diff --git a/.gitattributes b/.gitattributes
index 01662d2366409137519285ac78025725ace0c58d..4b7c8325a619b542c4fc32d27327b54adceeafa4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3236,3 +3236,4 @@ dataset/desktop_supplies/office_stationery/ba53185544755f60afef8816707c2da2/mesh
 dataset/desktop_supplies/office_stationery/ba53185544755f60afef8816707c2da2/notebook_039.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/bfd58f9684d359e581e551a950d6b55e/bfd58f9684d359e581e551a950d6b55e.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/c07d0cf9565f5750b6ff5ce58cafa5d5/c07d0cf9565f5750b6ff5ce58cafa5d5.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/c01bedfcda055b8e9c64afb060b9f37a.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/c01bedfcda055b8e9c64afb060b9f37a.urdf b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/c01bedfcda055b8e9c64afb060b9f37a.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a9ec3fcac9261e2c3c55d2240278470059b724f8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/c01bedfcda055b8e9c64afb060b9f37a.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="notebook_11">
+   <link name="notebook_11">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/notebook_11.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_11_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>0.168140</scale>
+         <version>v0.1.5</version>
+         <category>notebook</category>
+         <description>rectangular notebook with rounded edges and closed pages</description>
+         <min_height>0.02</min_height>
+         <max_height>0.04</max_height>
+         <real_height>0.03</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20251014150229</generate_time>
+         <gs_model>mesh/notebook_11_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: geometry appears incomplete with missing or truncated ends.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.289185166358948</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/c01bedfcda055b8e9c64afb060b9f37a.usd b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/c01bedfcda055b8e9c64afb060b9f37a.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d8403b6cb80f3632e8b0c477b573532d48524f2d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/c01bedfcda055b8e9c64afb060b9f37a.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:046dcfca672c2368874319cc2588af0958a0f2452dfb50af0b7ff5ec9b3084e3
+size 874603
diff --git a/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/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/c01bedfcda055b8e9c64afb060b9f37a/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0976ef48e8bbd1235e36e7e578fcf6fc07a18e9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ca56145f05e7f44a779ff1ec8d8e6260a627cd0f0b4f9c939dac89c45f419b2
+size 561789
diff --git a/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mesh/notebook_11.glb b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mesh/notebook_11.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6d1356a08ee5454ec5ae6a2a834494e62eae5d42
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mesh/notebook_11.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cec34c37ef94cf74210aecaa6d18f299d3152de63838f5c230ef4a2e5cd3710a
+size 1152420
diff --git a/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mesh/notebook_11.obj b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mesh/notebook_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61ee5b482a98b21865cd83dbccd85fb2405733c5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mesh/notebook_11.obj
@@ -0,0 +1,54026 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v 0.07781934 -0.00482754 0.01160989
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diff --git a/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mesh/notebook_11_collision.obj b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mesh/notebook_11_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaa2a9ad59baf79d058fe394a4685e54de94012b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mesh/notebook_11_collision.obj
@@ -0,0 +1,3701 @@
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diff --git a/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mesh/notebook_11_gs.ply b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mesh/notebook_11_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..bd07a3d2a0abbf90b93d736afed4a68a5361d724
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mesh/notebook_11_gs.ply
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+version https://git-lfs.github.com/spec/v1
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+size 22590314
diff --git a/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/c01bedfcda055b8e9c64afb060b9f37a.xml b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/c01bedfcda055b8e9c64afb060b9f37a.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5ec15fd6c8d0c099353a758ab5499bbe76459a76
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/c01bedfcda055b8e9c64afb060b9f37a.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+  <asset>
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
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+    <mesh name="collision_mesh_0_0" file="mesh/notebook_11_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/notebook_11_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/notebook_11_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_4" file="mesh/notebook_11_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/notebook_11_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/notebook_11_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/notebook_11_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/notebook_11_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/notebook_11_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/notebook_11_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/notebook_11_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11.obj b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26c8fd9f667ef51c392e93e24ba3107dba060c53
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+++ b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11.obj
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diff --git a/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision.obj b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bec9794bcf0401068fc7de3fff5f950ed1ea8843
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision.obj
@@ -0,0 +1,3701 @@
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diff --git a/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_0.obj b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae17d490bc453808eb3efe042e35038abf6a6842
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_0.obj
@@ -0,0 +1,580 @@
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diff --git a/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_1.obj b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc766cc125b7d4c4e53777dc861bb74eb69329b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_1.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_10.obj b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1062943872cbe1e048b8bc8cf48d22971f80e923
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_10.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_11.obj b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..144d358f3c878292b4b231775f8a4ad5092b232d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_11.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_2.obj b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ee6556069d5dcee24c3c8e247ccfb4cd9f0a29c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_2.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_3.obj b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..909ed4bbf25ce450316a3548b1d68397608dccd2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_3.obj
@@ -0,0 +1,574 @@
+# https://github.com/mikedh/trimesh
+v 0.01196547 -0.04494605 0.01434628
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diff --git a/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_4.obj b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b63f4d441000b835623fcd621e07c300a3b7353
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_4.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_5.obj b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c83dbbd643252ad9f4c08331319186bc755597c4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_5.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_6.obj b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1630b569991c54f79d8a1a060255b864199c461f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_6.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_7.obj b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0470b0e87290eec877e0a1746dfd2a083be2f9a8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_7.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.07114696 -0.04494683 0.01485814
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+v -0.07374334 -0.04494683 0.01485111
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+
diff --git a/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_8.obj b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed942d5cf1357cd138069a13d09ef3229d7ef4e4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_8.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.00762766 -0.05020099 0.00049020
+v -0.00762766 -0.05020094 -0.01409414
+v -0.00762766 -0.03795701 0.00049024
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diff --git a/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_9.obj b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/mjcf/mesh/notebook_11_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/textures/material_0.png b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/textures/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/video.mp4 b/dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/video.mp4
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