diff --git a/.gitattributes b/.gitattributes
index 0773987c4e5a3f37fa3c31d2316559444f6debde..a15c4c8b8b108ca5771727aa7eef4f9c3e6a5d97 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3194,3 +3194,5 @@ dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mesh
 dataset/desktop_supplies/office_stationery/8ea5a2833892579bae1d08dc199791c2/8ea5a2833892579bae1d08dc199791c2.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/glue_stick_035.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mesh/glue_stick_035.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/correction_tape_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mesh/correction_tape_003.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/correction_tape_003.urdf b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/correction_tape_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9b75dcb024207406a5656e8b44b9e4de93e6ce39
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/correction_tape_003.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="correction_tape_003">
+   <link name="correction_tape_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/correction_tape_003.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_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</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>8cecc1f9ac935135a9882a9edb58ca29</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>correction_tape</category>
+         <name>compact correction tape</name>
+         <color>gray</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>compact correction tape with a circular body and a pointed applicator tip</description>
+         <min_height>0.0374</min_height>
+         <max_height>0.0374</max_height>
+         <real_height>0.0374</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420202151</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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/8cecc1f9ac935135a9882a9edb58ca29/correction_tape_003.usd b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/correction_tape_003.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9aa0ae35d0eb5256079f1897d973991e719bac11
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/correction_tape_003.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d39315704250e4da19b7aa6e765c2bee93be485bdbeefba0c63d9c0c29dd3ed
+size 4952998
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mesh/correction_tape_003.glb b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mesh/correction_tape_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..dff5c2f918e270685c0738e27ee7511a5319f196
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mesh/correction_tape_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbe9bf730e87e1577e27f907e25b3c1dc782ddee6dc4fce9bfbfe5fc4886b535
+size 14735748
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mesh/correction_tape_003.mtl b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mesh/correction_tape_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d77b9ff1432e92d89c82ea4fde415f6cae533f5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mesh/correction_tape_003.mtl
@@ -0,0 +1,6 @@
+newmtl correction_tape_003_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/8cecc1f9ac935135a9882a9edb58ca29/mesh/correction_tape_003.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mesh/correction_tape_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ae9dd17cf71f5886f5d6377b3c68c17be970ef4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mesh/correction_tape_003.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl correction_tape_003_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mesh/correction_tape_003_collision.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mesh/correction_tape_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b77634980d204e562202d6b5420e8caa193151c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mesh/correction_tape_003_collision.obj
@@ -0,0 +1,11344 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mesh/correction_tape_003_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mesh/correction_tape_003_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5bababf4824eecfc343d954be67c1b9141c92774
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mesh/correction_tape_003_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:112325ce1a88d7e4e94065b153d02dbfc480fe9a7d6f2bcc8bc785e02a147046
+size 11320423
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a7af7affd3e3948c4f166c21b7dedb098d66d24c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl correction_tape_003_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd correction_tape_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5bababf4824eecfc343d954be67c1b9141c92774
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:112325ce1a88d7e4e94065b153d02dbfc480fe9a7d6f2bcc8bc785e02a147046
+size 11320423
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/correction_tape_003.xml b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/correction_tape_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cc51c76a336c2576cc78ad8670d0c9ce256da6b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/correction_tape_003.xml
@@ -0,0 +1,126 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="correction_tape_003">
+  <asset>
+    <material name="material_0" texture="texture_0_correction_tape_003_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_correction_tape_003_geometry_Looks_material_0" type="2d" file="mesh/correction_tape_003_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/correction_tape_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/correction_tape_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/correction_tape_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/correction_tape_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/correction_tape_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/correction_tape_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/correction_tape_003_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/correction_tape_003_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/correction_tape_003_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/correction_tape_003_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/correction_tape_003_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/correction_tape_003_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/correction_tape_003_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/correction_tape_003_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/correction_tape_003_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/correction_tape_003_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/correction_tape_003_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/correction_tape_003_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/correction_tape_003_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/correction_tape_003_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/correction_tape_003_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/correction_tape_003_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/correction_tape_003_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/correction_tape_003_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/correction_tape_003_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/correction_tape_003_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/correction_tape_003_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/correction_tape_003_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/correction_tape_003_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/correction_tape_003_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/correction_tape_003_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/correction_tape_003_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/correction_tape_003_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/correction_tape_003_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/correction_tape_003_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/correction_tape_003_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/correction_tape_003_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/correction_tape_003_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/correction_tape_003_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/correction_tape_003_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/correction_tape_003_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/correction_tape_003_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/correction_tape_003_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/correction_tape_003_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/correction_tape_003_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/correction_tape_003_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/correction_tape_003_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/correction_tape_003_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/correction_tape_003_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/correction_tape_003_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/correction_tape_003_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/correction_tape_003_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/correction_tape_003_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/correction_tape_003_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/correction_tape_003_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/correction_tape_003_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/correction_tape_003_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="correction_tape_003">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" 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/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b49393e4b2e2b5ac9863db25cf71eb8eda53ade7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003.obj
@@ -0,0 +1,126966 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl correction_tape_003_geometry_Looks_material_0
+v 0.033868 0.000269 0.002788
+v 0.033868 0.000269 0.002788
+v 0.033870 0.004828 0.002784
+v 0.033870 0.004828 0.002784
+v 0.033817 0.001201 0.003198
+v 0.033817 0.001201 0.003198
+v -0.028912 0.002486 0.002537
+v -0.028912 0.002486 0.002537
+v -0.028912 0.002486 0.002537
+v -0.028926 0.002585 0.003161
+v -0.028926 0.002585 0.003161
+v -0.028916 0.002417 0.002636
+v -0.028916 0.002417 0.002636
+v -0.028916 0.002417 0.002636
+v -0.022494 -0.003783 0.002796
+v -0.022494 -0.003783 0.002796
+v -0.022664 -0.003778 0.002706
+v -0.022664 -0.003778 0.002706
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diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d07181a67a981d3bedb467239099e803039fd09
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision.obj
@@ -0,0 +1,11344 @@
+# https://github.com/mikedh/trimesh
+
+o correction_tape_003_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_0.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..310044f76800d651956da2631e413706967af4a8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_0.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_1.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72bd61a4027a5806801028773bb2627e31996dc5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_1.obj
@@ -0,0 +1,628 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_10.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b5e95b85828d4b8f8f5a4a61f476ed1008d322a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_11.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4587a76706546726d9d78d58ff698a0fb0f8fe77
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_11.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_12.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c5b4e1c3f2da6e4d533eba77f3752880afb5252
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_12.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_13.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69cc73792e59d11ad5dd7b3837fa5f1410d6eda0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_13.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_14.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d474777d257d3a334af3fc4569794f888fb31df6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_14.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_15.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..323c5d4f534c2fc7cd84301b51ab96fdf4d0357e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_15.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_16.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6600e0d4825197ff162cc2db5161683e9b41533
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_16.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_17.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f874817e5dd0578ffddd6154326d18e39d988a9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_17.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_18.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86884f68b527ebcd72ebbffeacbe273e4292dfd6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_18.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_19.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77ec4e4f4f62ecc5f25a171c5e5e92aa9c874de0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_19.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_2.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e46afcd377143f055ab38e57e3b6e55d2dc7160
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_2.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_20.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cdec2e14e624b2feeb8dfd26d7939ecfc17a0b7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_20.obj
@@ -0,0 +1,112 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_21.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1d342528c4666de932f72e9a79c80d95fe575a7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_21.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_22.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..200a9ec212dbfee6b0d2761a174ccce48ede3835
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_22.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_23.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58a32c8ee3f7fdc21ab878872efda2f8a9e35143
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_23.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.01410008 -0.00189520 -0.00606176
+v -0.01183287 -0.00165997 -0.00606176
+v -0.01165040 -0.00156534 -0.00229245
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+v -0.01270387 -0.00154874 -0.00114194
+v -0.01410008 -0.00150586 0.00000970
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+v -0.01410008 0.00204396 -0.00606174
+v -0.01165040 -0.00162868 -0.00606176
+v -0.01126295 0.00010293 0.00365619
+v -0.01165040 -0.00131775 -0.00012213
+v -0.01388038 -0.00149041 0.00000970
+v -0.01410008 -0.00125904 0.00094386
+v -0.01410035 0.00062902 0.00469289
+v -0.01410035 0.00038607 0.00329785
+v -0.01410035 0.00196590 0.00234229
+v -0.01409091 0.00204473 -0.00606174
+v -0.01410035 0.00201573 0.00370014
+v -0.01165040 0.00176855 -0.00606174
+v -0.01126295 0.00010293 0.00234228
+v -0.01126295 0.00073100 0.00431539
+v -0.01410035 0.00086310 0.00545013
+v -0.01165040 -0.00128840 0.00000971
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+v -0.01410035 0.00168855 0.00501855
+v -0.01126295 0.00170981 0.00319870
+v -0.01126295 0.00163140 0.00346576
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+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_24.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7dfca1b4b214babd26c8769367f059e25830d86
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_24.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.01811901 -0.00158653 0.00103038
+v -0.01741127 -0.00158206 0.00103038
+v -0.01811901 -0.00158616 0.00116287
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+v -0.01706861 0.00032940 0.00495283
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+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_25.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3182d26ae9265a22e955458244f305568cd2f587
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_25.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00985466 -0.00232048 0.00003638
+v -0.00985466 -0.00231486 0.00116137
+v -0.01164974 -0.00162822 -0.00606176
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+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_26.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75fd3c17a9aa8beb8be55f4f3160e45bce2f031b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_26.obj
@@ -0,0 +1,541 @@
+# https://github.com/mikedh/trimesh
+v 0.03387837 -0.00053022 0.00489326
+v 0.03379842 -0.00052924 0.00524608
+v 0.03379842 -0.00053022 0.00524741
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diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_27.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ac20bd37a4d9e54e39d733e33579199578fc205
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_27.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_28.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1fcff4a145a71040fec8f981be1e8fc9a03f6a2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_28.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_29.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4426067d7c066201eb0c535d2f46bd75328cd7c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_29.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_3.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0b00f3ef2683e46f9b2f57004b9747a090f642a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_3.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.00372058 0.00551913 -0.00925442
+v 0.00264205 0.00551559 -0.00925442
+v 0.00372058 0.00351870 -0.00925443
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+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_30.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91fc1cf7191ac0ca1036aad5e3f220ca4ecc2eb5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_30.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.00190370 -0.00276215 -0.00857493
+v 0.00028769 -0.00276215 -0.00857493
+v 0.00190370 -0.00550380 -0.00857494
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+v 0.00018895 -0.00283969 -0.00857493
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+v -0.00204937 -0.00373111 -0.01679666
+v -0.00444108 -0.00455740 -0.01583946
+v -0.00328839 -0.00373111 -0.01650306
+v -0.00021226 -0.00524049 -0.00857494
+v -0.00322876 -0.00276212 -0.01652280
+v -0.00444108 -0.00466699 -0.01372586
+v -0.00093518 -0.00276212 -0.01698896
+v -0.00264248 -0.00276212 -0.01668248
+v -0.00258845 -0.00276212 -0.01669364
+v -0.00205371 -0.00276212 -0.01679924
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+f 1 13 14
+f 1 14 31
+f 1 31 54
+f 1 54 35
+f 1 35 17
+f 1 17 7
+f 1 7 3
+f 1 3 9
+f 1 9 23
+f 1 23 45
+f 1 45 43
+f 1 43 24
+f 1 24 10
+f 1 10 4
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+f 1 29 48
+f 1 48 47
+f 1 47 57
+f 1 57 60
+f 1 60 59
+f 1 59 58
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+f 1 55 32
+f 1 32 15
+f 1 15 6
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+f 26 40 27
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+f 28 48 29
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+f 28 49 47
+f 30 50 51
+f 30 51 49
+f 30 46 52
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+f 30 33 53
+f 30 53 50
+f 31 34 54
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+f 32 53 33
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+f 34 35 54
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+f 36 56 38
+f 36 38 37
+f 38 52 46
+f 38 46 40
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+f 43 45 44
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+f 49 51 57
+f 50 58 59
+f 50 59 51
+f 50 53 58
+f 51 59 60
+f 51 60 57
+f 53 55 58
+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_31.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc3196d5971bf8acadb2d1b2dc17919e10656742
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_31.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.00688656 -0.00552777 0.00997092
+v 0.00730346 -0.00552777 0.01037882
+v 0.00688656 -0.00552778 0.01227445
+v 0.00688656 -0.00546659 0.00868714
+v 0.01039199 -0.00550526 0.01152967
+v 0.00965700 -0.00552483 0.01152967
+v 0.01039199 -0.00552630 0.01225078
+v 0.01039199 -0.00552680 0.01268235
+v 0.01039199 -0.00552729 0.01383502
+v 0.00730346 -0.00552778 0.01383502
+v 0.00688656 -0.00552729 0.01383502
+v 0.00688656 -0.00539564 0.00790776
+v 0.01039199 -0.00461904 0.00043813
+v 0.01039199 -0.00552730 0.01570698
+v 0.00848040 -0.00552583 0.01613856
+v 0.00730346 -0.00552387 0.01613856
+v 0.00688656 -0.00552387 0.01573066
+v 0.00688656 -0.00536824 0.00774205
+v 0.00898858 -0.00431028 0.00043813
+v 0.01039199 -0.00052922 0.00043815
+v 0.01039199 -0.00552681 0.01613856
+v 0.01039199 -0.00552534 0.01685784
+v 0.01039199 -0.00552094 0.01729123
+v 0.00965700 -0.00551555 0.01729123
+v 0.00848040 -0.00549354 0.01729123
+v 0.00730346 -0.00545684 0.01729123
+v 0.00688656 -0.00545341 0.01695253
+v 0.00688656 -0.00549843 0.01617315
+v 0.00688656 -0.00372602 0.00043814
+v 0.00688656 -0.00052922 0.00043815
+v 0.01039199 -0.00052929 0.01860781
+v 0.01039199 -0.00545978 0.01779382
+v 0.01039199 -0.00542308 0.01807425
+v 0.00965700 -0.00541770 0.01803783
+v 0.00848040 -0.00539666 0.01797774
+v 0.00730346 -0.00536094 0.01791218
+v 0.00688656 -0.00534430 0.01788669
+v 0.00688656 -0.00542209 0.01729123
+v 0.00688656 -0.00052928 0.01729671
+v 0.01025885 -0.00052929 0.01901753
+v 0.01039199 -0.00053027 0.01903574
+v 0.01039199 -0.00497388 0.01851857
+v 0.01039199 -0.00477912 0.01868428
+v 0.00688656 -0.00517010 0.01799048
+v 0.00688656 -0.00053027 0.01839840
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+v 0.00965700 -0.00052929 0.01892466
+v 0.01024821 -0.00159701 0.01901934
+v 0.01039199 -0.00134158 0.01903756
+v 0.01039199 -0.00401968 0.01893922
+v 0.00730346 -0.00479772 0.01824724
+v 0.00688656 -0.00479772 0.01813616
+v 0.00688656 -0.00305815 0.01839839
+v 0.00730346 -0.00266424 0.01854225
+v 0.00848040 -0.00052929 0.01873710
+v 0.00965700 -0.00159701 0.01892647
+v 0.01024684 -0.00266424 0.01901934
+v 0.01039199 -0.00266424 0.01903755
+v 0.01039199 -0.00373098 0.01903391
+v 0.01026194 -0.00373098 0.01901752
+v 0.00965700 -0.00373098 0.01892283
+v 0.00848040 -0.00373098 0.01873527
+v 0.00730346 -0.00373098 0.01854043
+v 0.00688656 -0.00424331 0.01828730
+v 0.00688656 -0.00373098 0.01839657
+v 0.00848040 -0.00266424 0.01873709
+v 0.00965700 -0.00266424 0.01892647
+v 0.01039199 -0.00348925 0.01903573
+f 1 2 10
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+f 1 3 11
+f 1 11 17
+f 1 17 28
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+f 1 38 37
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+f 1 44 52
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+f 50 60 51
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+f 53 63 54
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+f 57 67 61
+f 57 61 60
+f 57 60 68
+f 59 68 60
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+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_32.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66e86b54dcd326d40f5eab44e19a9818c088cd2a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_32.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01652399 -0.00540358 0.00488746
+v -0.01652399 -0.00540358 0.00588746
+v -0.01652399 -0.00341217 0.00488746
+v -0.01652399 -0.00341217 0.00588746
+v -0.01410035 -0.00540358 0.00488746
+v -0.01410035 -0.00540358 0.00588746
+v -0.01410035 -0.00341217 0.00488746
+v -0.01410035 -0.00341217 0.00588746
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_33.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce243568615ada3f20e032540a2f2ff88f7fc50e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_33.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00372058 -0.00052862 -0.00335875
+v 0.00372058 0.00467968 -0.00335873
+v 0.00838520 -0.00052862 -0.00335875
+v 0.00372058 -0.00052866 0.00682715
+v 0.00372240 0.00551853 -0.00335873
+v 0.00372058 0.00550609 -0.00229288
+v 0.00838520 0.00365791 -0.00335874
+v 0.00838520 -0.00052866 0.00682715
+v 0.00372058 0.00551612 0.00682717
+v 0.00377263 0.00551793 -0.00335873
+v 0.00372058 0.00551613 0.00577029
+v 0.00377263 0.00551612 0.00682717
+v 0.00527439 0.00521839 -0.00335873
+v 0.00838520 0.00393674 -0.00237864
+v 0.00838520 0.00354658 0.00682716
+v 0.00462921 0.00543446 -0.00335873
+v 0.00495248 0.00550073 0.00682717
+v 0.00468629 0.00542736 -0.00335873
+v 0.00838520 0.00438013 0.00001131
+v 0.00838520 0.00423272 -0.00114128
+v 0.00836876 0.00420546 0.00682717
+v 0.00838520 0.00419599 0.00682518
+v 0.00597207 0.00540068 0.00682717
+v 0.00838520 0.00438013 0.00071623
+v 0.00629534 0.00526689 0.00682717
+v 0.00729210 0.00479863 0.00682717
+v 0.00838520 0.00437953 0.00116291
+v 0.00691221 0.00498688 0.00682717
+f 1 2 5
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+f 1 10 16
+f 1 16 18
+f 1 18 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
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+f 1 6 2
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+f 4 12 9
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+f 5 12 10
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+f 10 12 17
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+f 21 22 27
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+f 25 28 27
+f 26 27 28
+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_34.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45ee4d516d791d8f94618dbae5641aebb829fbb3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_34.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01416482 -0.00185098 0.00696710
+v -0.01416482 -0.00185098 0.01376741
+v -0.01416482 0.00010300 0.00696710
+v -0.01416482 0.00010300 0.01376741
+v -0.01316482 -0.00185098 0.00696710
+v -0.01316482 -0.00185098 0.01376741
+v -0.01316482 0.00010300 0.00696710
+v -0.01316482 0.00010300 0.01376741
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_35.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6681a347d83a33bc9afd45317e93fa00c52065e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_35.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.00965634 -0.00052856 -0.01817897
+v 0.00965756 0.00160450 -0.01817896
+v 0.00965756 0.00053738 -0.01817897
+v 0.01459798 0.00160450 -0.01814977
+v 0.01459798 -0.00052856 -0.01814861
+v 0.00847947 -0.00052856 -0.01808787
+v 0.01459798 0.00245915 -0.01814860
+v 0.00848069 0.00053738 -0.01808787
+v 0.00848069 0.00160450 -0.01808553
+v 0.00848069 0.00267103 -0.01807969
+v 0.00965756 0.00267103 -0.01817196
+v 0.01459798 0.00373816 -0.01814276
+v 0.01459798 0.00352568 -0.01814393
+v 0.01459798 -0.00052861 -0.00624845
+v 0.00838520 -0.00052856 -0.01807736
+v 0.00838520 0.00062379 -0.01807736
+v 0.00838520 0.00169091 -0.01807502
+v 0.00838520 0.00267103 -0.01806918
+v 0.00838520 0.00275685 -0.01806801
+v 0.00848069 0.00373816 -0.01805049
+v 0.00965756 0.00373816 -0.01813342
+v 0.01459798 0.00441998 -0.01802829
+v 0.01459798 0.00400208 -0.00624844
+v 0.00838520 -0.00052861 -0.00624845
+v 0.00838520 0.00373816 -0.01804115
+v 0.00838520 0.00378432 -0.01803648
+v 0.00838520 0.00436849 -0.01793135
+v 0.00848069 0.00437323 -0.01793602
+v 0.00965756 0.00440637 -0.01797340
+v 0.01459798 0.00460109 -0.01799325
+v 0.01459676 0.00400681 -0.00624844
+v 0.01459798 0.00400622 -0.00624961
+v 0.00838520 0.00439093 -0.00624843
+v 0.00838520 0.00439098 -0.01788230
+v 0.01119327 0.00537583 -0.01675757
+v 0.01201069 0.00540897 -0.01683582
+v 0.01436443 0.00512310 -0.01756695
+v 0.01459798 0.00513435 -0.01757396
+v 0.00838520 0.00523553 -0.00787654
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+v 0.00838520 0.00467858 -0.00677050
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+v 0.00838520 0.00466796 -0.01727030
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diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_36.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c19a6ef4b156fb72a67b30e3d72c63d76ea9523
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_36.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_37.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72af601a8fe5771bd0abd913b873c181e1233e1b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_37.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.01410035 0.00552164 0.00922718
+v -0.01410035 0.00552108 0.00924095
+v -0.01410035 0.00552051 0.00829022
+v -0.01623584 0.00552108 0.00922718
+v -0.01624881 0.00552108 0.00924095
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+v -0.01410035 0.00551995 0.00807520
+v -0.02211887 0.00551658 0.00807520
+v -0.01741244 0.00552051 0.00922718
+v -0.01742686 0.00552051 0.00924095
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+v -0.01973826 -0.00022261 0.00924093
+v -0.01410035 0.00551770 0.00782028
+v -0.01479824 0.00551770 0.00782028
+v -0.02211887 0.00548903 0.00782028
+v -0.02324068 0.00542605 0.00782028
+v -0.02334738 0.00543730 0.00803918
+v -0.02329548 0.00550702 0.00922718
+v -0.02211887 0.00551714 0.00922718
+v -0.01976566 0.00551883 0.00924095
+v -0.02039289 -0.00022261 0.00807518
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+v -0.02329548 0.00550590 0.00924095
+v -0.02211887 0.00551658 0.00924095
+v -0.02796874 -0.00022261 0.00782026
+v -0.02683683 0.00161660 0.00924094
+v -0.02860030 0.00105095 0.00866348
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+v -0.02825280 -0.00022261 0.00782081
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+v -0.02685846 0.00374090 0.00924094
+v -0.02860030 0.00109143 0.00866348
+v -0.02882956 0.00140856 0.00782027
+v -0.02881370 0.00080242 0.00782026
+v -0.02805814 -0.00022261 0.00815738
+v -0.02681520 -0.00022261 0.00923467
+v -0.02851522 0.00445781 0.00782028
+v -0.02800334 0.00465910 0.00807520
+v -0.02471865 0.00519720 0.00924095
+v -0.02859453 0.00427506 0.00865529
+v -0.02800334 0.00439146 0.00881774
+v -0.02682530 0.00378813 0.00924094
+v -0.02872863 0.00418510 0.00782028
+v -0.02868393 0.00436897 0.00782028
+v -0.02865942 0.00434535 0.00807520
+v -0.02602647 0.00464055 0.00924095
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+f 1 12 14
+f 1 14 7
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+f 1 5 2
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+f 37 42 38
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+f 49 50 54
+f 51 53 52
+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_38.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0547d073364723e4e9e7a774bb30e1fd0594673
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_38.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.00190419 -0.00487344 -0.01611846
+v 0.00687205 -0.00498515 -0.01605710
+v 0.00687205 -0.00539414 -0.01470107
+v 0.00608752 -0.00543834 -0.01385959
+v 0.00494940 -0.00540337 -0.01333652
+v 0.00455057 -0.00536160 -0.01333652
+v 0.00190419 -0.00457376 -0.01491961
+v 0.00190419 -0.00456938 -0.01701099
+v 0.00259582 -0.00457909 -0.01704413
+v 0.00687205 -0.00480592 -0.01661958
+v 0.00687205 -0.00548740 -0.01383048
+v 0.00610455 -0.00547428 -0.01333652
+v 0.00419113 -0.00516439 -0.01333652
+v 0.00190419 -0.00430516 -0.01431907
+v 0.00669112 -0.00426774 -0.01784933
+v 0.00687205 -0.00427891 -0.01785829
+v 0.00190419 -0.00373054 -0.01733610
+v 0.00687205 -0.00455141 -0.01730297
+v 0.00687205 -0.00549128 -0.01333652
+v 0.00315272 -0.00433187 -0.01333652
+v 0.00313715 -0.00431876 -0.01333652
+v 0.00190419 -0.00373395 -0.01402438
+v 0.00660260 -0.00373053 -0.01785917
+v 0.00687205 -0.00373053 -0.01788739
+v 0.00190419 -0.00266439 -0.01734640
+v 0.00651797 -0.00266438 -0.01786902
+v 0.00687205 -0.00052966 -0.01333650
+v 0.00190419 -0.00196593 -0.01333651
+v 0.00687205 -0.00266438 -0.01790799
+v 0.00190419 -0.00159726 -0.01734596
+v 0.00591729 -0.00159725 -0.01780364
+v 0.00650581 -0.00159725 -0.01787037
+v 0.00687205 -0.00159725 -0.01791157
+v 0.00687205 -0.00052965 -0.01750224
+v 0.00190419 -0.00052966 -0.01333650
+v 0.00190419 -0.00053014 -0.01734505
+v 0.00651164 -0.00052964 -0.01786991
+v 0.00687205 -0.00053013 -0.01791066
+v 0.00190419 -0.00052965 -0.01672704
+v 0.00259533 -0.00052965 -0.01742253
+v 0.00592313 -0.00052964 -0.01780274
+f 1 2 3
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+f 1 22 28
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+f 30 36 31
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+f 31 37 32
+f 32 38 33
+f 32 37 38
+f 34 38 37
+f 36 39 40
+f 36 40 41
+f 36 41 37
+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_39.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77029415f47b15341844d11edd271d7588186f5b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_39.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.02216213 0.00390250 0.00681777
+v 0.02216213 -0.00052925 0.00681776
+v 0.02216213 0.00469033 0.00231325
+v 0.02142447 0.00495313 0.00231325
+v 0.02024852 0.00469914 0.00461718
+v 0.01789528 0.00479438 0.00576981
+v 0.01789528 0.00446573 0.00660443
+v 0.01671798 0.00451100 0.00670641
+v 0.01671798 0.00443339 0.00681778
+v 0.01459804 0.00443574 0.00682717
+v 0.01459804 -0.00052925 0.00682715
+v 0.02216213 -0.00052919 -0.00688099
+v 0.02142447 0.00508366 0.00116196
+v 0.02216213 0.00479558 0.00110829
+v 0.01907122 0.00486787 0.00461718
+v 0.01671798 0.00483201 0.00576981
+v 0.01636600 0.00536761 0.00188521
+v 0.01554068 0.00538584 0.00197109
+v 0.01554068 0.00452217 0.00674666
+v 0.01650760 0.00444691 0.00681778
+v 0.01554068 0.00447631 0.00681778
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+v 0.00838520 -0.00052925 0.00682715
+v 0.01459938 -0.00052919 -0.00688099
+v 0.02216213 0.00433997 -0.00688097
+v 0.01674225 0.00540114 0.00116196
+v 0.01907122 0.00513363 -0.00114062
+v 0.01675709 0.00540408 -0.00000006
+v 0.01740709 0.00535822 0.00077820
+v 0.01554068 0.00484671 0.00576981
+v 0.01554068 0.00547286 0.00116196
+v 0.01459938 0.00537820 0.00193620
+v 0.01436473 0.00483848 0.00576981
+v 0.01459938 0.00484024 0.00576981
+v 0.01459938 0.00451336 0.00671580
+v 0.01436473 0.00451100 0.00670775
+v 0.00838520 0.00419587 0.00682449
+v 0.00855512 0.00410709 0.00682717
+v 0.00838520 0.00354621 0.00682716
+v 0.00838520 -0.00052920 -0.00624764
+v 0.01459938 0.00371971 -0.00688098
+v 0.00838520 0.00439052 -0.00624762
+v 0.01459804 0.00471740 -0.00459717
+v 0.01554068 0.00472152 -0.00459717
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+v 0.01554068 0.00547698 0.00000933
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+v 0.01368101 0.00535468 0.00182751
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+v 0.01436473 0.00471623 -0.00459717
+v 0.00861446 0.00450162 0.00001067
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+v 0.01358931 0.00537468 0.00001067
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+v 0.01436473 0.00537762 -0.00076222
+v 0.01459938 0.00538056 -0.00077027
+v 0.01459804 0.00545228 0.00001067
+v 0.01359470 0.00537292 0.00116196
+v 0.01436473 0.00544582 0.00001067
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+f 1 25 14
+f 1 14 3
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+f 1 4 5
+f 1 5 6
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+f 55 62 57
+f 55 57 56
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+f 60 62 61
+f 62 68 63
+f 63 68 64
+f 64 68 66
+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_4.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d1173739f19e9cd34a6b394a5d39182a7b77833
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_4.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.02062455 0.00205453 0.00102972
+v -0.02062455 0.00196707 -0.00200272
+v -0.02062455 -0.00184752 0.00102970
+v -0.01410035 0.00197432 0.00102972
+v -0.02062455 -0.00183414 -0.00200274
+v -0.01410035 0.00194682 0.00022544
+v -0.01410035 0.00179252 -0.00200272
+v -0.01410035 -0.00157899 -0.00200274
+v -0.01410035 -0.00157595 -0.00135641
+v -0.01410035 -0.00157480 -0.00114146
+v -0.01505765 -0.00156984 0.00001018
+v -0.01623464 -0.00155723 0.00102970
+v -0.01410035 -0.00113746 0.00102971
+v -0.01410035 -0.00150567 0.00001018
+v -0.01500465 -0.00138383 0.00102970
+v -0.01436538 -0.00128490 0.00102971
+v -0.01410035 -0.00125893 0.00094480
+v -0.01464638 -0.00132844 0.00102971
+f 1 2 5
+f 1 5 3
+f 1 3 12
+f 1 12 15
+f 1 15 18
+f 1 18 16
+f 1 16 13
+f 1 13 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 5 8
+f 4 13 17
+f 4 17 14
+f 4 14 10
+f 4 10 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 10 14 11
+f 11 14 12
+f 12 14 15
+f 13 16 17
+f 14 17 16
+f 14 16 18
+f 14 18 15
+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_40.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09288aded14ee08edd47d556c426068b21087978
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_40.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.02216213 0.00433998 -0.00688097
+v 0.02216213 -0.00052919 -0.00688099
+v 0.02216213 0.00436069 -0.00690977
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+v 0.01459933 0.00540769 -0.01097371
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+v 0.01554181 0.00160448 -0.01819863
+v 0.01554107 -0.00052915 -0.01819531
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+v 0.01935986 -0.00052915 -0.01778316
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diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_41.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afe52b7174c18941f4f0e5e7025d749b7693d871
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_41.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00190397 -0.00552962 0.00346768
+v 0.00190397 -0.00552913 0.00163780
+v 0.00259585 -0.00552913 0.00231536
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+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_42.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3082181997e705b976e1ef80cfeee9aca900531f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_42.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01811901 0.00026343 0.00488739
+v -0.01811901 0.00026343 0.00588740
+v -0.01811901 0.00525742 0.00488739
+v -0.01811901 0.00525742 0.00588740
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+v -0.01410075 0.00026343 0.00588740
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+v -0.01410075 0.00525742 0.00588740
+f 2 4 1
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+f 4 8 3
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+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_43.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..808ed328ebc8f64b8fd3acc9c4a6d2390a98356d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_43.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.00444108 -0.00469340 0.01178565
+v -0.00444108 -0.00466317 0.01178025
+v -0.00488077 -0.00426344 0.01210715
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+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_44.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..689ead9fb798cbdcfa54c6f3977a441574921a9b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_44.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.00494961 -0.00552922 0.00922801
+v 0.00463509 -0.00552873 0.00892030
+v 0.00463509 -0.00552825 0.00776859
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diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_45.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d88490bdb2f71d4f36e7d85b1f4f135947b5220
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_45.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_46.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aaf9024f61831b4f102ddaed17192d2cc6b076a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_46.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_47.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25ba8a777cf6381459c3562e52a065952522fb00
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_47.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.01973857 -0.00022261 0.00924093
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+v -0.02802555 -0.00441341 0.00802885
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+f 54 57 55
+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_48.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b8900a7e493aba970fee7f29883df41a9b770a3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_48.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00687205 -0.00217241 0.00043497
+v 0.00190419 -0.00217241 0.00043497
+v 0.00687205 -0.00373263 0.00043497
+v 0.00687205 -0.00217236 -0.01333651
+v 0.00190419 -0.00552803 0.00043496
+v 0.00190419 -0.00217237 -0.00958188
+v 0.00578889 -0.00452522 0.00043496
+v 0.00687205 -0.00532436 -0.00638000
+v 0.00687205 -0.00549119 -0.01333652
+v 0.00615756 -0.00217236 -0.01333651
+v 0.00259582 -0.00552770 0.00043496
+v 0.00190419 -0.00552308 -0.00412452
+v 0.00377285 -0.00552175 -0.01035708
+v 0.00687205 -0.00552700 -0.00962773
+v 0.00687205 -0.00552734 -0.00920575
+v 0.00255788 -0.00217237 -0.01039212
+v 0.00190419 -0.00383440 -0.01259772
+v 0.00529764 -0.00486157 0.00043496
+v 0.00687205 -0.00536969 -0.00660919
+v 0.00500728 -0.00505865 0.00043496
+v 0.00610455 -0.00547444 -0.01333652
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+v 0.00612595 -0.00552075 -0.01266244
+v 0.00313618 -0.00421838 -0.01333652
+v 0.00501555 -0.00217236 -0.01253975
+v 0.00377285 -0.00545511 0.00043496
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+v 0.00259582 -0.00549678 -0.01035708
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+v 0.00494940 -0.00552207 -0.01150976
+v 0.00687205 -0.00552634 -0.01035708
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+v 0.00377917 -0.00217237 -0.01150571
+v 0.00313618 -0.00430937 -0.01333652
+v 0.00190419 -0.00473703 -0.01258155
+v 0.00687205 -0.00540384 -0.00690174
+v 0.00441876 -0.00535722 0.00043496
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+v 0.00494940 -0.00548363 -0.01266244
+v 0.00687205 -0.00552470 -0.01150976
+v 0.00612595 -0.00552372 -0.01150976
+v 0.00190419 -0.00552111 -0.00575041
+v 0.00190419 -0.00551781 -0.00805307
+v 0.00190419 -0.00549942 -0.00920575
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+v 0.00419113 -0.00516437 -0.01333652
+v 0.00432392 -0.00534634 -0.01326642
+v 0.00190419 -0.00539069 -0.01141674
+v 0.00455057 -0.00536177 -0.01333652
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+f 1 7 3
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+f 39 40 51
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+f 40 46 51
+f 49 52 50
+f 50 52 51
+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_49.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45f98a850c0fd482e95588dd5a90d6fc586e0d4d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_49.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.00372058 -0.00052916 -0.01754955
+v 0.00372058 -0.00052917 -0.01383121
+v 0.00372058 -0.00048245 -0.01754996
+v 0.00592367 -0.00052915 -0.01780276
+v 0.00838520 -0.00052917 -0.01383121
+v 0.00372058 0.00181228 -0.01383120
+v 0.00372058 0.00160475 -0.01754954
+v 0.00651177 -0.00052915 -0.01787011
+v 0.00838520 -0.00052915 -0.01807842
+v 0.00838520 0.00551129 -0.01383119
+v 0.00489860 0.00488513 -0.01383119
+v 0.00372058 0.00374279 -0.01465112
+v 0.00593372 0.00160476 -0.01780233
+v 0.00372058 0.00267082 -0.01754704
+v 0.00652684 0.00267083 -0.01786802
+v 0.00730260 -0.00052915 -0.01795909
+v 0.00838520 0.00062383 -0.01807759
+v 0.00838520 0.00544034 -0.01495879
+v 0.00731767 0.00549178 -0.01383119
+v 0.00490865 0.00489105 -0.01383119
+v 0.00372058 0.00490111 -0.01611840
+v 0.00372058 0.00488632 -0.01607100
+v 0.00372058 0.00457177 -0.01512219
+v 0.00372058 0.00453688 -0.01509558
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+v 0.00658848 0.00373808 -0.01786054
+v 0.00730306 0.00267083 -0.01795368
+v 0.00730306 0.00160476 -0.01795659
+v 0.00838520 0.00169049 -0.01807550
+v 0.00838520 0.00543621 -0.01499870
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+v 0.00561958 0.00528956 -0.01383119
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+v 0.00730306 0.00540486 -0.01464404
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+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_5.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9e024dbc574cfc375577aed5ecbdec27aa61fed
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_5.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.01409989 -0.00491932 -0.00920603
+v -0.01409989 -0.00485279 -0.00939010
+v -0.01389093 -0.00488703 -0.00939010
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+v -0.01409989 -0.00447805 -0.00782009
+v -0.01409989 0.00505375 -0.00920599
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+v -0.01409989 0.00204411 -0.00606174
+v -0.01409989 0.00467804 -0.00804159
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+v -0.01397996 0.00204998 -0.00606174
+v -0.01393613 0.00463205 -0.00803931
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+f 1 17 23
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+f 1 24 18
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+f 24 31 34
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+f 25 26 29
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+f 26 31 30
+f 27 29 28
+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_50.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38e322035f012e3a5f03bf8ec65215b2b3092b32
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_50.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.01171895 0.00010346 0.00234244
+v -0.01113056 -0.00125585 0.00234244
+v -0.01104793 -0.00117906 0.00346687
+v -0.01096886 -0.00109954 0.00412365
+v -0.01140339 0.00010346 0.00353446
+v -0.01126234 0.00073100 0.00431660
+v -0.01126234 0.00123560 0.00428281
+v -0.01126234 0.00163097 0.00346743
+v -0.01126234 0.00170958 0.00319926
+v -0.01126234 0.00194771 0.00234299
+v -0.00959335 0.00281796 0.00234299
+v -0.00444246 0.00010346 0.00234244
+v -0.01026793 -0.00177598 0.00234243
+v -0.00836386 -0.00185051 0.00791064
+v -0.00905197 -0.00147343 0.00791064
+v -0.00978853 0.00109985 0.00638124
+v -0.00907405 0.00135488 0.00733453
+v -0.00794287 0.00281794 0.00733454
+v -0.00915312 0.00281795 0.00529388
+v -0.00947367 0.00281795 0.00465127
+v -0.00957269 0.00281796 0.00359715
+v -0.00961187 0.00281796 0.00248525
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+v -0.00444246 -0.00185049 0.00234243
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+v -0.01011264 -0.00185049 0.00234243
+v -0.00894726 -0.00074670 0.00791065
+v -0.00824276 0.00010344 0.00791065
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+v -0.00444175 0.00010346 0.00234298
+v -0.00444175 0.00010344 0.00733453
+v -0.00444246 0.00010344 0.00791065
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+f 23 32 31
+f 24 31 32
+f 24 32 26
+f 26 32 30
+f 26 30 33
+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_51.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31e3b9780ecb41f2adca12db950d858aa2fcd230
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_51.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.00687205 -0.00052922 0.00043498
+v 0.00190419 -0.00052922 0.00043498
+v 0.00687205 -0.00217241 0.00043497
+v 0.00687205 -0.00052917 -0.01333650
+v 0.00190419 -0.00217241 0.00043497
+v 0.00190419 -0.00052917 -0.01333650
+v 0.00687205 -0.00217236 -0.01333651
+v 0.00190419 -0.00217237 -0.00958188
+v 0.00190419 -0.00196552 -0.01333651
+v 0.00615756 -0.00217236 -0.01333651
+v 0.00255788 -0.00217237 -0.01039212
+v 0.00501555 -0.00217236 -0.01253975
+v 0.00377917 -0.00217237 -0.01150571
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 9
+f 2 9 8
+f 2 8 5
+f 3 5 8
+f 3 8 11
+f 3 11 13
+f 3 13 12
+f 3 12 10
+f 3 10 7
+f 4 7 10
+f 4 10 9
+f 4 9 6
+f 8 9 11
+f 9 10 12
+f 9 12 13
+f 9 13 11
+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_52.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f82bb3e139ded0ee462e0b703b6d2bf1f4c22812
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_52.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.00989942 -0.00382070 0.01336332
+v -0.00989942 -0.00437977 0.01330650
+v -0.00989942 -0.00253658 0.01334884
+v -0.01013260 -0.00253658 0.01350034
+v -0.01016180 -0.00253658 0.01351928
+v -0.01025186 -0.00253658 0.01357721
+v -0.01023253 -0.00362575 0.01356941
+v -0.00989942 -0.00492714 0.01294890
+v -0.01043034 -0.00470380 0.01343795
+v -0.00989942 -0.00253656 0.00854415
+v -0.01133797 -0.00253658 0.01395263
+v -0.01138650 -0.00253658 0.01396934
+v -0.01152715 -0.00373113 0.01401056
+v -0.00989942 -0.00539928 0.01245874
+v -0.01087573 -0.00535420 0.01329536
+v -0.01152715 -0.00479805 0.01369751
+v -0.00989942 -0.00331339 0.00385754
+v -0.01385977 -0.00253655 0.00674949
+v -0.01152715 -0.00253658 0.01401501
+v -0.01270374 -0.00373113 0.01387576
+v -0.01276625 -0.00489172 0.01353376
+v -0.01043034 -0.00541742 0.01264478
+v -0.00989942 -0.00550084 0.01153078
+v -0.01152715 -0.00537293 0.01332321
+v -0.01152715 -0.00546894 0.01268266
+v -0.01241545 -0.00536386 0.01330873
+v -0.00989942 -0.00346385 0.00344870
+v -0.01410035 -0.00253655 0.00669268
+v -0.01405182 -0.00253655 0.00669825
+v -0.01270374 -0.00253658 0.01387911
+v -0.01270374 -0.00266421 0.01387911
+v -0.01410035 -0.00373113 0.01357610
+v -0.01410035 -0.00389885 0.01355716
+v -0.01410035 -0.00461452 0.01341679
+v -0.01388074 -0.00466107 0.01344018
+v -0.01320012 -0.00531000 0.01320847
+v -0.01035015 -0.00551928 0.01153078
+v -0.00989942 -0.00552542 0.01037890
+v -0.01276625 -0.00542738 0.01276844
+v -0.01410035 -0.00544289 0.01232395
+v -0.01410035 -0.00552045 0.01153078
+v -0.01388074 -0.00552133 0.01153078
+v -0.01270374 -0.00552308 0.01153078
+v -0.01152715 -0.00552455 0.01153078
+v -0.01410035 -0.00542533 0.01247768
+v -0.00989942 -0.00373372 0.00280704
+v -0.01410035 -0.00253658 0.01357833
+v -0.00989942 -0.00373724 0.00279924
+v -0.01410035 -0.00388301 0.00505398
+v -0.01388074 -0.00253658 0.01362623
+v -0.01388074 -0.00266421 0.01362623
+v -0.01410035 -0.00286939 0.01357833
+v -0.01410035 -0.00512823 0.01306699
+v -0.01388074 -0.00519467 0.01308147
+v -0.01410035 -0.00523712 0.01294556
+v -0.01035015 -0.00552629 0.00692326
+v -0.00989942 -0.00552658 0.00577139
+v -0.01410035 -0.00552103 0.01131578
+v -0.01410035 -0.00552220 0.01037890
+v -0.01388074 -0.00552250 0.01037890
+v -0.01388074 -0.00552336 0.00807514
+v -0.01406581 -0.00253658 0.01358612
+v -0.00989942 -0.00374543 0.00279367
+v -0.01410035 -0.00396790 0.00495372
+v -0.01035015 -0.00552628 0.00577139
+v -0.00989942 -0.00550609 0.00461951
+v -0.01410035 -0.00552307 0.00807514
+v -0.01388074 -0.00552307 0.00692326
+v -0.00989942 -0.00399189 0.00263436
+v -0.01410035 -0.00473421 0.00498824
+v -0.01152715 -0.00552277 0.00577139
+v -0.01035015 -0.00549379 0.00461951
+v -0.00989942 -0.00541387 0.00368152
+v -0.01410035 -0.00552161 0.00692326
+v -0.00989942 -0.00457058 0.00267223
+v -0.00999606 -0.00453018 0.00271679
+v -0.01410035 -0.00521865 0.00535029
+v -0.01270374 -0.00548852 0.00577139
+v -0.01410035 -0.00541944 0.00583934
+v -0.01035015 -0.00539631 0.00383525
+v -0.01101802 -0.00535357 0.00400458
+v -0.00989942 -0.00508926 0.00311783
+v -0.01339464 -0.00535153 0.00516203
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+f 48 64 49
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+f 51 62 52
+f 53 55 54
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+f 72 79 73
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+f 73 80 81
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+f 73 83 80
+f 74 79 78
+f 75 82 77
+f 77 82 83
+f 77 83 79
+f 80 83 81
+f 81 83 82
+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_53.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ff87ee90dd3d80c6f5fe32ca79e46a9f510b4c0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_53.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.00372058 -0.00052858 -0.01383079
+v 0.00372058 0.00181252 -0.01383078
+v 0.00838520 -0.00052858 -0.01383079
+v 0.00372058 -0.00052862 -0.00335875
+v 0.00489860 0.00488544 -0.01383077
+v 0.00372058 0.00446802 -0.01342895
+v 0.00377263 0.00448697 -0.01344740
+v 0.00838520 0.00551128 -0.01383077
+v 0.00838520 -0.00052862 -0.00335875
+v 0.00372058 0.00467936 -0.00335873
+v 0.00490363 0.00488840 -0.01383077
+v 0.00454474 0.00526971 -0.01306812
+v 0.00372058 0.00448756 -0.01340434
+v 0.00731767 0.00549174 -0.01383077
+v 0.00730306 0.00549292 -0.01381437
+v 0.00838520 0.00551187 -0.01381437
+v 0.00838520 0.00365742 -0.00335874
+v 0.00372240 0.00551834 -0.00335873
+v 0.00372058 0.00551893 -0.00339563
+v 0.00561958 0.00528984 -0.01383077
+v 0.00532963 0.00538990 -0.01338384
+v 0.00372743 0.00505715 -0.01267552
+v 0.00372058 0.00506129 -0.01266425
+v 0.00408951 0.00539464 -0.01230035
+v 0.00372058 0.00505359 -0.01267450
+v 0.00730306 0.00549115 -0.01383077
+v 0.00618302 0.00542246 -0.01378669
+v 0.00494198 0.00543904 -0.01267552
+v 0.00612594 0.00551009 -0.01266220
+v 0.00838520 0.00551364 -0.01372109
+v 0.00527439 0.00521875 -0.00335873
+v 0.00838520 0.00520041 -0.00777367
+v 0.00377263 0.00551775 -0.00335873
+v 0.00377263 0.00551893 -0.00344586
+v 0.00377263 0.00551954 -0.00459803
+v 0.00372058 0.00551895 -0.00920569
+v 0.00621133 0.00541891 -0.01383077
+v 0.00372058 0.00544081 -0.01156231
+v 0.00372058 0.00544318 -0.01155308
+v 0.00624009 0.00542128 -0.01383077
+v 0.00494974 0.00551541 -0.01151003
+v 0.00377263 0.00551778 -0.01035786
+v 0.00612594 0.00551719 -0.01151003
+v 0.00838520 0.00551483 -0.01256892
+v 0.00468629 0.00542775 -0.00335873
+v 0.00838520 0.00523534 -0.00787721
+v 0.00838520 0.00533126 -0.00821240
+v 0.00462921 0.00543427 -0.00335873
+v 0.00838520 0.00544553 -0.00890739
+v 0.00838520 0.00545678 -0.00911343
+v 0.00838520 0.00551541 -0.01026458
+v 0.00730306 0.00551718 -0.00920569
+v 0.00494974 0.00551837 -0.01035786
+v 0.00377263 0.00551895 -0.00920569
+v 0.00372058 0.00551719 -0.01030660
+v 0.00372058 0.00551423 -0.01035991
+v 0.00838520 0.00551541 -0.01035786
+v 0.00827516 0.00539817 -0.00833028
+v 0.00838520 0.00541475 -0.00859475
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+f 1 14 8
+f 1 8 3
+f 1 3 9
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+f 1 4 10
+f 1 10 19
+f 1 19 36
+f 1 36 55
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+f 1 23 25
+f 1 25 13
+f 1 13 6
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+f 2 7 5
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+f 16 29 30
+f 17 32 31
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+f 19 35 36
+f 20 21 37
+f 21 24 28
+f 21 28 27
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+f 22 25 23
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+f 24 39 28
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+f 33 48 49
+f 33 49 50
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+f 35 53 54
+f 35 54 36
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+f 36 42 55
+f 39 56 42
+f 39 42 41
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+f 42 53 43
+f 43 53 52
+f 43 52 44
+f 44 52 57
+f 45 47 58
+f 45 58 59
+f 45 59 49
+f 45 49 48
+f 47 59 58
+f 51 57 52
+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_54.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..817ddae03143f80fc7cb9e21608bfe4ae67a4d60
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_54.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00905192 -0.00147379 0.00791064
+v -0.00894784 -0.00074698 0.00791065
+v -0.00836546 -0.00185096 0.00791064
+v -0.00874998 -0.00185096 0.00802298
+v -0.00911042 -0.00185096 0.00814130
+v -0.01322921 -0.00185097 0.01033917
+v -0.00824331 0.00010301 0.00791065
+v -0.01322921 -0.00119990 0.01043001
+v -0.01322921 -0.00070931 0.01064753
+v -0.00444194 -0.00185096 0.00791064
+v -0.01322921 -0.00185098 0.01376685
+v -0.00444194 0.00010301 0.00791065
+v -0.01322921 0.00010300 0.01108376
+v -0.00444194 -0.00185097 0.00974041
+v -0.01322921 0.00010299 0.01376686
+v -0.01298319 -0.00185098 0.01382003
+v -0.00444194 0.00010301 0.00945777
+v -0.00444194 -0.00133876 0.00987846
+v -0.00976075 -0.00185098 0.01325951
+v -0.01270361 -0.00159679 0.01388039
+v -0.01270361 0.00010299 0.01387980
+v -0.01270361 -0.00185098 0.01387979
+v -0.00444194 -0.00095527 0.00987846
+v -0.00975903 0.00010299 0.01326131
+v -0.01035001 0.00010299 0.01364376
+v -0.01035001 -0.00159679 0.01364255
+v -0.01032335 -0.00185098 0.01362462
+v -0.00986742 -0.00185098 0.01332883
+v -0.01152681 -0.00159679 0.01401544
+v -0.01152681 0.00010299 0.01401485
+v -0.01152681 -0.00185098 0.01401484
+v -0.00999904 0.00010299 0.01341668
+v -0.01082830 0.00010299 0.01379494
+v -0.01062959 -0.00185098 0.01373099
+f 1 2 7
+f 1 7 12
+f 1 12 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
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+f 3 10 14
+f 3 14 19
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+f 29 33 30
+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_55.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2468eb2d14b7e3c81aa40d57291e7e6beabe8c9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_55.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01410035 -0.00269359 0.00669165
+v -0.01410035 -0.00269359 0.01401461
+v -0.01410035 -0.00169359 0.00669165
+v -0.01410035 -0.00169359 0.01401461
+v -0.00989942 -0.00269359 0.00669165
+v -0.00989942 -0.00269359 0.01401461
+v -0.00989942 -0.00169359 0.00669165
+v -0.00989942 -0.00169359 0.01401461
+f 2 4 1
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+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_6.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..212e30eb2ef6aa3c6894ea756fd9e2de68571f34
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_6.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.00938778 -0.00224127 -0.00939009
+v -0.00444156 -0.00157839 -0.00939009
+v -0.00444156 -0.00202430 -0.00606176
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+v -0.00938778 0.00226185 -0.00938909
+v -0.00938632 0.00226185 -0.00939007
+v -0.00444737 0.00227289 -0.00606174
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+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_7.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d56e539127c6da672ebb83658a7bcd4bb43857a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_7.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
+v 0.01459859 0.00267105 0.01937364
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+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_8.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74244eb5b08901b934039236ecc5cf4e9b9fb173
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_8.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.00372058 0.00263269 0.01237668
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+
diff --git a/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_9.obj b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36f9c2969b2eced702df346507ad9374b2f373b5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mjcf/mesh/correction_tape_003_collision_9.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.02682787 0.00517831 0.00231468
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