diff --git a/.gitattributes b/.gitattributes
index f8996275d5d6a9cdaa8fa214c42ebd6413f444d0..21aea4f4fdcbf480e12e67766cd1a688b7b5dc25 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3318,5 +3318,5 @@ dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mesh/scot
 dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/scotch_tape_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/16b3caf83ace5ce1a4ce6465f121a10f/mesh/sticky_notes_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/16b3caf83ace5ce1a4ce6465f121a10f/sticky_notes_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/1542d81a50bc5390a125704defc23294/cutter_knife_013.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/1542d81a50bc5390a125704defc23294/mesh/cutter_knife_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mesh/staples_box_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/staples_box_015.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mesh/material.mtl b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e1057823392df15e1e654aad1ac079cba02c40ea
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl staples_box_015_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mesh/material_0.png b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cee8c7a2ecfd8c4131d32dcef629e2c2e82c623d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mesh/staples_box_015.glb b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mesh/staples_box_015.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f835827e536d231d0fd39c9d66e5e4819016aa10
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mesh/staples_box_015.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mesh/staples_box_015.mtl b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mesh/staples_box_015.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..78fc716c23c4a41445ac1808ff4e382713351fe5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mesh/staples_box_015.mtl
@@ -0,0 +1,6 @@
+newmtl staples_box_015_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_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mesh/staples_box_015.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mesh/staples_box_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..136632f943f049ab0cffdf5747cb7d2b161d29d8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mesh/staples_box_015.obj
@@ -0,0 +1,112174 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl staples_box_015_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mesh/staples_box_015_collision.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mesh/staples_box_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa8790bfb260ecca67cb37a36654304946cde732
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mesh/staples_box_015_collision.obj
@@ -0,0 +1,25716 @@
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mesh/staples_box_015_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mesh/staples_box_015_geometry_Looks_material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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+size 9866997
diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cee8c7a2ecfd8c4131d32dcef629e2c2e82c623d
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+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:69221f9a3a10d20de10c68b6b549ebe79fc856950f320333da12bc38eb79eae0
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015.obj
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00e680efdc2b8a022613dd621cdffb327a71b2c5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision.obj
@@ -0,0 +1,25716 @@
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_0.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..053d0bec13b1b0d930ad7851c34cca95494a0662
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_1.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2d74cd2dc420af1fa871ad318ffd1b04697c73f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_10.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74a87a574976191cbdb403dc025df1641ddc95e8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_10.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_11.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eebf537c826a1a7cf0e4c075a8eb07f96d15419c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_11.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_12.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ebe885e80875f4fedf92a8690759b87b8357c11
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_12.obj
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_13.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b4f58045f26c155b6bcb3caf8d38aeb95aeab2c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_13.obj
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_14.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdaef5b3f01ac6ba4c942c2f1bc8e19dfd374ef6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_14.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_15.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d0eb3d68bee8742314631f192a1484690ca623e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_15.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_16.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a15e41b577b6685ad148134ef85d20a51a0fb96
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_16.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_17.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bc0dfac05a877d7309f4044ca2141f6c4ecc051
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_17.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_18.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de5a0b3585de128608e5d7b2fce2da0504fa0830
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_18.obj
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_19.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73dbb279a2a413997a7c568a737bed897de35377
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_19.obj
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_2.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f3d6f4d2dcb04f4ba87ec69796f388107dff9b9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_20.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f5672f3d8fbff6cd0734a509ac3e0f87827924a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_20.obj
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_21.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9c0d2abb0c718d7ebc250e6e410597767fdf396
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_21.obj
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_22.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58d1d4e04faafb7813f0c3e7795f3d013ee407bf
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_22.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_23.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1d6f715771b98b0b6584c8bbeb466084d6e3ca6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_23.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_24.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a020df6160c65e1eab112ebf78eb6e00d0d9ab2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_24.obj
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_25.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dea33b6664217560ae7ac23d47d47c957eb23ba6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_25.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_26.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48daba88fcc3e3868618cc106e71aa36254ea87e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_26.obj
@@ -0,0 +1,487 @@
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_27.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9cb978cd5888c6be1602448790dff76d0f05f23
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_27.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_28.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dbe01917c2712ce008bd6bf79de3572a7ee555a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_28.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_29.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bcececcd6503f15b7e97106ca1aa6ce51092cd6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_29.obj
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_3.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81dc3f29d340c5b5bc386afb5908e343a4c71e86
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_3.obj
@@ -0,0 +1,568 @@
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_30.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d54a36350b54cf8e36d369fcc8e9647385003931
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_30.obj
@@ -0,0 +1,559 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_31.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b5163d83eaeb37506b981c3c95ff41fe5308fac
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_31.obj
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_32.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31bcf91dd0418a6d0ff8248fa535aee0d9c80dad
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_32.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_33.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..494c3ddff9b41b8a87a0e16309f6b40887842f49
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_33.obj
@@ -0,0 +1,613 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_34.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afc325ce76e39318a0f19146f7b7aff7a0e36f53
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_34.obj
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_35.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0532f66da85d05f00814aeae3e7091468bbaa4c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_35.obj
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_36.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f7ed83c8ce3be1aef0c27e3c518c77d8db3f05c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_36.obj
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_37.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..036de3600b31bceb88a906f703639f2c1f79b52a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_37.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_38.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad1c6d08a49dc4d1c001dd85ec5e6cd169ed16b8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_38.obj
@@ -0,0 +1,586 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_39.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f04545118c33ce3aae1e850faf8a9d35f3ab51bb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_39.obj
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_4.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d41bfe6c9c904ee59aee7ebaa7f3fea783ad138
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_4.obj
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+
diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_40.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15cb84b33989db8cbb3340176ca064fb6d1c1b9e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_40.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.00658818 -0.02956329 0.03503376
+v -0.00340537 -0.02956329 0.03502925
+v -0.00658818 -0.02956331 0.03949294
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+v 0.00691497 -0.02956329 0.03503376
+v -0.00071690 -0.02956331 0.03949429
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+v -0.00652077 -0.01543625 0.03964434
+v -0.00652209 -0.01542227 0.03964434
+v -0.00658818 -0.01552474 0.03962581
+v -0.00658818 -0.00577134 0.03963263
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+v 0.00691497 -0.02956331 0.03949474
+v 0.00465211 -0.01811913 0.03964433
+v -0.00654985 -0.01409247 0.03964435
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+v -0.00658818 -0.00876397 0.03963262
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+v 0.00639816 -0.01409713 0.03964435
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+v 0.00641006 -0.00603917 0.03964438
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+v 0.00691497 -0.00933455 0.03955717
+v 0.00691497 -0.01409247 0.03955399
+v 0.00691497 -0.01140726 0.03955580
+v 0.00691497 -0.01006349 0.03955671
+v -0.00655381 -0.01140726 0.03964436
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+
diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_41.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ef962dc1605cd042c368fa85e56ae259b484968
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_41.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.03669467 0.03430025 0.03130715
+v 0.03666990 0.03430024 0.03237408
+v 0.03669821 0.03429364 0.03130715
+v 0.03063542 0.03430025 0.03130715
+v 0.03666755 0.03430024 0.03244855
+v 0.03669114 0.03425594 0.03244855
+v 0.03671826 0.03425595 0.03130715
+v 0.02628531 0.03430023 0.03414564
+v 0.03366446 0.02754591 0.03130712
+v 0.03663688 0.03430024 0.03295062
+v 0.03657554 0.03430024 0.03386112
+v 0.03720305 0.03291300 0.03378776
+v 0.03728444 0.03291300 0.03244854
+v 0.03680555 0.03405692 0.03130715
+v 0.03186213 0.02754589 0.03414561
+v 0.03653072 0.03430023 0.03414564
+v 0.03833540 0.02754591 0.03130712
+v 0.03714526 0.03291299 0.03414563
+v 0.03751799 0.03202896 0.03378776
+v 0.03755809 0.03217376 0.03244854
+v 0.03757224 0.03222401 0.03145940
+v 0.03735285 0.03280524 0.03130714
+v 0.03818442 0.02754589 0.03414561
+v 0.03822689 0.02888421 0.03130713
+v 0.03831181 0.02754590 0.03244463
+v 0.03749322 0.03191191 0.03414563
+v 0.03767840 0.03127516 0.03414562
+v 0.03770081 0.03135782 0.03378776
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+v 0.03749558 0.03243231 0.03130714
+v 0.03762650 0.03202632 0.03130714
+v 0.03823868 0.02754590 0.03378774
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+v 0.03788482 0.03023109 0.03414562
+v 0.03794026 0.03022780 0.03378775
+v 0.03801339 0.03022780 0.03244853
+v 0.03772087 0.03165869 0.03130714
+v 0.03803934 0.03022781 0.03130713
+v 0.03812898 0.02888420 0.03378775
+v 0.03807473 0.02888419 0.03414562
+v 0.03793672 0.02986875 0.03414562
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+
diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_42.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1d9cbb7c320a881ec81dc214819f3b5bba3f41e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_42.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.00658818 -0.03960720 0.02211805
+v -0.00658818 -0.04033755 0.02234940
+v -0.00658818 -0.03856638 0.02217273
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+
diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_43.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92e2c334305a4c06d78771ef30605f26e4d689cf
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_43.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.03418809 -0.02986185 0.03124849
+v -0.03162549 -0.03421867 0.03124847
+v -0.03162549 -0.03440701 0.02575203
+v -0.03162549 -0.03447240 0.02458503
+v -0.03162549 -0.03448216 0.02441214
+v -0.03418809 -0.03040057 0.02575205
+v -0.03418809 -0.03830904 0.03124846
+v -0.03162549 -0.03979547 0.03124845
+v -0.03162549 -0.03473006 0.02382504
+v -0.03418809 -0.03056552 0.02441216
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+v -0.03411183 -0.03836564 0.03124846
+v -0.03280531 -0.03922451 0.03124846
+v -0.03280732 -0.03922549 0.03110798
+v -0.03162549 -0.03979742 0.03110617
+v -0.03193882 -0.03459342 0.02350718
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_44.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30f4def3d874bbf198b87a795064ec6481b1834e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_44.obj
@@ -0,0 +1,238 @@
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_45.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2dbce9501d21ca4a3f08c1ec07c3dace4774727
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_45.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_46.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d07128ba8b0f16f9c9d33cdfaabf1fd3fcb78f6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_46.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v 0.02455276 -0.04094110 0.02575217
+v 0.02481249 -0.04093449 0.02575217
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+
diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_47.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54d1b52ef0e67495cc43f3f866f2074a188c293e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_47.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.03830376 -0.02815343 0.00298192
+v 0.03812994 -0.02815343 0.00346225
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+
diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_48.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45da98b3edfa1e9931cb871438a704bf386daeda
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_48.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.03162549 -0.02841519 0.03943445
+v -0.03162549 -0.02841518 0.03461557
+v -0.03296712 -0.02841519 0.03938718
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+v -0.03418809 -0.02882292 0.03929342
+v -0.03296712 -0.03020763 0.03936634
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+v -0.03411183 -0.03836546 0.03124936
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+
diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_49.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3393a833d81b8c5c5200240a0c301d7e5e49b77e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_49.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00658818 0.01742313 0.03509165
+v 0.00643233 0.01742313 0.03508219
+v -0.00658818 0.01742311 0.03949127
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+v -0.00474904 0.03430022 0.03945299
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+v 0.00643233 0.03291251 0.03948450
+v 0.00600027 0.03425562 0.03945719
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+
diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_5.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ae072ff70b5308479c3df854e9ef5876e879915
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_5.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+v -0.00658818 -0.03284825 0.03476702
+v -0.03162549 -0.03284826 0.03936466
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+
diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_50.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3bc79a05cf07770e43e27613871dec9a375580e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_50.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v -0.00658818 -0.00577132 0.03510728
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_51.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3208c9741daec4ba05074f81d6541c3c1d7b0d4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_51.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_52.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d67e61c274e726e0900e956b58a69b93ee609fab
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_52.obj
@@ -0,0 +1,544 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_53.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b12637485d4b5f9779ca76ce0af7fffd492f5d1f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_53.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_54.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8279d4c3504a5de8f6092d3c694dff8b90bc9955
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_54.obj
@@ -0,0 +1,226 @@
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_55.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15c64f92a1edd0bfa0223ac617263cdc116aa14f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_55.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_56.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c417233f134070c4d49a136c1f3413bbd17cdc46
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_56.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_57.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..757937ba6470b7c3a5c3da5b9f35c8c5d661f1ca
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_57.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_58.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b4048cc670d0de39750c4ce8a9a7fef5ecdfe07
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_58.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_59.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71a0da1cb582374f46f55dd6f1f6476a11a2501e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_59.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_6.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d607364f4dd436b8da9981c261a63255571227ed
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_6.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_60.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d17c01049dec7f359591cf0d910e74f1512ad3fc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_60.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_7.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a70727aa111911e518ef5398e916df573215293
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_7.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_8.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c4891be3ea890fbbfe00e9135fb6e86356a5f33
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_8.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_9.obj b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1853245709dfc207027dfb498b0c0b66abf9d06d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/mesh/staples_box_015_collision_9.obj
@@ -0,0 +1,751 @@
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/staples_box_015.xml b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/staples_box_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c86f3fb275bec9515c0314095f389be8cecbada9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/mjcf/staples_box_015.xml
@@ -0,0 +1,136 @@
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+    <mesh name="collision_mesh_0_30" file="mesh/staples_box_015_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/staples_box_015_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/staples_box_015_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/staples_box_015_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/staples_box_015_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/staples_box_015_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/staples_box_015_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/staples_box_015_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/staples_box_015_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/staples_box_015_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/staples_box_015_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/staples_box_015_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/staples_box_015_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/staples_box_015_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/staples_box_015_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/staples_box_015_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/staples_box_015_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/staples_box_015_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/staples_box_015_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/staples_box_015_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/staples_box_015_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/staples_box_015_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/staples_box_015_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/staples_box_015_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/staples_box_015_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/staples_box_015_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/staples_box_015_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/staples_box_015_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/staples_box_015_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/staples_box_015_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/staples_box_015_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="staples_box_015">
+      <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_60" 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_tools/0cf9587f17ed55c6a51a4f7f24a50a98/staples_box_015.urdf b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/staples_box_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..abf6e28859b8eed6699676b3c7dcb64268de0538
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/staples_box_015.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="staples_box_015">
+   <link name="staples_box_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/staples_box_015.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/staples_box_015_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0850" />
+         <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>0cf9587f17ed55c6a51a4f7f24a50a98</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>staples_box</category>
+         <name>gray staples box</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>small rounded rectangular box with fitted lid for holding staples</description>
+         <min_height>0.0716</min_height>
+         <max_height>0.0716</max_height>
+         <real_height>0.0716</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518181031</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.041189 -0.040793 -0.028032</min>
+            <max>0.038375 0.040814 0.043610</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/staples_box_015.usd b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/staples_box_015.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/staples_box_015.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4891557
diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/textures/material_0.png b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/textures/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/textures/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/video.mp4 b/dataset/desktop_supplies/office_tools/0cf9587f17ed55c6a51a4f7f24a50a98/video.mp4
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@@ -0,0 +1,3 @@
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+size 561143