diff --git a/.gitattributes b/.gitattributes
index d9ae9073afc7bcb3d3333f677cd1039e002ea13e..3af358927f659a5a9a804475094c3a48ce443b97 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3101,3 +3101,5 @@ dataset/desktop_supplies/office_stationery/20d3d1c2ed0b504b92b41f16975cad27/mesh
 dataset/desktop_supplies/office_stationery/20d3d1c2ed0b504b92b41f16975cad27/notebook_036.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/236b30ab9b0d5f3bb17bf30223de7a97/marker_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/236b30ab9b0d5f3bb17bf30223de7a97/mesh/marker_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/correction_tape_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mesh/correction_tape_022.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/correction_tape_022.urdf b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/correction_tape_022.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d0fefe3624a40bc09baafd32048156138e5c5212
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/correction_tape_022.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="correction_tape_022">
+   <link name="correction_tape_022">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/correction_tape_022.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_022_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0250" />
+         <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>2387fc2f340d597ba5e9fdf0ecfb2b6f</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>correction_tape</category>
+         <name>green correction tape</name>
+         <color>green</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact green correction tape dispenser with rounded rectangular body</description>
+         <min_height>0.0455</min_height>
+         <max_height>0.0455</max_height>
+         <real_height>0.0455</real_height>
+         <min_mass>0.015</min_mass>
+         <max_mass>0.035</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611141755</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.015206 -0.052340 -0.022561</min>
+            <max>0.015797 0.047660 0.022892</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/correction_tape_022.usd b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/correction_tape_022.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/correction_tape_022.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a7a11ff63c4dd96054a3aa9f2e5c597081ccf8e878127440839f3979d47f231
+size 4857557
diff --git a/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mesh/correction_tape_022.glb b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mesh/correction_tape_022.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a9c5a3c088fffecf5f677bf7f3e3a1cff652923e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mesh/correction_tape_022.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6916ed8da120bac584568d8668d2019c943a4a56f224fe1c06e708a836d47246
+size 13463052
diff --git a/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mesh/correction_tape_022.mtl b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mesh/correction_tape_022.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b0e88fba450c92558105a8be141cdd113e93b1cd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mesh/correction_tape_022.mtl
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+newmtl correction_tape_022_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/2387fc2f340d597ba5e9fdf0ecfb2b6f/mesh/correction_tape_022.obj b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mesh/correction_tape_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d32c2f4042d4a794c3ec4c14b4e35b943ce0d241
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mesh/correction_tape_022.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl correction_tape_022_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mesh/correction_tape_022_collision.obj b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mesh/correction_tape_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c99112e315fcda29d450fc7903627b4395f8cdc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mesh/correction_tape_022_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mesh/correction_tape_022_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mesh/correction_tape_022_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e548ee2c53153fdbbad671ac6781695921f89dd2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mesh/correction_tape_022_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a63027d1acc16974a920de276462d5377a747bcdc94e49f8e4bb66129a502ec8
+size 10216793
diff --git a/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7214c4a4cab0d01d52ef80e680b335ad0f781860
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl correction_tape_022_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_022_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e548ee2c53153fdbbad671ac6781695921f89dd2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a63027d1acc16974a920de276462d5377a747bcdc94e49f8e4bb66129a502ec8
+size 10216793
diff --git a/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/correction_tape_022.xml b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/correction_tape_022.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9fd17603adff286b00aca51618e5715436e54e95
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/correction_tape_022.xml
@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="correction_tape_022">
+  <asset>
+    <material name="material_0" texture="texture_0_correction_tape_022_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_correction_tape_022_geometry_Looks_material_0" type="2d" file="mesh/correction_tape_022_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/correction_tape_022.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/correction_tape_022_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/correction_tape_022_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/correction_tape_022_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/correction_tape_022_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/correction_tape_022_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/correction_tape_022_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/correction_tape_022_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/correction_tape_022_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="correction_tape_022">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022.obj b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da00220bd625fa5215ed73b3761a21db51eb35e2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022.obj
@@ -0,0 +1,115256 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl correction_tape_022_geometry_Looks_material_0
+v 0.013719 -0.033289 -0.019582
+v 0.013719 -0.033289 -0.019582
+v 0.013719 -0.033289 -0.019582
+v 0.013882 -0.032953 -0.019483
+v 0.013882 -0.032953 -0.019483
+v 0.013786 -0.033755 -0.019403
+v 0.013786 -0.033755 -0.019403
+v 0.013786 -0.033755 -0.019403
+v 0.004085 0.020011 -0.020010
+v 0.004085 0.020011 -0.020010
+v 0.004027 0.020042 -0.020059
+v 0.004027 0.020042 -0.020059
+v 0.004027 0.020042 -0.020059
+v 0.004027 0.020042 -0.020059
+v 0.004487 0.020014 -0.020127
+v 0.004487 0.020014 -0.020127
+v 0.004487 0.020014 -0.020127
+v 0.003651 0.019946 -0.022248
+v 0.000368 0.019973 -0.022180
+v 0.003253 0.019990 -0.022115
+v 0.003971 0.019981 -0.022098
+v 0.004171 0.019943 -0.022209
+v -0.001624 0.019990 -0.022115
+v -0.002950 0.019942 -0.022251
+v -0.003559 0.019966 -0.022177
+v -0.000190 0.019939 -0.022270
+v -0.003004 0.019993 -0.022082
+v 0.004490 0.019945 -0.022117
+v -0.000120 0.020009 -0.022001
+v -0.004015 0.019980 -0.022049
+v -0.004177 0.019941 -0.022186
+v -0.004447 0.019944 -0.022111
+v 0.003228 0.020006 -0.022000
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diff --git a/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022_collision.obj b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d0221944054550c578710881dcc4a59788b8601
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022_collision.obj
@@ -0,0 +1,7198 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022_collision_0.obj b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d101ae25ab9f7661457f57486a05fc7592990b7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022_collision_0.obj
@@ -0,0 +1,196 @@
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diff --git a/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022_collision_1.obj b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f44905388da4ccd4528cb41f4de55030b31618d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022_collision_1.obj
@@ -0,0 +1,622 @@
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diff --git a/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022_collision_2.obj b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67097575b2fce01487d47a8022c1f31aaee2bd34
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022_collision_3.obj b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2facf8736507a8689b63eab59439ac33ee5a3009
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022_collision_4.obj b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61493b7ea1f24bb33f665c971967de625ad05aa4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022_collision_5.obj b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd71cf7e81320973675b8d7ff1b72aa7a5b6834c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022_collision_6.obj b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e85da5ca4e465b988490a1329a94b9289ee31a34
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022_collision_6.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022_collision_7.obj b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19a42d4bb2425cc395445437b0aeb650bf09f982
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mjcf/mesh/correction_tape_022_collision_7.obj
@@ -0,0 +1,1252 @@
+# https://github.com/mikedh/trimesh
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