 0.01763292 -0.02607870 -0.01023015
+v 0.01764069 -0.02973532 0.00083661
+v 0.01764069 -0.02973447 -0.00498926
+v 0.01764069 -0.02679861 -0.00167117
+v 0.01764069 -0.02679944 -0.00351816
+v 0.01764069 -0.02680026 -0.00498925
+f 1 2 10
+f 1 10 16
+f 1 16 22
+f 1 22 18
+f 1 18 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 3 11 4
+f 3 12 17
+f 3 17 11
+f 4 11 13
+f 4 13 19
+f 4 19 23
+f 4 23 21
+f 4 21 20
+f 4 20 14
+f 4 14 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 8 14 9
+f 9 15 16
+f 9 16 10
+f 9 14 20
+f 9 20 15
+f 11 17 19
+f 11 19 13
+f 12 18 17
+f 15 20 21
+f 15 21 22
+f 15 22 16
+f 17 18 23
+f 17 23 19
+f 18 22 27
+f 18 27 24
+f 18 24 23
+f 21 23 24
+f 21 24 27
+f 21 27 26
+f 21 26 25
+f 21 25 22
+f 22 25 26
+f 22 26 27
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_53.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02f1b263afb1549766bc955b1237b19094a20724
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_53.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.00218161 0.02168074 -0.01022813
+v -0.00218161 0.01376723 -0.01022816
+v -0.00218161 0.02130980 -0.00498942
+v 0.00871639 0.02133543 -0.01022864
+v 0.00213770 0.02132146 -0.01022864
+v -0.00218161 0.01375326 -0.01022765
+v 0.00213770 0.01399149 -0.01022867
+v 0.00871639 0.01398296 -0.01022867
+v -0.00218161 0.01395112 -0.00498945
+v 0.00871639 0.02085585 -0.00498942
+v 0.00871639 0.01426695 -0.00499304
+v 0.00825022 0.01427238 -0.00498945
+v 0.00871639 0.02080153 -0.00498942
+f 1 2 6
+f 1 6 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 7
+f 1 7 2
+f 2 7 8
+f 2 8 6
+f 3 9 12
+f 3 12 13
+f 3 13 10
+f 3 10 4
+f 4 10 13
+f 4 13 11
+f 4 11 8
+f 4 8 7
+f 4 7 5
+f 6 8 9
+f 8 11 9
+f 9 11 12
+f 11 13 12
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_54.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdd66947169defa2293c93d5292b352f5f290fa2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_54.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00402793 -0.03789879 0.00393746
+v -0.00519451 -0.03581569 0.00383003
+v -0.00529964 -0.03789879 0.00380058
+v -0.00303704 -0.03789879 0.00346278
+v -0.00375814 -0.03121508 0.00383521
+v -0.00402793 -0.03121508 0.00392444
+v -0.00491920 -0.03121508 0.00385372
+v -0.00519451 -0.03295601 0.00382943
+v -0.00560022 -0.03789879 0.00307095
+v -0.00523023 -0.03121508 0.00380820
+v -0.00287006 -0.03789879 0.00260021
+v -0.00307451 -0.03121508 0.00320119
+v -0.00315059 -0.03121508 0.00344581
+v -0.00578114 -0.03789879 0.00260021
+v -0.00570360 -0.03121508 0.00260024
+v -0.00285583 -0.03789878 0.00117707
+v -0.00297954 -0.03121507 0.00117710
+v -0.00300161 -0.03121508 0.00224180
+v -0.00300916 -0.03121508 0.00260024
+v -0.00581018 -0.03789879 0.00168545
+v -0.00574048 -0.03121507 0.00117710
+v -0.00285583 -0.03789878 0.00083715
+v -0.00297925 -0.03121507 0.00084325
+v -0.00582209 -0.03789878 0.00117707
+v -0.00574048 -0.03121507 0.00083718
+v -0.00297925 -0.03121507 0.00083718
+v -0.00582209 -0.03789878 0.00083715
+f 1 2 3
+f 1 3 9
+f 1 9 14
+f 1 14 20
+f 1 20 24
+f 1 24 27
+f 1 27 22
+f 1 22 16
+f 1 16 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 3
+f 3 8 10
+f 3 10 9
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 12
+f 5 12 19
+f 5 19 18
+f 5 18 17
+f 5 17 23
+f 5 23 26
+f 5 26 25
+f 5 25 21
+f 5 21 15
+f 5 15 10
+f 5 10 7
+f 5 7 6
+f 7 10 8
+f 9 10 15
+f 9 15 14
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 14 15 20
+f 15 21 20
+f 16 22 26
+f 16 26 23
+f 16 23 17
+f 20 21 24
+f 21 25 27
+f 21 27 24
+f 22 27 25
+f 22 25 26
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_55.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc0466d5ecffdac3f9baa8fe24c93e9ce0cd70c6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_55.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.00943908 0.00525088 0.00083731
+v 0.01020537 -0.00434764 0.00083727
+v 0.00943908 0.00525088 0.00117729
+v 0.00943908 0.02120826 0.00083737
+v 0.01327557 -0.00434764 0.00083727
+v 0.01020537 -0.00434764 0.00117725
+v 0.00943908 0.00529571 0.00260053
+v 0.00943908 0.02120826 0.00117735
+v 0.01042338 0.02428259 0.00117736
+v 0.01042376 0.02428259 0.00083738
+v 0.01327634 -0.00434764 0.00117351
+v 0.01338052 0.00499586 0.00083731
+v 0.01025785 -0.00434765 0.00260049
+v 0.00943908 0.00579175 0.00381514
+v 0.00943908 0.02119704 0.00260059
+v 0.01046736 0.02428258 0.00260060
+v 0.01309345 0.02428259 0.00083738
+v 0.01322502 -0.00434765 0.00259674
+v 0.01338052 0.00499586 0.00117729
+v 0.01338052 0.00504069 0.00260053
+v 0.01338052 0.00569367 0.00390363
+v 0.01338052 0.02172111 0.00083737
+v 0.01057772 -0.00434765 0.00355918
+v 0.00943908 0.00709210 0.00421844
+v 0.00943908 0.02115780 0.00297392
+v 0.01067649 0.02428258 0.00352321
+v 0.00943908 0.02100367 0.00349972
+v 0.01309306 0.02428259 0.00117736
+v 0.01338052 0.02172111 0.00117497
+v 0.01271724 -0.00434765 0.00379230
+v 0.01338052 0.00601595 0.00400878
+v 0.01338052 0.00709210 0.00426472
+v 0.01155276 -0.00434765 0.00404210
+v 0.01155276 0.00709210 0.00431373
+v 0.01155276 0.01996113 0.00428177
+v 0.00943908 0.01567052 0.00416674
+v 0.01155276 0.02428258 0.00400783
+v 0.00943908 0.02058890 0.00378525
+v 0.00943908 0.01996114 0.00402926
+v 0.01308766 0.02428258 0.00255908
+v 0.01338052 0.02166785 0.00260059
+v 0.01296920 0.00709210 0.00428173
+v 0.01338052 0.01567052 0.00421064
+v 0.01296920 0.01996113 0.00423209
+v 0.01267442 0.02428258 0.00380126
+v 0.01338052 0.01996113 0.00417968
+v 0.01308727 0.02428258 0.00260060
+v 0.01338052 0.02119423 0.00370255
+v 0.01268869 0.02428258 0.00376450
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 14
+f 1 14 24
+f 1 24 36
+f 1 36 39
+f 1 39 38
+f 1 38 27
+f 1 27 25
+f 1 25 15
+f 1 15 8
+f 1 8 4
+f 1 4 10
+f 1 10 17
+f 1 17 22
+f 1 22 12
+f 1 12 5
+f 1 5 2
+f 2 5 11
+f 2 11 18
+f 2 18 30
+f 2 30 33
+f 2 33 23
+f 2 23 13
+f 2 13 6
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 5 12 11
+f 6 13 14
+f 6 14 7
+f 8 15 9
+f 9 16 26
+f 9 26 37
+f 9 37 45
+f 9 45 49
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+f 9 47 40
+f 9 40 28
+f 9 28 17
+f 9 17 10
+f 9 15 16
+f 11 12 19
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+f 11 20 21
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+f 12 22 29
+f 12 29 41
+f 12 41 48
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+f 12 21 20
+f 12 20 19
+f 13 23 14
+f 14 23 24
+f 15 25 16
+f 16 25 27
+f 16 27 26
+f 17 28 29
+f 17 29 22
+f 18 21 31
+f 18 31 32
+f 18 32 30
+f 23 33 24
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 26 27 38
+f 26 38 39
+f 26 39 37
+f 28 40 29
+f 29 40 41
+f 30 32 33
+f 32 42 33
+f 32 43 44
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+f 33 42 34
+f 34 42 35
+f 35 44 37
+f 35 37 39
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+f 35 42 44
+f 37 44 46
+f 37 46 45
+f 40 47 41
+f 41 47 48
+f 43 46 44
+f 45 46 48
+f 45 48 49
+f 47 49 48
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_56.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf18264a6faef2405b97631b35cb1d0d115ff5e5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_56.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.01280585 0.01132752 -0.01022852
+v -0.00919159 0.00836617 -0.00498947
+v -0.00919159 0.00869269 -0.01022853
+v -0.01907973 0.01132752 -0.01022852
+v -0.01353006 0.01132750 -0.00498946
+v -0.00919159 0.00542175 -0.00498948
+v -0.00919159 0.00509085 -0.01022854
+v -0.01907973 0.00563870 -0.01022854
+v -0.01908167 0.01132752 -0.01021211
+v -0.01903326 0.01132750 -0.00498946
+v -0.01341388 0.00381497 -0.00498949
+v -0.01262093 0.00381499 -0.01022855
+v -0.01908070 0.00423047 -0.01021213
+v -0.01907876 0.00381499 -0.01022855
+v -0.01905068 0.00566074 -0.00498948
+v -0.01904875 0.00381497 -0.00498949
+v -0.01907973 0.00381499 -0.01021214
+v -0.01907973 0.00381499 -0.01021675
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 10
+f 2 10 15
+f 2 15 16
+f 2 16 11
+f 2 11 6
+f 4 8 9
+f 6 11 7
+f 7 11 12
+f 8 13 9
+f 8 14 13
+f 9 13 15
+f 9 15 10
+f 11 16 17
+f 11 17 18
+f 11 18 14
+f 11 14 12
+f 13 17 16
+f 13 16 15
+f 13 14 18
+f 13 18 17
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_57.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b4d2b0f65b15a69e9a0f883838657c4e8ff8a11
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_57.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.01785353 -0.00447463 -0.01877008
+v 0.02146875 -0.00447463 -0.01877180
+v 0.01785353 -0.00447466 -0.01043502
+v 0.01785353 -0.00356038 -0.01877093
+v 0.02159219 -0.00447463 -0.01877180
+v 0.02146875 -0.00291993 -0.01877265
+v 0.02530152 -0.00447466 -0.01000952
+v 0.01785353 0.00519383 -0.01000948
+v 0.01785353 0.00216028 -0.01877177
+v 0.02146875 0.00136978 -0.01877349
+v 0.02288526 -0.00447463 -0.01877008
+v 0.02288526 -0.00291993 -0.01877093
+v 0.03033326 -0.00447466 -0.01000952
+v 0.01785353 0.00864045 -0.01000947
+v 0.01785353 0.00565949 -0.01877176
+v 0.02146875 0.00422856 -0.01877262
+v 0.02288526 0.01132600 -0.01876917
+v 0.02288526 0.00422856 -0.01877090
+v 0.02300871 -0.00447463 -0.01876751
+v 0.02430056 -0.00447463 -0.01873405
+v 0.03033693 -0.00447466 -0.01021283
+v 0.03033448 -0.00436792 -0.01000952
+v 0.02574762 0.01132597 -0.01000946
+v 0.01785353 0.01132597 -0.01121648
+v 0.01785353 0.01073970 -0.01876917
+v 0.02146875 0.01132600 -0.01877002
+v 0.02152131 0.01132600 -0.01877002
+v 0.02430056 0.01132600 -0.01873399
+v 0.02571707 -0.00005961 -0.01856761
+v 0.02571707 -0.00447463 -0.01856677
+v 0.03033693 -0.00169323 -0.01000951
+v 0.03033571 -0.00312416 -0.01000951
+v 0.03024404 -0.00447465 -0.01306010
+v 0.03033815 -0.00149058 -0.01021282
+v 0.03032959 0.01132597 -0.01000946
+v 0.01785353 0.01132600 -0.01876831
+v 0.02571707 0.01132600 -0.01856671
+v 0.02571707 0.00280072 -0.01856760
+v 0.02691114 -0.00005961 -0.01823819
+v 0.02690992 -0.00447463 -0.01823821
+v 0.02582095 -0.00447463 -0.01853846
+v 0.03033815 0.00136975 -0.01000949
+v 0.03013160 -0.00447465 -0.01435978
+v 0.03024526 0.00280070 -0.01306007
+v 0.03033815 0.00136975 -0.01021280
+v 0.03033326 0.01132597 -0.01021277
+v 0.03033693 0.00280069 -0.01000949
+v 0.02576107 0.01132600 -0.01855470
+v 0.02691114 0.00851982 -0.01823816
+v 0.02762001 0.00565949 -0.01793791
+v 0.02761879 -0.00149055 -0.01793708
+v 0.02761757 -0.00447463 -0.01793623
+v 0.03012060 -0.00447465 -0.01448331
+v 0.03012549 0.01132598 -0.01443006
+v 0.03024526 0.00995073 -0.01306004
+v 0.03024404 0.01132598 -0.01306004
+v 0.02690992 0.01132600 -0.01823815
+v 0.02762001 0.00708888 -0.01793790
+v 0.02849876 0.00708887 -0.01722587
+v 0.02849754 -0.00149056 -0.01722505
+v 0.02849754 -0.00447464 -0.01722420
+v 0.02769456 -0.00447463 -0.01787447
+v 0.02761879 -0.00291993 -0.01793622
+v 0.02958406 -0.00447464 -0.01581644
+v 0.03012060 0.01132598 -0.01448325
+v 0.02761757 0.01132600 -0.01793703
+v 0.02849876 0.00851981 -0.01722587
+v 0.02761879 0.00995075 -0.01793703
+v 0.02849876 0.01132599 -0.01722500
+v 0.02920641 0.00995074 -0.01652927
+v 0.02920641 -0.00447464 -0.01652847
+v 0.02855987 -0.00447464 -0.01716329
+v 0.02923941 -0.00447464 -0.01646671
+v 0.02922107 0.01132599 -0.01650268
+v 0.02958406 0.00136977 -0.01581641
+v 0.02960362 0.01132599 -0.01576748
+v 0.02765057 0.01132600 -0.01791044
+v 0.02852565 0.01132599 -0.01719926
+v 0.02920641 0.01132599 -0.01652927
+v 0.02958284 0.01132599 -0.01581724
+f 1 2 5
+f 1 5 11
+f 1 11 19
+f 1 19 20
+f 1 20 30
+f 1 30 41
+f 1 41 40
+f 1 40 52
+f 1 52 62
+f 1 62 61
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+f 1 72 71
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+f 1 73 64
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+f 1 53 43
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+f 1 33 21
+f 1 21 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 24
+f 1 24 36
+f 1 36 25
+f 1 25 15
+f 1 15 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 4 9 10
+f 4 10 6
+f 5 6 12
+f 5 12 11
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+f 7 13 22
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+f 7 42 47
+f 7 47 35
+f 7 35 23
+f 7 23 14
+f 7 14 8
+f 9 15 10
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 12
+f 11 12 19
+f 12 20 19
+f 12 18 28
+f 12 28 20
+f 13 21 22
+f 14 23 24
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 17
+f 17 27 26
+f 17 26 36
+f 17 36 24
+f 17 24 23
+f 17 23 35
+f 17 35 46
+f 17 46 56
+f 17 56 54
+f 17 54 65
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+f 17 76 80
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+f 29 39 40
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+f 33 44 34
+f 34 44 55
+f 34 55 45
+f 34 45 42
+f 35 47 46
+f 37 48 38
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+f 39 49 58
+f 39 58 50
+f 39 50 40
+f 40 51 52
+f 40 50 51
+f 42 45 46
+f 42 46 47
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+f 43 54 44
+f 44 54 55
+f 45 55 46
+f 46 55 56
+f 48 57 49
+f 49 57 58
+f 50 58 67
+f 50 67 59
+f 50 59 60
+f 50 60 51
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+f 51 62 63
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+f 52 63 62
+f 53 64 75
+f 53 75 65
+f 53 65 54
+f 54 56 55
+f 57 66 58
+f 58 66 68
+f 58 68 69
+f 58 69 67
+f 59 67 79
+f 59 79 70
+f 59 70 71
+f 59 71 72
+f 59 72 60
+f 60 72 61
+f 64 73 74
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+f 71 74 73
+f 74 80 75
+f 75 80 76
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_58.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..196828ecba887c93423a3047d6c6451980c28940
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_58.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.01904908 0.02265061 -0.00498942
+v -0.01915569 0.02265059 0.00083680
+v -0.01915750 0.02521453 0.00083681
+v -0.01904908 0.02282279 -0.00498942
+v -0.01349471 0.02265061 -0.00498942
+v -0.01349531 0.02265059 0.00083680
+v -0.01904787 0.02521455 -0.00498941
+v -0.01298107 0.02521453 0.00083681
+v -0.01297016 0.02521455 -0.00498941
+v -0.01349471 0.02265061 -0.00424054
+v -0.01297016 0.02521455 -0.00478179
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 9
+f 1 9 5
+f 1 5 10
+f 1 10 6
+f 1 6 2
+f 2 6 8
+f 2 8 3
+f 3 7 4
+f 3 8 11
+f 3 11 9
+f 3 9 7
+f 5 9 11
+f 5 11 10
+f 6 10 11
+f 6 11 8
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_59.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7387fb6d84a929fc5214d8ffbd975a605c36d541
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_59.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.00256736 -0.01905178 0.00083665
+v -0.00256682 -0.01905178 -0.00004400
+v -0.00598477 -0.01905178 0.00083665
+v -0.00119650 -0.02678404 0.00083662
+v -0.00256628 -0.01905177 -0.00146733
+v -0.00598477 -0.01905177 -0.00309430
+v -0.00671884 -0.02580347 -0.01022940
+v -0.00671884 -0.02651763 -0.00498886
+v -0.00639072 -0.02637029 0.00083662
+v -0.00119650 -0.02975111 0.00083661
+v -0.00119650 -0.02678402 -0.00498778
+v -0.00256628 -0.01905176 -0.00498883
+v -0.00598422 -0.01905176 -0.00498883
+v -0.00671884 -0.03043829 -0.01022942
+v -0.00569881 -0.01993875 -0.00801531
+v -0.00595287 -0.02383817 -0.01022940
+v -0.00671884 -0.03007274 -0.00498887
+v -0.00639072 -0.03025554 0.00083661
+v -0.00119650 -0.02975536 0.00083553
+v -0.00322089 -0.03352585 0.00083660
+v -0.00119650 -0.02975109 -0.00498887
+v -0.00133218 -0.02609961 -0.01022941
+v -0.00133218 -0.02605143 -0.01022724
+v -0.00304629 -0.01993875 -0.00801531
+v -0.00596368 -0.03347905 -0.01022943
+v -0.00270412 -0.02383817 -0.01022940
+v -0.00565611 -0.03352585 0.00083660
+v -0.00119650 -0.02975676 -0.00452093
+v -0.00271115 -0.03347905 -0.01022943
+v -0.00133218 -0.03019316 -0.01022942
+v -0.00321927 -0.03352585 0.00031991
+v -0.00119650 -0.02975676 -0.00498887
+v -0.00565611 -0.03352583 -0.00498888
+v -0.00321765 -0.03352583 -0.00451768
+v -0.00321927 -0.03352583 -0.00498888
+f 1 2 5
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diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_6.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0975c4339abed4737684ffce3bc50bb589f398ca
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_6.obj
@@ -0,0 +1,592 @@
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diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_60.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2889fd1ae8dc91718901b1fc989954eafa1237b1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_60.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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+v 0.01001844 0.03705338 0.00117624
+v 0.01373475 0.03705338 0.00117713
+v 0.01339571 0.03314571 -0.00024749
+v 0.01011994 0.03314572 -0.00284982
+v 0.01012066 0.03314571 0.00083644
+v 0.01002681 0.03705337 0.00259996
+v 0.01363144 0.03705337 0.00259996
+v 0.01339462 0.03314571 0.00083644
+v 0.01155320 0.03459974 0.00397146
+v 0.01073689 0.03459974 0.00349010
+v 0.01029637 0.03705337 0.00353259
+v 0.01357978 0.03705337 0.00276543
+v 0.01265834 0.03459974 0.00379361
+v 0.01155320 0.03705337 0.00405022
+v 0.01295627 0.03705337 0.00376442
+f 1 2 8
+f 1 8 12
+f 1 12 17
+f 1 17 14
+f 1 14 13
+f 1 13 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 11
+f 2 11 8
+f 3 9 4
+f 4 9 13
+f 4 13 10
+f 4 10 15
+f 4 15 20
+f 4 20 23
+f 4 23 24
+f 4 24 21
+f 4 21 16
+f 4 16 11
+f 4 11 7
+f 4 7 6
+f 4 6 5
+f 8 11 12
+f 10 13 14
+f 10 14 15
+f 11 16 17
+f 11 17 12
+f 14 17 18
+f 14 18 19
+f 14 19 20
+f 14 20 15
+f 16 21 17
+f 17 21 22
+f 17 22 18
+f 18 23 20
+f 18 20 19
+f 18 22 23
+f 21 24 22
+f 22 24 23
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_61.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d0032f122f748f211b8b44dc6b0cceecdc6a7db
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_61.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.01908254 0.02997374 -0.00828182
+v -0.01905056 0.02461883 -0.00828184
+v -0.01904774 0.02461882 -0.00498973
+v -0.01907220 0.02997373 -0.00498971
+v -0.01900635 0.03091620 -0.00498971
+v -0.01905714 0.03031025 -0.00828182
+v -0.01847390 0.03707216 -0.00833884
+v -0.01838265 0.03469830 -0.00833885
+v -0.01339971 0.02461883 -0.00828184
+v -0.01340159 0.02461882 -0.00498973
+v -0.01839488 0.03469829 -0.00498937
+v -0.01848613 0.03707215 -0.00498936
+v -0.01900728 0.03091865 -0.00736436
+v -0.01900635 0.03091621 -0.00828182
+v -0.01848707 0.03707216 -0.00736466
+v -0.01276379 0.03707216 -0.00833884
+v -0.01352576 0.03469830 -0.00833885
+v -0.00947224 0.02567469 -0.00828184
+v -0.01339971 0.02461882 -0.00541994
+v -0.00947224 0.02567590 -0.00498973
+v -0.01352670 0.03469829 -0.00498937
+v -0.01276661 0.03707215 -0.00498936
+v -0.00947224 0.03221714 -0.00828181
+v -0.00947224 0.02567469 -0.00813887
+v -0.00947224 0.03221103 -0.00498970
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 17
+f 2 17 9
+f 2 9 19
+f 2 19 10
+f 2 10 3
+f 3 10 21
+f 3 21 11
+f 3 11 12
+f 3 12 4
+f 4 12 5
+f 5 13 6
+f 5 12 13
+f 6 13 14
+f 6 14 7
+f 7 15 12
+f 7 12 22
+f 7 22 16
+f 7 16 17
+f 7 17 8
+f 7 14 15
+f 9 17 18
+f 9 18 24
+f 9 24 19
+f 10 19 20
+f 10 20 21
+f 11 21 22
+f 11 22 12
+f 12 15 13
+f 13 15 14
+f 16 23 18
+f 16 18 17
+f 16 22 23
+f 18 23 25
+f 18 25 20
+f 18 20 24
+f 19 24 20
+f 20 25 22
+f 20 22 21
+f 22 25 23
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_62.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbfd55fd572c85a757ac87871ae7699d15742d6e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_62.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.01327706 -0.00434855 0.00117328
+v 0.02401049 -0.00537786 0.00146929
+v 0.02401049 -0.00537739 0.00117701
+v 0.02401049 -0.00537739 0.00083727
+v 0.01327449 -0.00434855 0.00083727
+v 0.01322574 -0.00434856 0.00259669
+v 0.02401049 -0.00540751 0.00260008
+v 0.02401049 -0.00830330 0.00083726
+v 0.01020560 -0.00434855 0.00083727
+v 0.01271768 -0.00434856 0.00379191
+v 0.02401049 -0.00552112 0.00285981
+v 0.02401049 -0.00830330 0.00117700
+v 0.01339253 -0.00900911 0.00084031
+v 0.01338483 -0.00900911 0.00083726
+v 0.01020560 -0.00434855 0.00117701
+v -0.00220341 -0.00507125 0.00083727
+v 0.01155273 -0.00434856 0.00404180
+v 0.02401049 -0.00596778 0.00383938
+v 0.02401049 -0.00829145 0.00260007
+v 0.01336687 -0.00900912 0.00260007
+v 0.01339253 -0.00900911 0.00118887
+v 0.01005934 -0.00900911 0.00083726
+v 0.01025948 -0.00434856 0.00260008
+v -0.00220341 -0.00507125 0.00117735
+v -0.00220341 -0.00872031 0.00083726
+v 0.01155273 -0.00578210 0.00425203
+v 0.02401049 -0.00721106 0.00410452
+v 0.01058023 -0.00434856 0.00355863
+v -0.00220341 -0.00520175 0.00260008
+v -0.00220341 -0.00580080 0.00382412
+v -0.00220341 -0.00685655 0.00406010
+v -0.00220341 -0.00721152 0.00413843
+v 0.02401049 -0.00810347 0.00357727
+v 0.01289986 -0.00900912 0.00381564
+v 0.01335404 -0.00900912 0.00264076
+v 0.01005934 -0.00900911 0.00117700
+v -0.00220341 -0.00872076 0.00117734
+v 0.01155273 -0.00721106 0.00430118
+v 0.02288147 -0.00721106 0.00413165
+v 0.01155273 -0.00900912 0.00405909
+v -0.00220341 -0.00810895 0.00378037
+v 0.01007730 -0.00900912 0.00260007
+v -0.00220341 -0.00871895 0.00149200
+v -0.00220341 -0.00841463 0.00360168
+v -0.00220341 -0.00866237 0.00283369
+v -0.00220341 -0.00870709 0.00260007
+v 0.01037495 -0.00900912 0.00360304
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 15
+f 1 15 23
+f 1 23 28
+f 1 28 17
+f 1 17 10
+f 1 10 6
+f 1 6 2
+f 2 7 11
+f 2 11 18
+f 2 18 27
+f 2 27 33
+f 2 33 19
+f 2 19 12
+f 2 12 8
+f 2 8 4
+f 2 4 3
+f 2 6 7
+f 4 8 14
+f 4 14 22
+f 4 22 25
+f 4 25 16
+f 4 16 9
+f 4 9 5
+f 6 10 7
+f 7 10 11
+f 8 12 21
+f 8 21 13
+f 8 13 14
+f 9 16 24
+f 9 24 15
+f 10 17 18
+f 10 18 11
+f 12 19 20
+f 12 20 21
+f 13 21 20
+f 13 20 35
+f 13 35 34
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+f 13 40 47
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+f 13 42 36
+f 13 36 22
+f 13 22 14
+f 15 24 23
+f 16 25 37
+f 16 37 43
+f 16 43 46
+f 16 46 45
+f 16 45 44
+f 16 44 41
+f 16 41 32
+f 16 32 31
+f 16 31 30
+f 16 30 29
+f 16 29 24
+f 17 26 27
+f 17 27 18
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 26
+f 19 33 34
+f 19 34 35
+f 19 35 20
+f 22 36 37
+f 22 37 25
+f 23 24 28
+f 24 29 28
+f 26 38 39
+f 26 39 27
+f 26 32 38
+f 27 39 40
+f 27 40 33
+f 32 41 40
+f 32 40 38
+f 33 40 34
+f 36 42 37
+f 37 42 43
+f 38 40 39
+f 40 41 44
+f 40 44 45
+f 40 45 46
+f 40 46 47
+f 42 47 43
+f 43 47 46
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_63.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c21176811b5d7c06b1210e0c457c8b5be124ba4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_63.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.03022878 0.03467648 -0.01306037
+v 0.03029463 0.02854427 -0.01088593
+v 0.03024048 0.03426393 -0.01306037
+v 0.03011756 0.03426393 -0.01448350
+v 0.03010147 0.03467648 -0.01448350
+v 0.03011610 0.03467647 -0.01088590
+v 0.03029609 0.02711362 -0.01088593
+v 0.03024487 0.02711363 -0.01306040
+v 0.03012488 0.03283328 -0.01448351
+v 0.02958344 0.03283329 -0.01582865
+v 0.02957904 0.03426394 -0.01581860
+v 0.02957173 0.03467649 -0.01580239
+v 0.02995366 0.03467648 -0.01485183
+v 0.02525920 0.03467647 -0.01088590
+v 0.03029609 0.02461762 -0.01088594
+v 0.03024487 0.02461763 -0.01306041
+v 0.03012488 0.02997296 -0.01448352
+v 0.02958344 0.03140362 -0.01582788
+v 0.02921320 0.03283329 -0.01654060
+v 0.02920735 0.03426394 -0.01653055
+v 0.02919857 0.03467649 -0.01651434
+v 0.01534786 0.03467647 -0.01117702
+v 0.01534786 0.03329309 -0.01088591
+v 0.02513628 0.02461762 -0.01088594
+v 0.03021414 0.02461763 -0.01342334
+v 0.03012341 0.02711363 -0.01448353
+v 0.02958344 0.02854429 -0.01582481
+v 0.02958344 0.02997297 -0.01582634
+v 0.02921320 0.03140362 -0.01653983
+v 0.02850494 0.03283329 -0.01722707
+v 0.02849908 0.03426394 -0.01722397
+v 0.02899516 0.03467649 -0.01672206
+v 0.01534786 0.03467650 -0.01876988
+v 0.01534786 0.02510500 -0.01088594
+v 0.01534786 0.02461762 -0.01106741
+v 0.03012195 0.02461763 -0.01448354
+v 0.02998440 0.02461763 -0.01482485
+v 0.02958344 0.02711364 -0.01582249
+v 0.02920881 0.02461764 -0.01653214
+v 0.02850055 0.02461764 -0.01722556
+v 0.02850494 0.03140362 -0.01722630
+v 0.02958197 0.02461764 -0.01582019
+v 0.02762107 0.02461765 -0.01793751
+v 0.02762253 0.03283330 -0.01793902
+v 0.02761521 0.03426395 -0.01793593
+v 0.02849030 0.03467649 -0.01721625
+v 0.01534786 0.03439589 -0.01877143
+v 0.02146910 0.03467650 -0.01877220
+v 0.01534786 0.02461765 -0.01877301
+v 0.02691280 0.02461765 -0.01823943
+v 0.02691280 0.02568399 -0.01824021
+v 0.02691280 0.02854430 -0.01824020
+v 0.02691426 0.03283330 -0.01823940
+v 0.02690695 0.03426395 -0.01823708
+v 0.02739717 0.03467650 -0.01801778
+v 0.02760058 0.03467650 -0.01792821
+v 0.02689231 0.03467650 -0.01823245
+v 0.01534786 0.02471217 -0.01877301
+v 0.02146910 0.03426395 -0.01877374
+v 0.02146910 0.03283330 -0.01877453
+v 0.02247735 0.03467650 -0.01877065
+v 0.02288417 0.03426395 -0.01877220
+v 0.01580296 0.02461765 -0.01877301
+v 0.02571723 0.02461765 -0.01856916
+v 0.02571723 0.02568399 -0.01856993
+v 0.02571723 0.03283330 -0.01856990
+v 0.02571723 0.03426395 -0.01856371
+v 0.02656452 0.03467650 -0.01832356
+v 0.02288417 0.03283330 -0.01877298
+v 0.02288417 0.03140363 -0.01877298
+v 0.02288417 0.02461765 -0.01877147
+v 0.02146910 0.02461765 -0.01877224
+v 0.02288417 0.03467650 -0.01876834
+v 0.02389242 0.03467650 -0.01874054
+v 0.02430070 0.03426395 -0.01873205
+v 0.02430070 0.03283330 -0.01873669
+v 0.02430070 0.02461765 -0.01873595
+v 0.02430070 0.02711365 -0.01873671
+v 0.02571723 0.03467650 -0.01855599
+v 0.02530896 0.03467650 -0.01860695
+v 0.02393925 0.02461765 -0.01874521
+v 0.02430070 0.03467650 -0.01872664
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 12
+f 1 12 21
+f 1 21 32
+f 1 32 46
+f 1 46 56
+f 1 56 55
+f 1 55 57
+f 1 57 68
+f 1 68 79
+f 1 79 80
+f 1 80 82
+f 1 82 74
+f 1 74 73
+f 1 73 61
+f 1 61 48
+f 1 48 33
+f 1 33 22
+f 1 22 14
+f 1 14 6
+f 1 6 2
+f 2 7 3
+f 2 6 14
+f 2 14 23
+f 2 23 34
+f 2 34 24
+f 2 24 15
+f 2 15 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 4 9 10
+f 7 15 16
+f 7 16 8
+f 8 16 17
+f 8 17 9
+f 9 17 10
+f 10 18 29
+f 10 29 19
+f 10 19 11
+f 10 17 18
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 14 22 23
+f 15 24 35
+f 15 35 49
+f 15 49 63
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+f 15 72 71
+f 15 71 81
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+f 15 77 64
+f 15 64 50
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+f 15 40 39
+f 15 39 42
+f 15 42 37
+f 15 37 36
+f 15 36 25
+f 15 25 16
+f 16 25 17
+f 17 26 27
+f 17 27 28
+f 17 28 18
+f 17 25 26
+f 18 28 29
+f 19 29 41
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+f 19 30 31
+f 19 31 20
+f 20 31 32
+f 20 32 21
+f 22 33 47
+f 22 47 58
+f 22 58 49
+f 22 49 35
+f 22 35 34
+f 22 34 23
+f 24 34 35
+f 25 36 26
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+f 26 37 27
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+f 27 38 29
+f 27 29 28
+f 29 39 40
+f 29 40 41
+f 29 38 42
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+f 30 41 43
+f 30 43 44
+f 30 44 31
+f 31 44 45
+f 31 45 46
+f 31 46 32
+f 33 48 47
+f 37 42 38
+f 40 43 41
+f 43 50 51
+f 43 51 44
+f 44 51 52
+f 44 52 53
+f 44 53 54
+f 44 54 45
+f 45 55 56
+f 45 56 46
+f 45 54 57
+f 45 57 55
+f 47 48 59
+f 47 59 60
+f 47 60 58
+f 48 61 62
+f 48 62 59
+f 49 58 60
+f 49 60 63
+f 50 64 65
+f 50 65 51
+f 51 65 66
+f 51 66 52
+f 52 66 53
+f 53 66 54
+f 54 66 67
+f 54 67 68
+f 54 68 57
+f 59 62 69
+f 59 69 60
+f 60 69 70
+f 60 70 71
+f 60 71 72
+f 60 72 63
+f 61 73 62
+f 62 73 74
+f 62 74 75
+f 62 75 76
+f 62 76 69
+f 64 77 65
+f 65 77 78
+f 65 78 76
+f 65 76 66
+f 66 76 75
+f 66 75 67
+f 67 79 68
+f 67 75 80
+f 67 80 79
+f 69 76 78
+f 69 78 70
+f 70 78 81
+f 70 81 71
+f 74 82 75
+f 75 82 80
+f 77 81 78
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_64.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d5d376264e3a5549620601a4ee3f0b3d7c89ec8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_64.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.00632016 -0.00538960 -0.00801706
+v -0.00264741 -0.00447621 -0.00801706
+v 0.00632016 -0.00828816 -0.00801707
+v 0.00632016 -0.00447620 -0.01043327
+v -0.00267824 -0.00447621 -0.00801706
+v -0.00267824 -0.00920155 -0.00801707
+v 0.00632016 -0.00951735 -0.01110392
+v 0.00632016 -0.00447617 -0.01877052
+v -0.00267824 -0.00447617 -0.01877052
+v -0.00267824 -0.00951735 -0.00954049
+v 0.00632016 -0.00951732 -0.01877053
+v 0.00601093 -0.00447617 -0.01877158
+v -0.00267824 -0.00951732 -0.01877053
+f 1 2 5
+f 1 5 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 2
+f 2 4 8
+f 2 8 12
+f 2 12 9
+f 2 9 5
+f 3 6 7
+f 5 9 13
+f 5 13 10
+f 5 10 6
+f 6 10 7
+f 7 10 13
+f 7 13 11
+f 8 11 12
+f 9 12 13
+f 11 13 12
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_65.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68499cff024775ee55b947edb8408573b2c623be
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_65.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.01904662 -0.02341746 -0.00498959
+v -0.01904662 -0.02294373 -0.00498958
+v -0.01904603 -0.02428802 -0.00498959
+v -0.01915303 -0.02428804 0.00083663
+v -0.01915303 -0.02008395 0.00083665
+v -0.01915244 -0.01905036 0.00083665
+v -0.01903652 -0.01905034 -0.00498957
+v -0.01353361 -0.02428802 -0.00498959
+v -0.01353540 -0.02428804 0.00083663
+v -0.01308836 -0.01905036 0.00083665
+v -0.01308123 -0.01905034 -0.00498957
+v -0.01308063 -0.01905034 -0.00451731
+v -0.01353361 -0.02428802 -0.00451733
+v -0.01308123 -0.01905035 -0.00403935
+v -0.01308301 -0.01905035 -0.00261801
+v -0.01308479 -0.01905036 -0.00119725
+v -0.01308717 -0.01905036 0.00022351
+f 1 2 7
+f 1 7 11
+f 1 11 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 13
+f 3 13 9
+f 3 9 4
+f 4 9 10
+f 4 10 6
+f 4 6 5
+f 6 10 17
+f 6 17 16
+f 6 16 15
+f 6 15 14
+f 6 14 12
+f 6 12 11
+f 6 11 7
+f 8 11 12
+f 8 12 13
+f 9 13 12
+f 9 12 14
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 10
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_66.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1215bf73ec37d6b39d34b04f6109645468586048
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_66.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00998240 -0.01471637 0.00083556
+v 0.00967370 -0.01392984 -0.01063113
+v 0.01022606 -0.01435600 -0.00498710
+v 0.01336075 -0.01471637 0.00083556
+v 0.00998199 -0.01471637 0.00117552
+v 0.00964407 -0.00915212 -0.01063111
+v 0.01368302 -0.01392984 -0.01063113
+v 0.01322986 -0.01435600 -0.00498710
+v 0.01336075 -0.01471637 0.00117552
+v 0.01001821 -0.01471638 0.00202544
+v 0.01007665 -0.00901070 0.00259879
+v 0.00980006 -0.00876908 -0.00498852
+v 0.00978936 -0.00876907 -0.00828159
+v 0.01383531 -0.00915212 -0.01063111
+v 0.01384890 -0.00876907 -0.00828159
+v 0.01384313 -0.00876908 -0.00498852
+v 0.01331506 -0.01471638 0.00259877
+v 0.01005319 -0.01471638 0.00259877
+v 0.01037423 -0.00901070 0.00360141
+v 0.01155386 -0.00901070 0.00405662
+v 0.01289976 -0.00901070 0.00381317
+v 0.01335375 -0.00901070 0.00263913
+v 0.01336733 -0.00901070 0.00259879
+v 0.01278740 -0.01471638 0.00383332
+v 0.01024499 -0.01471638 0.00318363
+v 0.01047466 -0.01471638 0.00362300
+v 0.01118795 -0.01471638 0.00398169
+v 0.01155386 -0.01471639 0.00408541
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 24
+f 1 24 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 6 14
+f 2 14 7
+f 2 7 8
+f 2 8 3
+f 2 5 6
+f 4 8 7
+f 4 7 9
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 6 13 15
+f 6 15 14
+f 7 14 15
+f 7 15 16
+f 7 16 9
+f 9 16 17
+f 10 18 11
+f 11 18 19
+f 11 19 12
+f 12 16 15
+f 12 15 13
+f 12 19 20
+f 12 20 16
+f 16 20 21
+f 16 21 22
+f 16 22 23
+f 16 23 17
+f 17 23 22
+f 17 22 21
+f 17 21 24
+f 18 25 19
+f 19 25 26
+f 19 26 27
+f 19 27 20
+f 20 28 21
+f 20 27 28
+f 21 28 24
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_67.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca71bbd3040bad015cf6c12e5ac2e231e07a3006
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_67.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.01335959 -0.01471780 0.00117712
+v 0.01335959 -0.01471780 0.00083826
+v 0.01331348 -0.01471781 0.00260055
+v 0.02550513 -0.01474228 0.00083758
+v 0.00998281 -0.01471780 0.00083826
+v 0.01278459 -0.01471781 0.00383432
+v 0.02550513 -0.01474271 0.00117746
+v 0.02550513 -0.01888415 0.00083756
+v 0.02400796 -0.01541148 0.00083757
+v -0.00220341 -0.01511425 0.00083791
+v 0.00998281 -0.01471780 0.00117712
+v 0.01155322 -0.01471782 0.00408481
+v 0.02550513 -0.01484151 0.00260021
+v 0.02550513 -0.01478367 0.00191908
+v 0.02400796 -0.01836737 0.00083756
+v 0.02550513 -0.01888373 0.00117540
+v 0.01336772 -0.01903024 0.00260053
+v 0.01339485 -0.01903023 0.00118900
+v 0.01339485 -0.01903023 0.00084130
+v 0.01338671 -0.01903023 0.00083824
+v 0.01003435 -0.01903023 0.00083824
+v -0.00220341 -0.01876931 0.00083790
+v -0.00220341 -0.01511467 0.00117711
+v 0.01002350 -0.01471781 0.00202784
+v 0.01155322 -0.01579403 0.00424318
+v 0.02550513 -0.01722278 0.00418642
+v 0.02550513 -0.01594390 0.00390432
+v 0.02550513 -0.01578177 0.00386354
+v 0.02550513 -0.01501293 0.00289963
+v 0.01118706 -0.01471781 0.00398285
+v -0.00220341 -0.01525992 0.00260020
+v -0.00220341 -0.01582399 0.00381935
+v -0.00220341 -0.01722278 0.00416535
+v 0.02550513 -0.01887656 0.00260019
+v 0.01289850 -0.01903024 0.00382172
+v 0.01335416 -0.01903024 0.00263995
+v 0.01003435 -0.01903023 0.00117710
+v 0.01006147 -0.01903024 0.00260053
+v -0.00220341 -0.01876889 0.00117710
+v 0.01005605 -0.01471781 0.00260055
+v 0.01047916 -0.01471781 0.00362359
+v 0.01024862 -0.01471781 0.00318446
+v 0.01155322 -0.01722236 0.00430946
+v 0.02550513 -0.01851557 0.00369155
+v 0.01155322 -0.01903024 0.00406576
+v -0.00220341 -0.01812967 0.00380711
+v 0.01037338 -0.01903024 0.00361711
+v -0.00220341 -0.01876721 0.00147790
+v -0.00220341 -0.01844253 0.00363071
+v -0.00220341 -0.01870556 0.00283368
+v -0.00220341 -0.01875454 0.00260019
+f 1 2 5
+f 1 5 11
+f 1 11 24
+f 1 24 40
+f 1 40 42
+f 1 42 41
+f 1 41 30
+f 1 30 12
+f 1 12 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 4
+f 4 7 14
+f 4 14 13
+f 4 13 29
+f 4 29 28
+f 4 28 27
+f 4 27 26
+f 4 26 44
+f 4 44 34
+f 4 34 16
+f 4 16 8
+f 4 8 15
+f 4 15 9
+f 4 9 10
+f 4 10 5
+f 4 6 7
+f 5 10 11
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 15
+f 9 15 22
+f 9 22 10
+f 10 22 39
+f 10 39 48
+f 10 48 51
+f 10 51 50
+f 10 50 49
+f 10 49 46
+f 10 46 33
+f 10 33 32
+f 10 32 31
+f 10 31 23
+f 10 23 11
+f 11 23 24
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 12 29 13
+f 12 30 31
+f 12 31 32
+f 12 32 33
+f 12 33 25
+f 16 34 35
+f 16 35 36
+f 16 36 17
+f 17 36 35
+f 17 35 45
+f 17 45 47
+f 17 47 38
+f 17 38 37
+f 17 37 21
+f 17 21 20
+f 17 20 19
+f 17 19 18
+f 21 37 22
+f 22 37 38
+f 22 38 39
+f 23 40 24
+f 23 31 30
+f 23 30 41
+f 23 41 42
+f 23 42 40
+f 25 33 43
+f 25 43 26
+f 26 43 45
+f 26 45 44
+f 33 46 45
+f 33 45 43
+f 34 44 45
+f 34 45 35
+f 38 47 48
+f 38 48 39
+f 45 46 49
+f 45 49 50
+f 45 50 51
+f 45 51 47
+f 47 51 48
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_68.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b84b13e856d34a62d483fe6ad88e6fc6557bba4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_68.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.01035653 -0.02521928 0.00083623
+v 0.00988812 -0.02379394 -0.01063117
+v 0.01052693 -0.02469348 -0.00498882
+v 0.01323948 -0.02521928 0.00083623
+v 0.01035653 -0.02521928 0.00117575
+v 0.01349585 -0.02379394 -0.01063117
+v 0.01035692 -0.02521929 0.00175840
+v 0.00964717 -0.01926485 -0.01063115
+v 0.01313307 -0.02469348 -0.00498882
+v 0.01323948 -0.02521928 0.00117575
+v 0.01358529 -0.01926485 -0.01063115
+v 0.01358529 -0.01926485 -0.01062539
+v 0.01339600 -0.01903108 0.00117577
+v 0.01337056 -0.01903109 0.00259858
+v 0.01039123 -0.02521929 0.00259856
+v 0.01005814 -0.01903109 0.00259858
+v 0.01003462 -0.01903287 -0.00498880
+v 0.01003269 -0.01903108 0.00117577
+v 0.01319052 -0.02521929 0.00259856
+v 0.01338636 -0.01903287 -0.00498880
+v 0.01339253 -0.01903287 -0.00498593
+v 0.01339600 -0.01903108 0.00083913
+v 0.01335668 -0.01903109 0.00263886
+v 0.01043633 -0.02521929 0.00296542
+v 0.01037195 -0.01903109 0.00361714
+v 0.01003346 -0.01903108 0.00083625
+v 0.01289906 -0.01903109 0.00382143
+v 0.01270167 -0.02521929 0.00379119
+v 0.01338713 -0.01903108 0.00083625
+v 0.01063604 -0.02521929 0.00352792
+v 0.01096990 -0.02521929 0.00372646
+v 0.01155358 -0.02521929 0.00400843
+v 0.01155358 -0.01903109 0.00406456
+v 0.01200349 -0.02521929 0.00393506
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 19
+f 1 19 28
+f 1 28 34
+f 1 34 32
+f 1 32 31
+f 1 31 30
+f 1 30 24
+f 1 24 15
+f 1 15 7
+f 1 7 5
+f 1 5 2
+f 2 6 9
+f 2 9 3
+f 2 5 7
+f 2 7 8
+f 2 8 11
+f 2 11 6
+f 4 9 6
+f 4 6 10
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 10
+f 7 15 16
+f 7 16 8
+f 8 17 20
+f 8 20 11
+f 8 16 18
+f 8 18 17
+f 10 14 19
+f 11 20 21
+f 11 21 22
+f 11 22 13
+f 11 13 12
+f 13 22 29
+f 13 29 26
+f 13 26 18
+f 13 18 16
+f 13 16 25
+f 13 25 33
+f 13 33 27
+f 13 27 23
+f 13 23 14
+f 14 23 19
+f 15 24 16
+f 16 24 25
+f 17 18 26
+f 17 26 29
+f 17 29 20
+f 19 23 27
+f 19 27 28
+f 20 29 22
+f 20 22 21
+f 24 30 25
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 27 33 34
+f 27 34 28
+f 32 34 33
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_69.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc913d6ea4008f5097f3d792a2e051e14f388fb1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_69.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.01396417 0.01996068 0.00432774
+v -0.01252582 0.01996069 0.00407867
+v -0.01396417 0.02187028 0.00395090
+v -0.01396417 0.00705920 0.00431950
+v -0.01252582 0.00708742 0.00418830
+v -0.01252582 0.01567116 0.00415553
+v -0.01252582 0.02091549 0.00351016
+v -0.01396417 0.02281567 0.00359967
+v -0.01396417 -0.01721986 0.00428729
+v -0.01252582 0.00591628 0.00378684
+v -0.01331934 -0.01721986 0.00421383
+v -0.01331934 -0.01807117 0.00397364
+v -0.01252582 0.02122591 0.00259964
+v -0.01356164 0.02281567 0.00260032
+v -0.01396417 0.02281568 0.00083737
+v -0.01396417 -0.01725278 0.00428695
+v -0.01252582 0.00529072 0.00260949
+v -0.01331934 -0.01850859 0.00377035
+v -0.01338734 -0.02523447 0.00117715
+v -0.01396417 -0.02523448 0.00358071
+v -0.01349026 -0.02523448 0.00266165
+v -0.01252582 0.02129647 0.00117663
+v -0.01352292 0.02281568 0.00118791
+v -0.01352292 0.02281568 0.00083737
+v -0.01396417 -0.00438420 0.00083727
+v -0.01252582 0.00526250 0.00253091
+v -0.01338720 -0.02523447 0.00115528
+v -0.01396417 -0.02523447 0.00083754
+v -0.01252582 0.02129647 0.00083737
+v -0.01352278 0.02281568 0.00117390
+v -0.01281952 -0.00438420 0.00083727
+v -0.01252582 0.00513082 0.00130094
+v -0.01338720 -0.02523447 0.00083754
+v -0.01252582 0.00512141 0.00117726
+v -0.01252582 0.00512141 0.00083731
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 25
+f 1 25 28
+f 1 28 20
+f 1 20 16
+f 1 16 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 5
+f 2 5 10
+f 2 10 17
+f 2 17 26
+f 2 26 32
+f 2 32 34
+f 2 34 35
+f 2 35 29
+f 2 29 22
+f 2 22 13
+f 2 13 7
+f 4 9 5
+f 5 9 11
+f 5 11 12
+f 5 12 10
+f 7 13 14
+f 7 14 8
+f 8 14 23
+f 8 23 30
+f 8 30 24
+f 8 24 15
+f 9 16 11
+f 10 12 18
+f 10 18 19
+f 10 19 17
+f 11 16 20
+f 11 20 21
+f 11 21 12
+f 12 21 18
+f 13 22 14
+f 14 22 23
+f 15 24 29
+f 15 29 35
+f 15 35 31
+f 15 31 25
+f 17 19 26
+f 18 21 19
+f 19 21 20
+f 19 20 28
+f 19 28 33
+f 19 33 27
+f 19 27 26
+f 22 29 30
+f 22 30 23
+f 24 30 29
+f 25 31 33
+f 25 33 28
+f 26 27 32
+f 27 33 35
+f 27 35 34
+f 27 34 32
+f 31 35 33
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_7.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1382c5daeaacdefb6f3b00250b54047d94a5c79a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_7.obj
@@ -0,0 +1,634 @@
+# https://github.com/mikedh/trimesh
+v 0.00121371 0.03631029 0.05242608
+v 0.00115064 0.03631029 0.05204848
+v 0.00111500 0.03855552 0.05131087
+v 0.00121096 0.03712497 0.05242609
+v 0.00116161 0.03631029 0.05297052
+v -0.00774412 0.03569312 0.04248569
+v 0.00103822 0.03631029 0.05158747
+v 0.00105742 0.03960650 0.05201338
+v -0.00047805 0.04067558 0.04598944
+v 0.00092855 0.04069164 0.05028786
+v 0.00092855 0.04070034 0.05028786
+v 0.00099161 0.04014873 0.05081474
+v 0.00111774 0.03853343 0.05246121
+v 0.00107113 0.03712496 0.05330861
+v 0.00110129 0.03631028 0.05334811
+v -0.01222166 0.03569312 0.04248569
+v -0.00956749 0.03569314 0.03818727
+v 0.00058581 0.03631028 0.05363350
+v 0.00021839 0.03631028 0.05382669
+v -0.00400689 0.03631028 0.05499460
+v -0.00544365 0.03631028 0.05520535
+v -0.01013506 0.03569314 0.03685691
+v -0.01143199 0.03569316 0.03391518
+v -0.01313197 0.03569317 0.03013485
+v -0.01447825 0.03569318 0.02715361
+v -0.01584372 0.03569319 0.02420311
+v -0.01721468 0.03569320 0.02125700
+v -0.01858838 0.03569321 0.01833284
+v -0.02237496 0.03569324 0.01035067
+v -0.01594792 0.04052242 0.01035069
+v -0.01461809 0.04064625 0.01321778
+v -0.00898620 0.04068971 0.02608232
+v -0.00472253 0.04066558 0.03600953
+v 0.00092855 0.04070034 0.05029664
+v 0.00082984 0.04055975 0.05124502
+v -0.00011612 0.04095203 0.05198703
+v 0.00030339 0.04000748 0.05247439
+v 0.00072290 0.03899532 0.05296175
+v 0.00099435 0.03804206 0.05321201
+v -0.00047805 0.04076930 0.04598944
+v -0.00030805 0.04131287 0.04672267
+v 0.00012517 0.04141394 0.04815401
+v -0.00040402 0.04221056 0.04719248
+v -0.00030531 0.04228017 0.04815402
+v 0.00021839 0.03712496 0.05375645
+v -0.02172238 0.03569320 0.02181461
+v -0.00643074 0.03631028 0.05480141
+v -0.00717928 0.03631028 0.05386621
+v -0.00760702 0.03631028 0.05321200
+v -0.00397673 0.03707342 0.05485411
+v -0.00441270 0.03821544 0.05472678
+v -0.00544365 0.03712496 0.05508242
+v -0.00637590 0.03712496 0.05474873
+v -0.02679766 0.03569324 0.01035067
+v -0.01595888 0.04141408 0.01035069
+v -0.01461809 0.04088255 0.01321778
+v -0.00898620 0.04073456 0.02608232
+v -0.00472253 0.04081085 0.03600953
+v -0.00031628 0.04225673 0.04905410
+v -0.00032451 0.04224335 0.04958098
+v -0.00042870 0.04216168 0.05036250
+v -0.00467592 0.04071839 0.05315933
+v -0.00022305 0.03945587 0.05324714
+v 0.00023759 0.03853342 0.05340959
+v -0.00182159 0.04116761 0.04297307
+v -0.00190933 0.04212153 0.04317943
+v -0.00173933 0.04226345 0.04412343
+v -0.00152272 0.04236050 0.04530451
+v -0.00113337 0.04237523 0.04672268
+v -0.00119918 0.04244752 0.04815402
+v -0.02475768 0.03569322 0.01513646
+v -0.00717928 0.03723742 0.05374328
+v -0.00756589 0.03778969 0.05312859
+v -0.00759880 0.03683644 0.05319445
+v -0.02474945 0.03712644 0.01511013
+v -0.02527316 0.03569524 0.01399490
+v -0.02527316 0.03569323 0.01399490
+v -0.00544365 0.03897791 0.05442382
+v -0.00544365 0.03826297 0.05474434
+v -0.00624978 0.03802800 0.05463897
+v -0.02678395 0.03633052 0.01035067
+v -0.02649879 0.03569324 0.01114977
+v -0.02649879 0.03569525 0.01114977
+v -0.02647137 0.03712646 0.01114978
+v -0.01603017 0.04180301 0.01035069
+v -0.01042845 0.04206738 0.02328110
+v -0.01034345 0.04111414 0.02310986
+v -0.00615655 0.04212693 0.03320392
+v -0.00315690 0.04141397 0.03992158
+v -0.00578365 0.04216769 0.05040202
+v -0.00536688 0.04193340 0.05092889
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diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_70.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5e477134807da09b1ea8b40b7a9c3345218edbc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_70.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.00609089 0.03725061 -0.01022813
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diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_71.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2faf1f528e5efb9f6f126b6a5660d74113e36ef7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_71.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+f 9 49 48
+f 9 48 56
+f 9 56 58
+f 9 58 57
+f 9 57 52
+f 9 52 41
+f 9 41 28
+f 9 28 17
+f 9 17 27
+f 9 27 18
+f 9 18 10
+f 11 19 12
+f 12 19 20
+f 13 22 36
+f 13 36 43
+f 13 43 42
+f 13 42 53
+f 13 53 55
+f 13 55 45
+f 13 45 54
+f 13 54 51
+f 13 51 38
+f 13 38 35
+f 13 35 21
+f 14 21 23
+f 15 24 16
+f 16 24 26
+f 16 26 25
+f 17 28 22
+f 17 22 27
+f 19 29 20
+f 20 29 30
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 21 35 23
+f 22 28 36
+f 23 35 38
+f 23 38 37
+f 25 26 39
+f 26 40 39
+f 28 41 42
+f 28 42 43
+f 28 43 36
+f 31 44 45
+f 31 45 46
+f 31 46 32
+f 32 46 33
+f 33 46 47
+f 33 47 48
+f 33 48 34
+f 34 48 49
+f 34 49 50
+f 34 50 39
+f 34 39 40
+f 37 38 51
+f 37 51 44
+f 41 52 42
+f 42 52 53
+f 44 51 54
+f 44 54 45
+f 45 47 46
+f 45 55 47
+f 47 55 48
+f 48 55 56
+f 52 57 55
+f 52 55 53
+f 55 57 58
+f 55 58 56
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_72.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8adb99d13389d578cbddbc5bc47ae4c5c04844f1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_72.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.00637443 -0.03855327 -0.00498865
+v -0.00673430 -0.03838440 -0.01022896
+v -0.00252095 -0.03855327 -0.00498865
+v -0.00637533 -0.03855328 -0.00382209
+v -0.00596379 -0.03348012 -0.01022894
+v -0.00210396 -0.03838440 -0.01022896
+v -0.00637533 -0.03855329 0.00083658
+v -0.00565694 -0.03352585 0.00083660
+v -0.00251642 -0.03855329 0.00083658
+v -0.00271040 -0.03348012 -0.01022894
+v -0.00565649 -0.03348014 -0.00498863
+v -0.00321985 -0.03352585 0.00083660
+v -0.00321758 -0.03348014 -0.00498863
+f 1 2 6
+f 1 6 3
+f 1 3 9
+f 1 9 7
+f 1 7 4
+f 1 4 2
+f 2 5 10
+f 2 10 6
+f 2 4 7
+f 2 7 8
+f 2 8 5
+f 3 6 9
+f 5 8 11
+f 5 11 13
+f 5 13 10
+f 6 10 9
+f 7 9 12
+f 7 12 8
+f 8 12 13
+f 8 13 11
+f 9 10 12
+f 10 13 12
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_73.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bb13876341553ba8bb5eefba15bf7209614a780
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_73.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.00976815 -0.00499154 -0.00498908
+v 0.00889292 -0.00447578 -0.01034424
+v 0.01350641 -0.00499154 -0.00498908
+v 0.00976439 -0.00499155 -0.00167070
+v 0.01437842 -0.00447578 -0.01034424
+v 0.00976332 -0.00499156 -0.00024791
+v 0.00976332 -0.00499156 0.00083670
+v 0.00932946 0.00474564 -0.01034420
+v 0.01351768 -0.00499156 0.00083670
+v 0.01412712 0.00474564 -0.01034420
+v 0.01024120 0.00435188 0.00083674
+v 0.00999098 0.00474562 -0.00498904
+v 0.01316920 0.00435188 0.00083674
+v 0.01329968 0.00474562 -0.00498904
+f 1 2 5
+f 1 5 3
+f 1 3 9
+f 1 9 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 10
+f 2 10 5
+f 3 5 9
+f 5 10 9
+f 7 9 13
+f 7 13 11
+f 7 11 8
+f 8 11 12
+f 8 12 14
+f 8 14 10
+f 9 10 13
+f 10 14 13
+f 11 13 14
+f 11 14 12
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_74.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df34259ddaad6a17ff81462b945035d057b79b2f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_74.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.00632217 -0.02379476 -0.01877005
+v 0.00632217 -0.02379479 -0.01121898
+v 0.00632217 -0.01765825 -0.01877332
+v 0.01381106 -0.02379476 -0.01877170
+v 0.00988825 -0.02379479 -0.01063229
+v 0.00632217 -0.01897153 -0.01063227
+v 0.00632217 -0.01579152 -0.01877332
+v 0.01296893 -0.01721821 -0.01877414
+v 0.01438453 -0.02379476 -0.01877170
+v 0.01349611 -0.02379479 -0.01063229
+v 0.00889372 -0.00447768 -0.01034507
+v 0.00682677 -0.00447768 -0.01043336
+v 0.00682677 0.00502789 -0.01034503
+v 0.00632217 -0.00448112 -0.01063222
+v 0.00632217 -0.00448109 -0.01877080
+v 0.00682677 -0.00006006 -0.01877161
+v 0.01580125 0.00565704 -0.01877241
+v 0.01763227 -0.01721821 -0.01877332
+v 0.01763227 -0.01764106 -0.01877332
+v 0.01763227 -0.02379476 -0.01877087
+v 0.01763227 -0.02379479 -0.01121733
+v 0.01763227 -0.01897497 -0.01063227
+v 0.01437775 -0.00447768 -0.01034507
+v 0.00682677 0.00875448 -0.01034502
+v 0.00682677 0.01132597 -0.01121638
+v 0.00682677 0.01132600 -0.01876827
+v 0.00682677 0.00614177 -0.01876994
+v 0.01438453 0.00708717 -0.01877158
+v 0.01580125 0.00708717 -0.01877158
+v 0.01785240 0.01132600 -0.01876827
+v 0.01721798 0.00565704 -0.01877159
+v 0.01785240 0.00644774 -0.01877076
+v 0.01785240 -0.00149363 -0.01877079
+v 0.01785240 -0.00447765 -0.01876998
+v 0.01785240 -0.00447768 -0.01043501
+v 0.01785240 0.00501414 -0.01034503
+v 0.01008806 0.01132597 -0.01034501
+v 0.01296893 0.01132600 -0.01876909
+v 0.01443758 0.01132600 -0.01876909
+v 0.01785240 0.01132597 -0.01121720
+v 0.01785240 0.00875448 -0.01034502
+v 0.01337419 0.01132597 -0.01034501
+f 1 2 6
+f 1 6 14
+f 1 14 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 20
+f 1 20 21
+f 1 21 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 10 23
+f 5 23 11
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 24
+f 6 24 14
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 18 19
+f 8 19 9
+f 8 17 18
+f 9 19 20
+f 10 21 22
+f 10 22 23
+f 11 23 36
+f 11 36 41
+f 11 41 42
+f 11 42 37
+f 11 37 24
+f 11 24 13
+f 11 13 12
+f 14 24 25
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 15 27 16
+f 16 27 17
+f 17 27 26
+f 17 26 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 18
+f 18 31 32
+f 18 32 33
+f 18 33 19
+f 19 33 34
+f 19 34 20
+f 20 34 35
+f 20 35 21
+f 21 35 22
+f 22 35 23
+f 23 35 36
+f 24 37 25
+f 25 37 42
+f 25 42 40
+f 25 40 30
+f 25 30 39
+f 25 39 38
+f 25 38 26
+f 26 38 28
+f 28 38 39
+f 28 39 29
+f 29 39 30
+f 30 40 41
+f 30 41 36
+f 30 36 35
+f 30 35 34
+f 30 34 33
+f 30 33 32
+f 30 32 31
+f 40 42 41
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_75.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..152e687d2332e831871c134122310fd3cbc78cc9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_75.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.00249002 0.00476816 0.00083674
+v -0.00248719 0.00476818 -0.00498948
+v -0.00579232 0.00476816 0.00083674
+v -0.00196662 -0.00524301 0.00083670
+v -0.00579327 0.00476818 -0.00498948
+v -0.00196662 -0.00524300 -0.00186851
+v -0.00196804 -0.00524300 -0.00309364
+v -0.00197087 -0.00524299 -0.00458114
+v -0.00197181 -0.00524299 -0.00498952
+v -0.00579280 0.00476816 -0.00024694
+v -0.00678721 -0.00524301 0.00083670
+v -0.00579327 0.00476817 -0.00167056
+v -0.00672869 -0.00524299 -0.00498952
+f 1 2 5
+f 1 5 12
+f 1 12 10
+f 1 10 3
+f 1 3 11
+f 1 11 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 13
+f 2 13 5
+f 3 10 11
+f 4 11 13
+f 4 13 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 5 13 11
+f 5 11 12
+f 10 12 11
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_76.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af8088c1601faa5685930f4fb849d6abfa56372f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_76.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.01394342 -0.04398387 0.00083656
+v -0.01272819 -0.04392629 0.00083656
+v -0.01416526 -0.04394685 0.00083656
+v -0.01486519 -0.04375866 -0.01022898
+v -0.01394342 -0.04390980 -0.01021165
+v -0.01263553 -0.04392012 0.00083656
+v -0.01268397 -0.04383165 -0.01022898
+v -0.01500068 -0.04379468 0.00083656
+v -0.01557214 -0.04347386 -0.01022898
+v -0.01395395 -0.04390774 -0.01022898
+v -0.01553844 -0.04359419 0.00083656
+v -0.01394342 -0.04390877 -0.01022898
+v -0.01263553 -0.03864770 0.00083658
+v -0.01157335 -0.04361163 -0.01022898
+v -0.01157335 -0.04361163 -0.01021165
+v -0.01157335 -0.04360754 -0.00498867
+v -0.01669119 -0.04275928 -0.01022898
+v -0.01570693 -0.04352325 0.00083656
+v -0.01353764 -0.03352643 0.00083660
+v -0.01157335 -0.03901679 -0.00498865
+v -0.01157335 -0.03854587 -0.01022896
+v -0.01739954 -0.04214239 -0.01022897
+v -0.01597019 -0.04335360 0.00083656
+v -0.01683440 -0.04276549 0.00083656
+v -0.01874464 -0.03352643 0.00083660
+v -0.01281244 -0.03348115 -0.01022894
+v -0.01353553 -0.03348117 -0.00498863
+v -0.01783340 -0.04142884 -0.01021164
+v -0.01783340 -0.04142781 -0.01022897
+v -0.01721771 -0.04239741 0.00083656
+v -0.01741920 -0.04217738 0.00065243
+v -0.01760102 -0.04197484 0.00083657
+v -0.01789167 -0.04158722 0.00083657
+v -0.01859721 -0.03348117 -0.00498863
+v -0.01859791 -0.03348117 -0.00629383
+v -0.01859721 -0.03348116 -0.00771818
+v -0.01859300 -0.03348116 -0.00916312
+v -0.01873481 -0.03730287 0.00083658
+v -0.01854947 -0.03348115 -0.01022894
+v -0.01837186 -0.04012102 -0.01022897
+v -0.01841889 -0.04043157 0.00083657
+v -0.01856983 -0.04006862 0.00083657
+v -0.01846382 -0.03867748 -0.01022896
+v -0.01872147 -0.03867752 0.00083658
+v -0.01837818 -0.04010560 -0.01021164
+v -0.01837747 -0.04010560 -0.01022897
+v -0.01870813 -0.03880501 0.00083658
+f 1 2 6
+f 1 6 13
+f 1 13 19
+f 1 19 25
+f 1 25 38
+f 1 38 44
+f 1 44 47
+f 1 47 42
+f 1 42 41
+f 1 41 33
+f 1 33 32
+f 1 32 30
+f 1 30 24
+f 1 24 23
+f 1 23 18
+f 1 18 11
+f 1 11 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 4
+f 4 9 17
+f 4 17 22
+f 4 22 29
+f 4 29 40
+f 4 40 46
+f 4 46 43
+f 4 43 39
+f 4 39 26
+f 4 26 21
+f 4 21 14
+f 4 14 7
+f 4 7 12
+f 4 12 10
+f 4 10 5
+f 4 8 11
+f 4 11 9
+f 5 10 12
+f 5 12 7
+f 6 7 14
+f 6 14 15
+f 6 15 16
+f 6 16 20
+f 6 20 13
+f 9 11 18
+f 9 18 17
+f 13 20 19
+f 14 21 20
+f 14 20 16
+f 14 16 15
+f 17 18 23
+f 17 23 24
+f 17 24 22
+f 19 20 26
+f 19 26 27
+f 19 27 34
+f 19 34 25
+f 20 21 26
+f 22 28 29
+f 22 24 30
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 28
+f 25 34 35
+f 25 35 36
+f 25 36 37
+f 25 37 38
+f 26 39 37
+f 26 37 36
+f 26 36 35
+f 26 35 34
+f 26 34 27
+f 28 40 29
+f 28 33 41
+f 28 41 42
+f 28 42 40
+f 30 32 31
+f 37 39 43
+f 37 43 44
+f 37 44 38
+f 40 45 46
+f 40 42 45
+f 42 47 45
+f 43 46 45
+f 43 45 44
+f 44 45 47
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_77.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..888ff82805fa24b573430c03b2c57d15a71aaf0b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_77.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.01858798 -0.03352583 -0.00498888
+v -0.01859298 -0.03347935 -0.00916247
+v -0.01854967 -0.03347934 -0.01022943
+v -0.01353582 -0.03352583 -0.00498888
+v -0.01874373 -0.03352585 0.00083660
+v -0.01899525 -0.03244089 -0.00878768
+v -0.01281206 -0.03347934 -0.01022943
+v -0.01895444 -0.03235743 -0.00964775
+v -0.01901191 -0.03145458 -0.01022943
+v -0.01353582 -0.03352584 -0.00252676
+v -0.01353832 -0.03352585 0.00083660
+v -0.01905106 -0.03150678 0.00083660
+v -0.01898110 -0.03241720 -0.00167102
+v -0.01900775 -0.03246462 -0.00309435
+v -0.01901025 -0.03246556 -0.00498888
+v -0.01900941 -0.03246460 -0.00736435
+v -0.01908770 -0.03152382 -0.00878768
+v -0.01901441 -0.03148967 -0.01015902
+v -0.01181512 -0.03035163 -0.01022942
+v -0.01064994 -0.02974660 -0.00498887
+v -0.01064994 -0.02974661 -0.00405623
+v -0.01064994 -0.02974567 0.00021485
+v -0.01064994 -0.02974472 0.00083661
+v -0.01353665 -0.03352585 0.00031991
+v -0.01909686 -0.03009368 -0.01021209
+v -0.01909520 -0.03009368 -0.01022942
+v -0.01913601 -0.03041617 0.00083661
+v -0.01907687 -0.03152384 -0.00167102
+v -0.01909186 -0.03152384 -0.00309435
+v -0.01908937 -0.03152382 -0.00736435
+v -0.01915600 -0.03009372 0.00083661
+v -0.01181512 -0.02577293 -0.01022940
+v -0.01064994 -0.02679813 -0.00498886
+v -0.01064994 -0.02679815 0.00083662
+v -0.01908187 -0.02383732 -0.01021207
+v -0.01908104 -0.02383732 -0.01022940
+v -0.01915850 -0.02900500 0.00083661
+v -0.01915350 -0.02428878 0.00083663
+v -0.01281206 -0.02383732 -0.01022940
+v -0.01064994 -0.02679720 -0.00213353
+v -0.01353582 -0.02428878 0.00083663
+v -0.01064994 -0.02679721 0.00048458
+v -0.01904606 -0.02383734 -0.00498885
+v -0.01353415 -0.02383734 -0.00498885
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 10
+f 1 10 24
+f 1 24 11
+f 1 11 5
+f 1 5 2
+f 2 6 3
+f 2 5 6
+f 3 6 8
+f 3 8 9
+f 3 9 26
+f 3 26 36
+f 3 36 39
+f 3 39 32
+f 3 32 19
+f 3 19 7
+f 4 7 10
+f 5 11 23
+f 5 23 34
+f 5 34 41
+f 5 41 38
+f 5 38 37
+f 5 37 31
+f 5 31 27
+f 5 27 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 17 18
+f 6 18 8
+f 6 16 17
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 11
+f 7 11 24
+f 7 24 10
+f 8 18 9
+f 9 18 25
+f 9 25 26
+f 12 27 28
+f 12 28 14
+f 12 14 13
+f 14 28 29
+f 14 29 15
+f 15 29 16
+f 16 29 30
+f 16 30 17
+f 17 25 18
+f 17 30 31
+f 17 31 25
+f 19 32 33
+f 19 33 20
+f 20 33 40
+f 20 40 42
+f 20 42 34
+f 20 34 23
+f 20 23 22
+f 20 22 21
+f 25 35 36
+f 25 36 26
+f 25 31 37
+f 25 37 38
+f 25 38 35
+f 27 31 29
+f 27 29 28
+f 29 31 30
+f 32 39 33
+f 33 39 40
+f 34 42 39
+f 34 39 41
+f 35 38 43
+f 35 43 44
+f 35 44 39
+f 35 39 36
+f 38 41 44
+f 38 44 43
+f 39 44 41
+f 39 42 40
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_78.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e3c348922cc0e4882dbe9e37d7cbc0c75f35798
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_78.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.00277204 0.02461630 -0.00498941
+v -0.00241618 0.02461632 -0.01022853
+v -0.00576111 0.02461630 -0.00498941
+v -0.00218161 0.02130938 -0.00498942
+v -0.00604460 0.02461632 -0.01022853
+v -0.00218161 0.02168146 -0.01022854
+v -0.00728036 0.02106221 -0.00498942
+v -0.00218161 0.01395013 -0.00498945
+v -0.00728036 0.02152405 -0.01022854
+v -0.00218161 0.01376673 -0.01022857
+v -0.00728036 0.01419470 -0.00498945
+v -0.00320874 0.01132750 -0.00498946
+v -0.00270416 0.01132882 -0.01022858
+v -0.00218161 0.01375372 -0.01022805
+v -0.00728036 0.01389031 -0.01022857
+v -0.00218360 0.01375372 -0.01022857
+v -0.00596375 0.01132752 -0.01022858
+v -0.00565830 0.01132750 -0.00498946
+v -0.00271664 0.01132752 -0.01021217
+v -0.00280997 0.01132752 -0.01022858
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 11
+f 1 11 18
+f 1 18 12
+f 1 12 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 10
+f 2 10 16
+f 2 16 13
+f 2 13 20
+f 2 20 17
+f 2 17 15
+f 2 15 9
+f 2 9 5
+f 3 5 7
+f 4 8 14
+f 4 14 10
+f 4 10 6
+f 5 9 7
+f 7 9 15
+f 7 15 11
+f 8 12 13
+f 8 13 14
+f 10 14 16
+f 11 15 17
+f 11 17 18
+f 12 18 17
+f 12 17 20
+f 12 20 19
+f 12 19 13
+f 13 16 14
+f 13 19 20
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_79.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c10bbe08db3b066cfad06b120624af080140a1c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_79.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.02433083 -0.03057237 -0.01088648
+v 0.02526512 -0.03329466 -0.01088649
+v 0.02433083 -0.02977882 -0.00498961
+v 0.02433083 -0.02540200 -0.01088646
+v 0.03011704 -0.03329466 -0.01088649
+v 0.02610297 -0.03329468 -0.00498962
+v 0.02433083 -0.02676830 -0.00498960
+v 0.02526512 -0.02373531 -0.01088646
+v 0.03015467 -0.03329467 -0.00878830
+v 0.03021875 -0.03152503 -0.01088649
+v 0.03025462 -0.03152503 -0.01021230
+v 0.03030460 -0.03152504 -0.00878830
+v 0.03014761 -0.03329468 -0.00498962
+v 0.02610062 -0.02373533 -0.00498959
+v 0.03029989 -0.02373531 -0.01088646
+v 0.03015290 -0.03329467 -0.00736545
+v 0.03031048 -0.03152504 -0.00736545
+v 0.03031107 -0.03152505 -0.00498962
+v 0.03029049 -0.03009417 -0.01088648
+v 0.03032694 -0.03009417 -0.01021229
+v 0.03031636 -0.02373533 -0.00498959
+v 0.03030225 -0.02373531 -0.01084895
+v 0.03029989 -0.02655773 -0.01088647
+v 0.03033694 -0.02866425 -0.01021229
+v 0.03031695 -0.02580535 -0.00498959
+v 0.03029872 -0.02866425 -0.01088648
+v 0.03033576 -0.02373531 -0.01021227
+v 0.03031695 -0.02437449 -0.00498959
+v 0.03033635 -0.02437447 -0.01021227
+v 0.03033752 -0.02723526 -0.01021228
+v 0.03029931 -0.02798859 -0.01088647
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 15
+f 1 15 23
+f 1 23 31
+f 1 31 26
+f 1 26 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
+f 2 5 9
+f 2 9 16
+f 2 16 13
+f 2 13 6
+f 2 6 3
+f 3 6 13
+f 3 13 18
+f 3 18 25
+f 3 25 28
+f 3 28 21
+f 3 21 14
+f 3 14 7
+f 4 7 8
+f 5 10 11
+f 5 11 12
+f 5 12 9
+f 7 14 8
+f 8 14 21
+f 8 21 27
+f 8 27 22
+f 8 22 15
+f 9 12 17
+f 9 17 18
+f 9 18 16
+f 10 19 20
+f 10 20 11
+f 11 20 12
+f 12 20 17
+f 13 16 18
+f 15 22 23
+f 17 20 18
+f 18 20 24
+f 18 24 25
+f 19 26 24
+f 19 24 20
+f 21 28 29
+f 21 29 27
+f 22 27 29
+f 22 29 30
+f 22 30 23
+f 23 30 31
+f 24 26 31
+f 24 31 30
+f 24 30 25
+f 25 30 28
+f 28 30 29
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_8.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43439912170e257ffae8892a745b611f19ee8241
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_8.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.01331940 -0.01390274 0.00083724
+v -0.01331940 -0.01918846 0.00083722
+v -0.01331940 -0.01390429 0.00114353
+v -0.00612271 -0.01519584 0.00117718
+v -0.00612271 -0.01519635 0.00083723
+v -0.01331940 -0.01918846 0.00117717
+v -0.00612271 -0.01897683 0.00083722
+v -0.01331940 -0.01390481 0.00117719
+v -0.00612271 -0.01519998 0.00131016
+v -0.00612271 -0.01897683 0.00117717
+v -0.00612271 -0.01891733 0.00260029
+v -0.01331940 -0.01918484 0.00125416
+v -0.01331940 -0.01433171 0.00246100
+v -0.00612271 -0.01524397 0.00260030
+v -0.00612271 -0.01844231 0.00374245
+v -0.01331940 -0.01906739 0.00270961
+v -0.01331940 -0.01910827 0.00260029
+v -0.01331940 -0.01437725 0.00259231
+v -0.00612271 -0.01583490 0.00390644
+v -0.00612271 -0.01722322 0.00424205
+v -0.01331940 -0.01807648 0.00397408
+v -0.01331940 -0.01851372 0.00377045
+v -0.01331940 -0.01585042 0.00388911
+v -0.00612271 -0.01641392 0.00405442
+v -0.01331940 -0.01722322 0.00421406
+f 1 2 6
+f 1 6 12
+f 1 12 17
+f 1 17 16
+f 1 16 22
+f 1 22 21
+f 1 21 25
+f 1 25 23
+f 1 23 18
+f 1 18 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 7
+f 1 7 2
+f 2 7 10
+f 2 10 6
+f 3 8 4
+f 4 9 14
+f 4 14 19
+f 4 19 24
+f 4 24 20
+f 4 20 15
+f 4 15 11
+f 4 11 10
+f 4 10 7
+f 4 7 5
+f 4 8 9
+f 6 10 11
+f 6 11 12
+f 8 13 14
+f 8 14 9
+f 11 15 16
+f 11 16 17
+f 11 17 12
+f 13 18 14
+f 14 18 19
+f 15 20 21
+f 15 21 22
+f 15 22 16
+f 18 23 19
+f 19 23 24
+f 20 24 25
+f 20 25 21
+f 23 25 24
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_80.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c94594db0fc311d446ad9afebe2ace9c1904e5a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_80.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.02525583 0.00874834 -0.00498874
+v 0.02525583 0.00518441 -0.00498875
+v 0.02525583 0.00892734 -0.01000947
+v 0.02495952 0.00863781 0.00083675
+v 0.02525583 0.00483729 -0.01000948
+v 0.02495952 0.00525727 0.00083674
+v 0.01785408 0.00864106 -0.01000947
+v 0.01759227 0.00836434 0.00083675
+v 0.01785408 0.00519484 -0.01000948
+v 0.01759227 0.00542583 0.00083674
+v 0.01759227 0.00836316 -0.00498874
+v 0.01759227 0.00836474 -0.00062307
+v 0.01759227 0.00836474 -0.00024724
+v 0.01759227 0.00542425 -0.00486453
+v 0.01759227 0.00542425 -0.00498875
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 5 9
+f 3 9 7
+f 3 7 8
+f 3 8 4
+f 4 8 10
+f 4 10 6
+f 5 6 10
+f 5 10 9
+f 7 9 15
+f 7 15 11
+f 7 11 12
+f 7 12 13
+f 7 13 8
+f 8 13 12
+f 8 12 11
+f 8 11 15
+f 8 15 14
+f 8 14 10
+f 9 10 14
+f 9 14 15
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_81.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ab4712378a415bc7e5253137264105f68abf858
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_81.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.01764069 -0.01541704 0.00083666
+v 0.01323189 -0.01435827 0.00083667
+v 0.01764069 -0.01834218 0.00083665
+v 0.01764069 -0.01541703 -0.00309445
+v 0.01763292 -0.01431378 -0.01063113
+v 0.01022351 -0.01435827 0.00083667
+v 0.01318528 -0.01397373 -0.00498816
+v 0.01339168 -0.01903196 0.00083665
+v 0.01327849 -0.01940093 -0.00498818
+v 0.01763292 -0.01897890 -0.01063115
+v 0.01764069 -0.01834538 -0.00267127
+v 0.01764069 -0.01541809 -0.00498817
+v 0.01368353 -0.01393033 -0.01063113
+v 0.00630409 -0.01541704 0.00083666
+v 0.01033559 -0.01397373 -0.00498816
+v 0.00632184 -0.01431271 -0.01063113
+v 0.01318195 -0.01393034 -0.00828279
+v 0.01003376 -0.01903196 0.00083665
+v 0.01022129 -0.01940093 -0.00498818
+v 0.01327960 -0.01940093 -0.00544392
+v 0.01327960 -0.01940092 -0.00828281
+v 0.01358477 -0.01926381 -0.01062666
+v 0.01354926 -0.01926381 -0.01063115
+v 0.01764069 -0.01834591 -0.00498818
+v 0.01764069 -0.01834591 -0.00409352
+v 0.00967422 -0.01393033 -0.01063113
+v 0.00630409 -0.01541703 -0.00208979
+v 0.00630409 -0.01834593 0.00083665
+v 0.01034447 -0.01393034 -0.00828279
+v 0.00630409 -0.01541755 -0.00498817
+v 0.00632184 -0.01897569 -0.01063115
+v 0.01021686 -0.01940092 -0.00797860
+v 0.01021686 -0.01940092 -0.00828281
+v 0.00964758 -0.01926381 -0.01063115
+v 0.00630409 -0.01834700 -0.00024772
+v 0.00630409 -0.01834644 -0.00498818
+v 0.00630409 -0.01834699 -0.00309446
+f 1 2 6
+f 1 6 14
+f 1 14 28
+f 1 28 18
+f 1 18 8
+f 1 8 3
+f 1 3 11
+f 1 11 25
+f 1 25 24
+f 1 24 12
+f 1 12 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 15
+f 2 15 6
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 4 12 5
+f 5 10 23
+f 5 23 34
+f 5 34 31
+f 5 31 16
+f 5 16 26
+f 5 26 13
+f 5 13 7
+f 5 12 24
+f 5 24 10
+f 6 15 16
+f 6 16 14
+f 7 13 17
+f 7 17 29
+f 7 29 15
+f 8 18 19
+f 8 19 9
+f 9 19 32
+f 9 32 33
+f 9 33 21
+f 9 21 20
+f 9 20 10
+f 10 21 22
+f 10 22 23
+f 10 24 25
+f 10 25 11
+f 10 20 21
+f 13 26 29
+f 13 29 17
+f 14 27 30
+f 14 30 36
+f 14 36 37
+f 14 37 35
+f 14 35 28
+f 14 16 27
+f 15 29 26
+f 15 26 16
+f 16 30 27
+f 16 31 36
+f 16 36 30
+f 18 28 19
+f 19 28 31
+f 19 31 32
+f 21 33 34
+f 21 34 23
+f 21 23 22
+f 28 35 31
+f 31 34 33
+f 31 33 32
+f 31 35 37
+f 31 37 36
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_82.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..096100f988043d0e1a6ace2339fc0071116657b0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_82.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.01904616 -0.02383638 -0.00801607
+v -0.01353470 -0.02383638 -0.00801607
+v -0.01904616 -0.02383639 -0.00498959
+v -0.01904616 -0.02294378 -0.00801606
+v -0.01353327 -0.02383639 -0.00594173
+v -0.01177795 -0.01852753 -0.00801605
+v -0.01353327 -0.02383639 -0.00498959
+v -0.01904616 -0.02294379 -0.00498958
+v -0.01903619 -0.01409509 -0.00498955
+v -0.01903548 -0.01409508 -0.00801603
+v -0.01177795 -0.01529092 -0.00801604
+v -0.01177795 -0.01852564 -0.00498957
+v -0.01314051 -0.01409509 -0.00498955
+v -0.01313909 -0.01409508 -0.00801603
+v -0.01177795 -0.01529093 -0.00498956
+v -0.01313909 -0.01409509 -0.00646813
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 10
+f 1 10 14
+f 1 14 11
+f 1 11 6
+f 1 6 2
+f 2 6 5
+f 3 7 12
+f 3 12 15
+f 3 15 13
+f 3 13 9
+f 3 9 8
+f 4 8 9
+f 4 9 10
+f 5 6 7
+f 6 11 15
+f 6 15 12
+f 6 12 7
+f 9 13 16
+f 9 16 14
+f 9 14 10
+f 11 14 16
+f 11 16 15
+f 13 15 16
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_83.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9f05918c6e496d45224f19a42ea42946d421316
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_83.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.01157138 -0.04361291 -0.01022898
+v -0.01263457 -0.04382049 -0.00498867
+v -0.01157138 -0.03854590 -0.01022896
+v 0.00632104 -0.04357715 -0.01022898
+v -0.01263457 -0.03864726 -0.00498865
+v -0.01263457 -0.04392131 0.00083656
+v -0.01263457 -0.03864671 -0.00451747
+v -0.01263457 -0.03864673 0.00083658
+v -0.00610513 -0.03838496 -0.00498865
+v -0.00673228 -0.03838494 -0.01022896
+v 0.00632104 -0.03870739 -0.01022896
+v 0.00632104 -0.04356633 -0.00498867
+v 0.00630248 -0.04370671 0.00083656
+v -0.00637417 -0.03855460 0.00083658
+v -0.00261311 -0.03838496 -0.00498865
+v -0.00210656 -0.03838494 -0.01022896
+v 0.00630248 -0.03917349 0.00083658
+v 0.00632104 -0.03917672 -0.00498865
+v -0.00251662 -0.03855460 0.00083658
+f 1 2 5
+f 1 5 3
+f 1 3 10
+f 1 10 16
+f 1 16 11
+f 1 11 4
+f 1 4 2
+f 2 4 6
+f 2 6 8
+f 2 8 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 18
+f 4 18 12
+f 4 12 13
+f 4 13 6
+f 6 13 17
+f 6 17 19
+f 6 19 14
+f 6 14 8
+f 8 14 9
+f 9 15 16
+f 9 16 10
+f 9 14 19
+f 9 19 15
+f 11 17 18
+f 11 16 15
+f 11 15 19
+f 11 19 17
+f 12 18 17
+f 12 17 13
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_84.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5870c396d19f62f44eee4743ea4ef15b036deeb6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_84.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.00588435 -0.01465714 -0.00498917
+v -0.00584898 -0.00932176 -0.00801601
+v -0.00577062 -0.01409505 -0.00801603
+v -0.00254395 -0.01465714 -0.00498917
+v -0.00588766 -0.01465716 -0.00024739
+v -0.00591874 -0.00907136 -0.00309400
+v -0.00591709 -0.00907135 -0.00452467
+v -0.00591643 -0.00907135 -0.00498915
+v -0.00274333 -0.00932176 -0.00801601
+v -0.00284351 -0.01409505 -0.00801603
+v -0.00261206 -0.00907135 -0.00498915
+v -0.00254164 -0.01465716 -0.00119540
+v -0.00588799 -0.01465716 0.00066422
+v -0.00588799 -0.01465716 0.00083667
+v -0.00591709 -0.00907137 0.00083669
+v -0.00261372 -0.00907137 0.00083669
+v -0.00254131 -0.01465716 0.00022835
+v -0.00254131 -0.01465716 -0.00024739
+v -0.00254164 -0.01465716 0.00083667
+f 1 2 3
+f 1 3 10
+f 1 10 4
+f 1 4 12
+f 1 12 18
+f 1 18 17
+f 1 17 19
+f 1 19 14
+f 1 14 13
+f 1 13 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 11
+f 2 11 9
+f 2 9 10
+f 2 10 3
+f 4 10 9
+f 4 9 11
+f 4 11 12
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 11
+f 6 11 8
+f 6 8 7
+f 11 16 17
+f 11 17 18
+f 11 18 12
+f 14 19 16
+f 14 16 15
+f 16 19 17
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_85.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82b6820ff12db69cb8298207243b0dd7075fb590
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_85.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
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+v -0.00565634 0.03469866 -0.00828199
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+f 1 10 6
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+f 10 18 19
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+f 13 15 14
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+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_86.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6861f1a593a49a85d064c77f899d14d9e2e0e21
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_86.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_87.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5681921c562ed78bcdce8a2949a8c5cbcaa4b256
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_87.obj
@@ -0,0 +1,790 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_88.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c7c3878cb4b6de83600957618c623d9b8482a5a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_88.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.00284184 -0.01409508 -0.00801603
+v -0.00284538 -0.01409509 -0.00498955
+v 0.00632104 -0.01541690 -0.00528107
+v 0.00632104 -0.01541689 -0.00801604
+v -0.00577034 -0.01409508 -0.00801603
+v 0.00632104 -0.01541747 -0.00498956
+v -0.00576857 -0.01409509 -0.00498955
+v 0.00632104 -0.01835336 -0.00801605
+v -0.01177795 -0.01529048 -0.00801604
+v -0.00577034 -0.01409508 -0.00789398
+v 0.00632104 -0.01834708 -0.00498957
+v -0.01177795 -0.01529048 -0.00736489
+v -0.01177795 -0.01529107 -0.00498956
+v -0.00304735 -0.01993828 -0.00498957
+v -0.00304557 -0.01993827 -0.00801605
+v -0.01177795 -0.01852666 -0.00801605
+v -0.01177795 -0.01852496 -0.00498957
+v -0.00569948 -0.01993828 -0.00498957
+v -0.00569948 -0.01993827 -0.00801605
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 19
+f 1 19 16
+f 1 16 9
+f 1 9 5
+f 1 5 10
+f 1 10 7
+f 1 7 2
+f 2 6 3
+f 2 7 13
+f 2 13 17
+f 2 17 18
+f 2 18 14
+f 2 14 11
+f 2 11 6
+f 3 6 11
+f 3 11 8
+f 3 8 4
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+f 5 12 10
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+f 7 12 13
+f 8 11 14
+f 8 14 15
+f 9 16 17
+f 9 17 13
+f 9 13 12
+f 14 18 19
+f 14 19 15
+f 16 18 17
+f 16 19 18
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_89.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d92fa1b425b7b849b768d3d49c9d66cb70dbd8b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_89.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.02552281 -0.03852122 0.00083658
+v 0.01764182 -0.03917749 0.00083658
+v 0.02552281 -0.04393243 0.00083656
+v 0.02552281 -0.03852339 -0.00498498
+v 0.02497985 -0.03839245 -0.01033627
+v 0.01763333 -0.03863019 -0.01033627
+v 0.01764182 -0.04370509 0.00083656
+v 0.01763333 -0.03918075 -0.00498936
+v 0.02430019 -0.04398885 0.00083656
+v 0.02497985 -0.04386062 -0.01033629
+v 0.02552281 -0.04385626 -0.00498938
+v 0.02552281 -0.03993453 -0.00498937
+v 0.01763333 -0.04358398 -0.01033629
+v 0.01763333 -0.04356647 -0.00498938
+v 0.02430019 -0.04388034 -0.01033629
+f 1 2 7
+f 1 7 9
+f 1 9 3
+f 1 3 11
+f 1 11 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 14
+f 2 14 7
+f 3 9 10
+f 3 10 11
+f 4 12 5
+f 5 10 15
+f 5 15 13
+f 5 13 6
+f 5 12 11
+f 5 11 10
+f 6 13 14
+f 6 14 8
+f 7 14 13
+f 7 13 15
+f 7 15 9
+f 9 15 10
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_9.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e8188dce8cee0de5a3b4a4e379a809efce3d855
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_9.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.01307523 0.02303942 -0.00498942
+v 0.01307413 0.02303940 -0.00024688
+v 0.01759227 0.02082647 -0.00451716
+v 0.01759227 0.02082647 -0.00498942
+v 0.01059351 0.02303942 -0.00498942
+v 0.01307302 0.02303940 0.00083680
+v 0.01759227 0.02082345 0.00083680
+v 0.01759227 0.01428166 -0.00498945
+v 0.00630409 0.02082847 -0.00498942
+v 0.01059240 0.02303942 -0.00451716
+v 0.01059351 0.02303940 0.00083680
+v 0.01759227 0.01428564 0.00083677
+v 0.01759227 0.01428166 -0.00451719
+v 0.01308849 0.01281903 -0.00498945
+v 0.00630409 0.01428366 -0.00498945
+v 0.00630409 0.02082846 -0.00208914
+v 0.01059240 0.02303942 -0.00430156
+v 0.00630409 0.02082745 0.00051797
+v 0.00630409 0.02082645 0.00083680
+v 0.01759227 0.01428265 -0.00271828
+v 0.01308849 0.01281901 0.00083677
+v 0.01045539 0.01281903 -0.00498945
+v 0.00630409 0.01428366 -0.00409854
+v 0.00630409 0.01428564 0.00083677
+v 0.01045760 0.01281901 0.00083677
+v 0.01045539 0.01281903 -0.00450692
+f 1 2 3
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+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_90.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64f3ee07ec080d5bc46c6995ec2732bb92ec2e8d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_90.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00267912 -0.01447126 -0.00801603
+v -0.00119481 -0.01541459 -0.00801604
+v 0.00632016 -0.00951768 -0.01110453
+v -0.00267824 -0.00951768 -0.00954079
+v -0.00267912 -0.01293780 -0.01026635
+v -0.00267912 -0.01926222 -0.00801605
+v 0.00632016 -0.01386151 -0.01104979
+v -0.00119128 -0.01835813 -0.00801605
+v 0.00632016 -0.00951765 -0.01876949
+v -0.00267824 -0.00951765 -0.01876949
+v -0.00267912 -0.01293780 -0.01104874
+v -0.00267912 -0.02383732 -0.01026217
+v 0.00632016 -0.02383732 -0.01121937
+v -0.00119128 -0.01837215 -0.00801605
+v 0.00632016 -0.01923138 -0.01104981
+v 0.00632016 -0.01293917 -0.01877161
+v 0.00588587 -0.01436469 -0.01877266
+v 0.00588587 -0.01722413 -0.01877373
+v -0.00267824 -0.01286488 -0.01877056
+v -0.00267824 -0.01715264 -0.01877162
+v -0.00267912 -0.02383732 -0.01104878
+v 0.00632016 -0.02383729 -0.01876849
+v 0.00632016 -0.01480201 -0.01877266
+v 0.00632016 -0.01865245 -0.01877268
+v -0.00261041 -0.02383729 -0.01877060
+v -0.00267824 -0.02383729 -0.01877060
+v -0.00267824 -0.01722413 -0.01877162
+f 1 2 3
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+f 1 21 12
+f 1 12 6
+f 1 6 14
+f 1 14 8
+f 1 8 2
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+f 18 20 19
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+f 22 25 24
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_91.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54aee0cf88e1837aee4609dbb4793d8d195db46c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_91.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.00319047 0.02281568 0.00083737
+v -0.00319262 0.02281568 0.00118453
+v 0.00943869 0.02120830 0.00117781
+v 0.00943869 0.02120830 0.00083770
+v 0.00374546 0.02082550 0.00083737
+v -0.00566084 0.02281568 0.00083737
+v -0.00320337 0.02281567 0.00259974
+v 0.00943869 0.02119755 0.00260008
+v 0.00943869 0.01403077 0.00083767
+v 0.00374546 0.01428662 0.00083734
+v -0.00566084 0.02281568 0.00117479
+v -0.00804520 0.02088507 0.00083737
+v -0.01252582 0.02130107 0.00083770
+v -0.01252582 0.02130205 0.00117680
+v -0.00326572 0.02281567 0.00339321
+v 0.00943869 0.02115849 0.00297379
+v 0.00943869 0.01403077 0.00117778
+v -0.00300127 0.01283939 0.00083734
+v -0.00562858 0.02281567 0.00259974
+v -0.00804520 0.01426416 0.00083734
+v -0.01252582 0.01401221 0.00083767
+v -0.01252582 0.02122880 0.00259974
+v -0.00402683 0.02281567 0.00388791
+v 0.00943869 0.02100517 0.00349975
+v 0.00943869 0.01404052 0.00260005
+v -0.00304857 0.01283938 0.00259971
+v -0.00300127 0.01283939 0.00117778
+v -0.00567373 0.01283939 0.00083734
+v -0.00516848 0.02281567 0.00379885
+v -0.01252582 0.01401221 0.00117745
+v -0.01252582 0.02091631 0.00351050
+v -0.00516418 0.02281567 0.00380557
+v -0.00402683 0.01996125 0.00427069
+v 0.00943869 0.01996126 0.00402872
+v 0.00943869 0.02059015 0.00378541
+v -0.01252582 0.01996126 0.00407846
+v -0.00544153 0.01996125 0.00425086
+v 0.00943869 0.01443602 0.00376387
+v -0.00399888 0.01283938 0.00395207
+v -0.00320552 0.01283938 0.00344426
+v -0.00319477 0.01283938 0.00341536
+v -0.00567373 0.01283939 0.00121777
+v -0.00567158 0.01283938 0.00259971
+v -0.01252582 0.01406689 0.00260038
+v -0.01252582 0.01567230 0.00415574
+v -0.00402683 0.01567230 0.00426026
+v 0.00943869 0.01567230 0.00416683
+v -0.00402683 0.01283938 0.00395980
+v -0.00520288 0.01283938 0.00383277
+v -0.01252582 0.01453953 0.00375513
+v -0.00402683 0.01424266 0.00414431
+v -0.00517493 0.01283938 0.00383680
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 18
+f 1 18 28
+f 1 28 20
+f 1 20 12
+f 1 12 6
+f 1 6 11
+f 1 11 19
+f 1 19 29
+f 1 29 32
+f 1 32 23
+f 1 23 15
+f 1 15 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 16
+f 3 16 24
+f 3 24 35
+f 3 35 34
+f 3 34 47
+f 3 47 38
+f 3 38 25
+f 3 25 17
+f 3 17 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 6 12 13
+f 6 13 14
+f 6 14 11
+f 7 15 8
+f 8 15 16
+f 9 17 27
+f 9 27 18
+f 9 18 10
+f 11 14 19
+f 12 20 21
+f 12 21 13
+f 13 21 30
+f 13 30 44
+f 13 44 50
+f 13 50 45
+f 13 45 36
+f 13 36 31
+f 13 31 22
+f 13 22 14
+f 14 22 19
+f 15 23 16
+f 16 23 24
+f 17 25 26
+f 17 26 27
+f 18 27 26
+f 18 26 41
+f 18 41 40
+f 18 40 39
+f 18 39 48
+f 18 48 52
+f 18 52 49
+f 18 49 43
+f 18 43 42
+f 18 42 28
+f 19 22 29
+f 20 28 21
+f 21 28 42
+f 21 42 30
+f 22 31 32
+f 22 32 29
+f 23 33 34
+f 23 34 35
+f 23 35 24
+f 23 32 36
+f 23 36 37
+f 23 37 33
+f 25 38 39
+f 25 39 40
+f 25 40 41
+f 25 41 26
+f 30 42 43
+f 30 43 44
+f 31 36 32
+f 33 37 45
+f 33 45 46
+f 33 46 47
+f 33 47 34
+f 36 45 37
+f 38 47 48
+f 38 48 39
+f 43 49 44
+f 44 49 50
+f 45 50 48
+f 45 48 51
+f 45 51 46
+f 46 51 47
+f 47 51 48
+f 48 50 52
+f 49 52 50
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_92.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72f12831ece9c729b71269d5cfec0261b63e5317
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_92.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.00242507 0.00883233 0.00117760
+v -0.00242507 0.00883233 0.00083766
+v -0.00246162 0.00883232 0.00257717
+v 0.00943869 0.00864826 0.00083766
+v -0.01252582 0.00867649 0.00083732
+v -0.00621769 0.00883233 0.00083766
+v -0.00246377 0.00883232 0.00259997
+v 0.00943869 0.00864748 0.00117726
+v 0.00943869 0.00524949 0.00083765
+v -0.00804520 0.00839728 0.00083732
+v -0.01252582 0.00511918 0.00083731
+v -0.01252582 0.00867610 0.00117658
+v -0.00621554 0.00883233 0.00117760
+v -0.00621769 0.00883233 0.00094689
+v 0.00943869 0.00864515 0.00173906
+v -0.00282712 0.00883232 0.00363782
+v 0.00943869 0.00524949 0.00117725
+v -0.00240787 0.00488174 0.00083765
+v -0.00804520 0.00542390 0.00083731
+v -0.00582209 0.00488174 0.00117759
+v -0.00579844 0.00488173 0.00212425
+v -0.00578124 0.00488173 0.00259996
+v -0.01252582 0.00511995 0.00117725
+v -0.00582209 0.00488174 0.00083765
+v -0.01252582 0.00862156 0.00259963
+v -0.00542433 0.00883232 0.00386615
+v -0.00613599 0.00883232 0.00259997
+v 0.00943869 0.00863703 0.00259997
+v -0.00402683 0.00883232 0.00407678
+v 0.00943869 0.00529550 0.00259996
+v -0.00292172 0.00488173 0.00361603
+v -0.00257557 0.00488173 0.00289226
+v -0.00249817 0.00488173 0.00259996
+v -0.00243367 0.00488173 0.00162608
+v -0.00240787 0.00488174 0.00117759
+v -0.00528888 0.00488173 0.00383449
+v -0.01252582 0.00513271 0.00130077
+v -0.01252582 0.00818729 0.00371302
+v 0.00943869 0.00851831 0.00305390
+v -0.00402683 0.00708981 0.00431361
+v 0.00943869 0.00708981 0.00421833
+v 0.00943869 0.00776617 0.00397606
+v 0.00943869 0.00828436 0.00371744
+v -0.01252582 0.00709020 0.00418805
+v 0.00943869 0.00579049 0.00381509
+v -0.00402683 0.00488173 0.00404104
+v -0.00338827 0.00488173 0.00386579
+v -0.00463098 0.00488173 0.00395971
+v -0.01252582 0.00591733 0.00378685
+v -0.01252582 0.00529164 0.00260948
+v -0.01252582 0.00526070 0.00253088
+v -0.00402683 0.00566054 0.00417783
+f 1 2 6
+f 1 6 14
+f 1 14 13
+f 1 13 27
+f 1 27 26
+f 1 26 29
+f 1 29 16
+f 1 16 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 3 7 4
+f 4 8 15
+f 4 15 28
+f 4 28 39
+f 4 39 43
+f 4 43 42
+f 4 42 41
+f 4 41 45
+f 4 45 30
+f 4 30 17
+f 4 17 9
+f 4 9 19
+f 4 19 10
+f 4 10 5
+f 4 7 8
+f 5 10 19
+f 5 19 11
+f 5 11 23
+f 5 23 37
+f 5 37 51
+f 5 51 50
+f 5 50 49
+f 5 49 44
+f 5 44 38
+f 5 38 25
+f 5 25 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 7 15 8
+f 7 16 15
+f 9 17 35
+f 9 35 18
+f 9 18 11
+f 9 11 19
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 18 24
+f 11 24 20
+f 12 25 26
+f 12 26 27
+f 12 27 13
+f 15 16 28
+f 16 29 28
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 18 35 34
+f 18 34 33
+f 18 33 32
+f 18 32 31
+f 18 31 47
+f 18 47 46
+f 18 46 48
+f 18 48 36
+f 18 36 22
+f 18 22 21
+f 18 21 20
+f 18 20 24
+f 22 36 23
+f 23 36 37
+f 25 38 26
+f 26 38 29
+f 28 29 39
+f 29 40 41
+f 29 41 42
+f 29 42 43
+f 29 43 39
+f 29 38 44
+f 29 44 40
+f 30 45 46
+f 30 46 47
+f 30 47 31
+f 36 48 49
+f 36 49 50
+f 36 50 51
+f 36 51 37
+f 40 52 41
+f 40 44 52
+f 41 52 46
+f 41 46 45
+f 44 49 46
+f 44 46 52
+f 46 49 48
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_93.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c97e5985be7577c72a1ac887d844a4f8c0546120
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_93.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.00240132 0.02521455 -0.00498941
+v -0.00311239 0.02265060 -0.00309354
+v -0.00311342 0.02265061 -0.00498942
+v -0.00591504 0.02521455 -0.00498941
+v -0.00240304 0.02521453 0.00083681
+v -0.00311170 0.02265060 -0.00148741
+v -0.00311170 0.02265060 -0.00167050
+v -0.00570061 0.02265061 -0.00498942
+v -0.00591710 0.02521454 -0.00167505
+v -0.00591710 0.02521453 0.00083681
+v -0.00311308 0.02265059 0.00083680
+v -0.00311239 0.02265059 -0.00006380
+v -0.00570130 0.02265060 -0.00333195
+v -0.00570233 0.02265059 0.00051455
+v -0.00570233 0.02265059 0.00083680
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 6
+f 2 6 12
+f 2 12 11
+f 2 11 15
+f 2 15 14
+f 2 14 13
+f 2 13 8
+f 2 8 3
+f 4 8 9
+f 5 10 15
+f 5 15 11
+f 5 11 12
+f 5 12 6
+f 8 13 9
+f 9 14 15
+f 9 15 10
+f 9 13 14
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_94.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ad8ebe13cba5ac2f140f1c3b4ef7914df033388
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_94.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.01281924 -0.00438699 0.00117717
+v -0.01281924 -0.00438699 0.00083727
+v -0.01307778 -0.00438700 0.00198033
+v -0.00612271 -0.00509959 0.00118447
+v -0.01331940 -0.00438699 0.00083727
+v -0.00612271 -0.00509959 0.00117717
+v -0.00612271 -0.00510053 0.00083959
+v -0.00612271 -0.00512069 0.00083727
+v -0.01327150 -0.00438700 0.00257392
+v -0.00612271 -0.00516992 0.00260045
+v -0.01331940 -0.00917640 0.00083726
+v -0.01331940 -0.00438700 0.00263759
+v -0.00612271 -0.00895559 0.00083726
+v -0.00612271 -0.00580516 0.00391064
+v -0.00612271 -0.00895559 0.00117716
+v -0.01331940 -0.00917593 0.00117716
+v -0.01331940 -0.00583142 0.00389307
+v -0.00612271 -0.00638696 0.00404594
+v -0.00612271 -0.00889465 0.00260044
+v -0.01331940 -0.00917265 0.00125210
+v -0.01331940 -0.00721162 0.00420312
+v -0.00612271 -0.00721162 0.00422467
+v -0.00612271 -0.00842255 0.00372427
+v -0.01331940 -0.00905311 0.00270523
+v -0.01331940 -0.00909155 0.00260044
+v -0.01331940 -0.00806391 0.00396336
+v -0.01331940 -0.00849428 0.00375843
+f 1 2 5
+f 1 5 12
+f 1 12 9
+f 1 9 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 13
+f 2 13 11
+f 2 11 5
+f 3 9 4
+f 4 10 14
+f 4 14 18
+f 4 18 22
+f 4 22 23
+f 4 23 19
+f 4 19 15
+f 4 15 13
+f 4 13 8
+f 4 8 7
+f 4 7 6
+f 4 9 10
+f 5 11 16
+f 5 16 20
+f 5 20 25
+f 5 25 24
+f 5 24 27
+f 5 27 26
+f 5 26 21
+f 5 21 17
+f 5 17 12
+f 9 12 10
+f 10 12 14
+f 11 15 16
+f 11 13 15
+f 12 17 14
+f 14 17 18
+f 15 19 16
+f 16 19 20
+f 17 21 18
+f 18 21 22
+f 19 23 24
+f 19 24 25
+f 19 25 20
+f 21 26 22
+f 22 26 23
+f 23 26 27
+f 23 27 24
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_95.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2432dc2f3ea7f0b6860c472fc584c8590791763c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_95.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.01908323 0.01853125 -0.01021214
+v -0.01908092 0.01851044 -0.01022855
+v -0.01907976 0.01132752 -0.01022858
+v -0.01908092 0.01132752 -0.01021217
+v -0.01904856 0.02234643 -0.00498942
+v -0.01904856 0.02282122 -0.00498942
+v -0.01908092 0.02461632 -0.01021212
+v -0.01908092 0.02461632 -0.01022853
+v -0.01280631 0.01132752 -0.01022858
+v -0.01903239 0.01132750 -0.00498946
+v -0.01904741 0.02461630 -0.00498941
+v -0.01256831 0.02461632 -0.01022853
+v -0.01352955 0.01132750 -0.00498946
+v -0.00728152 0.01389006 -0.01022857
+v -0.00728152 0.01419442 -0.00498945
+v -0.01339900 0.02461630 -0.00498941
+v -0.00728152 0.02152306 -0.01022854
+v -0.00728152 0.02106256 -0.00498942
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 12
+f 2 12 17
+f 2 17 14
+f 2 14 9
+f 2 9 3
+f 3 9 13
+f 3 13 10
+f 3 10 4
+f 4 10 5
+f 5 10 13
+f 5 13 15
+f 5 15 18
+f 5 18 16
+f 5 16 11
+f 5 11 6
+f 6 11 7
+f 7 11 16
+f 7 16 12
+f 7 12 8
+f 9 14 15
+f 9 15 13
+f 12 16 18
+f 12 18 17
+f 14 17 18
+f 14 18 15
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_96.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1ded80373dd20dcca32d54a74441bee8813485a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_96.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v -0.00295822 0.00381497 -0.00498949
+v -0.00248509 0.00381499 -0.01022855
+v -0.00563943 0.00381497 -0.00498949
+v -0.00264812 -0.00447622 -0.00498952
+v -0.00168890 -0.00447620 -0.01022858
+v -0.00596050 0.00381499 -0.01022855
+v -0.00678211 -0.00447458 -0.01022858
+v -0.00589918 -0.00447622 -0.00498952
+v -0.00670284 -0.00447620 -0.01022858
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 4 8 9
+f 4 9 5
+f 7 9 8
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_97.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95d60b35e7e5d63c64557e7b9f2edcc026471aea
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_97.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.01339688 0.03314434 -0.00024788
+v 0.02495837 0.03263202 0.00041539
+v 0.01339688 0.03314436 -0.00498938
+v 0.01339257 0.03314434 0.00083684
+v 0.02495837 0.03263204 -0.00498938
+v 0.02495837 0.03263103 0.00083684
+v 0.01011890 0.03314436 -0.00498938
+v 0.01011890 0.03314434 0.00083684
+v 0.02495837 0.02544573 -0.00498941
+v 0.02495837 0.02544670 0.00083681
+v -0.01854945 0.03223445 -0.00498938
+v -0.01875676 0.03223443 0.00083456
+v -0.01652393 0.03223443 0.00083684
+v 0.01307297 0.02304039 0.00083680
+v 0.01307297 0.02304041 -0.00498942
+v -0.01900293 0.03091706 -0.00498939
+v -0.01900725 0.03092397 -0.00309313
+v -0.01900725 0.03092002 -0.00167079
+v -0.01905908 0.02996460 0.00083683
+v -0.01876540 0.03142540 0.00083684
+v 0.01058965 0.02304039 0.00083680
+v 0.01058965 0.02304041 -0.00498942
+v -0.01902453 0.03060452 -0.00498939
+v -0.01908931 0.02997252 -0.00167079
+v -0.01916273 0.02854336 0.00083682
+v -0.01915409 0.02521527 0.00083681
+v -0.01904612 0.02521529 -0.00498941
+v -0.01906771 0.02997253 -0.00498939
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 10
+f 2 10 9
+f 2 9 5
+f 3 5 9
+f 3 9 15
+f 3 15 22
+f 3 22 27
+f 3 27 28
+f 3 28 23
+f 3 23 16
+f 3 16 11
+f 3 11 7
+f 4 8 13
+f 4 13 20
+f 4 20 19
+f 4 19 25
+f 4 25 26
+f 4 26 21
+f 4 21 14
+f 4 14 10
+f 4 10 6
+f 7 11 12
+f 7 12 8
+f 8 12 13
+f 9 10 14
+f 9 14 15
+f 11 16 12
+f 12 16 17
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 14 21 22
+f 14 22 15
+f 16 23 24
+f 16 24 17
+f 17 24 18
+f 18 24 19
+f 19 24 25
+f 21 26 22
+f 22 26 27
+f 23 28 24
+f 24 28 25
+f 25 28 26
+f 26 28 27
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_98.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbbb3ba0dbf1485771d5783e914a61aeaabb07c7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_98.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.01855067 0.03223657 -0.00498938
+v -0.01875902 0.03223655 0.00083513
+v -0.01874711 0.03569434 0.00083685
+v -0.01873818 0.03707840 0.00083686
+v -0.01848668 0.03707842 -0.00498936
+v -0.01116193 0.03223657 -0.00498938
+v -0.01875827 0.03241619 0.00083684
+v -0.01652751 0.03223655 0.00083684
+v -0.01275873 0.03707840 0.00083686
+v -0.01275948 0.03707842 -0.00498936
+v -0.01115821 0.03223656 -0.00167046
+v -0.01116044 0.03223655 0.00083684
+v -0.01115896 0.03223655 -0.00019836
+v -0.01275873 0.03707841 -0.00167044
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 6
+f 1 6 11
+f 1 11 13
+f 1 13 12
+f 1 12 8
+f 1 8 2
+f 2 7 3
+f 2 8 7
+f 3 7 8
+f 3 8 12
+f 3 12 9
+f 3 9 4
+f 4 9 14
+f 4 14 10
+f 4 10 5
+f 6 10 11
+f 9 12 13
+f 9 13 11
+f 9 11 14
+f 10 14 11
+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_99.obj b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afef3f2763da2b827667ec711cc3cf33c4006f0e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/mesh/staples_box_020_collision_99.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.00871719 0.01398398 -0.01022867
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+v 0.00871719 0.01426755 -0.00499252
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+v 0.01023171 0.02461630 -0.00498941
+v 0.01340626 0.02461632 -0.01022863
+v 0.01688548 0.01399048 -0.01022867
+v 0.01688548 0.01428187 -0.00498945
+v 0.01319596 0.02461630 -0.00498941
+v 0.01688548 0.02131851 -0.01022505
+v 0.01582996 0.02132241 -0.01022864
+v 0.01688548 0.01562963 -0.01022866
+v 0.01688548 0.02082674 -0.00498942
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+f 1 16 11
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+f 1 5 2
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+f 13 16 17
+f 15 19 20
+f 15 18 19
+f 16 21 19
+f 16 19 22
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+
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/staples_box_020.xml b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/staples_box_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..685b77a5d2afb1f4537631d58ee93d84d4f549c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/mjcf/staples_box_020.xml
@@ -0,0 +1,214 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="staples_box_020">
+  <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/staples_box_020.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/staples_box_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/staples_box_020_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/staples_box_020_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/staples_box_020_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/staples_box_020_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/staples_box_020_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/staples_box_020_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/staples_box_020_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/staples_box_020_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/staples_box_020_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/staples_box_020_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/staples_box_020_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/staples_box_020_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/staples_box_020_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/staples_box_020_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/staples_box_020_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/staples_box_020_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/staples_box_020_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_20" file="mesh/staples_box_020_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_27" file="mesh/staples_box_020_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_32" file="mesh/staples_box_020_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_37" file="mesh/staples_box_020_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_99" file="mesh/staples_box_020_collision_99.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="staples_box_020">
+      <joint type="free" />
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+      <geom type="mesh" mesh="collision_mesh_0_96" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_99" 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_tools/1af803ef7fdd58c4a0970c7fefebb478/staples_box_020.urdf b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/staples_box_020.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..40291c86c0782332aa0434c11229f60b0fe253c9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/staples_box_020.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="staples_box_020">
+   <link name="staples_box_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/staples_box_020.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/staples_box_020_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2250" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>1af803ef7fdd58c4a0970c7fefebb478</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>staples_box</category>
+         <name>plastic staples box</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>translucent hinged plastic box with colorful staple compartments</description>
+         <min_height>0.0749</min_height>
+         <max_height>0.0749</max_height>
+         <real_height>0.0749</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518181246</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.027276 -0.044059 -0.018233</min>
+            <max>0.032055 0.042494 0.056682</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/staples_box_020.usd b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/staples_box_020.usd
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+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/staples_box_020.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf7bd430589a32c8bf5e2a8f0d389e46c181f87a4ae94fa6fda069fd0da700b5
+size 4799361
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/textures/material_0.png b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/textures/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e46261fa378deeeab6ded373ca30a90641e83fa77daab84bb71918715adc67b9
+size 11619558
diff --git a/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/video.mp4 b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/video.mp4
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+++ b/dataset/desktop_supplies/office_tools/1af803ef7fdd58c4a0970c7fefebb478/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e12a2ce7e49247a363e9249a4e8f0be187cb582fbd6d0bfa8985d2ad45d6ff1
+size 644509