diff --git a/.gitattributes b/.gitattributes
index 0910320b9620b8a108879877e5156d49ae4f1b99..8221a3ed8ca7138fb6f19e110de6f1203622b1fb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3423,3 +3423,5 @@ dataset/desktop_supplies/office_tools/bc17e30217e15df0a045fdcfc1a9aa8c/mesh/stap
 dataset/desktop_supplies/office_tools/bc17e30217e15df0a045fdcfc1a9aa8c/staples_box_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/mesh/scissors_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/baf50823816a5660af37063c89fa562e/scissors_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mesh/staples_box_017.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/staples_box_017.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mesh/material.mtl b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2e3802bf6d3a77a12ce8d718ca4ca4ced953aed4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl staples_box_017_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
+map_Kd staples_box_017_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mesh/material_0.png b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 7233434
diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mesh/staples_box_017.glb b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mesh/staples_box_017.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d2ce86199c2d384d3b859ded9fe90ee38a06a6d2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mesh/staples_box_017.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10430480
diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mesh/staples_box_017.mtl b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mesh/staples_box_017.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..831cccade914af376ab9d0229b0934a01d3a9468
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mesh/staples_box_017.mtl
@@ -0,0 +1,6 @@
+newmtl staples_box_017_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/bd3287453dc9551984f4c9b83363d214/mesh/staples_box_017.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mesh/staples_box_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..251d7ccb4a1f1b6fa530b01bdace4376b0643246
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mesh/staples_box_017.obj
@@ -0,0 +1,104528 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl staples_box_017_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mesh/staples_box_017_collision.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mesh/staples_box_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..660cddf314f57ab7624dd0ff1b25ce993b0eeb91
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mesh/staples_box_017_collision.obj
@@ -0,0 +1,23236 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mesh/staples_box_017_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mesh/staples_box_017_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 7233434
diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:b7f4ed619af88b91323cb959db753062afd00ac7710030f5c154ef4e71914c2d
+size 7233434
diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017.obj
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index 0000000000000000000000000000000000000000..bf16e87211c1806034e06eb4656a1ca47e4fad0d
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+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017.obj
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8e8f7afc190ce5d1d12c8364c9e9b40758cda09
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision.obj
@@ -0,0 +1,23236 @@
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_0.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acc3c4391e2e2ae4c74bbf646d57185cad40edc0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_1.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e02ddf83f9a1c444b5a95f7ae814cc193a87c8f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_10.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4df490989a559bff5ba37f74fe775b9f25ccb075
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_11.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c5a0a92732521089e45a285af59e9ac13dc5266
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_11.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_12.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..593e5efa0f2fcae6efb3176a45ce17f38fd80427
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_12.obj
@@ -0,0 +1,886 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_13.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee8170fb22b3dd65b3530f96c7172f4364504388
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_13.obj
@@ -0,0 +1,202 @@
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_14.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..139e2163d6395c98da768984d559241ce458c89a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_14.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_15.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61406fc4cb271a5cfedd555c69eb01e29189856d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_15.obj
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_16.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06d61914d1b7c98c09ef5da2ce44b3c0715fe949
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_16.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_17.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31b491bb0b37d9789e52a9844206922f175e6a52
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_17.obj
@@ -0,0 +1,871 @@
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_18.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a4d92623f4784366f6bb455bfd4415e8fba8469
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_18.obj
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_19.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba10ec16dd3cae9bc4648e4f8248491642e9b347
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_19.obj
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_2.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d82a8574e67e47b089bcb8cd51fe7e836022c4a1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_2.obj
@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_20.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0e5b7e044d3d724bd0d0b5abe613161c5168bf4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_20.obj
@@ -0,0 +1,526 @@
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_21.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da02855f47648bbca5b9b309109cfd1ec5e9c1a2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_21.obj
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_22.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4672d03b47df3efca5a9f9a1d3ee27d0c084d66
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_22.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_23.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf0dabedb281daa191404c06592b5173c6997ef1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_23.obj
@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_24.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ee18121781ec77ea266dfc55615843fe5b3a4de
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_24.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_25.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8700a3e2aa9ca90f444a9f2cc1b732c2836e9b90
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_25.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_26.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44a7a393259accd314c10818825e9367e11cf9a2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_26.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_27.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..252e8a1b92f189046633b1efadccc7fc2301557d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_27.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_28.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f83d7fd21bcc2054e723c8eb26823164db2883a7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_28.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_29.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65eb294f535a06da9c0c092c664f3e2ec81a11e2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_29.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_3.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..434ec0b06200342c956963a8bedb5231667656e3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_3.obj
@@ -0,0 +1,1048 @@
+# https://github.com/mikedh/trimesh
+v 0.04052843 -0.03435896 0.02270237
+v 0.04046382 -0.03435897 0.02325360
+v 0.04047190 -0.03450263 0.02270237
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+v -0.00072224 -0.04206805 0.02270235
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_30.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d112b8b62651ff2987c3d7830d2ed080d98ec866
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_30.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_31.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bc93694b9468dd7759d719760d5ff8aaf244058
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_31.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_32.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd011b103e895105e526c5c3e825b065afafd99d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_32.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_33.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7281f062133c0cc541c7192fb6b5d01518e41e8d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_33.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_34.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e456ce5c18b76b9c43fef16d8aeb155cf95b7ab
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_34.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_35.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cee60debac6f83ad567510ce54c1567c3c54060e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_35.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_36.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30d518334a1126a6e8d400f92f532caa07662884
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_36.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_37.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c51ff54d56e61135da727cb2cacfc194f06d0e8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_37.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_38.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c7cfabd548a2fbae667492e8323b92d9b0c4d2e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_38.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_39.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e6fa837b5e7fef50fcf6590a7d1cbd0e7a665d3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_39.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_4.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82e9d05f7441bb70c49d11bac3f76ef6a0c9022f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_4.obj
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+
diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_40.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d7b7016bf73db28f85fd0e1a4fafa296b758c11
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_40.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.03404326 0.03558033 -0.00955118
+v -0.03685527 0.03177112 -0.00955119
+v -0.03926148 0.03558033 -0.00955118
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+v -0.03937868 0.03541662 -0.00955118
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+v -0.04115715 0.03177108 0.00118297
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+v -0.04009359 0.03317841 0.00160399
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+v -0.03868721 0.03558028 0.00163992
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+v -0.03862129 0.03317841 0.00174320
+v -0.03852094 0.03177108 0.00134913
+v -0.04003059 0.03177107 0.00181056
+v -0.03768884 0.03558028 0.00191835
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+
diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_41.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fff6e24c9e10d8a2a9583893e0910dad8ade518
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_41.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.03542473 -0.02963199 -0.01890291
+v -0.03662523 -0.02434799 -0.01890289
+v -0.03543326 -0.02963199 -0.01788781
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+v -0.03663020 -0.02434799 -0.01873451
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+v -0.03554549 -0.02963200 -0.01598750
+v -0.04136257 -0.02963198 -0.02290318
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+v -0.04159770 -0.02434798 -0.02195541
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+v -0.04167939 -0.02434807 0.00151941
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+v -0.04235280 -0.02963206 0.00084586
+v -0.04165737 -0.02963207 0.00136784
+v -0.04009388 -0.02963207 0.00167093
+v -0.04156573 -0.02434807 0.00159638
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+
diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_42.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09cbc56bdd4c8484742c9492c9417ae2825302cb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_42.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.03265779 -0.03311901 -0.01890399
+v -0.03542451 -0.02963250 -0.01890398
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+v -0.03871372 -0.02963257 0.00003961
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+
diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_43.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8188ccc02d20b30b251e7014c905fa1e874876c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_43.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.03313477 -0.04010517 -0.02036185
+v 0.03313477 -0.04010023 -0.02121162
+v 0.03352625 -0.04003129 -0.02036185
+v 0.03313477 -0.03988264 0.00147304
+v 0.03313477 -0.03562245 -0.02121160
+v 0.03352625 -0.04002636 -0.02121162
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_44.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e847cc1605fc59c643ef048a3d855eec6a5cfe00
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_44.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_45.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fd10f20641cc044998cc325cc81bac9ab7a9f61
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_45.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_46.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b09b6813a7aed93b2c49f835ca927f6c3decb136
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_46.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_47.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4686fac1a1facb5d722b8dc0279bd7a55a266717
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_47.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_48.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1061352a55bb0f7b13923aff55f0d87ad3f0b4b9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_48.obj
@@ -0,0 +1,556 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_49.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6847bda58432267320db4911835801ed0ad033ac
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_49.obj
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_5.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a05fcc3aefcde6ac0129d7bfaa3499c637547ea
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_5.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_50.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cbe14dce7fe138e9251419e35f83a51c0d37a6c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_50.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_51.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..712268ba314d114decdef0b7cff280de175d089a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_51.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_52.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f777487e75956e73ca334d375c0187bd37e09ac
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_52.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_53.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbe21d48a620edfc92f6b14e4321c51c09cdf78f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_53.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.03717282 -0.03198683 0.01915639
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+
diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_54.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..638a0d62a952187fca013af96d1601ba0167fd83
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_54.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_55.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a5f88f5d2a2d822d5d0fc2e17d8f2333b6547f5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_55.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_6.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ed369e2422926f36e80d3af3f11a5fab4561a9b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_6.obj
@@ -0,0 +1,1258 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_7.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60cd2b9b3f4c9ed81258b35501c2bfbe584f417d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_8.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d0c259998a4ba21db9435250f9c7638e7bc266f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_9.obj b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa79b252ec5e1e131e6530b7d5c553ee886a3702
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/mesh/staples_box_017_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/staples_box_017.xml b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/staples_box_017.xml
new file mode 100644
index 0000000000000000000000000000000000000000..69d9187d2908ed808c39e83e393675aa7c63acc2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/mjcf/staples_box_017.xml
@@ -0,0 +1,126 @@
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+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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_tools/bd3287453dc9551984f4c9b83363d214/staples_box_017.urdf b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/staples_box_017.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3fecf45f2ed17d635f4c423769225c320fff5616
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/staples_box_017.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="staples_box_017">
+   <link name="staples_box_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/staples_box_017.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_017_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <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>bd3287453dc9551984f4c9b83363d214</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 hinged box for holding staples</description>
+         <min_height>0.0573</min_height>
+         <max_height>0.0573</max_height>
+         <real_height>0.0573</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518181120</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.042824 -0.042300 -0.027849</min>
+            <max>0.046609 0.042498 0.029425</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_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/bd3287453dc9551984f4c9b83363d214/staples_box_017.usd b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/staples_box_017.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/staples_box_017.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d70172f43716eaa413ed0e98a76b132f75b65e5cbba8d30a8703e12961897848
+size 4829383
diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/textures/material_0.png b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a4a3166d22c86f1e8f8fd6b22258e54e2ec897d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7f4ed619af88b91323cb959db753062afd00ac7710030f5c154ef4e71914c2d
+size 7233434
diff --git a/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/video.mp4 b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f7dd31f2ce9d7a775894327443e6171a9c28deb1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bd3287453dc9551984f4c9b83363d214/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66fcc180752bc306e6d23c3f789ae8064dc31d09cf34b0793b21bc17a501af96
+size 234442