diff --git a/.gitattributes b/.gitattributes
index 9bbacbff950c58114021acb67521167f6e9c07cd..14241e950e45cde4481d1525e4bfbf7fbcf9065d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3090,3 +3090,4 @@ dataset/desktop_supplies/office_stationery/159fc3e5c87f5cc99deff6587d85373c/eras
 dataset/desktop_supplies/office_stationery/159fc3e5c87f5cc99deff6587d85373c/mesh/eraser_023.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/eraser_020.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/mesh/eraser_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/1c3090016ed053e2bb444e9470aaf9cb.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/1c3090016ed053e2bb444e9470aaf9cb.urdf b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/1c3090016ed053e2bb444e9470aaf9cb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da75cb626c0a9132a8dc1b3070bfa495f6ac1418
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/1c3090016ed053e2bb444e9470aaf9cb.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="notebook">
+   <link name="notebook">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/notebook.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/notebook_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.152953</scale>
+         <version>v0.1.5</version>
+         <category>notebook</category>
+         <description>slim spiral-bound notebook with metallic rings and flat rectangular pages</description>
+         <min_height>0.018</min_height>
+         <max_height>0.025</max_height>
+         <real_height>0.0215</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.6</max_mass>
+         <generate_time>20251011220208</generate_time>
+         <gs_model>mesh/notebook_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: Geometry appears incomplete or fragmented, with overlapping and redundant elements in the central section.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.643272519111633</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>17</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/1c3090016ed053e2bb444e9470aaf9cb.usd b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/1c3090016ed053e2bb444e9470aaf9cb.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c481898c46f87fad68d480a9f6ad0da61b507180
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/1c3090016ed053e2bb444e9470aaf9cb.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4894c6bebab39a7908b82a59d2d3d57247d889d7cd2d9100f0d0a94e1f09a946
+size 395653
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0135ebd197866cf7729217dbe94ed157897b9cd0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b262f14ca753925bf38ed856f7547e6ba25db4463a0f8ad4c24965f0c783be1
+size 1229141
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mesh/notebook.glb b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mesh/notebook.glb
new file mode 100644
index 0000000000000000000000000000000000000000..620ff1b455e73986c257a7a64eae07b6be6f81a6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mesh/notebook.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a71f7767f5053391b5caacdb16b0adccd1c203ca7566f5b50a10cca6be75da6
+size 1547140
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mesh/notebook.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mesh/notebook.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8eb8924e056aee5ca439037a1d537817df760837
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mesh/notebook.obj
@@ -0,0 +1,29721 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mesh/notebook_collision.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mesh/notebook_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0f8b1294dcdc305d0c21c79c0c0e3b97ee05027
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mesh/notebook_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mesh/notebook_gs.ply b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mesh/notebook_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..17fff1726628fc7888c87d313ac7c734588067e9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mesh/notebook_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a284bb33fd7326de35aeb7385ef6d9a63bc0c852200ff0ce34ec6fac75e2d3c
+size 14777194
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/1c3090016ed053e2bb444e9470aaf9cb.xml b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/1c3090016ed053e2bb444e9470aaf9cb.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c9b0848e942eb441bb379d9c1a0b32cfaf7dcb45
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/1c3090016ed053e2bb444e9470aaf9cb.xml
@@ -0,0 +1,80 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="notebook">
+  <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/notebook.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/notebook_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/notebook_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/notebook_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/notebook_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/notebook_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/notebook_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/notebook_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/notebook_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/notebook_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/notebook_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/notebook_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/notebook_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/notebook_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/notebook_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/notebook_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/notebook_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/notebook_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/notebook_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/notebook_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/notebook_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/notebook_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/notebook_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/notebook_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/notebook_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/notebook_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/notebook_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/notebook_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/notebook_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/notebook_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/notebook_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/notebook_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/notebook_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/notebook_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="notebook">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0135ebd197866cf7729217dbe94ed157897b9cd0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b262f14ca753925bf38ed856f7547e6ba25db4463a0f8ad4c24965f0c783be1
+size 1229141
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edfeb1b21f70e0ccd036ba7c7c29e005b8aedfb8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook.obj
@@ -0,0 +1,29721 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c92c5225f781150e175f8ac8180f4be7a5df594
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision.obj
@@ -0,0 +1,6167 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_0.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..891d25e7f204b5d1c4c08778b148261a0e7e4cd3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_0.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_1.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c7246e19be230f095a7445e23f98e67babd2b5a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_1.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_10.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6fd407997902c69008ed14f5a405c31cc9a531b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_10.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_11.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c1242e2a87a9a108b0819f087fe3282f30a36d2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_11.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_12.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f32b7eea5474c9937d678ba79a648cb24eff161d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_12.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_13.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3216b25118ce1c0ddb3a730e238005b0ecd2e0cf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_13.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_14.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0151ab630e8071038874cc9290a41c9f26c94352
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_14.obj
@@ -0,0 +1,535 @@
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diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_15.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26710ed66002566c6e56ce3afb82bca1abfdb7f2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_15.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_16.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b46c8739928bafe738ae012a1e409571692a80c6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_16.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_17.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c20544af4705c09d6e8fbb36c0e84409ba27579b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_17.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+v -0.04675869 -0.07676329 -0.00307084
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+
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_18.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4715004a074fdbfae437a9718c2b72961fd14348
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_18.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_19.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c5340fda367233c452e31d74eadd60ee0fd1ce2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_19.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_2.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f62e7525d281fe7ad9b54b9cca9c2f718d47ccb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_2.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.05588940 -0.07199218 0.00543977
+v 0.05425254 -0.06946613 0.00653342
+v 0.05425254 -0.07199218 0.00651355
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+
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_20.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6ed337fa8af3ba0eed5805516cb8ac225619384
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_20.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.03209117 -0.00247175 -0.00366841
+v -0.03209117 -0.00247173 -0.00754045
+v -0.03209117 -0.00174914 -0.00366703
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+
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_21.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf79437949e5718f78782ed9b9d276e0adb130e8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_21.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.04675650 -0.06852642 0.00693576
+v -0.04675650 -0.07451922 0.00664974
+v -0.03413330 -0.07451922 0.00666639
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+
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_22.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..379cd599ec692de69ec239ce202fba1946775f22
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_22.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.04237099 0.02601865 0.00626379
+v -0.04531690 0.02601864 0.00749249
+v -0.04237099 0.02601865 0.00532267
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+v -0.04927308 0.02601867 -0.00004908
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+v -0.05556957 0.03052429 0.00466075
+v -0.05661096 0.03036460 -0.00004907
+v -0.05682462 0.03157126 0.00118173
+v -0.04237099 0.03914840 0.00328360
+v -0.04237099 0.03662215 0.00324699
+v -0.04454434 0.04249739 -0.00004902
+v -0.05061161 0.04003886 0.00946995
+v -0.04237099 0.04148428 0.00885404
+v -0.04237099 0.04249736 0.00683062
+v -0.04676014 0.04186337 0.00825694
+v -0.04928440 0.04249737 0.00666645
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+v -0.05344715 0.04070349 0.00739424
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+v -0.05567710 0.03220684 0.00482912
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+v -0.05569833 0.04051960 0.00488980
+v -0.05668737 0.03914841 0.00118175
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+v -0.04950937 0.04249739 -0.00004902
+v -0.04676014 0.04249736 0.00689755
+v -0.05620346 0.04086323 -0.00004903
+v -0.05618224 0.04084871 0.00118176
+v -0.05593604 0.04069867 0.00354085
+v -0.05177328 0.04249737 0.00535514
+v -0.05176762 0.04249738 0.00348857
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+f 84 86 90
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+
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_23.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85f18ddd0f4fe99bbe3d945f3a576f3caf078152
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_23.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.05441621 -0.02146361 -0.00379447
+v -0.05441138 -0.02146361 -0.00358500
+v -0.05385405 -0.02146360 -0.00550461
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+v -0.05475399 -0.02163096 -0.00307058
+v -0.04968484 -0.02146361 -0.00307058
+v -0.05586144 -0.02466213 -0.00507674
+v -0.05543680 -0.02297833 -0.00446822
+v -0.05581801 -0.02214328 -0.00307058
+v -0.05246431 -0.02146360 -0.00668865
+v -0.05353798 -0.02461089 -0.00747642
+v -0.04432857 -0.02146361 -0.00307058
+v -0.05474434 -0.02652694 -0.00622714
+v -0.05584214 -0.02652694 -0.00504790
+v -0.05661180 -0.02652695 -0.00353694
+v -0.05625954 -0.02389196 -0.00362347
+v -0.05596036 -0.02248311 -0.00307058
+v -0.05120727 -0.02146359 -0.00746199
+v -0.05072714 -0.02507367 -0.00952378
+v -0.05340528 -0.03357291 -0.00740022
+v -0.05072714 -0.02547498 -0.00952378
+v -0.05070784 -0.03307084 -0.00952037
+v -0.04415244 -0.02328744 -0.00307059
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+v -0.05641396 -0.02391758 -0.00307059
+v -0.04928191 -0.02146359 -0.00780745
+v -0.04928191 -0.02472700 -0.00978133
+v -0.05289378 -0.03525670 -0.00694763
+v -0.05543197 -0.03512693 -0.00456786
+v -0.04897791 -0.03890777 -0.00804720
+v -0.04928191 -0.03351484 -0.00977998
+v -0.04386291 -0.03370613 -0.00307062
+v -0.03209117 -0.03890779 -0.00380964
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+
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_24.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75f6d66a6ca0eecda9399d0ffebdad7010a3eb7f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_24.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.03209117 0.04172890 -0.00358568
+v -0.04350450 0.04672784 -0.00315835
+v -0.03407867 0.04172890 -0.00358193
+v -0.03209117 0.04172892 -0.00765039
+v -0.03209117 0.06676032 -0.00342590
+v -0.04350450 0.06676032 -0.00284940
+v -0.04350450 0.04426023 -0.00371686
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+v -0.03209117 0.04216021 -0.00765114
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+v -0.04350450 0.04469889 -0.01006207
+v -0.04170804 0.04483857 -0.00993313
+v -0.04350450 0.04618142 -0.01048038
+v -0.04350450 0.04672052 -0.01050811
+v -0.03209117 0.06676034 -0.00767653
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+v -0.04170804 0.06188150 -0.00999903
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+v -0.04350450 0.04358882 -0.00742023
+v -0.04350450 0.04359862 -0.00824037
+v -0.04188791 0.04172891 -0.00595539
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+f 24 25 30
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+
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_25.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecd58ab731cd4d987dc262291e0b43d0cd35d807
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_25.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.05430159 -0.00247699 -0.00353688
+v -0.05607784 -0.00462651 -0.00353689
+v -0.05614283 -0.00459560 -0.00306984
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+v -0.05667715 -0.00631867 -0.00306984
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diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_26.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6d8861838078cf06872106e21889fcf6cdf190a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_26.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_27.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5851df367b7f6ffc5f0f2186dc393d1b56058171
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_27.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_28.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41e21179b85beb99ae3b2afbf59823ba35fa9c4d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_28.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.04195286 -0.06717482 -0.00307007
+v -0.04370339 -0.06717483 0.00063035
+v -0.05010949 -0.06717482 -0.00307007
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+v -0.04963057 -0.06717483 0.00063035
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+
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_29.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a239494151a4914e9128f07cf6c2cdb3495e853
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_29.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_3.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15a644757780b10dc21594f280cb9effc1f7a73f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_3.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_30.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dde4338a1ebdd7cb019d20ec85bd8928629676ea
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_30.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.05455981 -0.05704637 0.00319554
+v -0.05404288 -0.05704638 0.00565201
+v -0.05426615 -0.05704637 0.00223181
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+
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_31.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad044f77bcae2c94b3bd95abb80a382f0aa402f9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_31.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_32.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcb191e5d44eeac9dd492234fe0e545a07302c40
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_32.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_4.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..028a75ebadaa807f45290535bda11c4862439f6a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_4.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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+f 15 24 23
+f 15 23 20
+f 15 20 16
+f 17 21 22
+f 17 22 19
+f 18 20 23
+f 18 23 21
+f 21 24 22
+f 21 23 24
+
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_5.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b1849123dd92e67503939a3a458743b3e073f1b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_5.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.00804315 -0.06228102 -0.00776823
+v -0.00804315 -0.06525237 -0.00776975
+v -0.00804315 -0.06228104 -0.00345308
+v -0.00382576 -0.06228102 -0.00777049
+v -0.00804315 -0.07451926 -0.00777355
+v -0.00090701 -0.06228102 -0.00777200
+v -0.00804315 -0.06951800 -0.00007390
+v 0.05067890 -0.06228105 -0.00007387
+v -0.00804315 -0.07624779 -0.00742409
+v 0.00374755 -0.06228102 -0.00777427
+v 0.00374755 -0.06441668 -0.00777503
+v 0.00374755 -0.06694233 -0.00777580
+v 0.02142717 -0.07451926 -0.00778412
+v -0.00804315 -0.07438073 -0.00007391
+v 0.05489630 -0.06228105 -0.00007387
+v -0.00804315 -0.07687492 -0.00589488
+v 0.00627413 -0.07624779 -0.00742560
+v 0.00880071 -0.06228102 -0.00777578
+v 0.02142717 -0.07199219 -0.00778335
+v 0.04920024 -0.07199219 -0.00778486
+v 0.02395375 -0.07451926 -0.00778412
+v -0.00804315 -0.07640924 -0.00405545
+v -0.00725239 -0.07438215 -0.00007391
+v 0.05496701 -0.06828660 -0.00007389
+v 0.05661926 -0.06228104 -0.00364404
+v 0.01132728 -0.07624779 -0.00742560
+v 0.02142717 -0.07624636 -0.00742560
+v 0.04667366 -0.07624350 -0.00742334
+v 0.05172682 -0.07624208 -0.00742032
+v 0.04667366 -0.07684207 -0.00589488
+v 0.00919287 -0.06228102 -0.00777578
+v 0.05424697 -0.06228102 -0.00777427
+v 0.05172682 -0.07199219 -0.00778411
+v 0.04920024 -0.07451926 -0.00778110
+v 0.02647390 -0.07624493 -0.00742560
+v -0.00129918 -0.07438787 -0.00007391
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+v 0.03910036 -0.07638494 -0.00410829
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+v 0.05497987 -0.06946800 -0.00007390
+v 0.05665783 -0.06946799 -0.00361916
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+v 0.05754502 -0.06228103 -0.00589483
+v 0.05172682 -0.07451926 -0.00777808
+v 0.05424697 -0.07624064 -0.00741730
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+v 0.05458770 -0.06228102 -0.00772068
+v 0.05424697 -0.07199219 -0.00777807
+v 0.04162051 -0.07638351 -0.00411131
+v 0.04920024 -0.07637923 -0.00412263
+v 0.05172682 -0.07637636 -0.00412640
+v 0.05172682 -0.07437215 -0.00007391
+v 0.05667068 -0.07199221 -0.00362897
+v 0.05480629 -0.07199222 -0.00007390
+v 0.05757717 -0.07451927 -0.00589487
+v 0.05650996 -0.07451926 -0.00741880
+v 0.05643925 -0.06228102 -0.00742933
+v 0.05424697 -0.07451926 -0.00776902
+v 0.05424697 -0.07683350 -0.00589488
+v 0.05618851 -0.07608779 -0.00730182
+v 0.05424697 -0.07637351 -0.00414678
+v 0.05615637 -0.07617494 -0.00434907
+v 0.05379694 -0.07380788 -0.00007391
+v 0.05658068 -0.07451928 -0.00391052
+v 0.05650353 -0.07630637 -0.00589488
+f 1 2 5
+f 1 5 9
+f 1 9 16
+f 1 16 22
+f 1 22 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 25
+f 1 25 43
+f 1 43 57
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+f 1 47 32
+f 1 32 31
+f 1 31 18
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+f 1 10 6
+f 1 6 4
+f 1 4 2
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+f 3 7 8
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+f 20 34 21
+f 20 31 32
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+f 21 35 27
+f 22 36 37
+f 22 37 23
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+f 22 38 39
+f 22 39 36
+f 24 40 25
+f 25 40 41
+f 25 41 42
+f 25 42 43
+f 27 35 28
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+f 28 34 29
+f 29 34 44
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+f 29 45 46
+f 29 46 30
+f 30 46 38
+f 32 47 48
+f 32 48 33
+f 33 48 44
+f 33 44 34
+f 38 46 49
+f 38 49 39
+f 39 49 50
+f 39 50 51
+f 39 51 52
+f 40 53 41
+f 40 54 53
+f 41 53 42
+f 42 53 55
+f 42 55 56
+f 42 56 57
+f 42 57 43
+f 44 48 58
+f 44 58 45
+f 45 59 46
+f 45 58 60
+f 45 60 59
+f 46 59 51
+f 46 51 50
+f 46 50 49
+f 47 57 48
+f 48 57 56
+f 48 56 58
+f 51 59 61
+f 51 61 52
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+f 52 62 63
+f 53 54 64
+f 53 64 55
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+f 54 62 64
+f 55 65 60
+f 55 60 56
+f 55 64 62
+f 55 62 65
+f 56 60 58
+f 59 60 65
+f 59 65 62
+f 59 62 61
+
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_6.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8b839a5ddd1014e489a71dce834d31ae95dca63
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_6.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00804315 -0.07687128 -0.00589514
+v -0.03209117 -0.07688537 -0.00589514
+v -0.00804315 -0.07644878 -0.00691787
+v -0.00804315 -0.07640655 -0.00405543
+v -0.02655467 -0.07642064 -0.00403972
+v -0.03160626 -0.07642064 -0.00403448
+v -0.03209117 -0.07642064 -0.00403448
+v -0.03209117 -0.07623753 -0.00742137
+v -0.02402887 -0.07623753 -0.00742287
+v -0.01898199 -0.07623753 -0.00742362
+v -0.01140695 -0.07623753 -0.00742437
+v -0.00804315 -0.07623753 -0.00742437
+v -0.00804315 -0.07436452 -0.00013060
+v -0.03160626 -0.07444902 -0.00013060
+v -0.03209117 -0.07444902 -0.00013060
+v -0.03209117 -0.07591363 -0.00748796
+v -0.00804315 -0.07451941 -0.00777375
+v -0.00804315 -0.06950587 -0.00013059
+v -0.03209117 -0.06954812 -0.00013059
+v -0.03209117 -0.07451941 -0.00776626
+v -0.01898199 -0.07451941 -0.00777075
+v -0.01393039 -0.07451941 -0.00777225
+v -0.00804315 -0.06188692 -0.00776847
+v -0.02150543 -0.06950587 -0.00013059
+v -0.00804315 0.06698697 -0.00339204
+v -0.03020094 -0.06953404 -0.00013059
+v -0.03162273 0.06698697 -0.00340401
+v -0.03209117 0.06698697 -0.00340550
+v -0.00804315 -0.04419861 -0.00776092
+v -0.03209117 0.06698699 -0.00767746
+v -0.02767750 -0.06951995 -0.00013059
+v -0.00804315 0.06698699 -0.00768943
+v -0.02913225 0.06698699 -0.00767896
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+f 1 3 12
+f 1 12 17
+f 1 17 23
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+f 1 29 32
+f 1 32 25
+f 1 25 18
+f 1 18 13
+f 1 13 4
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+f 19 27 28
+f 20 29 21
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+f 21 29 22
+f 22 29 23
+f 24 25 31
+f 25 32 33
+f 25 33 30
+f 25 30 28
+f 25 28 27
+f 25 26 31
+f 29 30 33
+f 29 33 32
+
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_7.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66d822baa886667f8c7ba44aab6eaa4ddd8cd4aa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_7.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.04665059 -0.07618738 0.00539211
+v -0.00804315 -0.07633440 0.00563198
+v 0.04665059 -0.07618737 0.00395995
+v 0.04665059 -0.07451911 0.00643607
+v -0.00804315 -0.07633439 0.00386486
+v -0.00382441 -0.07451911 0.00666459
+v -0.00635137 -0.07451911 0.00667382
+v -0.00804315 -0.07573357 0.00597831
+v 0.04665059 -0.07435930 -0.00007320
+v 0.04665059 -0.07201991 0.00682996
+v -0.00804315 -0.07437847 -0.00007320
+v -0.00516819 -0.07438486 -0.00007320
+v -0.00011962 -0.07438486 -0.00007320
+v -0.00804315 -0.07451911 0.00667523
+v 0.04665059 -0.07198795 0.00683421
+v 0.04665059 -0.06949510 -0.00007319
+v -0.00804315 -0.06951428 -0.00007319
+v 0.03152094 -0.07198795 0.00683421
+v -0.00130280 -0.07198795 0.00682428
+v -0.00382441 -0.07198795 0.00682215
+v -0.00804315 -0.07368178 0.00672136
+v 0.04665059 -0.05180889 0.00695635
+v 0.02394541 -0.06949510 -0.00007319
+v 0.04665059 -0.01103528 0.00333141
+v -0.00382441 -0.06950789 -0.00007319
+v -0.00804315 -0.01103528 0.00336831
+v 0.00375113 -0.01103528 0.00335838
+v 0.04665059 -0.03024919 0.00707637
+v 0.04665059 -0.02920093 0.00708205
+v 0.04665059 -0.01104169 0.00717650
+v -0.00635137 -0.07198795 0.00681434
+v 0.03690680 -0.01103530 0.00714883
+v -0.00804315 -0.07198795 0.00680725
+v 0.04665059 -0.01103530 0.00686850
+v -0.00804315 -0.01103529 0.00668114
+v 0.04448233 -0.01103530 0.00717012
+v 0.04415040 -0.01103530 0.00716941
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+v 0.02933126 -0.01103530 0.00712470
+v 0.02647237 -0.01103530 0.00711050
+v 0.02134350 -0.01103530 0.00708141
+v 0.01925554 -0.01103530 0.00706224
+v 0.01905210 -0.01103530 0.00706012
+v 0.01664292 -0.01103530 0.00703102
+v 0.00913698 -0.01103530 0.00693521
+v 0.00661002 -0.01103530 0.00689902
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+f 33 40 41
+f 33 41 42
+f 33 42 43
+f 33 43 44
+f 33 44 45
+f 33 45 46
+f 33 46 35
+
diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_8.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baafa03588d65a8506820a5a0400b9658fc5d7bb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_8.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v -0.00804315 0.00007662 -0.00765681
+v -0.00804315 0.00007660 -0.00386031
+v -0.00724700 0.00007662 -0.00766437
+v -0.00804315 -0.01642838 -0.00771583
+v -0.00804315 -0.06228104 -0.00345307
+v 0.05070511 0.00007659 -0.00007364
+v -0.00634812 0.00007662 -0.00767268
+v -0.00516673 0.00007662 -0.00768327
+v -0.00382483 0.00007662 -0.00769461
+v -0.00264345 0.00007662 -0.00770443
+v -0.00804315 -0.01894930 -0.00772416
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+v 0.05067943 -0.06228105 -0.00007387
+v 0.05067943 -0.06188430 -0.00007387
+v 0.05454462 0.00007659 -0.00007364
+v -0.00804315 -0.02147632 -0.00773249
+v -0.00130154 0.00007662 -0.00771502
+v -0.00382483 -0.06228102 -0.00777043
+v -0.00804315 -0.06188427 -0.00776817
+v 0.00375145 -0.03662625 -0.00778999
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+v 0.00627473 -0.03662625 -0.00779226
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+v 0.05654784 0.00007660 -0.00372045
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+v 0.05645153 -0.05430931 -0.00743702
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+v 0.05641300 0.00007662 -0.00743077
+v -0.00804315 -0.02905739 -0.00774990
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+v -0.00382483 -0.02400334 -0.00775971
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+v 0.01503240 0.00007662 -0.00778684
+v 0.01756210 0.00007662 -0.00778986
+f 1 2 6
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+f 1 62 70
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diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_9.obj b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/mjcf/mesh/notebook_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/textures/material_0.png b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/textures/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/video.mp4 b/dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/video.mp4
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