diff --git a/.gitattributes b/.gitattributes
index d26da58cfb5833c8545a3afc59854494a6ddfcd2..81f011877d80114d42311360d3d00625b609b4dd 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3119,3 +3119,5 @@ dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mesh
 dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/notebook_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/ballpoint_pen_035.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mesh/ballpoint_pen_035.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/correction_tape_028.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mesh/correction_tape_028.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/correction_tape_028.urdf b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/correction_tape_028.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..10bee6049b5f4e63d87cc7707ff04219f65a7d6e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/correction_tape_028.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="correction_tape_028">
+   <link name="correction_tape_028">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/correction_tape_028.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/correction_tape_028_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>2b13dacc29bc563b8d6d1cdfb081cea5</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>correction_tape</category>
+         <name>blue correction tape</name>
+         <color>blue,white</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>translucent blue wedge-shaped correction tape dispenser with white roller</description>
+         <min_height>0.0393</min_height>
+         <max_height>0.0393</max_height>
+         <real_height>0.0393</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611141953</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.025445 -0.058317 -0.016115</min>
+            <max>0.025416 0.041683 0.023157</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/correction_tape_028.usd b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/correction_tape_028.usd
new file mode 100644
index 0000000000000000000000000000000000000000..df7ea302cafd761324f4f48347f6d04b091703a1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/correction_tape_028.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b18e867669f2e413e350641b9b2282e00be3925cbe5620553efd3279fd59916
+size 4955549
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mesh/correction_tape_028.glb b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mesh/correction_tape_028.glb
new file mode 100644
index 0000000000000000000000000000000000000000..802d4b069fd7f76aeeebbf4178402d1b90b62b26
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mesh/correction_tape_028.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27ce719e0d8869161f7a50351216eda013f53112d378a9e9379581ee60f6290a
+size 16160828
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mesh/correction_tape_028.mtl b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mesh/correction_tape_028.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d84cd1e8253c176914b6622018e1c0c99a651f08
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mesh/correction_tape_028.mtl
@@ -0,0 +1,6 @@
+newmtl correction_tape_028_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mesh/correction_tape_028.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mesh/correction_tape_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31c24be74cf0670e43e655eb0060e5328ee49e36
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mesh/correction_tape_028.obj
@@ -0,0 +1,120694 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl correction_tape_028_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mesh/correction_tape_028_collision.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mesh/correction_tape_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..152d2e4193e0b6f8351a7c617f0981dc650e3a00
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mesh/correction_tape_028_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mesh/correction_tape_028_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mesh/correction_tape_028_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 12761550
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd39e6332cb4cc532b38c15f4cab5e299245ad2e
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+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 12761550
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/correction_tape_028.xml b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/correction_tape_028.xml
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index 0000000000000000000000000000000000000000..d97e153373c928e8a903edf9caee75162b309ee4
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+    <mesh name="collision_mesh_0_45" file="mesh/correction_tape_028_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  <worldbody>
+    <body name="correction_tape_028">
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+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_45" 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/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dec035b6625f68ca7dccf3a4187908f27c0bd21f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028.obj
@@ -0,0 +1,120694 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl correction_tape_028_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..352a763abba4a6804af9ee1cc62b12043b705bb9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision.obj
@@ -0,0 +1,8631 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_0.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce3a4ab78debbc07abd7ed979c23d418bd045129
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_1.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2158f2ca52f6408b25f4c1ba97aee0430dba043b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_10.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbffdd039d9a193c11f737d00182018477b2959e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_11.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b14f06cd04cac2a3ad5128ae0d6f1b2303f86f5f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_11.obj
@@ -0,0 +1,220 @@
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+f 6 14 7
+f 7 15 8
+f 7 14 16
+f 7 16 15
+f 9 17 26
+f 9 26 39
+f 9 39 54
+f 9 54 69
+f 9 69 55
+f 9 55 46
+f 9 46 41
+f 9 41 28
+f 9 28 18
+f 10 19 20
+f 10 20 11
+f 11 20 21
+f 11 21 12
+f 12 21 13
+f 13 22 23
+f 13 23 35
+f 13 35 50
+f 13 50 67
+f 13 67 68
+f 13 68 52
+f 13 52 38
+f 13 38 26
+f 13 26 17
+f 13 17 27
+f 13 27 37
+f 13 37 25
+f 13 25 16
+f 13 16 14
+f 13 21 22
+f 15 16 24
+f 16 25 24
+f 18 28 29
+f 19 30 31
+f 19 31 20
+f 20 31 22
+f 20 22 21
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 23
+f 24 25 36
+f 25 37 36
+f 26 38 39
+f 27 40 37
+f 28 41 29
+f 29 42 43
+f 29 43 44
+f 29 44 31
+f 29 31 45
+f 29 41 46
+f 29 46 42
+f 30 45 31
+f 31 44 32
+f 32 44 47
+f 32 47 48
+f 32 48 49
+f 32 49 34
+f 32 34 33
+f 34 49 50
+f 34 50 35
+f 36 37 51
+f 37 40 51
+f 38 52 39
+f 39 53 54
+f 39 52 53
+f 42 46 55
+f 42 55 43
+f 43 55 56
+f 43 56 57
+f 43 57 58
+f 43 58 59
+f 43 59 60
+f 43 60 61
+f 43 61 47
+f 43 47 44
+f 47 61 48
+f 48 61 60
+f 48 60 59
+f 48 59 62
+f 48 62 63
+f 48 63 64
+f 48 64 65
+f 48 65 53
+f 48 53 66
+f 48 66 49
+f 49 66 50
+f 50 66 53
+f 50 53 67
+f 52 68 53
+f 53 65 54
+f 53 68 67
+f 54 65 69
+f 55 69 70
+f 55 70 71
+f 55 71 56
+f 56 71 72
+f 56 72 73
+f 56 73 74
+f 56 74 64
+f 56 64 57
+f 57 64 58
+f 58 64 59
+f 59 64 63
+f 59 63 62
+f 64 74 65
+f 65 74 73
+f 65 73 72
+f 65 72 71
+f 65 71 70
+f 65 70 69
+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_12.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..509033b9a0f5e2d53020b7d853816976eed514c7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_12.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.00002902 -0.03180560 -0.00421302
+v -0.00720510 -0.03180562 -0.00131173
+v -0.00720510 -0.03193780 -0.00131173
+v -0.00002902 -0.03549485 -0.00421441
+v -0.00002902 -0.03180556 -0.01538813
+v -0.01141689 -0.03180562 -0.00131173
+v -0.00720733 -0.03372266 -0.00131173
+v -0.00720956 -0.03549487 -0.00131174
+v -0.00002902 -0.03549481 -0.01538676
+v -0.00002902 -0.03288615 -0.01538951
+v -0.00082500 -0.03180556 -0.01538951
+v -0.01141689 -0.03549487 -0.00131174
+v -0.01141689 -0.03180556 -0.01538675
+v -0.00232220 -0.03549481 -0.01538814
+v -0.00082500 -0.03536841 -0.01538814
+v -0.00002902 -0.03372260 -0.01538951
+v -0.00244706 -0.03372260 -0.01539089
+v -0.00893084 -0.03180556 -0.01538951
+v -0.01141689 -0.03549481 -0.01538401
+v -0.01141689 -0.03372260 -0.01538675
+v -0.00244706 -0.03549481 -0.01538814
+v -0.00893084 -0.03207715 -0.01538951
+v -0.00893084 -0.03549481 -0.01538676
+v -0.01141689 -0.03536841 -0.01538538
+v -0.01055179 -0.03549481 -0.01538538
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
+f 1 16 10
+f 1 10 5
+f 1 5 11
+f 1 11 18
+f 1 18 13
+f 1 13 6
+f 1 6 2
+f 2 6 12
+f 2 12 8
+f 2 8 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 4 8 12
+f 4 12 19
+f 4 19 25
+f 4 25 23
+f 4 23 21
+f 4 21 14
+f 4 14 9
+f 5 10 11
+f 6 13 20
+f 6 20 24
+f 6 24 19
+f 6 19 12
+f 9 14 15
+f 9 15 16
+f 10 16 17
+f 10 17 11
+f 11 17 18
+f 13 18 22
+f 13 22 20
+f 14 21 17
+f 14 17 15
+f 15 17 16
+f 17 22 18
+f 17 21 23
+f 17 23 22
+f 19 24 25
+f 20 23 24
+f 20 22 23
+f 23 25 24
+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_13.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9517fb5f39aec0138068c0b2d7ce5fcf0bc741ba
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_13.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.00002902 -0.01699448 -0.00225676
+v -0.00002902 -0.01699443 -0.01575909
+v -0.01141689 -0.01699448 -0.00225676
+v -0.00002902 -0.02792740 -0.00225680
+v -0.00002902 -0.01726554 -0.01579487
+v -0.00595428 -0.01699443 -0.01576041
+v -0.01141689 -0.01699443 -0.01576041
+v -0.01141689 -0.03180561 -0.00225682
+v -0.00663766 -0.03180561 -0.00225682
+v -0.00002902 -0.03180560 -0.00421299
+v -0.00893084 -0.01726554 -0.01579620
+v -0.00002902 -0.02549314 -0.01575514
+v -0.01141689 -0.01726554 -0.01579487
+v -0.01141689 -0.03180556 -0.01538673
+v -0.00002902 -0.03180556 -0.01538806
+v -0.00893084 -0.02549314 -0.01575647
+v -0.01141689 -0.02549314 -0.01575647
+v -0.00082500 -0.03180556 -0.01538938
+v -0.00919728 -0.03180556 -0.01538938
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 15
+f 1 15 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 13
+f 3 13 17
+f 3 17 14
+f 3 14 8
+f 4 9 10
+f 5 11 6
+f 5 12 16
+f 5 16 11
+f 6 11 7
+f 7 11 13
+f 8 14 19
+f 8 19 18
+f 8 18 15
+f 8 15 10
+f 8 10 9
+f 11 16 17
+f 11 17 13
+f 12 15 18
+f 12 18 16
+f 14 17 19
+f 16 18 19
+f 16 19 17
+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_14.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9664680b129c4e2374d46b0a00af78fd98b600c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_14.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.01729218 -0.04967639 -0.00324442
+v 0.01721314 -0.04967639 -0.00272112
+v 0.01783314 -0.05586733 0.00099844
+v 0.01783450 -0.05587590 0.00099844
+v 0.01783450 -0.05587504 0.00098390
+v 0.01782496 -0.05591447 -0.00062255
+v 0.01781951 -0.05593933 -0.00144405
+v 0.01768734 -0.05517296 -0.00324444
+v 0.00484459 -0.04967639 -0.00324442
+v 0.01709051 -0.04967639 -0.00222855
+v 0.01761103 -0.05505210 0.00099845
+v 0.01783450 -0.05596848 0.00099844
+v 0.01783450 -0.05596762 0.00098390
+v 0.01782496 -0.05595048 -0.00062255
+v 0.01781951 -0.05594104 -0.00144405
+v 0.01756743 -0.05561615 -0.00324444
+v 0.00391665 -0.05333506 -0.00324444
+v 0.00392073 -0.04967640 0.00099390
+v 0.01669671 -0.04967640 -0.00119732
+v 0.01699785 -0.05348679 0.00099845
+v 0.01726493 -0.05678371 0.00099844
+v 0.01725947 -0.05679142 0.00099844
+v 0.01724449 -0.05677342 -0.00062255
+v 0.01724312 -0.05670826 -0.00324445
+v 0.00394526 -0.05522782 -0.00324444
+v 0.00391937 -0.05509325 0.00099845
+v 0.00391665 -0.05347308 0.00099845
+v 0.00391665 -0.05344822 0.00099845
+v 0.00391801 -0.05015645 0.00099847
+v 0.00659421 -0.04967640 0.00099847
+v 0.01646643 -0.04967640 -0.00078491
+v 0.01639012 -0.05205179 0.00099846
+v 0.01644871 -0.05782867 0.00099844
+v 0.01644871 -0.05782867 0.00098390
+v 0.01643372 -0.05781238 -0.00062255
+v 0.01640783 -0.05778580 -0.00324445
+v 0.01690792 -0.05714373 -0.00324445
+v 0.00468789 -0.05777552 -0.00170902
+v 0.00460613 -0.05787239 -0.00062255
+v 0.00409515 -0.05676399 0.00099844
+v 0.00409106 -0.05673913 0.00099844
+v 0.00392073 -0.05511811 0.00099845
+v 0.00565127 -0.05793325 -0.00324445
+v 0.01358584 -0.04967640 0.00099847
+v 0.01559980 -0.05133343 0.00099846
+v 0.01635060 -0.05200550 0.00099846
+v 0.01539677 -0.05821614 0.00099844
+v 0.01538723 -0.05821957 0.00099844
+v 0.01538723 -0.05818528 -0.00062255
+v 0.01538723 -0.05815098 -0.00222858
+v 0.01538723 -0.05812869 -0.00324445
+v 0.00566081 -0.05829415 -0.00062255
+v 0.00455708 -0.05787753 0.00099844
+v 0.00454890 -0.05786467 0.00099844
+v 0.00728233 -0.05831214 -0.00324445
+v 0.00728233 -0.05843388 0.00099844
+v 0.00728233 -0.05842787 -0.00062255
+v 0.00890385 -0.05833100 -0.00324445
+v 0.00566081 -0.05830186 0.00098390
+v 0.00566081 -0.05830186 0.00099844
+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 16
+f 1 16 24
+f 1 24 37
+f 1 37 36
+f 1 36 51
+f 1 51 58
+f 1 58 55
+f 1 55 43
+f 1 43 25
+f 1 25 17
+f 1 17 9
+f 1 9 18
+f 1 18 30
+f 1 30 44
+f 1 44 31
+f 1 31 19
+f 1 19 10
+f 1 10 2
+f 2 10 3
+f 3 10 11
+f 3 11 20
+f 3 20 32
+f 3 32 46
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+f 3 44 30
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+f 3 26 42
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+f 17 29 18
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+f 22 36 23
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+f 23 37 24
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+f 31 44 45
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+f 36 48 49
+f 36 49 50
+f 36 50 51
+f 38 43 52
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+f 39 54 40
+f 39 52 53
+f 43 55 52
+f 48 56 57
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+f 48 58 49
+f 49 58 50
+f 50 58 51
+f 52 55 57
+f 52 57 59
+f 52 59 53
+f 53 59 60
+f 55 58 57
+f 56 60 59
+f 56 59 57
+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_15.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3cfed736862e5a2f18df4b8a95d1f42bd2076f8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_15.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.01907852 -0.03549522 -0.00324437
+v 0.01907704 -0.03549522 -0.00222850
+v 0.01782318 -0.04547313 -0.00324441
+v 0.00552349 -0.03549522 -0.00324437
+v 0.01907110 -0.03549523 -0.00062247
+v 0.01729196 -0.04967639 -0.00324442
+v 0.00489285 -0.04688902 -0.00324441
+v 0.00457234 -0.04688902 -0.00197146
+v 0.00392686 -0.04688903 0.00099848
+v 0.00420582 -0.04524270 0.00099848
+v 0.00763798 -0.03549523 0.00099852
+v 0.01906220 -0.03549523 0.00099852
+v 0.01906071 -0.03550912 0.00099852
+v 0.01841375 -0.04030650 0.00099850
+v 0.01721331 -0.04967639 -0.00272112
+v 0.00484537 -0.04967639 -0.00324442
+v 0.00485279 -0.04853396 -0.00324442
+v 0.00391944 -0.04853397 0.00099847
+v 0.01807840 -0.04205416 0.00099850
+v 0.01709164 -0.04967639 -0.00222855
+v 0.01805466 -0.04216105 0.00099850
+v 0.00392092 -0.04967640 0.00099390
+v 0.00659483 -0.04967640 0.00099847
+v 0.01669545 -0.04967640 -0.00119732
+v 0.01358677 -0.04967640 0.00099847
+v 0.01646693 -0.04967640 -0.00078491
+f 1 2 3
+f 1 3 6
+f 1 6 16
+f 1 16 17
+f 1 17 7
+f 1 7 4
+f 1 4 11
+f 1 11 12
+f 1 12 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 20
+f 6 20 24
+f 6 24 26
+f 6 26 25
+f 6 25 23
+f 6 23 22
+f 6 22 16
+f 7 17 8
+f 8 17 16
+f 8 16 18
+f 8 18 9
+f 9 18 23
+f 9 23 25
+f 9 25 21
+f 9 21 19
+f 9 19 14
+f 9 14 13
+f 9 13 12
+f 9 12 11
+f 9 11 10
+f 14 19 15
+f 15 19 21
+f 15 21 20
+f 16 22 18
+f 18 22 23
+f 20 21 24
+f 21 25 26
+f 21 26 24
+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_16.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..039fec3afe716c4573fdc1af192adb6e4c4d7018
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_16.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.01235846 -0.01699448 -0.00226044
+v 0.01235846 -0.01699443 -0.01576103
+v -0.00002790 -0.01699448 -0.00226044
+v 0.01235846 -0.03180561 -0.00226050
+v 0.01235846 -0.01703067 -0.01576633
+v 0.01052282 -0.01699443 -0.01576501
+v -0.00002790 -0.01699443 -0.01575970
+v -0.00002790 -0.02792885 -0.00226048
+v 0.00664783 -0.03180561 -0.00226050
+v 0.01235846 -0.03180556 -0.01538596
+v 0.01235846 -0.01726554 -0.01579682
+v 0.00890177 -0.01699443 -0.01576633
+v 0.00890177 -0.01726554 -0.01580212
+v 0.00079656 -0.01699443 -0.01576103
+v -0.00002790 -0.01712781 -0.01577694
+v -0.00002790 -0.03180560 -0.00421302
+v 0.00890177 -0.03180556 -0.01538861
+v 0.01235846 -0.02549314 -0.01575973
+v 0.00863625 -0.01699443 -0.01576633
+v 0.01214507 -0.02549314 -0.01575973
+v -0.00002790 -0.02549314 -0.01575443
+v 0.00079656 -0.01726554 -0.01579549
+v -0.00002790 -0.01726554 -0.01579417
+v -0.00002790 -0.03180556 -0.01538861
+f 1 2 6
+f 1 6 12
+f 1 12 19
+f 1 19 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 15
+f 3 15 23
+f 3 23 21
+f 3 21 24
+f 3 24 16
+f 3 16 8
+f 4 9 16
+f 4 16 24
+f 4 24 17
+f 4 17 10
+f 5 11 6
+f 6 11 13
+f 6 13 12
+f 7 14 15
+f 8 16 9
+f 10 17 18
+f 11 18 13
+f 12 13 19
+f 13 18 20
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 13 14 19
+f 14 22 15
+f 15 22 23
+f 17 24 20
+f 17 20 18
+f 20 24 21
+f 21 23 22
+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_17.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fad42ba57249803847ddb6ee964d7099d8013ae5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_17.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.01235846 -0.03180562 -0.00061792
+v 0.00754626 -0.03180562 -0.00061792
+v 0.01235846 -0.03549487 -0.00061793
+v 0.01235846 -0.03180556 -0.01538554
+v 0.00754747 -0.03372266 -0.00061792
+v -0.00002790 -0.03180560 -0.00421258
+v 0.00754868 -0.03549487 -0.00061793
+v 0.01235846 -0.03549481 -0.01538555
+v 0.01235846 -0.03372260 -0.01538699
+v 0.00890177 -0.03180556 -0.01538843
+v -0.00002790 -0.03549485 -0.00421404
+v -0.00002790 -0.03180556 -0.01538843
+v 0.00092144 -0.03549481 -0.01538700
+v -0.00002790 -0.03372260 -0.01538988
+v 0.00890177 -0.03372260 -0.01538843
+v 0.01235846 -0.03393929 -0.01538699
+v -0.00002790 -0.03549481 -0.01538700
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 9
+f 1 9 4
+f 1 4 10
+f 1 10 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
+f 3 7 11
+f 3 11 17
+f 3 17 13
+f 3 13 8
+f 4 9 10
+f 5 6 7
+f 6 11 7
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+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_18.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b510e377a6113b011280490c193f0c09607dbea9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_18.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_19.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..682583e0acbf5a8d819c3def8d3a9f121cfbdf47
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_19.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_2.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..008e114b0e6d7cfabff9dcf12eb5f128854e3a11
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_2.obj
@@ -0,0 +1,643 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_20.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0cad144e16de8172799242e54925d5b94fe4775
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_20.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_21.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0456e30ac4c04d13210938e4e953b308f4a3e96
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_21.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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+v 0.01305206 -0.01699453 0.01117139
+v 0.01278096 -0.02574442 0.01131863
+v 0.01558101 -0.02574441 0.00930772
+v 0.01560986 -0.02574441 0.00923007
+v 0.01599745 -0.01699443 -0.01576303
+v 0.01235882 -0.01699443 -0.01576035
+v 0.01279699 -0.01699453 0.01131866
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 17
+f 1 17 22
+f 1 22 11
+f 1 11 6
+f 1 6 12
+f 1 12 21
+f 1 21 20
+f 1 20 19
+f 1 19 13
+f 1 13 7
+f 1 7 2
+f 2 7 14
+f 2 14 23
+f 2 23 15
+f 2 15 8
+f 2 8 4
+f 2 4 3
+f 4 8 5
+f 5 8 9
+f 5 9 10
+f 6 11 12
+f 7 13 14
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 11 22 16
+f 11 16 23
+f 11 23 14
+f 11 14 24
+f 11 24 18
+f 13 19 14
+f 14 19 24
+f 15 23 16
+f 16 22 17
+f 18 24 19
+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_22.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73d67784f59093f3ab9dd27b07285410ab3aaaa8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_22.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.01792120 -0.04609251 0.01072136
+v 0.01790388 -0.04609251 0.01158638
+v 0.01792812 -0.04853626 0.01010238
+v 0.01792812 -0.04853626 0.00954336
+v 0.01789522 -0.04726270 0.00969532
+v 0.01779307 -0.04616616 0.00992395
+v 0.01778096 -0.04609251 0.00994068
+v 0.01789003 -0.04632417 0.01153759
+v 0.01784848 -0.05439911 0.00826358
+v 0.01789176 -0.05347246 0.00836256
+v 0.01725116 -0.04609252 0.01239912
+v 0.01789176 -0.05182706 0.00807469
+v 0.01789176 -0.05347246 0.00791924
+v 0.01784328 -0.05545882 0.00653145
+v 0.01784675 -0.05086714 0.00817298
+v 0.01739313 -0.05347245 0.00653145
+v 0.01684776 -0.05190189 0.00653146
+v 0.01771689 -0.04609251 0.00986749
+v 0.01623140 -0.05598513 0.00984863
+v 0.01766149 -0.05549565 0.00771850
+v 0.01782943 -0.05596016 0.00664784
+v 0.01783116 -0.05596372 0.00653144
+v 0.01644782 -0.04609252 0.01325648
+v 0.01780173 -0.05507390 0.00653145
+v 0.01773594 -0.05479946 0.00653145
+v 0.01628680 -0.05083743 0.00653146
+v 0.01696203 -0.04609250 0.00909448
+v 0.01620024 -0.05758894 0.00821687
+v 0.01644955 -0.05662546 0.00885814
+v 0.01636817 -0.04641328 0.01317980
+v 0.01538650 -0.04609252 0.01362521
+v 0.01538650 -0.05610036 0.00992321
+v 0.01538650 -0.05692365 0.00911744
+v 0.01718883 -0.05661120 0.00727378
+v 0.01633701 -0.05771724 0.00741040
+v 0.01641492 -0.05779089 0.00653144
+v 0.01775498 -0.05607777 0.00653144
+v 0.01636298 -0.04738387 0.00808726
+v 0.01267348 -0.04609249 0.00653148
+v 0.01538650 -0.05765072 0.00831445
+v 0.01538650 -0.05798217 0.00741040
+v 0.01443426 -0.04609252 0.01364333
+v 0.01427671 -0.05610987 0.00992949
+v 0.01103909 -0.05610274 0.00992809
+v 0.01434423 -0.05766972 0.00834443
+v 0.01581761 -0.05802137 0.00653144
+v 0.00024067 -0.04609249 0.00653148
+v 0.01538650 -0.05814136 0.00653144
+v 0.00728206 -0.05800712 0.00741040
+v 0.00728206 -0.05822333 0.00653144
+v 0.01376596 -0.04609252 0.01364752
+v 0.01214715 -0.04609252 0.01365239
+v 0.00024067 -0.05511787 0.00964859
+v 0.00024067 -0.05568217 0.00939766
+v 0.00024067 -0.05676327 0.00891530
+v 0.00024067 -0.05762221 0.00825590
+v 0.00024067 -0.05801187 0.00741040
+v 0.00079817 -0.05801187 0.00741040
+v 0.00566152 -0.05800831 0.00741040
+v 0.00024067 -0.05822927 0.00653144
+v 0.00024067 -0.04609251 0.01060635
+v 0.00639561 -0.05822452 0.00653144
+v 0.01080709 -0.04609252 0.01348650
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 18
+f 1 18 27
+f 1 27 39
+f 1 39 47
+f 1 47 61
+f 1 61 63
+f 1 63 52
+f 1 52 51
+f 1 51 42
+f 1 42 31
+f 1 31 23
+f 1 23 11
+f 1 11 2
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 11 8
+f 3 10 13
+f 3 13 4
+f 4 12 5
+f 4 13 12
+f 5 12 14
+f 5 14 15
+f 5 15 6
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 6 15 16
+f 8 11 19
+f 8 19 9
+f 9 20 21
+f 9 21 10
+f 9 19 20
+f 10 21 22
+f 10 22 13
+f 11 23 19
+f 12 13 14
+f 13 22 14
+f 14 22 37
+f 14 37 36
+f 14 36 46
+f 14 46 48
+f 14 48 50
+f 14 50 62
+f 14 62 60
+f 14 60 47
+f 14 47 39
+f 14 39 26
+f 14 26 17
+f 14 17 16
+f 14 16 25
+f 14 25 24
+f 14 24 15
+f 15 24 25
+f 15 25 16
+f 17 26 27
+f 17 27 18
+f 19 28 29
+f 19 29 20
+f 19 23 30
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 28
+f 20 29 28
+f 20 28 34
+f 20 34 21
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 23 31 30
+f 26 38 27
+f 26 39 38
+f 27 38 39
+f 28 35 34
+f 28 33 40
+f 28 40 41
+f 28 41 35
+f 31 42 32
+f 32 42 43
+f 32 43 33
+f 33 43 44
+f 33 44 45
+f 33 45 40
+f 35 41 46
+f 35 46 36
+f 40 45 41
+f 41 48 46
+f 41 45 49
+f 41 49 50
+f 41 50 48
+f 42 51 43
+f 43 51 52
+f 43 52 44
+f 44 52 53
+f 44 53 54
+f 44 54 55
+f 44 55 56
+f 44 56 45
+f 45 56 57
+f 45 57 58
+f 45 58 59
+f 45 59 49
+f 47 60 57
+f 47 57 56
+f 47 56 55
+f 47 55 54
+f 47 54 53
+f 47 53 61
+f 49 59 60
+f 49 60 62
+f 49 62 50
+f 52 63 53
+f 53 63 61
+f 57 60 58
+f 58 60 59
+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_23.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c9ba9fc6fe8fa27693177a0570b1ab86a694e25
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_23.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.01599745 -0.03549517 -0.01593361
+v 0.01235882 -0.03549517 -0.01538511
+v 0.01599745 -0.03549136 -0.01595530
+v 0.01599745 -0.03549529 0.01570279
+v 0.01235882 -0.02574432 -0.01572595
+v 0.01235882 -0.03549525 0.00524099
+v 0.01599745 -0.02574432 -0.01577553
+v 0.01599745 -0.03488921 0.01567490
+v 0.01548447 -0.03549529 0.01549826
+v 0.01235882 -0.02574442 0.01153794
+v 0.01264666 -0.03549528 0.01383417
+v 0.01235882 -0.03549433 0.01362964
+v 0.01599745 -0.02574441 0.00763336
+v 0.01599745 -0.03183586 0.01536812
+v 0.01547307 -0.03549529 0.01549206
+v 0.01599745 -0.02886649 0.01497147
+v 0.01599745 -0.02880255 0.01495288
+v 0.01599745 -0.02757510 0.01454384
+v 0.01599745 -0.02678003 0.01410690
+v 0.01599745 -0.02648891 0.01381251
+v 0.01265770 -0.02574442 0.01138300
+v 0.01599745 -0.03025717 0.01519149
+v 0.01598855 -0.02574441 0.00780070
+v 0.01599745 -0.02575968 0.00925407
+v 0.01278096 -0.02574442 0.01131792
+v 0.01271684 -0.02574442 0.01135201
+v 0.01560986 -0.02574441 0.00922928
+v 0.01558101 -0.02574441 0.00930675
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 24
+f 1 24 20
+f 1 20 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 22
+f 1 22 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 12
+f 2 12 10
+f 2 10 5
+f 3 5 7
+f 4 8 9
+f 5 10 21
+f 5 21 26
+f 5 26 25
+f 5 25 28
+f 5 28 27
+f 5 27 23
+f 5 23 13
+f 5 13 7
+f 6 11 12
+f 8 14 9
+f 9 14 15
+f 10 12 16
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 11 15 22
+f 11 22 16
+f 11 16 12
+f 13 23 24
+f 14 22 15
+f 20 25 26
+f 20 26 21
+f 20 24 25
+f 23 27 24
+f 24 27 28
+f 24 28 25
+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_24.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d270ec3e884add025f7ad633c484edb991f445d7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_24.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.00754757 -0.03180562 -0.00061792
+v 0.00754930 -0.03549487 -0.00061793
+v 0.00646103 -0.03207794 0.00338336
+v 0.00646103 -0.03180599 0.00338336
+v 0.00646103 -0.03180563 0.00338375
+v 0.01235846 -0.03180562 -0.00061792
+v 0.00646565 -0.03549488 0.00338335
+v 0.00646507 -0.03537389 0.00338335
+v 0.01235846 -0.03549487 -0.00061793
+v 0.01235846 -0.03549488 0.00338335
+v 0.01235846 -0.03180563 0.00338336
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 6
+f 1 6 9
+f 1 9 2
+f 2 7 8
+f 2 8 3
+f 2 9 10
+f 2 10 7
+f 3 8 5
+f 3 5 4
+f 5 8 7
+f 5 7 10
+f 5 10 11
+f 6 11 10
+f 6 10 9
+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_25.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0258a9d97b5ca88ebe3b4e2bef7c92257b6b5b8e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_25.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.00551935 -0.03549522 -0.00324540
+v -0.00762032 -0.03549523 0.00099810
+v -0.00688518 -0.04340581 0.00099641
+v -0.00567602 -0.04340580 -0.00244077
+v -0.00539616 -0.04340580 -0.00324543
+v -0.01907588 -0.03549522 -0.00324540
+v -0.00706327 -0.04331599 0.00099807
+v -0.01905445 -0.03549523 0.00099810
+v -0.00718780 -0.04340581 0.00099807
+v -0.01807695 -0.04340580 -0.00324543
+v -0.01812917 -0.04299308 -0.00324543
+v -0.01907186 -0.03549522 -0.00222846
+v -0.01905579 -0.03549523 0.00086018
+v -0.01841975 -0.04029067 0.00099808
+v -0.01720255 -0.04340581 0.00099807
+v -0.01805686 -0.04340580 -0.00204113
+v -0.01906517 -0.03549523 -0.00074624
+v -0.01841707 -0.04030539 0.00099808
+v -0.01798322 -0.04340581 -0.00075790
+v -0.01797384 -0.04340581 -0.00062871
+v -0.01785467 -0.04280106 0.00099807
+v -0.01795777 -0.04340581 -0.00052029
+v -0.01808365 -0.04206776 0.00099808
+v -0.01793233 -0.04292030 0.00052615
+v -0.01807561 -0.04209719 0.00099808
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 11
+f 1 11 6
+f 1 6 12
+f 1 12 17
+f 1 17 13
+f 1 13 8
+f 1 8 2
+f 2 7 3
+f 2 8 14
+f 2 14 18
+f 2 18 23
+f 2 23 25
+f 2 25 21
+f 2 21 15
+f 2 15 9
+f 2 9 7
+f 3 7 9
+f 3 9 15
+f 3 15 22
+f 3 22 20
+f 3 20 19
+f 3 19 16
+f 3 16 10
+f 3 10 5
+f 3 5 4
+f 6 11 12
+f 8 13 10
+f 8 10 14
+f 10 16 14
+f 10 13 17
+f 10 17 11
+f 11 17 12
+f 14 16 19
+f 14 19 20
+f 14 20 18
+f 15 21 22
+f 18 20 23
+f 20 22 24
+f 20 24 23
+f 21 24 22
+f 21 25 24
+f 23 24 25
+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_26.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0319acc5670779ddff6f1c37942ad20129c32dea
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_26.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.01619606 -0.03549517 -0.01599213
+v -0.01619606 -0.01726607 -0.01580101
+v -0.01450219 -0.01726607 -0.01579316
+v -0.01450219 -0.02549507 -0.01575393
+v -0.01604700 -0.03549517 -0.01596596
+v -0.01619606 -0.03549527 0.01074484
+v -0.01619606 -0.01713568 -0.01578531
+v -0.01450219 -0.01699443 -0.01575914
+v -0.01450219 -0.03549517 -0.01550272
+v -0.01450219 -0.03549527 0.01074484
+v -0.01619606 -0.02654190 0.01074487
+v -0.01619606 -0.01699443 -0.01576699
+v -0.01450219 -0.01699453 0.00976609
+v -0.01450219 -0.03437973 0.01074484
+v -0.01619606 -0.01699452 0.00921648
+v -0.01575303 -0.02728801 0.01074487
+v -0.01545839 -0.02878386 0.01074486
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 10
+f 1 10 6
+f 1 6 11
+f 1 11 15
+f 1 15 12
+f 1 12 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 13
+f 3 13 14
+f 3 14 10
+f 3 10 9
+f 3 9 4
+f 4 9 5
+f 6 10 14
+f 6 14 17
+f 6 17 16
+f 6 16 11
+f 7 12 8
+f 8 12 15
+f 8 15 13
+f 11 13 15
+f 11 16 13
+f 13 16 17
+f 13 17 14
+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_27.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2293fb9ddb4c959f25b8caa2725a1469c2d6e2dd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_27.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00002790 -0.03549489 0.00493498
+v 0.00646475 -0.03549488 0.00338371
+v -0.00002790 -0.03549492 0.01412686
+v -0.00002790 -0.02868401 0.00410625
+v 0.00645990 -0.03207767 0.00338372
+v 0.01235846 -0.03549488 0.00338371
+v 0.00079656 -0.03549492 0.01412792
+v -0.00002790 -0.01699454 0.01258303
+v -0.00002790 -0.01699451 0.00410630
+v 0.00645990 -0.03180423 0.00338372
+v 0.01235846 -0.03549489 0.00524418
+v 0.01235846 -0.03180423 0.00338372
+v 0.00242003 -0.03549492 0.01412581
+v 0.00592885 -0.01699454 0.01258093
+v 0.00106330 -0.01699454 0.01258303
+v 0.01235846 -0.01699451 0.00410630
+v 0.01235846 -0.03549311 0.01362836
+v 0.01235240 -0.03549492 0.01362836
+v 0.00360823 -0.03549492 0.01412161
+v 0.00728073 -0.01699454 0.01257777
+v 0.01235846 -0.01699453 0.01155342
+v 0.01216205 -0.03549492 0.01365570
+v 0.01201534 -0.01699453 0.01178374
+v 0.01082472 -0.01699453 0.01220968
+v 0.01052282 -0.01699454 0.01227594
+v 0.00916851 -0.01699454 0.01249153
+v 0.00403986 -0.03549492 0.01411845
+v 0.00754747 -0.01699454 0.01257041
+v 0.00524746 -0.03549492 0.01410793
+v 0.00566090 -0.03549492 0.01410373
+v 0.00728073 -0.03549492 0.01408164
+v 0.01057616 -0.03549492 0.01383554
+v 0.00890056 -0.01699454 0.01251993
+v 0.00890056 -0.03549492 0.01401538
+f 1 2 6
+f 1 6 11
+f 1 11 18
+f 1 18 22
+f 1 22 32
+f 1 32 34
+f 1 34 31
+f 1 31 30
+f 1 30 29
+f 1 29 27
+f 1 27 19
+f 1 19 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 2
+f 2 5 10
+f 2 10 12
+f 2 12 6
+f 2 4 5
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 6 12 16
+f 6 16 21
+f 6 21 17
+f 6 17 11
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 14
+f 8 14 20
+f 8 20 28
+f 8 28 33
+f 8 33 26
+f 8 26 25
+f 8 25 24
+f 8 24 23
+f 8 23 21
+f 8 21 16
+f 8 16 9
+f 9 16 12
+f 9 12 10
+f 11 17 18
+f 13 19 20
+f 13 20 14
+f 17 22 18
+f 17 21 23
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 17 26 22
+f 19 27 20
+f 20 27 29
+f 20 29 30
+f 20 30 31
+f 20 31 28
+f 22 26 32
+f 26 33 34
+f 26 34 32
+f 28 31 33
+f 31 34 33
+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_28.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71c675d55cc13ae360238085ac7bdbd69d4dfef1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_28.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_29.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3cc03e3c4cf775be388255d253c36d6c70c4a0d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_29.obj
@@ -0,0 +1,118 @@
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diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_3.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97094bff19072cdabf29d6beaad02a869e67c3f2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_3.obj
@@ -0,0 +1,628 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_30.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec56b80b0401f38dcf0a831912978bebde67adf7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_30.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.00623752 -0.02882563 -0.00226049
+v 0.00664923 -0.03180561 -0.00226050
+v 0.00335293 -0.02882566 0.00410601
+v 0.01114097 -0.02882563 -0.00226049
+v 0.00516726 -0.03180564 0.00410600
+v 0.01235846 -0.03180561 -0.00226050
+v 0.01235846 -0.02882566 0.00410601
+v 0.01235846 -0.02882563 -0.00225800
+v 0.01235846 -0.02883671 -0.00226049
+v 0.01235846 -0.03180564 0.00410600
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 7
+f 4 8 9
+f 6 9 8
+f 6 8 7
+f 6 7 10
+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_31.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebfee3284fc8d45c778c4776d4d6ccfaf6a2d1a5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_31.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.00389610 -0.03549525 0.00462896
+v -0.00388125 -0.04194872 0.00462894
+v -0.00762120 -0.03549523 0.00099852
+v -0.01901630 -0.03549525 0.00462896
+v -0.00763011 -0.04194870 0.00099850
+v -0.00762268 -0.03702964 0.00099851
+v -0.00762120 -0.03550913 0.00099852
+v -0.01763350 -0.04194872 0.00462894
+v -0.01905492 -0.03549523 0.00099852
+v -0.01902373 -0.03549525 0.00419683
+v -0.01838208 -0.04030566 0.00462894
+v -0.01810582 -0.04194870 0.00099850
+v -0.01786669 -0.04171120 0.00462894
+v -0.01808354 -0.04194871 0.00139224
+v -0.01841773 -0.04030564 0.00099850
+v -0.01840585 -0.04030565 0.00259055
+v -0.01904155 -0.03549524 0.00259057
+v -0.01902521 -0.03549524 0.00407317
+v -0.01838951 -0.04030566 0.00419681
+v -0.01810285 -0.04194870 0.00111435
+v -0.01806869 -0.04148947 0.00462894
+f 1 2 3
+f 1 3 9
+f 1 9 17
+f 1 17 18
+f 1 18 10
+f 1 10 4
+f 1 4 11
+f 1 11 21
+f 1 21 13
+f 1 13 8
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+f 2 14 20
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+f 4 19 11
+f 8 13 14
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+f 10 18 19
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+f 11 12 20
+f 11 20 21
+f 12 19 16
+f 12 16 15
+f 13 21 14
+f 14 21 20
+f 16 19 17
+f 17 19 18
+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_32.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c178a2f192b057f28812d3a57467d538c226d5ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_32.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.01141689 -0.03180563 0.00271953
+v -0.00688181 -0.03180563 0.00271953
+v -0.01141689 -0.03180566 0.01193244
+v -0.01141689 -0.01699450 0.00271959
+v -0.00002902 -0.03180564 0.00493244
+v -0.00002902 -0.02787813 0.00271955
+v -0.01127419 -0.03180566 0.01198266
+v -0.01055179 -0.03043125 0.01224444
+v -0.01141689 -0.03143306 0.01193437
+v -0.01141689 -0.01699453 0.01195568
+v -0.00002902 -0.01699450 0.00271959
+v -0.00002902 -0.03180567 0.01258540
+v -0.01055179 -0.03180566 0.01223670
+v -0.01028423 -0.03180567 0.01228113
+v -0.00893084 -0.03180567 0.01250426
+v -0.00893084 -0.03043126 0.01251006
+v -0.01055179 -0.01699454 0.01226670
+v -0.00002902 -0.01699454 0.01258352
+v -0.00217950 -0.03180567 0.01258636
+v -0.00002902 -0.03043126 0.01258541
+v -0.00730878 -0.03180567 0.01258250
+v -0.00893084 -0.01699454 0.01251688
+v -0.00055856 -0.01699454 0.01258449
+v -0.00002902 -0.02139467 0.01258447
+v -0.00568895 -0.03180567 0.01258733
+v -0.00730878 -0.03043126 0.01258251
+v -0.00730878 -0.01699454 0.01258159
+v -0.00568895 -0.01699454 0.01258449
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+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_33.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f108fa4eafa5c1bef69beee06859770fef9631f6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_33.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.01342785 -0.04946514 0.00099901
+v 0.01289685 -0.04946516 0.00652822
+v 0.01626735 -0.05082502 0.00653091
+v 0.01628631 -0.05083644 0.00653091
+v 0.01560014 -0.05133307 0.00099900
+v 0.00391977 -0.04946514 0.00099901
+v 0.01289168 -0.04946516 0.00653092
+v 0.01684835 -0.05190183 0.00653091
+v 0.01638975 -0.05205212 0.00099900
+v 0.01635010 -0.05200553 0.00099900
+v 0.00391805 -0.05015693 0.00099901
+v 0.00024067 -0.05511818 0.00180435
+v 0.00024067 -0.04946515 0.00180816
+v 0.00024067 -0.04946516 0.00653092
+v 0.01739314 -0.05347265 0.00653090
+v 0.01761037 -0.05505225 0.00099899
+v 0.01699662 -0.05348669 0.00099899
+v 0.00391805 -0.05347263 0.00099899
+v 0.00024067 -0.05676373 0.00212984
+v 0.00391977 -0.05511817 0.00099899
+v 0.00409045 -0.05673910 0.00099898
+v 0.00409563 -0.05676372 0.00099898
+v 0.00454905 -0.05786426 0.00099898
+v 0.00024067 -0.05822908 0.00653089
+v 0.01773623 -0.05479998 0.00653090
+v 0.01783278 -0.05586710 0.00099898
+v 0.00024067 -0.05777109 0.00292545
+v 0.00455767 -0.05787745 0.00099898
+v 0.00024067 -0.05840840 0.00580298
+v 0.00049411 -0.05822908 0.00653089
+v 0.01780174 -0.05507424 0.00653090
+v 0.01783450 -0.05587589 0.00099898
+v 0.00024067 -0.05805502 0.00375898
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+v 0.00079754 -0.05840840 0.00580298
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+v 0.00728165 -0.05822380 0.00653089
+v 0.01784312 -0.05545926 0.00653090
+v 0.01784484 -0.05585129 0.00259074
+v 0.01783450 -0.05596819 0.00099898
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+v 0.01728970 -0.05681120 0.00580298
+v 0.01725177 -0.05680064 0.00099898
+v 0.01641561 -0.05779132 0.00653089
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+f 1 16 26
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+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_34.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b0fa3f246e57e51eba46b03bcb407dce4168410
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_34.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.00406146 -0.04609247 0.00099848
+v 0.00094935 -0.04609248 0.00195718
+v 0.00420670 -0.04524335 0.00099848
+v 0.01329170 -0.04609247 0.00099848
+v 0.00094935 -0.04609250 0.00689148
+v 0.00094935 -0.04539853 0.00207198
+v 0.00466364 -0.04429354 0.00099849
+v 0.01705169 -0.04356390 0.00099849
+v 0.01273358 -0.04609250 0.00689148
+v 0.00094935 -0.04283748 0.00689149
+v 0.00094935 -0.04524336 0.00210197
+v 0.00726169 -0.04283745 0.00099849
+v 0.00094935 -0.04418968 0.00288591
+v 0.01705985 -0.04355562 0.00099849
+v 0.01702395 -0.04283748 0.00689149
+v 0.01692930 -0.04292255 0.00689149
+v 0.01666818 -0.04312392 0.00689149
+v 0.00094935 -0.04283747 0.00441511
+v 0.01757228 -0.04283745 0.00099849
+v 0.01706964 -0.04354447 0.00099849
+v 0.01762124 -0.04283746 0.00152283
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 19
+f 1 19 20
+f 1 20 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
+f 2 5 10
+f 2 10 18
+f 2 18 13
+f 2 13 11
+f 2 11 6
+f 2 6 7
+f 2 7 3
+f 4 8 9
+f 5 9 17
+f 5 17 16
+f 5 16 15
+f 5 15 10
+f 6 11 7
+f 7 11 13
+f 7 13 12
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 10 15 21
+f 10 21 19
+f 10 19 12
+f 10 12 18
+f 12 13 18
+f 14 20 15
+f 15 20 21
+f 19 21 20
+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_35.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e218dced1685a0ff734c3d5be867b661b9244a8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_35.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00388160 -0.04194872 0.00462894
+v 0.00094749 -0.04244763 0.00462893
+v -0.00763071 -0.04194870 0.00099850
+v -0.01763208 -0.04194872 0.00462894
+v 0.00094749 -0.04609249 0.00462892
+v 0.00094749 -0.04418933 0.00288549
+v -0.01810585 -0.04194870 0.00099850
+v 0.00094749 -0.04524352 0.00210225
+v -0.00457733 -0.04427977 0.00099849
+v -0.01808347 -0.04194871 0.00139224
+v -0.01785404 -0.04280171 0.00099849
+v -0.01727396 -0.04231296 0.00462893
+v 0.00094749 -0.04609248 0.00195726
+v -0.01234602 -0.04609249 0.00462892
+v -0.01808347 -0.04206836 0.00099850
+v -0.01810212 -0.04194870 0.00111435
+v 0.00094749 -0.04532343 0.00208661
+v -0.00456800 -0.04428748 0.00099849
+v -0.01807601 -0.04209796 0.00099850
+v -0.01709863 -0.04350261 0.00099849
+v -0.01707811 -0.04352086 0.00099849
+v -0.01706692 -0.04352979 0.00099849
+v 0.00094749 -0.04539847 0.00207204
+v -0.00377528 -0.04609247 0.00099848
+v -0.00390398 -0.04525812 0.00099848
+v -0.00391890 -0.04520498 0.00099848
+v -0.01320029 -0.04609247 0.00099848
+f 1 2 3
+f 1 3 7
+f 1 7 16
+f 1 16 10
+f 1 10 4
+f 1 4 12
+f 1 12 14
+f 1 14 5
+f 1 5 2
+f 2 5 13
+f 2 13 23
+f 2 23 17
+f 2 17 8
+f 2 8 6
+f 2 6 3
+f 3 6 8
+f 3 8 9
+f 3 9 18
+f 3 18 26
+f 3 26 25
+f 3 25 24
+f 3 24 27
+f 3 27 22
+f 3 22 21
+f 3 21 20
+f 3 20 11
+f 3 11 19
+f 3 19 15
+f 3 15 7
+f 4 10 11
+f 4 11 12
+f 5 14 27
+f 5 27 24
+f 5 24 13
+f 7 15 16
+f 8 17 18
+f 8 18 9
+f 10 16 15
+f 10 15 19
+f 10 19 11
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 14
+f 13 24 25
+f 13 25 26
+f 13 26 18
+f 13 18 23
+f 14 22 27
+f 17 23 18
+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_36.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59d0c63a04c49a794b15a1d131d21a6dab148f61
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_36.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00539628 -0.04340580 -0.00324543
+v -0.00567517 -0.04340580 -0.00244077
+v -0.00457810 -0.04428039 0.00099807
+v -0.00456671 -0.04428837 0.00099807
+v -0.00391929 -0.04520533 0.00099806
+v -0.00390221 -0.04525876 0.00099806
+v -0.00354364 -0.04688938 0.00099806
+v -0.00529809 -0.04389898 -0.00324543
+v -0.01807732 -0.04340580 -0.00324543
+v -0.00688465 -0.04340581 0.00099641
+v -0.00718773 -0.04340581 0.00099807
+v -0.00354079 -0.04883076 0.00099805
+v -0.00484561 -0.04967953 -0.00324545
+v -0.00484845 -0.04853472 -0.00324545
+v -0.00485130 -0.04826633 -0.00324545
+v -0.00487407 -0.04688937 -0.00324544
+v -0.01795495 -0.04446278 -0.00324543
+v -0.01805598 -0.04340580 -0.00204113
+v -0.01720223 -0.04340581 0.00099807
+v -0.00354221 -0.04967954 0.00099805
+v -0.01725488 -0.04967953 -0.00324545
+v -0.01798341 -0.04340581 -0.00075790
+v -0.01795780 -0.04340581 -0.00052029
+v -0.01648365 -0.04967954 -0.00078991
+v -0.01365062 -0.04967954 0.00099805
+v -0.01710262 -0.04967953 -0.00222851
+v -0.01797345 -0.04340581 -0.00062871
+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 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 21
+f 1 21 17
+f 1 17 9
+f 1 9 18
+f 1 18 22
+f 1 22 27
+f 1 27 23
+f 1 23 19
+f 1 19 11
+f 1 11 10
+f 1 10 2
+f 2 10 3
+f 3 10 11
+f 3 11 19
+f 3 19 25
+f 3 25 20
+f 3 20 12
+f 3 12 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 9 17 18
+f 12 20 13
+f 13 20 25
+f 13 25 24
+f 13 24 26
+f 13 26 21
+f 17 21 18
+f 18 21 22
+f 19 23 24
+f 19 24 25
+f 21 26 23
+f 21 23 27
+f 21 27 22
+f 23 26 24
+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_37.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a40ab0bb9edc928e3e8ef5b35c804f72e56fb9bb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_37.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.01141689 -0.03549487 -0.00130991
+v -0.01141689 -0.03549488 0.00336379
+v -0.01141689 -0.03180562 -0.00130990
+v -0.00721013 -0.03549487 -0.00130991
+v -0.01141689 -0.03180563 0.00336380
+v -0.00647165 -0.03549488 0.00336379
+v -0.00720624 -0.03180562 -0.00130990
+v -0.00720965 -0.03536847 -0.00130991
+v -0.00645026 -0.03180960 0.00336380
+v -0.00645998 -0.03372267 0.00336380
+v -0.00647749 -0.03180563 0.00336380
+v -0.00646193 -0.03180563 0.00335648
+v -0.00720624 -0.03193780 -0.00130990
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 13
+f 1 13 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 10
+f 2 10 9
+f 2 9 11
+f 2 11 5
+f 3 5 11
+f 3 11 12
+f 3 12 7
+f 4 8 9
+f 4 9 10
+f 4 10 6
+f 7 12 9
+f 7 9 13
+f 8 13 9
+f 9 12 11
+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_38.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..caa087b3497963294f8d2e3404ec160d14a89180
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_38.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.01906280 -0.03549523 0.00099852
+v 0.01904862 -0.03549524 0.00271404
+v 0.01840146 -0.04030549 0.00259058
+v 0.01841387 -0.04030548 0.00099850
+v 0.00763906 -0.03549523 0.00099852
+v 0.01903089 -0.03549525 0.00419652
+v 0.01836245 -0.04030551 0.00689150
+v 0.01807876 -0.04205263 0.00099850
+v 0.00726140 -0.04283745 0.00099849
+v 0.00094935 -0.04283747 0.00441511
+v 0.00094935 -0.03549525 0.00492969
+v 0.01902912 -0.03549525 0.00431996
+v 0.01813727 -0.04121610 0.00689150
+v 0.01805394 -0.04216044 0.00099850
+v 0.01900429 -0.03549525 0.00592647
+v 0.01898124 -0.03549526 0.00689152
+v 0.01757344 -0.04283745 0.00099849
+v 0.00094935 -0.04283748 0.00689149
+v 0.00094935 -0.03549526 0.00689152
+v 0.01803444 -0.04160492 0.00689150
+v 0.01774720 -0.04267504 0.00164051
+v 0.01761954 -0.04283746 0.00152283
+v 0.01702380 -0.04283748 0.00689149
+v 0.01747947 -0.04242783 0.00689149
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 17
+f 1 17 9
+f 1 9 5
+f 1 5 11
+f 1 11 19
+f 1 19 16
+f 1 16 15
+f 1 15 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 10
+f 5 10 11
+f 6 12 7
+f 7 13 14
+f 7 14 8
+f 7 12 15
+f 7 15 16
+f 7 16 19
+f 7 19 18
+f 7 18 23
+f 7 23 24
+f 7 24 20
+f 7 20 13
+f 9 17 22
+f 9 22 23
+f 9 23 18
+f 9 18 10
+f 10 18 19
+f 10 19 11
+f 13 20 14
+f 14 20 21
+f 14 21 17
+f 17 21 22
+f 20 24 21
+f 21 24 22
+f 22 24 23
+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_39.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95b41cf1b9391dfb44061453c43b812ab84a3eca
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_39.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.00391873 -0.04946426 0.00099901
+v 0.00024196 -0.04946427 0.00180816
+v 0.00392002 -0.04851008 0.00099901
+v 0.01342823 -0.04946426 0.00099901
+v 0.00024196 -0.04946428 0.00653092
+v 0.00024196 -0.04797079 0.00180870
+v 0.00392648 -0.04688954 0.00099902
+v 0.01329139 -0.04609280 0.00099902
+v 0.01289763 -0.04946428 0.00652822
+v 0.00024196 -0.04609282 0.00653093
+v 0.01289247 -0.04946428 0.00653092
+v 0.00024196 -0.04688955 0.00180979
+v 0.00406203 -0.04609280 0.00099902
+v 0.01267300 -0.04609282 0.00653093
+v 0.01289376 -0.04945900 0.00653092
+v 0.00024196 -0.04609281 0.00193761
+v 0.00024196 -0.04632516 0.00189916
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 11
+f 1 11 5
+f 1 5 2
+f 2 5 10
+f 2 10 16
+f 2 16 17
+f 2 17 12
+f 2 12 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 5 11 15
+f 5 15 14
+f 5 14 10
+f 6 12 7
+f 7 12 13
+f 8 14 9
+f 8 13 16
+f 8 16 10
+f 8 10 14
+f 9 14 15
+f 9 15 11
+f 12 17 13
+f 13 17 16
+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_4.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..835d4d9c488bdbcbd6490494406bf7c92d4a834d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_4.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.01235846 -0.01699451 0.00410606
+v 0.01235846 -0.02882566 0.00410601
+v 0.01235846 -0.01699448 -0.00226044
+v -0.00002790 -0.01699451 0.00410606
+v 0.01235846 -0.02882563 -0.00225800
+v 0.00335240 -0.02882566 0.00410601
+v 0.01235846 -0.02864612 -0.00226049
+v -0.00002790 -0.01699448 -0.00226044
+v -0.00002790 -0.02868437 0.00410601
+v 0.01113995 -0.02882563 -0.00226049
+v 0.00623681 -0.02882563 -0.00226049
+v -0.00002790 -0.02792810 -0.00226048
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 11
+f 2 11 10
+f 2 10 5
+f 3 7 10
+f 3 10 11
+f 3 11 12
+f 3 12 8
+f 4 8 12
+f 4 12 9
+f 5 10 7
+f 6 9 11
+f 9 12 11
+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_40.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d34352360fcd3adad2e2c5ba2cf95719767130ac
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_40.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.01619606 -0.03549529 0.01566676
+v -0.01535576 -0.03549529 0.01540371
+v -0.01619606 -0.03537448 0.01566387
+v -0.01619606 -0.03549527 0.01074532
+v -0.01501437 -0.03549529 0.01523845
+v -0.01619606 -0.03207691 0.01550248
+v -0.01619606 -0.03372202 0.01560751
+v -0.01450219 -0.03549527 0.01074532
+v -0.01619606 -0.02654382 0.01074535
+v -0.01450219 -0.03549528 0.01477979
+v -0.01619606 -0.02599126 0.01470129
+v -0.01619606 -0.02714052 0.01488582
+v -0.01619606 -0.02878564 0.01513585
+v -0.01619606 -0.03044546 0.01532857
+v -0.01450219 -0.03438068 0.01074532
+v -0.01619606 -0.02478421 0.01294760
+v -0.01575303 -0.02728969 0.01074535
+v -0.01450219 -0.03491435 0.01383549
+v -0.01619606 -0.02476320 0.01337736
+v -0.01619606 -0.02518551 0.01406101
+v -0.01619307 -0.02599441 0.01469792
+v -0.01545839 -0.02878562 0.01074534
+v -0.01450219 -0.03483241 0.01343320
+v -0.01619606 -0.02476320 0.01317693
+f 1 2 3
+f 1 3 7
+f 1 7 6
+f 1 6 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 20
+f 1 20 19
+f 1 19 24
+f 1 24 16
+f 1 16 9
+f 1 9 4
+f 1 4 8
+f 1 8 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 4 9 17
+f 4 17 22
+f 4 22 15
+f 4 15 8
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 8 15 23
+f 8 23 18
+f 8 18 10
+f 9 16 17
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 11 21 20
+f 15 22 19
+f 15 19 23
+f 16 24 22
+f 16 22 17
+f 18 23 19
+f 19 22 24
+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_41.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53d44fa494b7daf78bb168debdcf9cfb5d60132c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_41.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.01794934 -0.04853637 0.00956389
+v -0.01794934 -0.04853637 0.01008867
+v -0.01794661 -0.04609251 0.01073035
+v -0.01792117 -0.04727730 0.00969828
+v -0.01786393 -0.05584995 0.00559064
+v -0.01786393 -0.05597095 0.00559064
+v -0.01790209 -0.05347199 0.00801816
+v -0.01792935 -0.04609251 0.01158351
+v -0.01794661 -0.04609251 0.01109769
+v -0.01790209 -0.05347199 0.00833144
+v -0.01783394 -0.04609251 0.01003302
+v -0.01781850 -0.04617996 0.00993840
+v -0.01764859 -0.05502695 0.00559065
+v -0.01738328 -0.05668374 0.00559064
+v -0.01786393 -0.05596975 0.00580373
+v -0.01791572 -0.04631293 0.01153501
+v -0.01783122 -0.04609251 0.01174890
+v -0.01786120 -0.05434651 0.00823682
+v -0.01785484 -0.05595418 0.00663464
+v -0.01780305 -0.04609251 0.00995828
+v -0.01718157 -0.05368283 0.00559065
+v -0.01730877 -0.05679395 0.00559064
+v -0.01730877 -0.05679275 0.00580373
+v -0.01728061 -0.04609252 0.01239851
+v -0.01624661 -0.05596857 0.00983739
+v -0.01768402 -0.05544265 0.00770567
+v -0.01649830 -0.05784937 0.00580373
+v -0.01640653 -0.05775833 0.00712841
+v -0.01704528 -0.05676641 0.00741704
+v -0.01698804 -0.04609250 0.00909160
+v -0.01652556 -0.05220932 0.00559066
+v -0.01649739 -0.05784937 0.00559064
+v -0.01688355 -0.04609252 0.01283503
+v -0.01652465 -0.05636868 0.00901682
+v -0.01620028 -0.05757983 0.00819944
+v -0.01556244 -0.05703715 0.00893413
+v -0.01541524 -0.05608238 0.00991054
+v -0.01541524 -0.04609252 0.01362697
+v -0.01613395 -0.04609252 0.01340275
+v -0.01639744 -0.04640519 0.01318011
+v -0.01647740 -0.04609252 0.01325645
+v -0.01541524 -0.05827344 0.00559064
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+v -0.01556244 -0.05790448 0.00756254
+v -0.01242140 -0.04609249 0.00559068
+v -0.01511995 -0.05767208 0.00834335
+v -0.01429130 -0.05610035 0.00992326
+v -0.01314555 -0.04609252 0.01371285
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+v -0.01103033 -0.05609795 0.00992723
+v -0.00866796 -0.05788292 0.00749178
+v -0.01104941 -0.05765291 0.00831791
+v -0.00866796 -0.04609251 0.01098876
+v -0.01142739 -0.04609252 0.01358881
+v -0.00866796 -0.05712700 0.00858984
+v -0.00866796 -0.05688022 0.00877669
+v -0.00866796 -0.05512520 0.00969030
+v -0.01082862 -0.04609252 0.01348783
+v -0.00866796 -0.05778109 0.00774145
+v -0.00932579 -0.04609251 0.01192462
+v -0.00866796 -0.05347200 0.00993042
+v -0.01001451 -0.04609252 0.01266329
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+f 1 9 3
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+f 1 5 6
+f 1 6 7
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+f 1 10 2
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+f 5 31 45
+f 5 45 54
+f 5 54 49
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+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_42.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b556d379842954ee247a5aee03a7eacac4fcbb8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_42.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.01450219 -0.03266170 -0.01546452
+v -0.01450219 -0.02549365 -0.01575245
+v -0.01379459 -0.02549365 -0.01575517
+v -0.01141689 -0.02549365 -0.01575517
+v -0.01141689 -0.03266170 -0.01538574
+v -0.01450219 -0.03266180 0.00984573
+v -0.01450219 -0.01726588 -0.01579317
+v -0.01141689 -0.01726588 -0.01579317
+v -0.01141689 -0.03266180 0.01194564
+v -0.01380969 -0.03266180 0.01045967
+v -0.01375684 -0.01699453 0.01054395
+v -0.01437807 -0.01699453 0.00993544
+v -0.01450219 -0.01699453 0.00976701
+v -0.01450219 -0.01714779 -0.01577959
+v -0.01141689 -0.01712172 -0.01577687
+v -0.01141689 -0.01699453 0.01195385
+v -0.01202664 -0.01699453 0.01177727
+v -0.01199704 -0.03266180 0.01174189
+v -0.01320417 -0.03266180 0.01097039
+v -0.01280763 -0.03266180 0.01130453
+v -0.01269498 -0.01699453 0.01141053
+v -0.01450219 -0.01699443 -0.01575785
+v -0.01379459 -0.01699443 -0.01576057
+v -0.01141689 -0.01699443 -0.01576057
+v -0.01228516 -0.03266180 0.01159248
+f 1 2 3
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+f 1 4 5
+f 1 5 9
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+f 1 18 25
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+f 1 20 19
+f 1 19 10
+f 1 10 6
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+f 14 22 23
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+f 17 21 25
+f 17 25 18
+f 20 25 21
+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_43.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f87265506575586198c2b5938df38ab869c06581
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_43.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.01141689 -0.03549501 0.01373670
+v -0.01141689 -0.03266180 0.01194623
+v -0.01450219 -0.03549501 0.01478016
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+v -0.01199704 -0.03266180 0.01174169
+v -0.01141689 -0.03266170 -0.01538532
+v -0.01228516 -0.03266180 0.01159347
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+v -0.01450219 -0.03369624 -0.01550093
+v -0.01450219 -0.03266170 -0.01546239
+v -0.01320417 -0.03266180 0.01097095
+v -0.01380969 -0.03266180 0.01045811
+v -0.01450219 -0.03266180 0.00984448
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+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 10 12 11
+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_44.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59cc47852ff27ce81d13247c65741c822b7fd40f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_44.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00622318 -0.02883768 -0.00225681
+v -0.00002851 -0.02792765 -0.00225680
+v -0.00002851 -0.02787898 0.00271955
+v -0.00622318 -0.02838326 0.00271955
+v -0.00622318 -0.01699564 -0.00225676
+v -0.00002851 -0.01699564 -0.00225676
+v -0.00002851 -0.01699566 0.00271959
+v -0.00622318 -0.01699566 0.00271959
+f 1 2 3
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+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 8 7
+f 5 7 6
+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_45.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ee5726c1e5ca0a3d5717a517338fa0371b4bd90
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_45.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.01141638 -0.03180561 -0.00225682
+v -0.00663853 -0.03180561 -0.00225682
+v -0.01141638 -0.03180563 0.00271953
+v -0.01141638 -0.01699448 -0.00225676
+v -0.00688256 -0.03180563 0.00271953
+v -0.00622318 -0.02883642 -0.00225681
+v -0.00622318 -0.02838410 0.00271955
+v -0.01141638 -0.01699450 0.00271959
+v -0.00622318 -0.01699448 -0.00225676
+v -0.00622318 -0.01699450 0.00271959
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 10
+f 3 10 8
+f 4 8 10
+f 4 10 9
+f 6 9 10
+f 6 10 7
+
diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_5.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04b015e32ab2328f4633e81bc964c022364e94a9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_5.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v 0.01700925 -0.03549517 -0.01612925
+v 0.01700925 -0.03536841 -0.01612925
+v 0.01863046 -0.02384890 -0.01614836
+v 0.01842296 -0.03042993 -0.01612604
+v 0.01833767 -0.03207609 -0.01611010
+v 0.01825359 -0.03372224 -0.01608457
+v 0.01816648 -0.03536841 -0.01605266
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+v 0.01602201 -0.03549517 -0.01596331
+v 0.01739156 -0.02878376 -0.01612604
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+v 0.01719859 -0.02549507 -0.01608773
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+v 0.01996916 -0.01699443 -0.01611642
+v 0.01995464 -0.01726607 -0.01611323
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+v 0.01893473 -0.03549528 0.01393248
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+v 0.01975804 -0.02713954 0.01507180
+v 0.02134053 -0.01699455 0.01505907
+v 0.02132118 -0.01726619 0.01503035
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diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_6.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5c53111f7f74be219cd1b51aa9f3beda287eceb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_7.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..069ae74cc1e0e4827a27f0f850ed40e5fc1202c5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_7.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_8.obj b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5eb21b049ed0c335c2347f835c5ed4bb6f12be84
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b13dacc29bc563b8d6d1cdfb081cea5/mjcf/mesh/correction_tape_028_collision_8.obj
@@ -0,0 +1,655 @@
+# https://github.com/mikedh/trimesh
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