diff --git a/.gitattributes b/.gitattributes
index dc2193f66d2f30ee00f79e5fa10a15b13080859f..e5e2e70c650d1416cb35afa0abef89b76edf6843 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3435,7 +3435,5 @@ dataset/desktop_supplies/office_tools/c508c8540f70585ca5f05f1e96506c89/c508c8540
 dataset/desktop_supplies/office_tools/c62e47aa3bec5944bf00fdc8d4378d60/c62e47aa3bec5944bf00fdc8d4378d60.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/c62e47aa3bec5944bf00fdc8d4378d60/mesh/glue_stick.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/c62e47aa3bec5944bf00fdc8d4378d60/mesh/glue_stick_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/c48e7a3c9cd054e087bd253bafbdaf31/mesh/sticky_notes_022.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/c48e7a3c9cd054e087bd253bafbdaf31/sticky_notes_022.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/cb69fb77c53a504590d858bda5398f49/mesh/scissors_004.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/cb69fb77c53a504590d858bda5398f49/scissors_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mesh/staples_box_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/staples_box_008.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mesh/material.mtl b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dc6e49d239acaa3780a1d399d48f2d887f8fc2cd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl staples_box_008_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd staples_box_008_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mesh/material_0.png b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8e6b67bb2657ce798235babd1dfdd026744b204
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b20d4e2414943600442f5c36f9350741da706061b0acca9dc2f202e4a2d6f5b1
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diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mesh/staples_box_008.glb b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mesh/staples_box_008.glb
new file mode 100644
index 0000000000000000000000000000000000000000..56eb481d5b67680f8d8ed8702154e871bf9377ef
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mesh/staples_box_008.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 15196504
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mesh/staples_box_008.mtl b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mesh/staples_box_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a00df0c4319dc4cfb114e4b524423335ef1e52dc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mesh/staples_box_008.mtl
@@ -0,0 +1,6 @@
+newmtl staples_box_008_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/c6c878dee0a7552eaab9759c5f161f19/mesh/staples_box_008.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mesh/staples_box_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66f8df454ac269643ea451426f924f59a4fc913a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mesh/staples_box_008.obj
@@ -0,0 +1,114860 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl staples_box_008_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mesh/staples_box_008_collision.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mesh/staples_box_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29918f0c8daed7326f9637167cdf5d6f03640ff4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mesh/staples_box_008_collision.obj
@@ -0,0 +1,10361 @@
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diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mesh/staples_box_008_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mesh/staples_box_008_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008.obj
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diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc27e3b613d9f99a61627d1410624c9fefe58595
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision.obj
@@ -0,0 +1,10361 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_0.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22000687c958fdc488061922b753f9845efd1815
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_1.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b92e59435d1a9f7dd8ab6a58c1eb8c30b8bbaa6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_1.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_10.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2003bcab8d5ba390f35666c947905f4ce6a1ddb9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_10.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_11.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a203ee719d21bb8df39601b3ba3389b2cb0e2857
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_11.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_12.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d71406f5eba78e757932c164224feddd53902537
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_12.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.03326975 -0.03005918 -0.00427983
+v -0.02717526 -0.03005918 -0.00427983
+v -0.03326855 -0.03005919 -0.00269868
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+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_13.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f856f7d169a5ba0741ee98e5f905f4339951a2ee
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_13.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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+v -0.01414453 -0.03590635 -0.00099275
+v -0.01414453 -0.03086844 -0.00428028
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+v -0.01013152 -0.03814789 -0.00394260
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+v -0.01414453 -0.03582347 0.00071165
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+v -0.01005473 -0.03641338 0.00681418
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+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_14.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0cba20426e2857e76a5397d007402c657507818
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_14.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.04999172 0.00538360 0.00191444
+v -0.04889676 0.01097476 0.00174892
+v -0.04999172 0.00878168 0.00191263
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+v -0.04699167 -0.03005920 0.00017041
+v -0.04999172 0.01048473 0.00190900
+v -0.05104807 0.00878168 0.00172830
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+v -0.05138819 0.00708265 0.00071082
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+v -0.04631822 -0.03005920 -0.00090770
+v -0.04720138 0.01097477 0.00009174
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+v -0.05138036 0.01048474 0.00071083
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+v -0.04656235 0.01097479 -0.00428013
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+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_15.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3a24d84c00ef0122287f485b685a6aeb51647ac
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_15.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.00978450 -0.03005920 0.00032742
+v 0.00858254 -0.03005920 0.00014743
+v 0.01148945 -0.03005920 0.00030742
+v 0.00978450 0.01097102 0.00031257
+v 0.00841433 -0.03005920 0.00011494
+v 0.01278368 -0.03005920 0.00009494
+v 0.01148945 0.01097102 0.00028007
+v 0.01027606 0.01097102 0.00030507
+v 0.01355042 0.01196234 -0.00428460
+v 0.00759207 0.01196234 -0.00428460
+v 0.00862664 0.01097102 0.00008759
+v 0.00776600 -0.03005920 -0.00069751
+v 0.01347448 -0.03005920 -0.00090999
+v 0.01258689 0.01097102 0.00005509
+v 0.01182995 0.01097102 0.00021758
+v 0.01491079 0.01048982 -0.01510384
+v 0.01355124 0.01196235 -0.00951923
+v 0.01278858 0.01097102 -0.00026739
+v 0.01307437 0.01097102 -0.00103483
+v 0.01370148 -0.03005919 -0.00269987
+v 0.00807465 0.01097102 -0.00100483
+v 0.00759126 0.01196234 -0.00440709
+v 0.00656894 0.01048981 -0.01489635
+v 0.00736262 -0.03005919 -0.00269987
+v 0.00769251 -0.03005920 -0.00086250
+v 0.01491079 -0.00885917 -0.01512391
+v 0.01491079 0.01048985 -0.02382822
+v 0.01355042 0.01196236 -0.01126161
+v 0.01370801 -0.03005918 -0.00428225
+v 0.01490180 -0.02861537 -0.01512898
+v 0.01490180 -0.02861126 -0.01508899
+v 0.00758962 0.01196236 -0.01126161
+v 0.00656894 0.01048985 -0.02384572
+v 0.00656894 -0.00885918 -0.01492892
+v 0.00735364 -0.03005919 -0.00398977
+v 0.01491079 -0.00885914 -0.02382579
+v 0.01148945 0.01048985 -0.02520312
+v 0.01491079 -0.00141817 -0.02382827
+v 0.01148945 -0.02350662 -0.02521075
+v 0.01148945 0.00538112 -0.02520564
+v 0.00735201 -0.03005918 -0.00428225
+v 0.00757819 -0.02988641 -0.01126176
+v 0.01358390 -0.02988641 -0.01125926
+v 0.01490180 -0.02861534 -0.02382837
+v 0.00978532 0.01048985 -0.02517562
+v 0.00978532 -0.02010903 -0.02517823
+v 0.00656894 -0.00004021 -0.02384576
+v 0.00656894 -0.00885914 -0.02384079
+v 0.01490180 -0.02180782 -0.02383084
+v 0.01149925 -0.02861534 -0.02520327
+v 0.01148945 -0.02861534 -0.02520577
+v 0.00979348 -0.02861534 -0.02517827
+v 0.00978532 -0.02520541 -0.02517825
+v 0.00740345 -0.02861534 -0.02391836
+v 0.00756431 -0.02988641 -0.01126176
+v 0.00978532 -0.02861534 -0.02517577
+v 0.00826409 -0.02861534 -0.02445082
+f 1 2 5
+f 1 5 12
+f 1 12 25
+f 1 25 24
+f 1 24 35
+f 1 35 41
+f 1 41 29
+f 1 29 20
+f 1 20 13
+f 1 13 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 9
+f 7 9 8
+f 9 16 17
+f 9 17 28
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+f 9 32 22
+f 9 22 10
+f 9 15 14
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+f 9 19 13
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+f 12 21 25
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+f 16 27 17
+f 16 20 26
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+f 20 29 30
+f 20 30 31
+f 20 31 26
+f 21 24 25
+f 22 32 23
+f 23 33 47
+f 23 47 48
+f 23 48 34
+f 23 34 24
+f 23 32 33
+f 24 34 35
+f 26 31 30
+f 26 30 44
+f 26 44 36
+f 27 37 28
+f 27 38 39
+f 27 39 40
+f 27 40 37
+f 28 37 32
+f 29 41 55
+f 29 55 42
+f 29 42 43
+f 29 43 44
+f 29 44 30
+f 32 37 45
+f 32 45 33
+f 33 45 46
+f 33 46 53
+f 33 53 47
+f 34 48 41
+f 34 41 35
+f 36 44 49
+f 36 49 38
+f 37 40 45
+f 38 49 39
+f 39 46 45
+f 39 45 40
+f 39 49 44
+f 39 44 50
+f 39 50 51
+f 39 51 52
+f 39 52 53
+f 39 53 46
+f 41 48 54
+f 41 54 55
+f 42 55 51
+f 42 51 43
+f 43 51 50
+f 43 50 44
+f 47 53 48
+f 48 53 56
+f 48 56 57
+f 48 57 54
+f 51 55 52
+f 52 56 53
+f 52 55 56
+f 54 57 55
+f 55 57 56
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_16.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db7331ca80777b65f8076f0399813bffe5e8bfac
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_16.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.01149083 0.01320282 -0.02529780
+v 0.01149083 0.01049387 -0.02520437
+v 0.01148319 0.01049387 -0.02520437
+v 0.00978337 0.01049387 -0.02517689
+v 0.00978337 0.01320282 -0.02526619
+v 0.01578775 0.01320282 -0.02404605
+v 0.01578775 0.01049387 -0.02382896
+v 0.00017454 0.01049387 -0.02382896
+v 0.00017454 0.01320282 -0.02405017
+v 0.01578775 0.01320278 -0.01353326
+v 0.01578775 0.01049384 -0.01521235
+v 0.00017454 0.01049384 -0.01531678
+v 0.00017454 0.01320278 -0.01373387
+v 0.01578775 0.01320251 -0.01352639
+v 0.01517325 0.01320277 -0.01126197
+v 0.01312797 0.01049382 -0.01126198
+v 0.00799032 0.01049382 -0.01126198
+v 0.00586555 0.01320277 -0.01126197
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 13
+f 1 13 18
+f 1 18 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 11
+f 2 11 16
+f 2 16 17
+f 2 17 12
+f 2 12 8
+f 2 8 4
+f 2 4 3
+f 4 8 9
+f 4 9 5
+f 6 10 14
+f 6 14 11
+f 6 11 7
+f 8 12 13
+f 8 13 9
+f 10 15 14
+f 11 14 15
+f 11 15 16
+f 12 17 13
+f 13 17 18
+f 15 18 17
+f 15 17 16
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_17.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c582cbf0c71b970172766ac48e1fe4507769d86d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_17.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.01071184 -0.03371060 -0.02631640
+v -0.01071184 -0.02864768 -0.02519045
+v -0.01067548 -0.02864768 -0.02519045
+v -0.00900548 -0.03371060 -0.02631198
+v 0.00017301 -0.03519629 -0.02616166
+v -0.02266414 -0.03536081 -0.02617051
+v -0.02437309 -0.03535795 -0.02617198
+v -0.02635995 -0.03501532 -0.02618967
+v -0.02635995 -0.03371060 -0.02627071
+v -0.02635995 -0.03353750 -0.02619850
+v -0.02635995 -0.03272850 -0.02581975
+v -0.02635995 -0.02864768 -0.02387440
+v -0.00900548 -0.02864768 -0.02517424
+v 0.00017301 -0.03371060 -0.02625745
+v 0.00017301 -0.03426496 -0.02622209
+v 0.00017301 -0.03539873 -0.02567828
+v -0.02266414 -0.03595524 -0.02486477
+v -0.02437309 -0.03595024 -0.02486477
+v -0.02635995 -0.03525924 -0.02616903
+v -0.02635995 -0.02864772 -0.01494501
+v 0.00017301 -0.02864768 -0.02382871
+v 0.00017301 -0.03274853 -0.02581385
+v 0.00017301 -0.03573922 -0.02486477
+v -0.02437309 -0.03589374 -0.02145454
+v -0.02635995 -0.03589159 -0.02145454
+v 0.00017301 -0.03583364 -0.02315966
+v 0.00017301 -0.03588873 -0.02145454
+v -0.00900548 -0.03590089 -0.02145454
+v -0.02635995 -0.03585868 -0.02315966
+v -0.02635995 -0.03582506 -0.02486477
+v -0.02635995 -0.03573493 -0.02507699
+v -0.02635995 -0.03061768 -0.01126361
+v -0.01237145 -0.02864773 -0.01126361
+v 0.00017301 -0.02864771 -0.01530166
+v -0.00900548 -0.03508262 -0.01126363
+v -0.02635995 -0.03465773 -0.01126363
+v 0.00017301 -0.03466202 -0.01126363
+v -0.00721861 -0.02864773 -0.01126361
+v 0.00017301 -0.03117347 -0.01126361
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 20
+f 2 20 33
+f 2 33 38
+f 2 38 34
+f 2 34 21
+f 2 21 13
+f 2 13 3
+f 3 13 14
+f 3 14 4
+f 4 14 15
+f 4 15 5
+f 5 15 14
+f 5 14 22
+f 5 22 21
+f 5 21 34
+f 5 34 39
+f 5 39 37
+f 5 37 27
+f 5 27 26
+f 5 26 23
+f 5 23 16
+f 5 16 17
+f 5 17 6
+f 6 17 7
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 8 19 31
+f 8 31 30
+f 8 30 29
+f 8 29 25
+f 8 25 36
+f 8 36 32
+f 8 32 20
+f 8 20 12
+f 8 12 11
+f 8 11 10
+f 8 10 9
+f 13 21 22
+f 13 22 14
+f 16 23 17
+f 17 24 25
+f 17 25 18
+f 17 23 26
+f 17 26 27
+f 17 27 28
+f 17 28 24
+f 18 25 29
+f 18 29 30
+f 18 30 31
+f 18 31 19
+f 20 32 33
+f 24 28 35
+f 24 35 25
+f 25 35 36
+f 27 37 35
+f 27 35 28
+f 32 36 35
+f 32 35 37
+f 32 37 39
+f 32 39 38
+f 32 38 33
+f 34 38 39
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_18.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f54dd56f3b46e207a104f766b82f708ff63f428
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_18.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.00724964 0.01047697 -0.00428150
+v -0.00724914 0.01047697 -0.00439560
+v -0.01232060 0.01047697 -0.00428150
+v -0.00723055 -0.02859810 -0.00428165
+v -0.00724863 0.01047699 -0.01126062
+v -0.00722955 -0.02859810 -0.00611013
+v -0.00722854 -0.02859808 -0.01126077
+v -0.01232411 0.01047699 -0.01126062
+v -0.01236028 -0.02859810 -0.00428165
+v -0.01235777 -0.02859808 -0.01126077
+f 1 2 5
+f 1 5 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 4 9 10
+f 4 10 7
+f 4 7 6
+f 5 7 10
+f 5 10 8
+f 8 10 9
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_19.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02bd5503ff6388d82f31ba1026ea83012aeacc99
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_19.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.00978429 -0.03371102 -0.02631477
+v 0.00466159 -0.03519796 -0.02616153
+v 0.00124472 -0.03519725 -0.02616153
+v 0.00017564 -0.03519654 -0.02616153
+v 0.00017564 -0.03426462 -0.02622195
+v 0.00017564 -0.03371102 -0.02625730
+v 0.01149273 -0.02862038 -0.02520811
+v 0.01149273 -0.03371102 -0.02631477
+v 0.02002968 -0.03519939 -0.02616153
+v 0.00466159 -0.03574017 -0.02486478
+v 0.00124472 -0.03573946 -0.02486478
+v 0.00017564 -0.03539889 -0.02567820
+v 0.00017564 -0.03274848 -0.02581375
+v 0.00978429 -0.02862038 -0.02517863
+v 0.02693942 -0.02862038 -0.02385536
+v 0.02693942 -0.03274491 -0.02581375
+v 0.02693942 -0.03371102 -0.02625730
+v 0.02693942 -0.03519868 -0.02616153
+v 0.02173811 -0.03519939 -0.02616153
+v 0.00017564 -0.03583350 -0.02315985
+v 0.00017564 -0.03577437 -0.02422967
+v 0.02344655 -0.03574017 -0.02486478
+v 0.00017564 -0.03573875 -0.02486478
+v 0.00017564 -0.02862038 -0.02382588
+v 0.02693942 -0.02862042 -0.01491072
+v 0.02693942 -0.03573946 -0.02486478
+v 0.00124472 -0.03583350 -0.02315985
+v 0.00978429 -0.03589906 -0.02145491
+v 0.00017564 -0.03588909 -0.02145491
+v 0.02693942 -0.03574373 -0.02478668
+v 0.02693942 -0.03583065 -0.02315985
+v 0.00017564 -0.02862041 -0.01531448
+v 0.02693942 -0.03062819 -0.01126213
+v 0.01315400 -0.02862043 -0.01126213
+v 0.00978429 -0.03505909 -0.01126215
+v 0.02693942 -0.03583351 -0.02308027
+v 0.02515237 -0.03588837 -0.02145491
+v 0.00017564 -0.03466224 -0.01126215
+v 0.00017564 -0.03117324 -0.01126213
+v 0.00795532 -0.02862043 -0.01126213
+v 0.02693942 -0.03463659 -0.01126215
+v 0.02693942 -0.03588624 -0.02145491
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 19
+f 1 19 9
+f 1 9 2
+f 2 10 11
+f 2 11 3
+f 2 9 10
+f 3 11 12
+f 3 12 4
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+f 4 23 21
+f 4 21 20
+f 4 20 29
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+f 4 38 39
+f 4 39 32
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+f 4 6 5
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+f 7 32 40
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+f 7 34 25
+f 7 25 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 9 19 22
+f 9 22 10
+f 10 20 21
+f 10 21 11
+f 10 22 27
+f 10 27 20
+f 11 21 23
+f 11 23 12
+f 13 24 14
+f 15 25 33
+f 15 33 41
+f 15 41 42
+f 15 42 36
+f 15 36 31
+f 15 31 30
+f 15 30 26
+f 15 26 18
+f 15 18 17
+f 15 17 16
+f 18 26 22
+f 18 22 19
+f 20 27 28
+f 20 28 29
+f 22 26 30
+f 22 30 31
+f 22 31 27
+f 25 34 33
+f 27 31 28
+f 28 35 29
+f 28 31 36
+f 28 36 37
+f 28 37 35
+f 29 35 38
+f 32 39 40
+f 33 34 40
+f 33 40 39
+f 33 39 38
+f 33 38 35
+f 33 35 41
+f 35 37 42
+f 35 42 41
+f 36 42 37
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_2.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d05b946c881d8782ff4acac1c0dd9f744fadb1df
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_2.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v 0.04746363 0.00886040 0.05527519
+v 0.04906522 0.00891615 0.05356894
+v 0.04903973 0.00920379 0.05531397
+v 0.04746363 0.00933311 0.05636583
+v 0.04746363 0.00911237 0.05343807
+v 0.05027950 0.00955388 0.05062180
+v 0.05057600 0.00942232 0.05186270
+v 0.05054219 0.00929967 0.05356894
+v 0.05023456 0.00938887 0.05477107
+v 0.04976386 0.01807187 0.01148965
+v 0.04983011 0.01130430 0.04233293
+v 0.05010484 0.01130430 0.04233293
+v 0.04845368 0.00948697 0.05623980
+v 0.04746363 0.01048815 0.05660820
+v 0.04746363 0.00929968 0.05284670
+v 0.04852734 0.02068520 0.00735492
+v 0.04923617 0.01936070 0.00735491
+v 0.05164667 0.01131545 0.04406826
+v 0.05165038 0.01811646 0.01169808
+v 0.05160590 0.01305250 0.03569215
+v 0.05143031 0.00996639 0.05186271
+v 0.05126584 0.01046809 0.05343808
+v 0.05036196 0.01048816 0.05488742
+v 0.04935755 0.01048816 0.05574054
+v 0.05132005 0.01218727 0.05386948
+v 0.05061724 0.01900170 0.00735491
+v 0.05077244 0.01897495 0.00735491
+v 0.05077244 0.01807187 0.01149450
+v 0.04956974 0.01218726 0.05588111
+v 0.04871590 0.01218726 0.05640462
+v 0.04746363 0.01218726 0.05686996
+v 0.04746363 0.02626639 0.00735494
+v 0.05170643 0.01123963 0.04504257
+v 0.05174210 0.01802949 0.01264815
+v 0.05197004 0.01945212 0.00735491
+v 0.05172264 0.01081595 0.05186271
+v 0.05165454 0.01102332 0.05278369
+v 0.05177917 0.01111476 0.04674881
+v 0.05180696 0.01099434 0.04845506
+v 0.05179445 0.01084717 0.05016130
+v 0.05174072 0.01218728 0.05301636
+v 0.05046621 0.01218727 0.05502799
+v 0.05040644 0.01388637 0.05498437
+v 0.05175091 0.01339360 0.05305515
+v 0.04954843 0.01388636 0.05583265
+v 0.04869459 0.01388636 0.05639493
+v 0.04746363 0.01388636 0.05685058
+v 0.04746363 0.03164021 0.00735496
+v 0.05197977 0.01943651 0.00753426
+v 0.05200340 0.01956807 0.00735491
+v 0.05192649 0.01218728 0.05186271
+v 0.05219010 0.02068520 0.00735492
+v 0.05197468 0.01218729 0.05016130
+v 0.05015441 0.01674721 0.05471293
+v 0.05183198 0.01393098 0.05185302
+v 0.05169717 0.01514845 0.05127620
+v 0.05151000 0.01566353 0.05185303
+v 0.05096887 0.01558771 0.05356897
+v 0.04843561 0.01662902 0.05626407
+v 0.04746363 0.01569027 0.05666154
+v 0.04764848 0.03161122 0.00735496
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+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_20.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37ea677ed2a2bd29881893435ba3fc9cada25591
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_20.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.00061891 0.01894938 0.00174782
+v 0.00061891 0.01728592 0.00187205
+v 0.00061891 0.01894940 -0.00153783
+v -0.01582964 0.01894938 0.00175747
+v -0.00046467 0.01601744 0.00178882
+v 0.00061891 0.01601744 0.00178822
+v -0.01582964 0.01728592 0.00188049
+v 0.00061891 0.01672314 -0.00428011
+v -0.00900291 0.01756697 -0.00428011
+v -0.00900291 0.01894940 -0.00178570
+v -0.01582964 0.01894938 0.00172671
+v -0.01582964 0.01601744 0.00179485
+v -0.00900291 0.01097555 0.00029735
+v 0.00061891 0.01570598 0.00158015
+v -0.00864709 0.01097555 0.00023885
+v 0.00061891 0.01334235 -0.00428012
+v -0.00916392 0.01756150 -0.00428011
+v -0.01582964 0.01894706 -0.00155653
+v -0.01070960 0.01894940 -0.00175615
+v -0.00991744 0.01894940 -0.00177726
+v -0.01530154 0.01894940 -0.00155834
+v -0.01582964 0.01516738 0.00121648
+v -0.01180445 0.01097555 0.00005370
+v -0.01070960 0.01097555 0.00026900
+v 0.00061891 0.01516738 0.00121890
+v -0.00785815 0.01097555 0.00008205
+v 0.00061891 0.01334312 -0.00327778
+v -0.00711429 0.01097557 -0.00428013
+v -0.01070960 0.01748188 -0.00428011
+v -0.01426143 0.01707831 -0.00428011
+v -0.01582964 0.01688941 -0.00428011
+v -0.01582964 0.01425174 0.00036430
+v -0.01228264 0.01097555 -0.00103368
+v -0.01582964 0.01355466 -0.00099447
+v 0.00061891 0.01424783 0.00036672
+v -0.00764723 0.01097555 -0.00023036
+v 0.00061891 0.01355232 -0.00099386
+v 0.00061891 0.01334391 -0.00269881
+v -0.00711912 0.01097556 -0.00269882
+v -0.01246297 0.01097557 -0.00428013
+v -0.01582964 0.01674031 -0.00428011
+v -0.01582964 0.01334312 -0.00269881
+v -0.01246297 0.01097556 -0.00269882
+v -0.00732360 0.01097555 -0.00100835
+v 0.00061891 0.01347583 -0.00161746
+v -0.00725276 0.01097556 -0.00154209
+v -0.01582964 0.01334313 -0.00427530
+v -0.01571533 0.01333221 -0.00428012
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+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_21.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb320114fd6509f7f51fd86677e375f2f050a985
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_21.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.04673623 -0.00973871 -0.00428089
+v -0.04673623 -0.00973871 -0.00457887
+v -0.05026517 -0.00973871 -0.00428089
+v -0.04420533 -0.03112220 -0.00428096
+v -0.04673888 -0.00973870 -0.00781419
+v -0.04420533 -0.03112219 -0.00781426
+v -0.04420533 -0.03112469 -0.01126145
+v -0.05029432 -0.00973871 -0.00428158
+v -0.05029432 -0.00975127 -0.00428089
+v -0.04420533 -0.03481213 -0.00428098
+v -0.04674087 -0.00973870 -0.00951933
+v -0.04674352 -0.00987684 -0.01126138
+v -0.04674352 -0.00973869 -0.01125865
+v -0.04420533 -0.03485230 -0.01126147
+v -0.05025323 -0.00973869 -0.01126138
+v -0.05095836 -0.03079313 -0.01126145
+v -0.05097559 -0.03073537 -0.00428096
+v -0.04474412 -0.03499801 -0.00428098
+v -0.04420533 -0.03485230 -0.01122456
+v -0.04703909 -0.00973869 -0.01126138
+v -0.04645259 -0.03538734 -0.00428098
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+v -0.05095836 -0.03179034 -0.01126146
+v -0.05097559 -0.03172505 -0.00428097
+v -0.04657651 -0.03539990 -0.00428098
+v -0.04661429 -0.03536472 -0.01126147
+v -0.05080063 -0.03264186 -0.01126146
+v -0.05096830 -0.03185818 -0.00428097
+v -0.04815973 -0.03518388 -0.00428098
+v -0.04828432 -0.03513614 -0.01126147
+v -0.05010678 -0.03370940 -0.01126146
+v -0.05081256 -0.03269463 -0.00428097
+v -0.04828432 -0.03515876 -0.00428098
+v -0.04929827 -0.03468400 -0.01126147
+v -0.05008955 -0.03373201 -0.01126146
+v -0.05014124 -0.03369937 -0.00428097
+v -0.04923399 -0.03473175 -0.00428098
+v -0.04931086 -0.03469658 -0.00428098
+v -0.04938243 -0.03461118 -0.00428098
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+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_22.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f39da112187b63d97ac17d679d45b0c5c0f131c5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_22.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.02265937 0.01728538 -0.02645192
+v -0.00900246 0.01575114 -0.02614860
+v -0.02639585 0.01581312 -0.02615009
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+v -0.02265937 0.01840660 -0.02601774
+v 0.02691673 0.01728599 -0.02632108
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+v 0.01149073 0.01573579 -0.02614860
+v -0.01070893 0.01217511 -0.02520296
+v -0.02639585 0.01728538 -0.02637014
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+v -0.02437105 0.01839740 -0.02600882
+v -0.02265937 0.01844403 -0.02486393
+v 0.02691673 0.01827589 -0.02588839
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+v 0.01149073 0.01320305 -0.02529663
+v -0.00900246 0.01217511 -0.02518364
+v -0.01069849 0.01217511 -0.02520296
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+v -0.02639585 0.01217507 -0.01434280
+v -0.02437105 0.01842930 -0.02486393
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+v -0.01070893 0.01835749 -0.02145451
+v 0.00978427 0.01835933 -0.02145451
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+v 0.02691673 0.01493184 -0.02547951
+v 0.02691673 0.01320305 -0.02405508
+v 0.00017694 0.01217511 -0.02387518
+v -0.01282243 0.01217506 -0.01126198
+v -0.02639585 0.01304037 -0.01126197
+v -0.02639585 0.01707052 -0.01126196
+v -0.00900246 0.01753325 -0.01126196
+v 0.02691673 0.01704045 -0.01126196
+v 0.00978427 0.01751668 -0.01126196
+v 0.02691673 0.01320300 -0.01225075
+v 0.00017694 0.01217507 -0.01471303
+v -0.00668543 0.01217506 -0.01126198
+v 0.02691673 0.01681154 -0.01126196
+v 0.02691151 0.01320300 -0.01126197
+f 1 2 3
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+f 30 38 39
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+f 32 36 37
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+f 32 34 33
+f 38 41 42
+f 38 42 39
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+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_23.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0a0a8c5107ebe024159ffdd2fb3a0fba4b1c100
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_23.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.02796432 0.01064711 -0.01126198
+v -0.02639678 0.01064712 -0.01493065
+v -0.03274719 0.01064711 -0.01126198
+v -0.02831608 -0.00875099 -0.01126205
+v -0.02639678 -0.00875097 -0.01511635
+v -0.02639678 0.01064716 -0.02387817
+v -0.03592798 0.01064713 -0.01523179
+v -0.03592798 -0.00875097 -0.01530198
+v -0.03267440 -0.00875099 -0.01126205
+v -0.02639678 -0.00875094 -0.02387549
+v -0.02949827 0.01064716 -0.02530961
+v -0.02639678 -0.00481094 -0.02387685
+v -0.03592798 0.01064716 -0.02383554
+v -0.03592798 -0.00875094 -0.02382874
+v -0.02949827 -0.00875094 -0.02530417
+v -0.03120484 0.01064716 -0.02500709
+v -0.03120484 -0.00875094 -0.02500716
+v -0.03592798 0.00158611 -0.02383282
+f 1 2 6
+f 1 6 11
+f 1 11 16
+f 1 16 13
+f 1 13 7
+f 1 7 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 12
+f 2 12 6
+f 3 7 8
+f 3 8 9
+f 4 9 8
+f 4 8 14
+f 4 14 17
+f 4 17 15
+f 4 15 10
+f 4 10 5
+f 6 12 11
+f 7 13 18
+f 7 18 14
+f 7 14 8
+f 10 15 12
+f 11 12 15
+f 11 15 17
+f 11 17 16
+f 13 16 17
+f 13 17 18
+f 14 18 17
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_24.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ba9e28be8d0f0ab260755c7094cf7ba74204014
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_24.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.01292684 -0.03005918 -0.00428028
+v -0.01228584 -0.00526046 -0.00428019
+v -0.00662245 -0.03005918 -0.00428028
+v -0.01292190 -0.03005919 -0.00269847
+v -0.01246431 0.01097478 -0.00269832
+v -0.01246369 0.01097479 -0.00427968
+v -0.00729618 -0.00526046 -0.00428019
+v -0.00661813 -0.03005919 -0.00269307
+v -0.00711401 0.01097479 -0.00427968
+v -0.01268662 -0.03005920 -0.00090926
+v -0.01228337 0.01097477 -0.00103418
+v -0.00692319 -0.03005920 -0.00086877
+v -0.00711648 0.01097478 -0.00325124
+v -0.00711833 0.01097478 -0.00269832
+v -0.00725295 0.01097478 -0.00154301
+v -0.00732273 0.01097477 -0.00100809
+v -0.01261745 -0.03005920 -0.00072976
+v -0.01180416 0.01097477 0.00005320
+v -0.00763829 -0.03005920 0.00011918
+v -0.00764817 0.01097477 -0.00023023
+v -0.00786060 0.01097477 0.00008154
+v -0.01199560 -0.03005920 0.00009174
+v -0.01071051 0.01097477 0.00026869
+v -0.01183751 -0.03005920 0.00012368
+v -0.00900366 -0.03005920 0.00031578
+v -0.00864796 0.01097477 0.00023855
+v -0.00900366 0.01097477 0.00029749
+v -0.01070990 -0.03005920 0.00028789
+v -0.01045671 -0.03005920 0.00029329
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 12
+f 1 12 19
+f 1 19 25
+f 1 25 29
+f 1 29 28
+f 1 28 24
+f 1 24 22
+f 1 22 17
+f 1 17 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 9
+f 2 9 7
+f 3 7 9
+f 3 9 8
+f 4 10 11
+f 4 11 5
+f 5 11 18
+f 5 18 23
+f 5 23 27
+f 5 27 26
+f 5 26 21
+f 5 21 20
+f 5 20 16
+f 5 16 15
+f 5 15 14
+f 5 14 13
+f 5 13 9
+f 5 9 6
+f 8 9 13
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 12
+f 10 17 11
+f 11 17 18
+f 12 16 20
+f 12 20 21
+f 12 21 19
+f 17 22 18
+f 18 22 24
+f 18 24 23
+f 19 21 26
+f 19 26 27
+f 19 27 25
+f 23 24 28
+f 23 28 29
+f 23 29 27
+f 25 27 29
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_25.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85b611d2a12bb91424e48a98c549a721bc6d800b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_25.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.00388608 0.01334585 -0.01126129
+v -0.00388608 0.01334364 -0.00441270
+v -0.00388608 0.01707075 -0.01126128
+v 0.00759046 0.01196236 -0.01126130
+v -0.00388608 0.01334364 -0.00428080
+v -0.00388608 0.01707075 -0.01121754
+v 0.00978130 0.01755709 -0.00428079
+v 0.00978130 0.01751712 -0.01126128
+v 0.00759046 0.01196234 -0.00440451
+v 0.01354964 0.01196236 -0.01126130
+v -0.00388608 0.01690478 -0.00428079
+v 0.00759306 0.01196234 -0.00428150
+v 0.00759826 0.01196234 -0.00428081
+v 0.01149134 0.01749027 -0.00428079
+v 0.02266382 0.01707075 -0.01122437
+v 0.02266382 0.01707075 -0.01126128
+v 0.00982028 0.01751603 -0.01126128
+v 0.02266382 0.01334366 -0.01126129
+v 0.02266382 0.01334255 -0.00859594
+v 0.02266382 0.01334201 -0.00689148
+v 0.02266382 0.01334145 -0.00518634
+v 0.01354964 0.01196234 -0.00428081
+v 0.02266382 0.01674704 -0.00428079
+v 0.02266382 0.01334145 -0.00428080
+f 1 2 5
+f 1 5 11
+f 1 11 6
+f 1 6 3
+f 1 3 8
+f 1 8 17
+f 1 17 16
+f 1 16 18
+f 1 18 10
+f 1 10 4
+f 1 4 2
+f 2 4 9
+f 2 9 5
+f 3 6 7
+f 3 7 8
+f 4 10 22
+f 4 22 13
+f 4 13 12
+f 4 12 9
+f 5 9 12
+f 5 12 13
+f 5 13 22
+f 5 22 24
+f 5 24 23
+f 5 23 14
+f 5 14 7
+f 5 7 11
+f 6 11 7
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 24
+f 10 24 22
+f 14 23 15
+f 15 23 24
+f 15 24 21
+f 15 21 20
+f 15 20 19
+f 15 19 18
+f 15 18 16
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_26.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72cc325b224415e1b7cbce1b4f429f3a4350346c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_26.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.03368140 0.01125955 -0.00428150
+v 0.03368343 0.01125956 -0.00951891
+v 0.02822372 0.01125955 -0.00428150
+v 0.03349337 -0.03451986 -0.00428167
+v 0.03368343 0.01125957 -0.01126062
+v 0.03349337 -0.03452440 -0.00951908
+v 0.02822305 0.01125955 -0.00514586
+v 0.02677425 -0.03070718 -0.00428165
+v 0.03188427 -0.03497483 -0.00428167
+v 0.02822102 0.01125957 -0.01126062
+v 0.03349337 -0.03452439 -0.01126079
+v 0.02822237 0.01125955 -0.00610998
+v 0.02677425 -0.03070718 -0.00428643
+v 0.02677425 -0.03469275 -0.00428167
+v 0.02822169 0.01125956 -0.00781410
+v 0.03027720 -0.03522052 -0.00428167
+v 0.03187953 -0.03495661 -0.01126079
+v 0.02677425 -0.03072991 -0.01126077
+v 0.02677425 -0.03462903 -0.01126079
+v 0.03027720 -0.03518865 -0.01126079
+f 1 2 5
+f 1 5 10
+f 1 10 15
+f 1 15 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 16
+f 1 16 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 11
+f 2 11 5
+f 3 7 8
+f 4 9 6
+f 5 11 17
+f 5 17 20
+f 5 20 19
+f 5 19 18
+f 5 18 10
+f 6 9 11
+f 7 12 8
+f 8 13 18
+f 8 18 19
+f 8 19 14
+f 8 12 15
+f 8 15 10
+f 8 10 13
+f 9 16 17
+f 9 17 11
+f 10 18 13
+f 14 19 20
+f 14 20 16
+f 16 20 17
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_27.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..265288c00f7931c393000cbb9968510bffb08c8d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_27.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.00900488 0.01756642 -0.00428079
+v -0.00388608 0.01690432 -0.00428079
+v -0.00388608 0.01707091 -0.01121754
+v -0.00388608 0.01707091 -0.01126128
+v -0.00900488 0.01753382 -0.01126128
+v -0.02740770 0.01724092 -0.00428079
+v -0.00388608 0.01334398 -0.00428080
+v -0.00388608 0.01334608 -0.01126129
+v -0.02740770 0.01718126 -0.01126128
+v -0.02740770 0.01207184 -0.00428081
+v -0.00388608 0.01334398 -0.00611785
+v -0.00725026 0.01047697 -0.00428081
+v -0.00725026 0.01047699 -0.01126130
+v -0.02740770 0.01210586 -0.01126130
+v -0.01232531 0.01047699 -0.01122439
+v -0.01232301 0.01047697 -0.00428081
+v -0.01232531 0.01047699 -0.01126130
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 16
+f 1 16 12
+f 1 12 7
+f 1 7 2
+f 2 7 11
+f 2 11 8
+f 2 8 4
+f 2 4 3
+f 4 8 13
+f 4 13 17
+f 4 17 14
+f 4 14 9
+f 4 9 5
+f 5 9 6
+f 6 9 14
+f 6 14 10
+f 7 12 13
+f 7 13 11
+f 8 11 13
+f 10 15 16
+f 10 14 17
+f 10 17 15
+f 12 16 15
+f 12 15 17
+f 12 17 13
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_28.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9824e1a6dd0a37d17ca11e5a21bcf52ac8aa2d56
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_28.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.03529520 0.01327588 -0.01126129
+v -0.03529520 0.01327588 -0.01123874
+v -0.03529520 0.01706648 -0.01126128
+v -0.03267401 -0.00973869 -0.01126138
+v -0.03529520 0.01327854 -0.00507699
+v -0.03529520 0.01706648 -0.01122437
+v -0.02966380 0.01765396 -0.00428079
+v -0.02949785 0.01763520 -0.01126128
+v -0.02868278 -0.00973869 -0.01126138
+v -0.03266861 -0.00973871 -0.00428431
+v -0.03529520 0.01328122 -0.00428080
+v -0.03120595 0.01747423 -0.00428079
+v -0.03529520 0.01694306 -0.00428079
+v -0.02949785 0.01766738 -0.00428079
+v -0.02741077 0.01724083 -0.00428079
+v -0.02741077 0.01717915 -0.01126128
+v -0.02831615 -0.00821226 -0.01126137
+v -0.02831615 -0.00973869 -0.01125865
+v -0.03251810 -0.00973871 -0.00428089
+v -0.02741077 0.01207134 -0.00428081
+v -0.02741077 0.01210355 -0.01126130
+v -0.02830766 -0.00973871 -0.00429319
+v -0.02830766 -0.00973871 -0.00428089
+v -0.02741077 0.01207134 -0.00440451
+f 1 2 5
+f 1 5 11
+f 1 11 13
+f 1 13 6
+f 1 6 3
+f 1 3 8
+f 1 8 16
+f 1 16 21
+f 1 21 17
+f 1 17 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 9 18
+f 4 18 22
+f 4 22 23
+f 4 23 19
+f 4 19 10
+f 4 10 11
+f 4 11 5
+f 6 12 7
+f 6 13 12
+f 7 14 8
+f 7 12 13
+f 7 13 11
+f 7 11 19
+f 7 19 23
+f 7 23 20
+f 7 20 15
+f 7 15 14
+f 8 14 15
+f 8 15 16
+f 9 17 18
+f 10 19 11
+f 15 20 24
+f 15 24 21
+f 15 21 16
+f 17 21 18
+f 18 21 22
+f 20 23 22
+f 20 22 24
+f 21 24 22
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_29.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..129cfe091a14d3304810a3fd2e49b0acb6172e8a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_29.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.02767902 -0.03005918 -0.00428028
+v 0.02855107 -0.00526046 -0.00428019
+v 0.03401478 -0.03005918 -0.00428028
+v 0.02768522 -0.03005919 -0.00269897
+v 0.02830670 0.01097076 -0.00269882
+v 0.02830484 0.01097077 -0.00427967
+v 0.03343547 -0.00526046 -0.00428019
+v 0.03401415 -0.03005919 -0.00269897
+v 0.03359859 0.01097479 -0.00427922
+v 0.02807597 -0.03005920 -0.00099927
+v 0.02852378 0.01097477 -0.00098318
+v 0.02831228 0.01097478 -0.00265511
+v 0.02831228 0.01097479 -0.00427922
+v 0.02831228 0.01097077 -0.00427967
+v 0.03388390 -0.03005920 -0.00127656
+v 0.03359797 0.01097478 -0.00318828
+v 0.03359673 0.01097478 -0.00269836
+v 0.02870923 -0.03005920 0.00009531
+v 0.02909875 0.01097477 0.00009046
+v 0.03385103 -0.03005920 -0.00095100
+v 0.03347331 0.01097478 -0.00148449
+v 0.02895981 -0.03005920 0.00014904
+v 0.03027906 0.01097477 0.00033769
+v 0.03320474 -0.03005920 0.00005297
+v 0.03339019 0.01097477 -0.00099457
+v 0.03317063 0.01097477 -0.00029247
+v 0.03301247 0.01097477 0.00000212
+v 0.03027906 -0.03005920 0.00037124
+v 0.03076968 0.01097477 0.00031356
+v 0.03198535 -0.03005920 0.00029702
+v 0.03230663 0.01097477 0.00017833
+v 0.03198535 0.01097477 0.00024891
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 20
+f 1 20 24
+f 1 24 30
+f 1 30 28
+f 1 28 22
+f 1 22 18
+f 1 18 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 14
+f 2 14 7
+f 3 7 9
+f 3 9 8
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 6
+f 6 12 13
+f 6 13 9
+f 6 9 14
+f 7 14 9
+f 8 9 16
+f 8 16 17
+f 8 17 15
+f 9 13 12
+f 9 12 11
+f 9 11 19
+f 9 19 23
+f 9 23 29
+f 9 29 32
+f 9 32 31
+f 9 31 27
+f 9 27 26
+f 9 26 25
+f 9 25 21
+f 9 21 17
+f 9 17 16
+f 10 18 19
+f 10 19 11
+f 15 17 20
+f 17 21 20
+f 18 22 19
+f 19 22 23
+f 20 21 25
+f 20 25 26
+f 20 26 27
+f 20 27 24
+f 22 28 23
+f 23 28 30
+f 23 30 29
+f 24 27 31
+f 24 31 32
+f 24 32 30
+f 29 30 32
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_3.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..992e780c38c2f14b549baa83ee47aec9225afbee
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_3.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v -0.05003178 0.00994291 0.05003857
+v -0.04841193 0.01082134 0.04675002
+v -0.04817369 0.01049781 0.05003857
+v -0.05007473 0.00997291 0.05003857
+v -0.05087209 0.01130983 0.04404229
+v -0.04999207 0.01090489 0.04504515
+v -0.04993130 0.01120913 0.04341968
+v -0.04932193 0.01130554 0.04234160
+v -0.04905452 0.01130554 0.04234160
+v -0.04882844 0.01119628 0.04334028
+v -0.04854725 0.01100987 0.04504515
+v -0.04321448 0.01568473 0.05003859
+v -0.05103983 0.01083204 0.05003857
+v -0.05104793 0.01097344 0.04845488
+v -0.05101227 0.01110200 0.04675002
+v -0.05093367 0.01123269 0.04504515
+v -0.05085183 0.01303240 0.03563496
+v -0.05123673 0.01941064 0.00753392
+v -0.05122620 0.01942778 0.00735007
+v -0.05088424 0.01810586 0.01164566
+v -0.04999207 0.01895001 0.00735007
+v -0.04901805 0.01468642 0.02691423
+v -0.04898240 0.01806944 0.01148270
+v -0.04875956 0.01794517 0.01264853
+v -0.04847352 0.01935922 0.00735007
+v -0.04321448 0.01608752 0.04845490
+v -0.04321448 0.02005751 0.05003860
+v -0.05124241 0.01210038 0.05003857
+v -0.05149280 0.02068755 0.00735008
+v -0.05127077 0.01925424 0.00923879
+v -0.05098796 0.01800730 0.01264853
+v -0.05011443 0.01898429 0.00735007
+v -0.04321448 0.02745990 0.00735010
+v -0.04321448 0.02593873 0.01264856
+v -0.04321448 0.02399548 0.01941787
+v -0.04321448 0.02350699 0.02112274
+v -0.04321448 0.02324133 0.02205457
+v -0.04321448 0.02299923 0.02290699
+v -0.04321448 0.02253859 0.02453246
+v -0.04321448 0.02142449 0.02846452
+v -0.04321448 0.02108169 0.02969721
+v -0.04321448 0.01922843 0.03651667
+v -0.04321448 0.01876779 0.03822153
+v -0.04321448 0.01812075 0.04066601
+v -0.04321448 0.01659315 0.04649932
+v -0.04321448 0.01637890 0.04732668
+v -0.04321448 0.03183054 0.00735012
+v -0.04481975 0.02004680 0.05003860
+v -0.05125294 0.01218822 0.05003857
+v -0.05149280 0.02068755 0.00753393
+v -0.05137206 0.02390340 0.00735009
+v -0.04486917 0.03181340 0.00735012
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+v -0.04957394 0.01862849 0.05003860
+v -0.04910071 0.03001371 0.01002441
+v -0.04925305 0.01992041 0.04622772
+f 1 2 3
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+f 29 49 50
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+f 52 58 53
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+f 67 81 82
+f 67 82 68
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+f 71 83 84
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+f 72 74 73
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+f 76 85 77
+f 78 86 87
+f 78 87 80
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+f 82 91 83
+f 83 90 86
+f 83 86 84
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+f 88 91 89
+f 88 90 91
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_30.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..284cb1d185890cf4a248b1f1460089362fc8a4e2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_30.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.02691673 0.01287953 -0.01126323
+v 0.02691673 0.01320277 -0.01224876
+v 0.02691455 0.01320277 -0.01126323
+v 0.02625884 0.01320277 -0.01126323
+v 0.01579145 0.01320278 -0.01352483
+v 0.01578927 0.01049384 -0.01521165
+v 0.02691673 0.01049383 -0.01496495
+v 0.02691673 0.01320282 -0.02405393
+v 0.01578927 0.01320278 -0.01353359
+v 0.01578927 0.01320251 -0.01352608
+v 0.01578927 0.01049387 -0.02382853
+v 0.02691673 0.01049387 -0.02385858
+v 0.01661599 0.01320282 -0.02404767
+v 0.01578927 0.01320282 -0.02404641
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 8
+f 1 8 2
+f 2 8 13
+f 2 13 14
+f 2 14 9
+f 2 9 5
+f 2 5 4
+f 2 4 3
+f 5 9 10
+f 5 10 6
+f 6 10 9
+f 6 9 14
+f 6 14 11
+f 6 11 12
+f 6 12 7
+f 8 12 13
+f 11 14 12
+f 12 14 13
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_31.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10143f62a884d68522448555cf39df8bf7d8c25a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_31.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.03594713 0.01707102 -0.01126196
+v -0.04428141 0.01728038 -0.01126196
+v -0.03594713 0.01331777 -0.01126197
+v -0.03594713 0.01835082 -0.02145452
+v -0.04428141 0.01323936 -0.01126197
+v -0.03632982 0.01835158 -0.02145452
+v -0.04316027 0.01835614 -0.02145452
+v -0.04428141 0.01835082 -0.02145452
+v -0.03594713 0.01064713 -0.01523294
+v -0.03594713 0.01827547 -0.02588749
+v -0.04428141 0.01842391 -0.02486541
+v -0.04428141 0.01064713 -0.01514529
+v -0.03594713 0.01064716 -0.02383594
+v -0.03594713 0.01805316 -0.02598554
+v -0.04316027 0.01837444 -0.02599297
+v -0.04428141 0.01841554 -0.02525315
+v -0.04428141 0.01064716 -0.02384188
+v -0.03594713 0.01581873 -0.02615194
+v -0.03594713 0.01728577 -0.02632129
+v -0.04428141 0.01838966 -0.02600782
+v -0.04428141 0.01582254 -0.02614748
+v -0.04316027 0.01582330 -0.02615045
+v -0.04145246 0.01582254 -0.02615194
+v -0.04428141 0.01678330 -0.02634358
+v -0.04428141 0.01728577 -0.02643865
+v -0.04316027 0.01728577 -0.02642528
+v -0.03594713 0.01695688 -0.02628415
+v -0.04428141 0.01801586 -0.02615638
+f 1 2 5
+f 1 5 3
+f 1 3 9
+f 1 9 13
+f 1 13 18
+f 1 18 27
+f 1 27 19
+f 1 19 14
+f 1 14 10
+f 1 10 4
+f 1 4 2
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+f 2 7 8
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+f 2 11 16
+f 2 16 20
+f 2 20 28
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+f 19 27 26
+f 19 26 28
+f 19 28 20
+f 21 24 22
+f 22 24 23
+f 25 28 26
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_32.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b324378f3e374b6a57021ca5ff2626d1a66ac52
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_32.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.00740215 -0.02861659 -0.01434768
+v 0.00017301 -0.02861658 -0.01531397
+v 0.00740215 -0.02861655 -0.02391780
+v 0.00740215 -0.00886037 -0.01441133
+v 0.00017301 0.01049001 -0.01531757
+v 0.00017301 -0.02861655 -0.02382689
+v 0.00740215 -0.02690894 -0.02391966
+v 0.00740215 -0.00886033 -0.02391678
+v 0.00656786 0.01049000 -0.01489769
+v 0.00017301 0.01049004 -0.02382955
+v 0.00017301 -0.02074087 -0.02383154
+v 0.00740215 -0.02010913 -0.02392245
+v 0.00656786 0.01049004 -0.02384830
+v 0.00017301 0.00538252 -0.02383051
+v 0.00017301 -0.01840917 -0.02383153
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 12
+f 1 12 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
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+f 2 15 11
+f 2 11 6
+f 3 6 7
+f 4 8 13
+f 4 13 9
+f 4 9 5
+f 5 9 13
+f 5 13 10
+f 6 11 7
+f 7 11 12
+f 8 12 10
+f 8 10 13
+f 10 12 14
+f 11 15 12
+f 12 15 14
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_33.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79579d907347fe2b1fb6582513638266d63666c2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_33.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.05077201 -0.02860921 0.00191064
+v 0.05077201 -0.02011000 0.00190946
+v 0.04981336 -0.03005921 0.00177187
+v 0.05077201 -0.03005921 0.00190155
+v 0.05092954 -0.03005921 0.00187488
+v 0.05183170 -0.02860921 0.00173128
+v 0.05183170 -0.02350808 0.00173130
+v 0.05182963 -0.00141657 0.00173016
+v 0.05182808 0.00708264 0.00172960
+v 0.05077201 -0.00821674 0.00190768
+v 0.04965220 -0.03005921 0.00174703
+v 0.05077201 0.00708264 0.00190532
+v 0.04968589 0.01097476 0.00174112
+v 0.05180994 -0.03005921 0.00171734
+v 0.05215661 -0.02860920 0.00071026
+v 0.05215764 -0.02691016 0.00071027
+v 0.05216024 -0.01841095 0.00071030
+v 0.05216127 -0.01161079 0.00071033
+v 0.05216127 -0.00821673 0.00071034
+v 0.05183170 -0.01500887 0.00173072
+v 0.05183067 -0.00481464 0.00173015
+v 0.05215350 0.01048474 0.00071102
+v 0.05182704 0.01048473 0.00172840
+v 0.05077201 0.01048473 0.00190412
+v 0.04788778 -0.03005920 0.00030973
+v 0.05077201 0.01097476 0.00190230
+v 0.04883191 0.01097477 0.00094794
+v 0.05185813 -0.03005921 0.00156585
+v 0.05221620 -0.02691016 -0.00099424
+v 0.05211360 -0.03005920 0.00071026
+v 0.05218925 -0.03005920 -0.00099425
+v 0.05221465 -0.02860920 -0.00099425
+v 0.05221982 -0.02010999 -0.00099421
+v 0.05222034 -0.01671192 -0.00099420
+v 0.05183170 -0.01161080 0.00173013
+v 0.05222034 -0.00821673 -0.00099417
+v 0.05221413 0.00368457 -0.00099413
+v 0.05221257 0.00538361 -0.00099412
+v 0.05220843 0.00878169 -0.00099411
+v 0.05220584 0.01048474 -0.00099410
+v 0.05220272 0.01097477 -0.00099410
+v 0.05216542 0.01097477 0.00022081
+v 0.05214365 0.01097477 0.00071102
+v 0.05182186 0.01097476 0.00172476
+v 0.04776600 -0.03005920 0.00018370
+v 0.04797949 0.01097477 0.00009538
+v 0.05188093 -0.03005919 -0.00267150
+v 0.05211464 0.01097478 -0.00145462
+v 0.04716127 -0.03005920 -0.00071310
+v 0.04751883 0.01097477 -0.00103531
+v 0.05152183 -0.03005918 -0.00427907
+v 0.05187678 0.01097478 -0.00235020
+v 0.04709547 -0.03005920 -0.00090518
+v 0.04735093 0.01097478 -0.00269862
+v 0.05116635 0.01097479 -0.00427892
+v 0.04693224 -0.03005918 -0.00427907
+v 0.04692654 -0.03005919 -0.00269817
+v 0.04735456 0.01097479 -0.00427892
+v 0.04693172 -0.03005918 -0.00424514
+f 1 2 3
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+f 1 9 2
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+f 3 25 45
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+f 51 55 52
+f 51 56 58
+f 51 58 55
+f 53 54 57
+f 54 58 57
+f 56 59 58
+f 57 58 59
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_34.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..021f36eec21ec454f48827ef39eae2649aa73f84
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_34.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.02266667 0.01334372 -0.01126129
+v 0.02266667 0.01334114 -0.00440450
+v 0.02266667 0.01707051 -0.01126128
+v 0.02822279 0.01126163 -0.01126130
+v 0.02266667 0.01334114 -0.00428080
+v 0.02266667 0.01707115 -0.01124419
+v 0.03027998 0.01765370 -0.01126128
+v 0.02822279 0.01126161 -0.00434642
+v 0.05118524 0.01126163 -0.01126130
+v 0.02266667 0.01674693 -0.00428079
+v 0.02822564 0.01126161 -0.00428081
+v 0.02266667 0.01707115 -0.01122437
+v 0.03027998 0.01769013 -0.00428079
+v 0.04735579 0.01777776 -0.01126127
+v 0.05171236 0.01284302 -0.01126129
+v 0.05122228 0.01126161 -0.00428081
+v 0.04735579 0.01779437 -0.00428078
+v 0.04890011 0.01756544 -0.00428079
+v 0.04739283 0.01777201 -0.01126127
+v 0.05174085 0.01388662 -0.01126129
+v 0.05176934 0.01377022 -0.00428080
+v 0.05172945 0.01279120 -0.00428080
+v 0.04905682 0.01753858 -0.00428079
+v 0.04906251 0.01750791 -0.01126128
+v 0.05174085 0.01390645 -0.01126129
+v 0.05177219 0.01388660 -0.00428080
+v 0.04906251 0.01751493 -0.00951923
+v 0.05025352 0.01688185 -0.00428079
+v 0.04909101 0.01749256 -0.01126128
+v 0.05165537 0.01480234 -0.01126129
+v 0.05168671 0.01476842 -0.00428080
+v 0.05035324 0.01681982 -0.00428079
+v 0.05032475 0.01679874 -0.01126128
+v 0.05165537 0.01480298 -0.01122438
+v 0.05167247 0.01484452 -0.00428080
+v 0.05118809 0.01563428 -0.01126128
+v 0.05041593 0.01674181 -0.00428079
+v 0.05120803 0.01569437 -0.00428079
+v 0.05115959 0.01567776 -0.01126128
+v 0.05117669 0.01565282 -0.01126128
+f 1 2 5
+f 1 5 10
+f 1 10 12
+f 1 12 6
+f 1 6 3
+f 1 3 7
+f 1 7 14
+f 1 14 19
+f 1 19 24
+f 1 24 29
+f 1 29 33
+f 1 33 39
+f 1 39 40
+f 1 40 36
+f 1 36 30
+f 1 30 25
+f 1 25 20
+f 1 20 15
+f 1 15 9
+f 1 9 4
+f 1 4 2
+f 2 4 8
+f 2 8 5
+f 3 6 7
+f 4 9 16
+f 4 16 11
+f 4 11 8
+f 5 8 11
+f 5 11 16
+f 5 16 22
+f 5 22 21
+f 5 21 26
+f 5 26 31
+f 5 31 35
+f 5 35 38
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+f 5 37 32
+f 5 32 28
+f 5 28 23
+f 5 23 18
+f 5 18 17
+f 5 17 13
+f 5 13 10
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+f 6 13 7
+f 7 13 14
+f 9 15 16
+f 10 13 12
+f 13 17 14
+f 14 17 18
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+f 15 20 21
+f 15 21 22
+f 15 22 16
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+f 18 24 19
+f 20 25 26
+f 20 26 21
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+f 25 30 26
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+f 28 32 33
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+f 30 36 34
+f 32 37 33
+f 33 37 38
+f 33 38 39
+f 34 36 38
+f 34 38 35
+f 36 40 38
+f 38 40 39
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_35.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca7836abc123e280f0884bc3029d8a7093801f5d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_35.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.05025310 -0.00973869 -0.01126241
+v -0.04703868 -0.00973869 -0.01126241
+v -0.05029368 -0.00973871 -0.00428307
+v -0.05147043 -0.00875089 -0.02145411
+v -0.05144356 -0.00875088 -0.02315925
+v -0.05141724 -0.00875088 -0.02369863
+v -0.05136021 -0.00875088 -0.02486439
+v -0.05129770 -0.00875088 -0.02524066
+v -0.05116116 -0.00875087 -0.02604973
+v -0.05079048 -0.00875087 -0.02617152
+v -0.04999209 -0.00875087 -0.02643252
+v -0.04674422 -0.00973869 -0.01126023
+v -0.05026516 -0.00973871 -0.00428089
+v -0.05029422 -0.00821018 -0.00428088
+v -0.05030684 0.01047149 -0.00428081
+v -0.05147043 -0.00821012 -0.02145411
+v -0.05147207 0.00878538 -0.02486433
+v -0.05124396 0.00878539 -0.02611057
+v -0.04999209 0.00878539 -0.02649553
+v -0.04956767 -0.00875087 -0.02632812
+v -0.04674093 -0.00973870 -0.00952029
+v -0.04865247 -0.00875087 -0.02609975
+v -0.04587016 -0.00875088 -0.02392700
+v -0.04673600 -0.00973871 -0.00428089
+v -0.04670858 0.01047149 -0.00428081
+v -0.05029861 0.01064711 -0.01126233
+v -0.05144850 0.01064715 -0.02145404
+v -0.05144904 0.01048552 -0.02145404
+v -0.05145343 0.00878537 -0.02145405
+v -0.05146220 0.00198478 -0.02145407
+v -0.05146769 -0.00310968 -0.02145409
+v -0.05146988 -0.00651197 -0.02145410
+v -0.05146330 0.00878538 -0.02315919
+v -0.05146878 0.01048553 -0.02486432
+v -0.05124616 0.01048554 -0.02611491
+v -0.04999209 0.01048554 -0.02649987
+v -0.04673600 -0.00973871 -0.00440486
+v -0.04864863 0.01064717 -0.02610186
+v -0.04587016 -0.00311964 -0.02392915
+v -0.04587016 -0.00875092 -0.01458351
+v -0.04587016 0.01064712 -0.01450950
+v -0.04666855 0.01064711 -0.01126233
+v -0.05146550 0.01064716 -0.02470338
+v -0.05146495 0.01064716 -0.02486432
+v -0.05124341 0.01064717 -0.02611273
+v -0.04999209 0.01064717 -0.02649769
+v -0.04587016 0.01064716 -0.02393128
+v -0.04587016 0.01062521 -0.02393128
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+f 1 24 13
+f 1 13 3
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+f 1 4 5
+f 1 5 6
+f 1 6 7
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+f 4 17 5
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+f 10 18 11
+f 11 19 20
+f 11 20 12
+f 11 18 19
+f 12 20 22
+f 12 22 23
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+f 13 24 25
+f 13 25 15
+f 13 15 14
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+f 15 42 26
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+f 15 31 32
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+f 18 35 19
+f 19 36 22
+f 19 22 20
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+f 22 39 23
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+f 26 47 38
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+f 27 43 34
+f 27 34 28
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+f 34 45 35
+f 34 43 44
+f 35 45 46
+f 35 46 36
+f 36 46 38
+f 38 47 48
+f 38 48 39
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_36.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70b33cc05f39a664180de04c7b28e96730c99e58
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_36.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00583366 0.01217241 -0.01429762
+v 0.00017301 0.01217241 -0.01471092
+v -0.00583366 0.01217245 -0.02389278
+v -0.00583366 -0.00874893 -0.01492140
+v 0.00017301 0.01217245 -0.02387681
+v 0.00017301 -0.00874892 -0.01533470
+v -0.00583366 -0.00874889 -0.02384964
+v 0.00017301 -0.00874889 -0.02382709
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 7
+f 4 7 8
+f 4 8 6
+f 5 8 7
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_37.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73d9f31d4f92827f7e19b72faf8a9f8545e7a93f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_37.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.00668666 0.01217240 -0.01126198
+v -0.00583455 0.01217241 -0.01429751
+v -0.01282161 0.01217240 -0.01126198
+v -0.00728967 -0.00874894 -0.01126205
+v -0.00583455 -0.00874893 -0.01492134
+v -0.00583455 0.01217245 -0.02389272
+v -0.01498725 0.01217241 -0.01458687
+v -0.01498725 -0.00874892 -0.01523936
+v -0.01228490 -0.00874894 -0.01126205
+v -0.00583455 -0.00874889 -0.02384912
+v -0.00900373 0.01217245 -0.02518528
+v -0.00900373 -0.00874889 -0.02517989
+v -0.01498725 0.01217245 -0.02387362
+v -0.01498725 -0.00874889 -0.02382591
+v -0.01071062 0.01217245 -0.02520575
+v -0.01017033 -0.00874889 -0.02518944
+v -0.01071062 -0.00874889 -0.02519354
+f 1 2 6
+f 1 6 11
+f 1 11 15
+f 1 15 13
+f 1 13 7
+f 1 7 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 3 7 8
+f 3 8 9
+f 4 9 8
+f 4 8 14
+f 4 14 17
+f 4 17 16
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+f 4 12 10
+f 4 10 5
+f 6 10 12
+f 6 12 11
+f 7 13 14
+f 7 14 8
+f 11 12 15
+f 12 16 15
+f 13 15 17
+f 13 17 14
+f 15 16 17
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_38.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaa7e3d471253b7df9142f427538c00a8ce025af
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_38.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v 0.04183890 0.02617806 -0.00083725
+v 0.03540006 0.02868264 -0.00038523
+v 0.04052282 0.02868201 -0.00038443
+v 0.04354522 0.02617806 -0.00083644
+v 0.01278949 0.02617806 -0.00083324
+v 0.01661531 0.02868264 -0.00038443
+v 0.02344821 0.02868326 -0.00038523
+v 0.03198743 0.02868326 -0.00038523
+v 0.02515835 0.03192400 0.00134185
+v 0.03881651 0.03192213 0.00134425
+v 0.04223296 0.02868139 -0.00038363
+v 0.04393928 0.02867890 -0.00038123
+v 0.04393928 0.02617806 -0.00083564
+v 0.01278949 0.02617805 0.00343033
+v 0.01278949 0.02868201 -0.00038363
+v 0.02344821 0.03192400 0.00134185
+v 0.02515835 0.03235159 0.00241736
+v 0.02686466 0.03192400 0.00134265
+v 0.04052282 0.03234661 0.00241736
+v 0.04052282 0.03192150 0.00134505
+v 0.04223296 0.03192026 0.00134585
+v 0.04393928 0.03191838 0.00134906
+v 0.04564559 0.02864897 -0.00035718
+v 0.04564559 0.02617806 -0.00076111
+v 0.01278949 0.02745962 0.00734929
+v 0.04752406 0.02617803 0.00734929
+v 0.01278949 0.03192150 0.00134505
+v 0.02174190 0.03192400 0.00134265
+v 0.01278949 0.03234723 0.00241736
+v 0.01320268 0.03254233 0.00412118
+v 0.02174190 0.03254482 0.00412118
+v 0.02515835 0.03254544 0.00412118
+v 0.04223296 0.03254170 0.00412118
+v 0.04223296 0.03234536 0.00241736
+v 0.04393928 0.03234224 0.00241736
+v 0.04564559 0.03189344 0.00137871
+v 0.04680481 0.03182487 0.00145965
+v 0.04696932 0.02852618 -0.00027064
+v 0.04722948 0.02617806 -0.00048622
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+v 0.04999554 0.02846695 0.00147486
+v 0.04906204 0.02748583 0.00065581
+v 0.04912326 0.02617806 0.00035046
+v 0.04887458 0.02617806 0.00021422
+v 0.01278949 0.03186662 0.00721788
+v 0.01798112 0.03182984 0.00734931
+v 0.01832545 0.03187971 0.00717781
+v 0.01490899 0.03187909 0.00717701
+v 0.05182811 0.02617803 0.00711448
+v 0.05159091 0.02748206 0.00734929
+v 0.01278949 0.03187846 0.00717621
+v 0.02003176 0.03187971 0.00717861
+v 0.04393928 0.03187971 0.00718502
+v 0.04564559 0.03187223 0.00715858
+v 0.04564559 0.03224313 0.00582661
+v 0.04750111 0.03200813 0.00598048
+v 0.04735573 0.03229860 0.00412118
+v 0.04859147 0.03192211 0.00412118
+v 0.04944845 0.03141533 0.00412118
+v 0.05014092 0.03034445 0.00298555
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+v 0.05165977 0.02671911 0.00320674
+v 0.05025952 0.02617806 0.00119356
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+v 0.05187019 0.02617804 0.00582659
+v 0.05176690 0.02712676 0.00582659
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+v 0.04817063 0.03172825 0.00665127
+v 0.04848434 0.03186351 0.00551486
+v 0.05037812 0.03056510 0.00412117
+v 0.04905822 0.03146458 0.00598048
+v 0.05046611 0.03055263 0.00582660
+v 0.05097495 0.02918565 0.00412117
+v 0.05175542 0.02693103 0.00412116
+v 0.05175924 0.02617805 0.00406346
+v 0.05171334 0.02617805 0.00364832
+v 0.05167125 0.02617805 0.00329409
+v 0.05165977 0.02623353 0.00320674
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+v 0.05185872 0.02617804 0.00524315
+v 0.05120067 0.02918565 0.00582660
+v 0.05105147 0.02933150 0.00734930
+v 0.04734042 0.03166216 0.00734931
+v 0.04764649 0.03161167 0.00734931
+v 0.04906204 0.03111363 0.00734930
+v 0.05031691 0.03037435 0.00734930
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+f 101 103 102
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_39.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..424e7fbc4d322cfe96d70199b4a991c3c02ef165
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_39.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v 0.01278322 0.02552931 -0.00100908
+v -0.01583526 0.02868227 -0.00038474
+v -0.01071228 0.02868227 -0.00038474
+v 0.01278322 0.02868227 -0.00038392
+v 0.01278322 0.02552930 0.00323351
+v -0.04145018 0.02552931 -0.00100826
+v -0.04315575 0.02868227 -0.00038392
+v -0.03974461 0.03192174 0.00134340
+v 0.01278322 0.03192106 0.00134503
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diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_4.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7fff4719cd85da387ea2db61fc652be343ee5ea
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_4.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.01684405 0.01996057 0.05040547
+v -0.01925239 0.01996216 0.05040547
+v -0.01684405 0.01556596 0.05040546
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+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_40.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a03baa63a17978ad4cd097e536efd400eb590402
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_40.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.05077248 0.01048062 -0.02649140
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+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_41.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46b5d3fafb40f6a45dd191a047f9b90df027cfc1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_41.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.04043415 0.01706947 -0.01126196
+v 0.03027888 0.01765313 -0.01126196
+v 0.04043415 0.01333977 -0.01126197
+v 0.04043415 0.01835373 -0.02145444
+v 0.02691805 0.01704063 -0.01126196
+v 0.03027888 0.01836207 -0.02145444
+v 0.02691805 0.01834917 -0.02145444
+v 0.03349549 0.01060815 -0.01126198
+v 0.04043415 0.01060817 -0.01527318
+v 0.04043415 0.01828392 -0.02589936
+v 0.02691805 0.01287982 -0.01126197
+v 0.02691805 0.01827633 -0.02588903
+v 0.02840661 0.01060815 -0.01126198
+v 0.04043415 0.01060820 -0.02383404
+v 0.04043415 0.01733897 -0.02630949
+v 0.02691805 0.01728584 -0.02632129
+v 0.02691805 0.01824445 -0.02590379
+v 0.02691805 0.01060816 -0.01492798
+v 0.03027888 0.01060820 -0.02532404
+v 0.04043415 0.01582098 -0.02615016
+v 0.04043415 0.01728584 -0.02633162
+v 0.02691805 0.01723802 -0.02631686
+v 0.02691805 0.01060820 -0.02386060
+v 0.02691805 0.01582250 -0.02615016
+v 0.03027888 0.01572990 -0.02615016
+v 0.04043415 0.01589916 -0.02616049
+f 1 2 5
+f 1 5 11
+f 1 11 13
+f 1 13 8
+f 1 8 3
+f 1 3 9
+f 1 9 14
+f 1 14 20
+f 1 20 26
+f 1 26 21
+f 1 21 15
+f 1 15 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 4 10 6
+f 5 7 12
+f 5 12 17
+f 5 17 16
+f 5 16 22
+f 5 22 24
+f 5 24 23
+f 5 23 18
+f 5 18 11
+f 6 10 12
+f 6 12 7
+f 8 13 18
+f 8 18 23
+f 8 23 19
+f 8 19 14
+f 8 14 9
+f 10 15 16
+f 10 16 17
+f 10 17 12
+f 11 18 13
+f 14 19 20
+f 15 21 16
+f 16 21 22
+f 19 24 25
+f 19 25 20
+f 19 23 24
+f 20 25 26
+f 21 26 25
+f 21 25 22
+f 22 25 24
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_42.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf36dadf2172d978c76950ddc718fd47bad39e20
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_42.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.02515679 0.02107551 -0.00210851
+v 0.01832492 0.02114768 -0.00210768
+v 0.02515679 0.02211840 -0.00210851
+v 0.03881745 0.02106207 -0.00210851
+v 0.03027760 0.01894940 -0.00210101
+v 0.01490898 0.02114909 -0.00210684
+v 0.01832492 0.02211627 -0.00210768
+v 0.02686476 0.02211910 -0.00210851
+v 0.01279258 0.02408531 -0.00149281
+v 0.03881745 0.02408531 -0.00149783
+v 0.03881745 0.02212123 -0.00210851
+v 0.04052542 0.02110593 -0.00210768
+v 0.04223338 0.02115404 -0.00210684
+v 0.04394135 0.02115970 -0.00209933
+v 0.04439929 0.02116961 -0.00209014
+v 0.03952910 0.01894940 -0.00177603
+v 0.01279258 0.01894940 -0.00162483
+v 0.01279258 0.02114980 -0.00210601
+v 0.01490898 0.02211486 -0.00210684
+v 0.03198557 0.02212052 -0.00210851
+v 0.01279258 0.02211415 -0.00210601
+v 0.01279258 0.02617674 -0.00083284
+v 0.04183733 0.02617674 -0.00083701
+v 0.04223338 0.02408531 -0.00149783
+v 0.03540151 0.02212123 -0.00210851
+v 0.04052542 0.02212052 -0.00210768
+v 0.04223338 0.02211840 -0.00210684
+v 0.04394135 0.02210920 -0.00209933
+v 0.04439929 0.02208797 -0.00209014
+v 0.04439929 0.01894940 -0.00159893
+v 0.01279258 0.01894938 0.00174769
+v 0.01279258 0.02617673 0.00343022
+v 0.04223338 0.02617674 -0.00083701
+v 0.04394135 0.02617674 -0.00083618
+v 0.04394135 0.02408531 -0.00149365
+v 0.04439929 0.02408531 -0.00146859
+v 0.04439929 0.01894938 0.00178111
+v 0.01279258 0.02238582 0.00269254
+v 0.02171610 0.01894937 0.00612019
+v 0.02174085 0.01898617 0.00613940
+v 0.02344882 0.02068634 0.00632487
+v 0.02344882 0.02238581 0.00602329
+v 0.02515679 0.02238581 0.00606840
+v 0.02344882 0.02617673 0.00352796
+v 0.04439929 0.02617674 -0.00081446
+v 0.04439929 0.02241200 0.00277692
+v 0.04136083 0.01898617 0.00491971
+v 0.04135155 0.01894937 0.00491136
+v 0.02174085 0.01894937 0.00613105
+v 0.02344882 0.01898617 0.00634240
+v 0.03710948 0.01898617 0.00642511
+v 0.03710948 0.02068634 0.00636330
+v 0.02515679 0.02617673 0.00353298
+v 0.03027760 0.02238581 0.00606924
+v 0.04439929 0.02617673 0.00353298
+v 0.04050685 0.01898617 0.00542513
+v 0.04049757 0.01894937 0.00542096
+v 0.04133299 0.01894937 0.00492640
+v 0.02341169 0.01894937 0.00632904
+v 0.02344882 0.01894937 0.00633321
+v 0.03710948 0.01894937 0.00641759
+v 0.03878032 0.01894937 0.00615193
+v 0.03881745 0.01898617 0.00615277
+v 0.03710948 0.02238581 0.00603582
+v 0.03540151 0.02238581 0.00606172
+v 0.03027760 0.02617673 0.00353381
+v 0.03050966 0.02617673 0.00353381
+v 0.03881745 0.01894937 0.00614525
+v 0.04046972 0.01894937 0.00543349
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 20
+f 1 20 25
+f 1 25 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 6 19
+f 2 19 7
+f 2 5 6
+f 3 7 9
+f 3 9 10
+f 3 10 8
+f 4 11 26
+f 4 26 27
+f 4 27 13
+f 4 13 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 30
+f 5 30 37
+f 5 37 48
+f 5 48 58
+f 5 58 57
+f 5 57 69
+f 5 69 68
+f 5 68 62
+f 5 62 61
+f 5 61 60
+f 5 60 59
+f 5 59 49
+f 5 49 39
+f 5 39 31
+f 5 31 17
+f 5 17 18
+f 5 18 6
+f 6 18 21
+f 6 21 19
+f 7 19 9
+f 8 10 20
+f 9 19 21
+f 9 21 18
+f 9 18 17
+f 9 17 31
+f 9 31 38
+f 9 38 32
+f 9 32 22
+f 9 22 10
+f 10 23 33
+f 10 33 24
+f 10 24 11
+f 10 11 25
+f 10 25 20
+f 10 22 23
+f 11 24 26
+f 13 27 28
+f 13 28 14
+f 14 28 29
+f 14 29 15
+f 15 29 36
+f 15 36 45
+f 15 45 55
+f 15 55 46
+f 15 46 37
+f 15 37 30
+f 15 30 16
+f 22 32 44
+f 22 44 53
+f 22 53 66
+f 22 66 67
+f 22 67 55
+f 22 55 45
+f 22 45 34
+f 22 34 33
+f 22 33 23
+f 24 33 34
+f 24 34 35
+f 24 35 27
+f 24 27 26
+f 27 35 28
+f 28 35 29
+f 29 35 36
+f 31 39 38
+f 32 38 40
+f 32 40 41
+f 32 41 42
+f 32 42 43
+f 32 43 44
+f 34 45 35
+f 35 45 36
+f 37 46 47
+f 37 47 48
+f 38 39 40
+f 39 49 40
+f 40 49 50
+f 40 50 41
+f 41 43 42
+f 41 50 51
+f 41 51 52
+f 41 52 43
+f 43 53 44
+f 43 52 54
+f 43 54 66
+f 43 66 53
+f 46 55 47
+f 47 56 57
+f 47 57 58
+f 47 58 48
+f 47 55 56
+f 49 59 50
+f 50 59 60
+f 50 60 61
+f 50 61 51
+f 51 61 62
+f 51 62 63
+f 51 63 52
+f 52 63 55
+f 52 55 64
+f 52 64 65
+f 52 65 54
+f 54 65 55
+f 54 55 67
+f 54 67 66
+f 55 63 56
+f 55 65 64
+f 56 63 68
+f 56 68 69
+f 56 69 57
+f 62 68 63
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_43.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..024f3d6dc259d8c6aa7ecf8e5ca99243a2ad5da6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_43.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.04999192 0.01064717 -0.02649941
+v -0.04999192 0.01218685 -0.02648002
+v -0.04486867 0.01728556 -0.02644420
+v -0.04428223 0.01728556 -0.02643824
+v -0.04428223 0.01678377 -0.02634278
+v -0.04428223 0.01582214 -0.02614888
+v -0.04864818 0.01064717 -0.02610266
+v -0.05124356 0.01064717 -0.02611460
+v -0.04999192 0.01388667 -0.02641140
+v -0.05121402 0.01218685 -0.02609073
+v -0.04828394 0.01558573 -0.02639797
+v -0.04657665 0.01728556 -0.02632041
+v -0.04486867 0.01839742 -0.02601464
+v -0.04428223 0.01801536 -0.02615633
+v -0.04428223 0.01064716 -0.02384151
+v -0.05146506 0.01064716 -0.02486470
+v -0.05111136 0.01388667 -0.02599974
+v -0.05001654 0.01556057 -0.02611308
+v -0.05142357 0.01218684 -0.02486470
+v -0.04814823 0.01728556 -0.02605193
+v -0.04657665 0.01828151 -0.02588636
+v -0.04486867 0.01843783 -0.02486467
+v -0.04428223 0.01838980 -0.02600718
+v -0.04428223 0.01064713 -0.01514592
+v -0.05146576 0.01064716 -0.02470361
+v -0.05144326 0.01218683 -0.02145507
+v -0.05097214 0.01497641 -0.02585953
+v -0.05126536 0.01388666 -0.02486469
+v -0.04946385 0.01671895 -0.02594753
+v -0.05128153 0.01388666 -0.02315987
+v -0.04748866 0.01816177 -0.02575063
+v -0.04748866 0.01816177 -0.02539863
+v -0.04749077 0.01815795 -0.02212175
+v -0.04428223 0.01842410 -0.02486467
+v -0.04428223 0.01841571 -0.02525247
+v -0.04652743 0.01823039 -0.02151470
+v -0.04486867 0.01834783 -0.02145504
+v -0.04428223 0.01835088 -0.02145504
+v -0.04428223 0.01323917 -0.01126197
+v -0.04666806 0.01064711 -0.01126198
+v -0.05144888 0.01064715 -0.02145507
+v -0.05128224 0.01388665 -0.02145506
+v -0.05098409 0.01388661 -0.01126197
+v -0.05099464 0.01505801 -0.02486468
+v -0.05052633 0.01590830 -0.02486468
+v -0.04967269 0.01690501 -0.02486468
+v -0.05100237 0.01508165 -0.02315986
+v -0.04814823 0.01782013 -0.02484528
+v -0.04814893 0.01784758 -0.02317328
+v -0.04828394 0.01751351 -0.01126196
+v -0.04824667 0.01751962 -0.01126196
+v -0.04657665 0.01776822 -0.01126195
+v -0.04428223 0.01728092 -0.01126196
+v -0.05029851 0.01064711 -0.01126198
+v -0.05094049 0.01282661 -0.01126197
+v -0.05098339 0.01386373 -0.01126197
+v -0.05088916 0.01483375 -0.01126197
+v -0.05056149 0.01593194 -0.02315986
+v -0.04970714 0.01694009 -0.02315986
+v -0.04955878 0.01680735 -0.01126196
+v -0.04953065 0.01682337 -0.01126196
+v -0.05041242 0.01568329 -0.01126196
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 15
+f 1 15 24
+f 1 24 40
+f 1 40 54
+f 1 54 41
+f 1 41 25
+f 1 25 16
+f 1 16 8
+f 1 8 2
+f 2 9 3
+f 2 8 10
+f 2 10 9
+f 3 9 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 4 14 23
+f 4 23 35
+f 4 35 34
+f 4 34 38
+f 4 38 53
+f 4 53 39
+f 4 39 24
+f 4 24 15
+f 4 15 6
+f 4 6 5
+f 6 15 7
+f 8 16 10
+f 9 10 17
+f 9 17 18
+f 9 18 11
+f 10 16 19
+f 10 19 17
+f 11 18 12
+f 12 18 20
+f 12 20 21
+f 12 21 13
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 16 25 26
+f 16 26 19
+f 17 27 18
+f 17 19 28
+f 17 28 27
+f 18 27 29
+f 18 29 20
+f 19 26 30
+f 19 30 28
+f 20 29 31
+f 20 31 21
+f 21 31 32
+f 21 32 33
+f 21 33 22
+f 22 34 35
+f 22 35 23
+f 22 33 36
+f 22 36 37
+f 22 37 38
+f 22 38 34
+f 24 39 40
+f 25 41 26
+f 26 42 30
+f 26 41 43
+f 26 43 42
+f 27 28 44
+f 27 44 45
+f 27 45 29
+f 28 30 44
+f 29 45 46
+f 29 46 31
+f 30 42 47
+f 30 47 44
+f 31 46 48
+f 31 48 49
+f 31 49 32
+f 32 49 33
+f 33 49 50
+f 33 50 51
+f 33 51 52
+f 33 52 36
+f 36 52 37
+f 37 52 38
+f 38 52 53
+f 39 53 52
+f 39 52 51
+f 39 51 50
+f 39 50 61
+f 39 61 60
+f 39 60 62
+f 39 62 57
+f 39 57 43
+f 39 43 56
+f 39 56 55
+f 39 55 54
+f 39 54 40
+f 41 54 55
+f 41 55 56
+f 41 56 43
+f 42 43 57
+f 42 57 47
+f 44 47 58
+f 44 58 45
+f 45 58 59
+f 45 59 46
+f 46 59 48
+f 47 57 58
+f 48 59 49
+f 49 59 60
+f 49 60 61
+f 49 61 50
+f 57 62 58
+f 58 62 60
+f 58 60 59
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_44.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efdde63f7acdf8395654dcffec30c331d49c61ba
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_44.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.02639585 -0.00874507 -0.02387480
+v -0.02639585 -0.00874510 -0.01511721
+v -0.02639585 0.01217245 -0.02391032
+v -0.02635893 -0.02864768 -0.02387488
+v -0.02639585 0.01217241 -0.01434160
+v -0.02635893 -0.02864772 -0.01494494
+v -0.01498915 0.01217245 -0.02387192
+v -0.01496677 -0.02864768 -0.02382711
+v -0.01498915 0.01217241 -0.01458794
+v -0.01496677 -0.02864771 -0.01519222
+v -0.01496677 -0.00874906 -0.02382609
+v -0.01496677 -0.02010886 -0.02382988
+v -0.01496677 -0.02181102 -0.02382989
+v -0.01496677 -0.00874909 -0.01523710
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 5 9
+f 3 9 7
+f 3 7 4
+f 4 8 10
+f 4 10 6
+f 4 7 8
+f 5 6 9
+f 6 10 9
+f 7 9 14
+f 7 14 11
+f 7 11 12
+f 7 12 13
+f 7 13 8
+f 8 13 12
+f 8 12 11
+f 8 11 14
+f 8 14 10
+f 9 10 14
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_45.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7c6c2123a3be630e92d07a46543b48b82b52a44
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_45.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.01490380 -0.02861655 -0.02383017
+v 0.01490380 -0.02861658 -0.01512929
+v 0.01490380 -0.02180908 -0.02383190
+v 0.02694204 -0.01840917 -0.02386080
+v 0.02694204 -0.02861655 -0.02385558
+v 0.01490852 -0.02861658 -0.01508899
+v 0.01490380 -0.02861275 -0.01508899
+v 0.01490380 -0.01670156 -0.02383188
+v 0.01491087 0.00197879 -0.02383093
+v 0.02691611 0.01049004 -0.02385806
+v 0.02694204 -0.00886033 -0.02385638
+v 0.02694204 -0.02861659 -0.01490936
+v 0.01491087 0.01049001 -0.01510373
+v 0.01490380 -0.00886036 -0.01512133
+v 0.01490380 -0.00886033 -0.02382746
+v 0.01491087 0.01049004 -0.02382915
+v 0.02691611 0.01049000 -0.01496441
+v 0.02694204 -0.00886036 -0.01501969
+f 1 2 7
+f 1 7 14
+f 1 14 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 18
+f 4 18 12
+f 4 12 5
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 8 15 16
+f 8 16 9
+f 9 16 10
+f 10 16 13
+f 10 13 17
+f 10 17 18
+f 10 18 11
+f 12 18 17
+f 12 17 13
+f 13 16 15
+f 13 15 14
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_46.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ebe6cabcb1edcf63dadbfc5740e8b8fd5331a2c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_46.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.04434054 0.01329941 -0.00269871
+v 0.04434054 0.01350158 -0.00102687
+v 0.04434054 0.01330020 -0.00428012
+v 0.04735143 0.01097556 -0.00269872
+v 0.04751845 0.01097555 -0.00103388
+v 0.04434054 0.01423534 0.00036283
+v 0.04797947 0.01097555 0.00009533
+v 0.04735451 0.01097557 -0.00428013
+v 0.04735374 0.01097556 -0.00390818
+v 0.04434054 0.01707285 -0.00428011
+v 0.04883148 0.01097555 0.00094813
+v 0.04968503 0.01097554 0.00174106
+v 0.04434054 0.01517519 0.00121564
+v 0.05116661 0.01097557 -0.00428013
+v 0.04434054 0.01894940 -0.00159114
+v 0.04551273 0.01742724 -0.00428011
+v 0.05077255 0.01097554 0.00190283
+v 0.04434054 0.01602525 0.00179585
+v 0.05187701 0.01097556 -0.00235034
+v 0.05173000 0.01279125 -0.00428012
+v 0.04434054 0.01894938 0.00177866
+v 0.04451834 0.01894940 -0.00161407
+v 0.04735759 0.01779412 -0.00428010
+v 0.04720366 0.01777773 -0.00428010
+v 0.05182159 0.01097554 0.00172514
+v 0.05077255 0.01218703 0.00189837
+v 0.04874605 0.01894938 0.00213915
+v 0.04752153 0.01894938 0.00222321
+v 0.04748228 0.01894938 0.00222576
+v 0.04434054 0.01728592 0.00188884
+v 0.05211483 0.01097556 -0.00145487
+v 0.05177002 0.01377012 -0.00428012
+v 0.05220334 0.01097555 -0.00099376
+v 0.04434054 0.01768325 0.00187610
+v 0.04564973 0.01894940 -0.00163381
+v 0.04627469 0.01894940 -0.00163827
+v 0.04745457 0.01894940 -0.00146440
+v 0.04890229 0.01756541 -0.00428011
+v 0.05214407 0.01097555 0.00071120
+v 0.05180928 0.01218703 0.00171686
+v 0.05118817 0.01580903 0.00071122
+v 0.05128591 0.01588397 -0.00099374
+v 0.04885072 0.01894939 0.00076600
+v 0.05173924 0.01388640 0.00166209
+v 0.05166612 0.01482078 0.00159968
+v 0.05177156 0.01388643 -0.00428012
+v 0.05216562 0.01097555 0.00022143
+v 0.05219564 0.01218704 -0.00099376
+v 0.04780322 0.01894939 -0.00132428
+v 0.04905699 0.01753887 -0.00428011
+v 0.05211868 0.01218704 0.00071120
+v 0.05173154 0.01495974 0.00071121
+v 0.05176617 0.01503390 -0.00099374
+v 0.05120894 0.01569431 -0.00428011
+v 0.05041697 0.01674187 -0.00428011
+v 0.05035463 0.01681993 -0.00428011
+v 0.04874066 0.01894939 0.00026159
+v 0.05196013 0.01388641 0.00071121
+v 0.05168613 0.01476929 -0.00428012
+v 0.05204633 0.01388641 -0.00099375
+v 0.04843280 0.01894939 -0.00076127
+v 0.05025380 0.01688160 -0.00428011
+v 0.05167305 0.01484501 -0.00428012
+f 1 2 6
+f 1 6 13
+f 1 13 18
+f 1 18 30
+f 1 30 34
+f 1 34 21
+f 1 21 15
+f 1 15 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 9
+f 3 9 4
+f 3 10 16
+f 3 16 24
+f 3 24 23
+f 3 23 38
+f 3 38 50
+f 3 50 62
+f 3 62 56
+f 3 56 55
+f 3 55 54
+f 3 54 63
+f 3 63 59
+f 3 59 46
+f 3 46 32
+f 3 32 20
+f 3 20 14
+f 3 14 8
+f 4 9 8
+f 4 8 14
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+f 4 39 25
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+f 19 20 31
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+f 20 33 31
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+f 25 39 40
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+f 27 41 42
+f 27 42 43
+f 27 40 44
+f 27 44 45
+f 27 45 41
+f 29 34 30
+f 32 46 33
+f 33 46 48
+f 33 48 47
+f 37 49 38
+f 38 49 50
+f 39 47 48
+f 39 48 51
+f 39 51 40
+f 40 51 44
+f 41 52 42
+f 41 45 52
+f 42 52 53
+f 42 53 54
+f 42 54 55
+f 42 55 56
+f 42 56 43
+f 43 56 57
+f 44 51 58
+f 44 58 45
+f 45 58 52
+f 46 59 60
+f 46 60 48
+f 48 60 51
+f 49 61 50
+f 50 61 62
+f 51 60 58
+f 52 58 60
+f 52 60 53
+f 53 60 63
+f 53 63 54
+f 56 62 61
+f 56 61 57
+f 59 63 60
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_47.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21e247b33ae4a0b878fa645b83e2746e3842c545
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_47.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.05146034 0.01097555 -0.00099393
+v -0.05137227 0.01097555 0.00071121
+v -0.05145634 0.01218704 -0.00099393
+v -0.05100663 0.01388643 -0.00428012
+v -0.05095725 0.01277720 -0.00428012
+v -0.05112273 0.01097556 -0.00237394
+v -0.05127952 0.01097555 0.00099943
+v -0.05135225 0.01218704 0.00071121
+v -0.05130755 0.01388641 -0.00099392
+v -0.05090054 0.01486062 -0.00428012
+v -0.05038811 0.01097557 -0.00428013
+v -0.05103933 0.01097554 0.00172156
+v -0.05102798 0.01218703 0.00171329
+v -0.05096393 0.01388640 0.00166495
+v -0.05120212 0.01388641 0.00071122
+v -0.05096193 0.01498550 0.00071123
+v -0.05100396 0.01507527 -0.00099391
+v -0.05046885 0.01564825 -0.00428011
+v -0.04656226 0.01097557 -0.00428013
+v -0.05074174 0.01097554 0.00177564
+v -0.04999178 0.01218703 0.00190162
+v -0.04999178 0.01388640 0.00186918
+v -0.04676443 0.01894938 0.00221977
+v -0.05089120 0.01483796 0.00160514
+v -0.05043415 0.01583557 0.00071123
+v -0.05052623 0.01592534 -0.00099391
+v -0.05043482 0.01570992 -0.00428011
+v -0.04655959 0.01097556 -0.00319279
+v -0.04464466 0.01321199 -0.00428012
+v -0.04999178 0.01097554 0.00190735
+v -0.04464466 0.01602291 0.00178775
+v -0.04464466 0.01618840 0.00180048
+v -0.04464466 0.01728592 0.00186856
+v -0.04464466 0.01894938 0.00180431
+v -0.04678911 0.01894938 0.00219941
+v -0.04936726 0.01663568 0.00168214
+v -0.04817360 0.01894939 0.00096510
+v -0.04818961 0.01894939 0.00090529
+v -0.04958078 0.01683008 -0.00428011
+v -0.04655959 0.01097556 -0.00269843
+v -0.04464466 0.01321199 -0.00410642
+v -0.04464466 0.01737338 -0.00428011
+v -0.04967419 0.01097554 0.00186408
+v -0.04464466 0.01528447 0.00129912
+v -0.04889687 0.01097554 0.00174956
+v -0.04464466 0.01894940 -0.00162124
+v -0.04776593 0.01894939 -0.00077121
+v -0.04827769 0.01755057 -0.00428011
+v -0.04668236 0.01097556 -0.00148638
+v -0.04464466 0.01321433 -0.00269842
+v -0.04486885 0.01744051 -0.00428011
+v -0.04464466 0.01517284 0.00122149
+v -0.04865133 0.01097554 0.00152878
+v -0.04657694 0.01779022 -0.00428010
+v -0.04486885 0.01894940 -0.00165305
+v -0.04773123 0.01894939 -0.00082529
+v -0.04657694 0.01894940 -0.00153280
+v -0.04673507 0.01097555 -0.00103656
+v -0.04464466 0.01323774 -0.00250309
+v -0.04464466 0.01340790 -0.00112371
+v -0.04777527 0.01097555 0.00069975
+v -0.04464466 0.01434697 0.00048090
+v -0.04700396 0.01097555 -0.00024698
+v -0.04464466 0.01355075 -0.00084440
+v -0.04720079 0.01097555 0.00009214
+v -0.04464466 0.01422519 0.00036892
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 19
+f 1 19 28
+f 1 28 40
+f 1 40 49
+f 1 49 58
+f 1 58 63
+f 1 63 65
+f 1 65 61
+f 1 61 53
+f 1 53 45
+f 1 45 43
+f 1 43 30
+f 1 30 20
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+f 1 12 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
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+f 3 9 4
+f 4 9 10
+f 4 10 18
+f 4 18 27
+f 4 27 39
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+f 4 42 29
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+f 16 25 26
+f 16 26 17
+f 17 27 18
+f 17 26 27
+f 19 29 28
+f 20 30 21
+f 21 30 23
+f 21 23 22
+f 23 31 32
+f 23 32 33
+f 23 33 34
+f 23 34 46
+f 23 46 55
+f 23 55 57
+f 23 57 56
+f 23 56 47
+f 23 47 38
+f 23 38 37
+f 23 37 35
+f 23 35 36
+f 23 36 24
+f 23 30 31
+f 24 36 37
+f 24 37 25
+f 25 37 38
+f 25 38 26
+f 26 39 27
+f 26 38 39
+f 28 29 41
+f 28 41 40
+f 29 42 46
+f 29 46 34
+f 29 34 33
+f 29 33 32
+f 29 32 31
+f 29 31 44
+f 29 44 52
+f 29 52 62
+f 29 62 66
+f 29 66 64
+f 29 64 60
+f 29 60 59
+f 29 59 50
+f 29 50 41
+f 30 43 31
+f 31 43 45
+f 31 45 44
+f 35 37 36
+f 38 47 39
+f 39 47 48
+f 40 41 50
+f 40 50 49
+f 42 51 46
+f 44 45 52
+f 45 53 52
+f 46 51 54
+f 46 54 55
+f 47 56 48
+f 48 56 57
+f 48 57 54
+f 49 50 59
+f 49 59 60
+f 49 60 58
+f 52 53 61
+f 52 61 62
+f 54 57 55
+f 58 60 63
+f 60 64 63
+f 61 65 62
+f 62 65 66
+f 63 64 66
+f 63 66 65
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_48.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..399cf5be4b34092f0d6983dfdbf34f51d6947c97
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_48.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.01252763 -0.03621841 -0.00428060
+v 0.01036617 -0.03918370 -0.00428061
+v 0.01031217 -0.03925950 -0.00440444
+v 0.01245002 -0.03621841 -0.00544049
+v -0.00471011 -0.03621841 -0.00428060
+v 0.01017212 -0.03932442 -0.00428061
+v 0.00942970 -0.03985578 -0.00428062
+v 0.00945839 -0.03987042 -0.00440445
+v 0.00932846 -0.03984340 -0.00541928
+v 0.01200456 -0.03621841 -0.00645144
+v -0.00471011 -0.03621840 -0.00697366
+v -0.00471011 -0.03838140 -0.00428061
+v 0.00822664 -0.04001339 -0.00428062
+v 0.00807478 -0.04005167 -0.00440445
+v 0.01062433 -0.03621840 -0.00733587
+v 0.01107822 -0.03621840 -0.00727904
+v 0.00807478 -0.03991658 -0.00548628
+v 0.00295374 -0.03989781 -0.00547431
+v 0.00193628 -0.03981188 -0.00539625
+v -0.00471011 -0.03624542 -0.00694465
+v 0.00978235 -0.03621840 -0.00732121
+v 0.00185866 -0.03985841 -0.00440445
+v 0.00186878 -0.03984790 -0.00428062
+v -0.00471011 -0.03783239 -0.00509565
+v 0.00807478 -0.04001977 -0.00428062
+v 0.00295374 -0.04001864 -0.00428062
+v 0.00295374 -0.04004717 -0.00440445
+v 0.00465962 -0.03990494 -0.00548059
+v -0.00471011 -0.03741886 -0.00558437
+v -0.00471011 -0.03663119 -0.00650677
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 15
+f 1 15 21
+f 1 21 11
+f 1 11 5
+f 1 5 12
+f 1 12 23
+f 1 23 26
+f 1 26 25
+f 1 25 13
+f 1 13 7
+f 1 7 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
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+f 3 9 10
+f 3 10 4
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+f 5 29 24
+f 5 24 12
+f 7 13 8
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+f 9 16 10
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+f 9 17 15
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+f 18 28 27
+f 19 27 22
+f 19 24 29
+f 19 29 30
+f 19 30 20
+f 22 27 23
+f 23 27 26
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_49.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eb20f4deb1bfd0e635ba064fe3d49765cef7b34
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_49.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.04044956 -0.03117761 -0.01126213
+v 0.03347696 -0.02860405 -0.01126213
+v 0.04044956 -0.03466407 -0.01126215
+v 0.04044956 -0.02860403 -0.01531544
+v 0.02838866 -0.02860405 -0.01126213
+v 0.03027958 -0.03519308 -0.01126215
+v 0.04044956 -0.03589505 -0.02145513
+v 0.04044956 -0.02860400 -0.02382753
+v 0.02694204 -0.03062858 -0.01126213
+v 0.02694204 -0.02860404 -0.01491439
+v 0.02694204 -0.03463691 -0.01126215
+v 0.02694204 -0.03588576 -0.02145513
+v 0.03027958 -0.03590649 -0.02145513
+v 0.04044956 -0.03584572 -0.02315962
+v 0.04044956 -0.03274743 -0.02581512
+v 0.03027958 -0.02860400 -0.02533149
+v 0.02694204 -0.02860400 -0.02385555
+v 0.02694204 -0.03583357 -0.02308147
+v 0.02694204 -0.03583071 -0.02315962
+v 0.04044956 -0.03576065 -0.02486557
+v 0.04044956 -0.03366890 -0.02624124
+v 0.04044956 -0.03371108 -0.02626041
+v 0.03027958 -0.03371108 -0.02632529
+v 0.02694204 -0.03371108 -0.02625746
+v 0.02694204 -0.03274457 -0.02581364
+v 0.02694204 -0.03574349 -0.02478595
+v 0.02694204 -0.03573920 -0.02486557
+v 0.02694204 -0.03519874 -0.02616163
+v 0.04044956 -0.03573706 -0.02492160
+v 0.04044956 -0.03514799 -0.02616753
+v 0.04044956 -0.03521304 -0.02616310
+f 1 2 5
+f 1 5 9
+f 1 9 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 14
+f 1 14 20
+f 1 20 29
+f 1 29 31
+f 1 31 30
+f 1 30 22
+f 1 22 21
+f 1 21 15
+f 1 15 8
+f 1 8 4
+f 1 4 2
+f 2 4 8
+f 2 8 16
+f 2 16 17
+f 2 17 10
+f 2 10 5
+f 3 6 7
+f 5 10 9
+f 6 11 12
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+f 6 13 7
+f 7 13 14
+f 8 15 16
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+f 9 26 19
+f 9 19 18
+f 9 18 12
+f 9 12 11
+f 12 18 13
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+f 16 24 25
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+f 19 26 20
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+f 20 27 28
+f 20 28 29
+f 22 30 23
+f 23 30 31
+f 23 31 28
+f 23 28 24
+f 28 31 29
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_5.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..347236589ce9749670542efec0d94cae66606ade
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_5.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v -0.01684405 0.02745911 0.00735009
+v -0.01412559 0.02506771 0.01567631
+v -0.01684405 0.02506936 0.01567631
+v -0.01684405 0.03183180 0.00735011
+v -0.00918351 0.02745583 0.00735009
+v -0.00728976 0.02593209 0.01265188
+v -0.00900024 0.02544332 0.01435730
+v -0.01684405 0.02427222 0.01846374
+v -0.00728976 0.02398027 0.01946845
+v -0.00900024 0.02349313 0.02117388
+v -0.01684405 0.01914164 0.05356678
+v -0.00728976 0.01914656 0.05356678
+v -0.00387489 0.01914820 0.05356678
+v -0.01071073 0.03183344 0.00735011
+v 0.04556428 0.02744927 0.00735009
+v 0.04556428 0.02594522 0.01256944
+v 0.04556428 0.02444936 0.01776817
+v -0.01684405 0.02398519 0.01946845
+v -0.00728976 0.02299944 0.02290507
+v -0.01241511 0.02300108 0.02291022
+v -0.01684405 0.02300272 0.02291537
+v -0.01582997 0.02349805 0.02117388
+v 0.04556428 0.02304537 0.02268351
+v -0.01684405 0.01852002 0.05506097
+v -0.00728976 0.01852166 0.05509189
+v -0.00558538 0.01852330 0.05509189
+v -0.00046003 0.01852494 0.05509704
+v 0.00808019 0.01914984 0.05356678
+v 0.01149505 0.01914984 0.05356678
+v 0.04393932 0.03183180 0.00735011
+v 0.04556428 0.03181704 0.00735011
+v -0.00728976 0.02166760 0.02760918
+v -0.01412559 0.02252706 0.02458474
+v -0.01684405 0.02252870 0.02458474
+v 0.04556428 0.02250574 0.02458474
+v -0.01684405 0.01795907 0.05591111
+v -0.00728976 0.01636317 0.05948169
+v -0.00728976 0.01690443 0.05862640
+v -0.00558538 0.01693723 0.05868307
+v -0.00046003 0.01694051 0.05867792
+v 0.00124435 0.01852494 0.05509704
+v 0.04222883 0.01914492 0.05356678
+v 0.04393932 0.01914328 0.05356678
+v 0.04556428 0.03180884 0.00738618
+v 0.04527716 0.03182033 0.00735011
+v -0.00728976 0.02142814 0.02846447
+v -0.01684405 0.02142978 0.02846962
+v -0.01684405 0.02157247 0.02796469
+v 0.04556428 0.02106729 0.02970104
+v -0.01684405 0.01710946 0.05663759
+v -0.00728976 0.01551193 0.05990934
+v -0.00558538 0.01558409 0.05997632
+v -0.00558538 0.01643370 0.05953322
+v 0.00124435 0.01694051 0.05867792
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+v 0.00808019 0.01852494 0.05509189
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+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_50.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f92cd76ee0f145d25df5c8ed96306f7e9f409467
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_50.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.02635995 -0.03061777 -0.01126361
+v -0.02791260 -0.02860498 -0.01126361
+v -0.02635995 -0.03465765 -0.01126363
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+v -0.03273595 -0.02860498 -0.01126361
+v -0.02949781 -0.03517050 -0.01126363
+v -0.02635995 -0.03589146 -0.02145528
+v -0.02635995 -0.02860493 -0.02387194
+v -0.03966684 -0.03118284 -0.01126361
+v -0.03966684 -0.02860496 -0.01532434
+v -0.03966684 -0.03466409 -0.01126363
+v -0.03966684 -0.03589647 -0.02145528
+v -0.02949781 -0.03591149 -0.02145528
+v -0.02635995 -0.03585855 -0.02315978
+v -0.02635995 -0.03272850 -0.02581975
+v -0.02949781 -0.02860493 -0.02530661
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+v -0.02635995 -0.03371057 -0.02627094
+v -0.02949781 -0.03371057 -0.02632549
+v -0.03966684 -0.03371057 -0.02625472
+v -0.03966684 -0.03279145 -0.02583449
+v -0.03966684 -0.03274781 -0.02581385
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+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_51.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97ab1bcf6f8f23fc05fc220f81863fbb61d6770f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_51.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.00471011 -0.03465463 -0.01126147
+v -0.00471011 -0.03621840 -0.00697435
+v -0.00471011 -0.03116482 -0.01126145
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+v -0.00471011 -0.03140761 -0.00428097
+v 0.01252678 -0.03621841 -0.00428098
+v -0.00471011 -0.03116360 -0.00786962
+v 0.00756497 -0.02989153 -0.00951940
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+v -0.00471011 -0.03116299 -0.00445865
+v 0.01107830 -0.03621840 -0.00727984
+v 0.02677425 -0.03073626 -0.01126145
+v 0.02677425 -0.03469614 -0.00428098
+v 0.01244973 -0.03621841 -0.00544075
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+v 0.01200286 -0.03621841 -0.00645222
+v -0.00396738 -0.03116732 -0.00428096
+v -0.00471011 -0.03116299 -0.00428438
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+v 0.01359002 -0.02989154 -0.00454340
+v 0.01358694 -0.02989154 -0.00428096
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+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_52.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff5027c435d41dfb35811163426a35c8688bfd80
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_52.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.04674274 -0.00875293 -0.01126205
+v -0.03966684 -0.00875291 -0.01533866
+v -0.05025296 -0.00875293 -0.01126205
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+v -0.03966684 -0.02853208 -0.01532531
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+v -0.05039970 -0.02860206 -0.01126213
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+v -0.04999183 -0.02860200 -0.02649498
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+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_53.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b95134bc021c29f9c7dfe7909f44a83eaaebd18b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_53.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.01831591 0.01894938 0.00241328
+v 0.01831591 0.01728592 0.00236806
+v 0.01831591 0.01894940 -0.00155059
+v 0.00062064 0.01894938 0.00174761
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+v 0.01831591 0.01728046 0.00236741
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+v 0.01149071 0.01894940 -0.00176746
+v 0.00062064 0.01894940 -0.00153749
+v 0.00978268 0.01097555 0.00031469
+v 0.01831591 0.01596749 0.00194350
+v 0.00062064 0.01570598 0.00157988
+v 0.00862725 0.01097555 0.00008996
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+v 0.00978268 0.01894940 -0.00179301
+v 0.00062064 0.01672314 -0.00428011
+v 0.01027292 0.01097555 0.00030683
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+v 0.01149071 0.01097555 0.00028062
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+v 0.00786331 0.01097557 -0.00428013
+v 0.00062064 0.01334312 -0.00327769
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+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_54.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf66b87eed1fdf5fbf5e34b451374053f7f65074
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_54.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.04420533 -0.03485301 -0.01126147
+v -0.04420533 -0.03485301 -0.01122456
+v -0.04420533 -0.03112634 -0.01126145
+v -0.02949806 -0.03517113 -0.01126147
+v -0.02949806 -0.03519305 -0.00428098
+v -0.04420533 -0.03481181 -0.00428098
+v -0.04420533 -0.03112378 -0.00610981
+v -0.03273719 -0.02861484 -0.01126145
+v -0.02734798 -0.03474804 -0.01126147
+v -0.02734798 -0.03474869 -0.01122456
+v -0.02734798 -0.03481439 -0.00428098
+v -0.02937430 -0.03517952 -0.00428098
+v -0.04420533 -0.03112442 -0.00428096
+v -0.03273554 -0.02861486 -0.00428096
+v -0.03273719 -0.02861484 -0.01122454
+v -0.02791067 -0.02861484 -0.01126145
+v -0.02734798 -0.02994143 -0.01126145
+v -0.02734798 -0.02992341 -0.00428096
+v -0.02790407 -0.02861486 -0.00428096
+v -0.02790407 -0.02861486 -0.00440466
+v -0.02734798 -0.02992341 -0.00443678
+f 1 2 6
+f 1 6 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 17
+f 1 17 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 11
+f 5 11 18
+f 5 18 19
+f 5 19 14
+f 5 14 13
+f 5 13 6
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 14
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+f 8 19 20
+f 8 20 16
+f 9 17 21
+f 9 21 18
+f 9 18 11
+f 9 11 10
+f 16 20 21
+f 16 21 17
+f 18 21 20
+f 18 20 19
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_55.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8131c337aa31e8ad520003f6ec6706727d36026e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_55.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.05103378 0.01048056 -0.01126347
+v 0.05220111 0.01048060 -0.02145485
+v 0.04750866 0.01048056 -0.01126347
+v 0.05103378 0.00708506 -0.01126348
+v 0.05223232 -0.00481238 -0.02145491
+v 0.05223116 -0.00141121 -0.02145490
+v 0.05223001 0.00028843 -0.02145489
+v 0.05222769 0.00198618 -0.02145488
+v 0.05222423 0.00368582 -0.02145488
+v 0.05221498 0.00708510 -0.02145486
+v 0.05220920 0.00878475 -0.02145486
+v 0.05223578 0.01048061 -0.02485894
+v 0.04043416 0.01048058 -0.01531617
+v 0.04043416 -0.00885520 -0.01533264
+v 0.04754796 -0.00885522 -0.01126354
+v 0.05102569 -0.00885522 -0.01126354
+v 0.05223232 -0.00885518 -0.02145492
+v 0.05224041 0.00878476 -0.02486491
+v 0.05223578 0.01048061 -0.02486490
+v 0.04043416 0.01048061 -0.02383011
+v 0.04043416 -0.00885517 -0.02382869
+v 0.05220458 -0.00885517 -0.02316069
+v 0.05201966 0.00878477 -0.02610696
+v 0.05201619 0.01048062 -0.02610397
+v 0.05215142 -0.00885517 -0.02422084
+v 0.05211905 -0.00885517 -0.02486497
+v 0.05192604 -0.00885516 -0.02603545
+v 0.05077257 0.01048062 -0.02649016
+v 0.05077257 0.00878477 -0.02649315
+v 0.04043416 0.00887750 -0.02383161
+v 0.04942841 -0.00885516 -0.02610404
+v 0.04043416 -0.00651201 -0.02383017
+v 0.05077257 -0.00885516 -0.02642164
+v 0.04043416 0.00198619 -0.02383312
+v 0.04043416 0.00207704 -0.02383312
+v 0.04993695 -0.00885516 -0.02622482
+v 0.04043416 -0.00311273 -0.02383165
+f 1 2 12
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+f 1 19 24
+f 1 24 28
+f 1 28 20
+f 1 20 13
+f 1 13 3
+f 1 3 15
+f 1 15 16
+f 1 16 4
+f 1 4 17
+f 1 17 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
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+f 1 11 2
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+f 12 18 19
+f 13 20 30
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+f 13 34 37
+f 13 37 32
+f 13 32 21
+f 13 21 14
+f 14 21 31
+f 14 31 36
+f 14 36 33
+f 14 33 27
+f 14 27 26
+f 14 26 25
+f 14 25 22
+f 14 22 17
+f 14 17 16
+f 14 16 15
+f 17 22 18
+f 18 23 24
+f 18 24 19
+f 18 22 25
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+f 18 26 27
+f 18 27 23
+f 20 28 29
+f 20 29 30
+f 21 32 29
+f 21 29 31
+f 23 29 28
+f 23 28 24
+f 23 27 33
+f 23 33 29
+f 29 34 35
+f 29 35 30
+f 29 33 36
+f 29 36 31
+f 29 32 37
+f 29 37 34
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_56.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..230f7bca8a1709c50f8a8dd62d9a9e9cf0e2445b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_56.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.02639585 0.01707048 -0.01126344
+v -0.02949769 0.01763452 -0.01126344
+v -0.02639585 0.01303992 -0.01126345
+v -0.02639585 0.01835187 -0.02145436
+v -0.03594631 0.01707124 -0.01126344
+v -0.02949769 0.01836018 -0.02145436
+v -0.03120474 0.01835867 -0.02145436
+v -0.03594631 0.01835112 -0.02145436
+v -0.02796360 0.01064711 -0.01126346
+v -0.02639585 0.01064712 -0.01493013
+v -0.02639585 0.01832244 -0.02593748
+v -0.03594631 0.01331779 -0.01126345
+v -0.03594631 0.01827563 -0.02588719
+v -0.03274724 0.01064711 -0.01126346
+v -0.02639585 0.01064716 -0.02387714
+v -0.02639585 0.01728573 -0.02637234
+v -0.03594631 0.01728573 -0.02632205
+v -0.03594631 0.01805364 -0.02598481
+v -0.03594631 0.01064713 -0.01523334
+v -0.02949769 0.01064716 -0.02530890
+v -0.02639585 0.01581335 -0.02615196
+v -0.02949769 0.01572652 -0.02615196
+v -0.03120474 0.01574464 -0.02615196
+v -0.03594631 0.01581939 -0.02615196
+v -0.03594631 0.01064716 -0.02383572
+v -0.02965942 0.01064716 -0.02528079
+v -0.03120474 0.01064716 -0.02500716
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+f 1 12 14
+f 1 14 9
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+f 1 15 21
+f 1 21 16
+f 1 16 11
+f 1 11 4
+f 1 4 2
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+f 2 7 8
+f 2 8 5
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+f 6 11 7
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+f 16 24 17
+f 20 26 24
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+f 20 22 21
+f 24 26 27
+f 24 27 25
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_57.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83f05eb3eb1de9d60f622ff8743656010d015136
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_57.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.01496677 -0.02864768 -0.02382646
+v -0.01071056 -0.02691041 -0.02519158
+v -0.01071056 -0.02864768 -0.02519022
+v -0.01496677 -0.02864771 -0.01519249
+v -0.01496677 -0.02181158 -0.02383052
+v -0.00900185 -0.02864768 -0.02517522
+v -0.01067351 -0.02864768 -0.02519022
+v -0.01071056 -0.02350989 -0.02519293
+v -0.01237036 -0.02864773 -0.01126213
+v -0.01496677 -0.00875097 -0.01523741
+v -0.01496677 -0.02011132 -0.02383051
+v -0.01071056 -0.00875094 -0.02519423
+v 0.00017301 -0.02011132 -0.02383188
+v 0.00017301 -0.02864768 -0.02382782
+v -0.00900185 -0.01501249 -0.02517926
+v -0.00900185 -0.00991366 -0.02518060
+v -0.00721756 -0.02864773 -0.01126213
+v -0.01228441 -0.00875099 -0.01126205
+v -0.01496677 -0.00875094 -0.02382638
+v -0.00900185 -0.00875094 -0.02518059
+v 0.00017301 -0.01841301 -0.02383188
+v 0.00017301 -0.02864771 -0.01530159
+v 0.00017301 -0.00875097 -0.01533561
+v -0.00729018 -0.00875099 -0.01126205
+v 0.00017301 -0.00875094 -0.02382774
+f 1 2 3
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+f 1 7 6
+f 1 6 14
+f 1 14 22
+f 1 22 17
+f 1 17 9
+f 1 9 4
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+f 1 10 19
+f 1 19 11
+f 1 11 5
+f 1 5 2
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+f 5 12 8
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+f 8 16 15
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+f 9 18 10
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+f 10 20 12
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+f 13 21 25
+f 13 25 23
+f 13 23 22
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+f 17 23 24
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+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_58.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f0c1e345fe7aaf85d7c3cd6c1cc22b640a3ac58
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_58.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.05223093 -0.02861169 -0.02486535
+v 0.05219057 -0.03031196 -0.02486535
+v 0.05199109 -0.03031195 -0.02608506
+v 0.05201185 -0.02861168 -0.02610146
+v 0.05222978 -0.02861019 -0.02486684
+v 0.05221825 -0.02861020 -0.02145671
+v 0.05221825 -0.02861170 -0.02145522
+v 0.05218251 -0.03031197 -0.02145522
+v 0.05194151 -0.03201148 -0.02486536
+v 0.05182850 -0.03201147 -0.02593298
+v 0.05077227 -0.03201147 -0.02636987
+v 0.05077227 -0.03031195 -0.02649362
+v 0.05077227 -0.02861168 -0.02649362
+v 0.05201069 -0.02861018 -0.02610146
+v 0.05116547 -0.02861024 -0.01126213
+v 0.05173510 -0.03081129 -0.01126213
+v 0.05173510 -0.03179262 -0.01126214
+v 0.05193343 -0.03201148 -0.02316104
+v 0.05168437 -0.03295832 -0.02486536
+v 0.05167283 -0.03293433 -0.02577492
+v 0.05168782 -0.03297107 -0.02316104
+v 0.04906453 -0.03371099 -0.02640118
+v 0.05068232 -0.03358504 -0.02599859
+v 0.04735679 -0.03371099 -0.02637732
+v 0.04045204 -0.03371099 -0.02626102
+v 0.05077111 -0.02861018 -0.02649213
+v 0.04045204 -0.03366826 -0.02624163
+v 0.04045204 -0.03274766 -0.02581518
+v 0.04045204 -0.02861019 -0.02382755
+v 0.04748363 -0.02861024 -0.01126213
+v 0.05158289 -0.03264200 -0.01126214
+v 0.05186655 -0.03216667 -0.02132253
+v 0.05167860 -0.03295158 -0.02180415
+v 0.05102133 -0.03380845 -0.02486536
+v 0.05106284 -0.03382120 -0.02316104
+v 0.05016689 -0.03475680 -0.02486537
+v 0.05005273 -0.03466684 -0.02583010
+v 0.04906453 -0.03491422 -0.02601500
+v 0.04735679 -0.03522683 -0.02615665
+v 0.04223357 -0.03528606 -0.02616858
+v 0.04045204 -0.03521334 -0.02616411
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+v 0.04492952 -0.03626890 -0.02573020
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+v 0.04045204 -0.03573737 -0.02492203
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+v 0.04735679 -0.03580035 -0.02486537
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+v 0.04735679 -0.03579885 -0.02316105
+v 0.04906453 -0.03513469 -0.01126215
+v 0.04492952 -0.03626890 -0.02568845
+v 0.04466661 -0.03626890 -0.02568845
+v 0.04045204 -0.03589482 -0.02145524
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+v 0.04045204 -0.03576062 -0.02486537
+v 0.04735679 -0.03538957 -0.01126215
+v 0.04902763 -0.03514068 -0.01126215
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+f 35 46 48
+f 35 48 47
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+f 36 50 49
+f 37 49 38
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+f 38 51 39
+f 39 51 52
+f 39 52 40
+f 40 52 53
+f 40 53 41
+f 41 53 54
+f 41 54 55
+f 47 48 50
+f 48 57 50
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+f 49 50 58
+f 50 59 60
+f 50 60 58
+f 50 57 61
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+f 51 63 54
+f 51 54 52
+f 52 54 53
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+f 54 66 55
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+f 58 60 62
+f 59 62 60
+f 59 61 68
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+f 59 67 62
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+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_59.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90aba7f0da9f3c750b0db1c7efe1d4bfbebf656f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_59.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.02830785 -0.00973871 -0.00428089
+v -0.02830785 -0.00973871 -0.00440459
+v -0.03251771 -0.00973871 -0.00428089
+v -0.02790337 -0.02861301 -0.00428096
+v -0.02831636 -0.00973869 -0.01125865
+v -0.02791047 -0.02861299 -0.01126145
+v -0.03266862 -0.00973871 -0.00428431
+v -0.03266862 -0.00979045 -0.00428089
+v -0.03273437 -0.02861301 -0.00428096
+v -0.02831636 -0.00987542 -0.01126138
+v -0.02868252 -0.00973869 -0.01126138
+v -0.03273627 -0.02861299 -0.01126145
+v -0.03266909 -0.00973871 -0.00440459
+v -0.03267382 -0.00973869 -0.01126138
+f 1 2 5
+f 1 5 11
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+f 1 14 13
+f 1 13 7
+f 1 7 3
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+f 1 9 4
+f 1 4 2
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+f 4 9 12
+f 4 12 6
+f 5 10 11
+f 5 6 10
+f 6 12 14
+f 6 14 11
+f 6 11 10
+f 7 13 9
+f 7 9 8
+f 9 13 14
+f 9 14 12
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_6.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38055772fb080670e0ca4b5e476754ba595dca66
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_6.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.04556428 0.01218651 0.05716990
+v 0.04556428 0.01210189 0.05715670
+v 0.04564924 0.01218651 0.05716792
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+v 0.04735709 0.01048629 0.05664593
+v 0.04735709 0.01218651 0.05690857
+v 0.04564924 0.01388674 0.05715473
+v 0.04556428 0.01388674 0.05715671
+v 0.04556428 0.00918942 0.05648095
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+v 0.04735709 0.00931581 0.05638196
+v 0.04746362 0.00933229 0.05636810
+v 0.04746362 0.01048629 0.05661228
+v 0.04746362 0.01218651 0.05686964
+v 0.04746362 0.01232169 0.05686833
+v 0.04735709 0.01388674 0.05689076
+v 0.04564924 0.01558586 0.05701814
+v 0.04556428 0.01558586 0.05702078
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+v 0.04564924 0.00872343 0.05527662
+v 0.04735709 0.00883773 0.05527662
+v 0.04746362 0.00886081 0.05527926
+v 0.04746362 0.01388674 0.05685117
+v 0.04746362 0.01568807 0.05666179
+v 0.04735709 0.01558586 0.05670534
+v 0.04735709 0.01688164 0.05645920
+v 0.04564924 0.01706628 0.05661032
+v 0.04556428 0.01699264 0.05663341
+v 0.04746362 0.00911139 0.05344208
+v 0.04556428 0.00916854 0.05372188
+v 0.04746362 0.01685746 0.05644006
+v 0.04735709 0.01773231 0.05568184
+v 0.04564924 0.01791694 0.05586925
+v 0.04556428 0.01706847 0.05661164
+v 0.04746362 0.00929824 0.05284816
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+v 0.04746362 0.01056984 0.05187019
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+v 0.04746362 0.01889290 0.05356486
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+v 0.04564924 0.01911710 0.05357212
+v 0.04556428 0.01850164 0.05501864
+v 0.04746362 0.01067974 0.05181608
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+v 0.04746362 0.01892367 0.05346588
+v 0.04746362 0.01939078 0.05186692
+v 0.04735709 0.01942375 0.05186692
+v 0.04564924 0.01958311 0.05186692
+v 0.04556428 0.01956113 0.05195139
+v 0.04556428 0.01911820 0.05357212
+v 0.04556428 0.01908743 0.05364537
+v 0.04556428 0.01958421 0.05186692
+v 0.04564924 0.01994799 0.05042899
+v 0.04746362 0.01977324 0.05042899
+v 0.04746362 0.01975346 0.05050488
+v 0.04745228 0.01977544 0.05042899
+v 0.04735709 0.01973917 0.05064016
+v 0.04735709 0.01979303 0.05042899
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 20
+f 1 20 30
+f 1 30 36
+f 1 36 44
+f 1 44 46
+f 1 46 52
+f 1 52 62
+f 1 62 61
+f 1 61 60
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+f 1 63 54
+f 1 54 48
+f 1 48 38
+f 1 38 32
+f 1 32 21
+f 1 21 11
+f 1 11 5
+f 1 5 2
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+f 2 6 3
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+f 48 54 64
+f 48 64 69
+f 48 69 67
+f 48 67 65
+f 48 65 55
+f 48 55 53
+f 49 56 50
+f 50 56 57
+f 50 57 58
+f 50 58 51
+f 51 58 59
+f 51 59 60
+f 51 60 61
+f 51 61 62
+f 51 62 52
+f 54 63 59
+f 54 59 64
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+f 58 65 67
+f 58 67 68
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+f 59 69 64
+f 59 63 60
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+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_60.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53e2188e46a726c5bf5147e51584ebefb61f0102
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_60.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.03349423 -0.03452644 -0.01126147
+v 0.03349423 -0.02865831 -0.01126145
+v 0.03414379 -0.03461124 -0.01126147
+v 0.03414379 -0.03461189 -0.01122456
+v 0.03413588 -0.03465235 -0.00428098
+v 0.03349423 -0.03452644 -0.01122456
+v 0.03349423 -0.02866224 -0.00428096
+v 0.04695437 -0.03004448 -0.00428096
+v 0.04695437 -0.03005881 -0.01126145
+v 0.04695437 -0.03529420 -0.01126147
+v 0.03349423 -0.03452319 -0.00428098
+v 0.04695437 -0.03532161 -0.00428098
+f 1 2 9
+f 1 9 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 3 10 4
+f 4 10 5
+f 5 11 6
+f 5 10 12
+f 5 12 8
+f 5 8 7
+f 5 7 11
+f 8 12 10
+f 8 10 9
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_61.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f96e11b815de18048244e22d85bfa98f4e68d590
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_61.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.01831749 0.01334235 -0.00427908
+v 0.01831749 0.01334312 -0.00269885
+v 0.01831749 0.01672860 -0.00427907
+v 0.02830334 0.01097557 -0.00427909
+v 0.02830650 0.01097556 -0.00269886
+v 0.01831749 0.01354997 -0.00099291
+v 0.02852173 0.01097555 -0.00098149
+v 0.01831749 0.01894940 -0.00155080
+v 0.03027677 0.01769030 -0.00427907
+v 0.03359853 0.01097557 -0.00427909
+v 0.01831749 0.01424627 0.00036602
+v 0.02909777 0.01097555 0.00009173
+v 0.01831749 0.01894938 0.00241276
+v 0.02173895 0.01894940 -0.00177625
+v 0.03027677 0.01894940 -0.00210040
+v 0.03198592 0.01894940 -0.00199443
+v 0.03447842 0.01894940 -0.00181573
+v 0.03198592 0.01746393 -0.00427907
+v 0.03448317 0.01308788 -0.00427908
+v 0.03359695 0.01097556 -0.00269886
+v 0.02087013 0.01642647 0.00498413
+v 0.01831749 0.01511742 0.00121381
+v 0.03027677 0.01097555 0.00033796
+v 0.02173895 0.01629143 0.00513062
+v 0.01831749 0.01894236 0.00241276
+v 0.02033048 0.01894937 0.00541530
+v 0.03448317 0.01894938 0.00222679
+v 0.03448317 0.01894706 -0.00181677
+v 0.03448317 0.01705958 -0.00427907
+v 0.03448317 0.01309411 -0.00269885
+v 0.03347351 0.01097556 -0.00148330
+v 0.03448317 0.01327364 -0.00099291
+v 0.02057578 0.01728591 0.00522724
+v 0.01831749 0.01596749 0.00194315
+v 0.02173895 0.01728591 0.00575191
+v 0.03076894 0.01097555 0.00031511
+v 0.02344809 0.01621649 0.00521685
+v 0.02344809 0.01728591 0.00593580
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+v 0.01831749 0.01728046 0.00236704
+v 0.02171521 0.01894937 0.00611970
+v 0.03448317 0.01894937 0.00586620
+v 0.03338963 0.01097555 -0.00099292
+v 0.03448317 0.01340868 -0.00073317
+v 0.02173895 0.01894937 0.00613113
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+v 0.02341011 0.01894937 0.00632957
+v 0.03198592 0.01097555 0.00024965
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+v 0.03317124 0.01097555 -0.00029164
+v 0.03448317 0.01402146 0.00044291
+v 0.03448317 0.01602446 0.00408648
+v 0.03230717 0.01097555 0.00018004
+v 0.03301299 0.01097555 0.00000342
+v 0.03448317 0.01653653 0.00485114
+f 1 2 6
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+f 1 25 13
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+f 53 55 58
+f 53 58 57
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_62.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..638e2af07fcbd856d9b6a70034c2eea5e004d7ee
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_62.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.04538839 0.01895005 -0.00159038
+v -0.04657699 0.01895005 -0.00153256
+v -0.04538839 0.02125199 -0.00202541
+v -0.04538839 0.01895003 0.00191384
+v -0.04619451 0.02133507 -0.00197034
+v -0.04773170 0.01895004 -0.00082400
+v -0.04931126 0.02127903 -0.00032287
+v -0.04538839 0.02194115 -0.00202541
+v -0.04538839 0.02191988 0.00289591
+v -0.04775349 0.02087001 0.00735007
+v -0.04778617 0.02068580 0.00735007
+v -0.04839378 0.01948395 0.00735006
+v -0.04847427 0.01935900 0.00735006
+v -0.04999210 0.01895001 0.00735006
+v -0.04619451 0.02181233 -0.00197034
+v -0.04776559 0.01895004 -0.00077077
+v -0.04931126 0.02179751 -0.00032287
+v -0.05104090 0.02102783 0.00282524
+v -0.05063845 0.02238554 0.00187989
+v -0.04538839 0.02552931 -0.00085702
+v -0.04538839 0.02228314 0.00300054
+v -0.04717068 0.02552928 0.00735008
+v -0.04538839 0.02292722 0.00318411
+v -0.04538839 0.02518407 0.00377519
+v -0.05011435 0.01898414 0.00735006
+v -0.04787816 0.02533995 -0.00040729
+v -0.04738553 0.02552931 -0.00046420
+v -0.04653644 0.02552931 -0.00066336
+v -0.04621992 0.02552931 -0.00072027
+v -0.05122609 0.01942727 0.00735006
+v -0.05113955 0.01956640 0.00582649
+v -0.05099793 0.01971067 0.00448923
+v -0.05070926 0.01989425 0.00335298
+v -0.05043510 0.02552930 0.00227089
+v -0.04958117 0.02552931 0.00107314
+v -0.04945227 0.02552931 0.00094465
+v -0.05109476 0.02238554 0.00273163
+v -0.05121157 0.02055121 0.00400096
+v -0.05149056 0.02238553 0.00412120
+v -0.05085087 0.02552930 0.00299321
+v -0.04538839 0.02552930 0.00382292
+v -0.05119280 0.02552928 0.00735008
+v -0.04806214 0.02552931 -0.00017325
+v -0.05149238 0.02068580 0.00735007
+v -0.05149238 0.02068581 0.00582650
+v -0.05091502 0.02552930 0.00312171
+v -0.05157045 0.02238553 0.00582650
+v -0.05141491 0.02408526 0.00582651
+v -0.05126967 0.02552929 0.00582651
+v -0.05111473 0.02552929 0.00412121
+v -0.05135621 0.02408525 0.00735008
+v -0.05137255 0.02390362 0.00735008
+f 1 2 3
+f 1 3 8
+f 1 8 20
+f 1 20 41
+f 1 41 24
+f 1 24 23
+f 1 23 21
+f 1 21 9
+f 1 9 4
+f 1 4 14
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+f 1 16 6
+f 1 6 2
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+f 20 42 22
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+f 22 24 41
+f 26 36 43
+f 26 43 27
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+f 31 38 32
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+f 39 50 46
+f 42 49 51
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+f 47 52 51
+f 47 51 48
+f 48 51 49
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_63.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37c6c102581a8447391117d995cb43ec4b26e49d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_63.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.03343744 -0.00885689 -0.01126205
+v 0.03349572 0.01060625 -0.01126336
+v 0.02855386 -0.00885689 -0.01126205
+v 0.03347718 -0.02856950 -0.01126212
+v 0.04043367 0.01060627 -0.01527398
+v 0.02840684 0.01060625 -0.01126336
+v 0.03347718 -0.02860405 -0.01126213
+v 0.02838962 -0.02860405 -0.01126213
+v 0.04044824 -0.00885687 -0.01533327
+v 0.04043367 0.01060630 -0.02383372
+v 0.04044824 -0.02860403 -0.01531544
+v 0.02691805 0.01060626 -0.01492966
+v 0.02694322 -0.02860404 -0.01491466
+v 0.04044824 -0.00885684 -0.02382828
+v 0.03027974 0.00878319 -0.02532532
+v 0.03027974 0.01060630 -0.02532255
+v 0.04044824 -0.02003346 -0.02383246
+v 0.03027974 -0.01840993 -0.02533230
+v 0.04044824 -0.02860400 -0.02382699
+v 0.02691805 0.01060630 -0.02385989
+v 0.02691805 -0.00885687 -0.01503578
+v 0.02694322 -0.02860400 -0.02385453
+v 0.04044824 -0.02181051 -0.02383247
+v 0.03027974 -0.02860400 -0.02532959
+v 0.03027179 -0.02860400 -0.02532821
+v 0.02691805 -0.00151067 -0.02385856
+v 0.02691805 -0.00885684 -0.02385445
+v 0.02694322 -0.02024840 -0.02386000
+v 0.02691805 -0.00660770 -0.02385582
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 7
+f 1 7 4
+f 1 4 2
+f 2 5 10
+f 2 10 16
+f 2 16 20
+f 2 20 12
+f 2 12 6
+f 2 4 7
+f 2 7 5
+f 3 6 8
+f 5 9 14
+f 5 14 10
+f 5 7 11
+f 5 11 9
+f 6 12 8
+f 7 8 13
+f 7 13 22
+f 7 22 25
+f 7 25 24
+f 7 24 19
+f 7 19 11
+f 8 12 13
+f 9 11 19
+f 9 19 23
+f 9 23 17
+f 9 17 14
+f 10 15 16
+f 10 14 17
+f 10 17 18
+f 10 18 15
+f 12 20 26
+f 12 26 29
+f 12 29 27
+f 12 27 21
+f 12 21 13
+f 13 21 27
+f 13 27 22
+f 15 20 16
+f 15 18 20
+f 17 23 18
+f 18 23 24
+f 18 24 25
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+f 19 24 23
+f 20 25 26
+f 22 27 28
+f 22 28 25
+f 25 28 26
+f 26 28 29
+f 27 29 28
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_64.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c211d4c7ddd81ab85cd0d2ef53ba472e4a5c7e2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_64.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.01278949 0.02552930 0.00323354
+v 0.01278949 0.02408527 0.00299552
+v 0.01278949 0.02552931 -0.00100858
+v -0.00900080 0.02552930 0.00323773
+v 0.01278949 0.02367692 0.00292280
+v -0.00900080 0.02408527 0.00299918
+v -0.01680891 0.02141621 0.00255555
+v -0.01680891 0.01971648 0.00226834
+v 0.01278949 0.02449363 -0.00135595
+v -0.01412605 0.02408529 -0.00149458
+v -0.01680891 0.02505527 -0.00116814
+v -0.01680891 0.02552931 -0.00100858
+v -0.01680891 0.02552930 0.00323198
+v -0.01680891 0.02408527 0.00299709
+v 0.01278949 0.02238554 0.00269261
+v -0.01680891 0.01895003 0.00211139
+v 0.01278949 0.02408529 -0.00149249
+v 0.00636627 0.02408529 -0.00149301
+v -0.00729431 0.02408529 -0.00149406
+v -0.01241667 0.02211699 -0.00210614
+v -0.01680891 0.02408529 -0.00149458
+v 0.01278949 0.02211376 -0.00210614
+v 0.01278949 0.01895003 0.00174677
+v -0.01680891 0.01895005 -0.00155633
+v -0.01583254 0.02211699 -0.00210614
+v -0.01680891 0.02211699 -0.00210561
+v 0.01278949 0.02114958 -0.00210614
+v 0.01278949 0.01895005 -0.00162486
+v -0.01680891 0.02114958 -0.00210561
+v -0.01071018 0.01895005 -0.00175617
+v -0.01583254 0.02115022 -0.00210614
+v 0.01149152 0.01895005 -0.00176715
+v 0.00978213 0.01895005 -0.00179331
+v -0.00900080 0.01895005 -0.00178599
+v -0.00991633 0.01895005 -0.00177709
+f 1 2 5
+f 1 5 15
+f 1 15 23
+f 1 23 28
+f 1 28 27
+f 1 27 22
+f 1 22 17
+f 1 17 9
+f 1 9 3
+f 1 3 12
+f 1 12 13
+f 1 13 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 4 13 14
+f 4 14 6
+f 5 8 15
+f 6 14 7
+f 7 14 13
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+f 7 12 11
+f 7 11 21
+f 7 21 26
+f 7 26 29
+f 7 29 24
+f 7 24 16
+f 7 16 8
+f 8 16 15
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 20 25
+f 10 25 21
+f 10 21 11
+f 10 19 22
+f 10 22 20
+f 15 16 23
+f 16 24 30
+f 16 30 35
+f 16 35 34
+f 16 34 33
+f 16 33 32
+f 16 32 28
+f 16 28 23
+f 17 22 18
+f 18 22 19
+f 20 22 27
+f 20 27 31
+f 20 31 25
+f 21 25 26
+f 24 29 30
+f 25 31 29
+f 25 29 26
+f 27 28 32
+f 27 32 33
+f 27 33 31
+f 29 31 34
+f 29 34 35
+f 29 35 30
+f 31 33 34
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_65.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccecf8ca036d91bfd7b5f182d907be8446114372
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_65.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.04043416 0.01048061 -0.02383021
+v 0.04043416 0.01582086 -0.02615048
+v 0.04516009 0.01048295 -0.02383616
+v 0.04394703 0.01048061 -0.02383021
+v 0.04043416 0.01048058 -0.01531654
+v 0.04043416 0.01728537 -0.02633194
+v 0.04394102 0.01728537 -0.02645687
+v 0.04223385 0.01582008 -0.02615196
+v 0.04516009 0.01048060 -0.02139837
+v 0.04516009 0.01581774 -0.02615196
+v 0.04222784 0.01048058 -0.01531505
+v 0.04516009 0.01048526 -0.01519011
+v 0.04516009 0.01323100 -0.01126197
+v 0.04043416 0.01333940 -0.01126197
+v 0.04043416 0.01733840 -0.02630963
+v 0.04394102 0.01840676 -0.02602255
+v 0.04516009 0.01728537 -0.02645539
+v 0.04516009 0.01840754 -0.02602107
+v 0.04394102 0.01048058 -0.01531505
+v 0.04516009 0.01730403 -0.01126196
+v 0.04043416 0.01706930 -0.01126196
+v 0.04043416 0.01828355 -0.02589910
+v 0.04394102 0.01844496 -0.02486539
+v 0.04516009 0.01844652 -0.02486539
+v 0.04043416 0.01835371 -0.02145486
+v 0.04516009 0.01834435 -0.02145486
+v 0.04394102 0.01835293 -0.02145486
+v 0.04223385 0.01835371 -0.02145486
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 19
+f 1 19 11
+f 1 11 5
+f 1 5 14
+f 1 14 21
+f 1 21 25
+f 1 25 22
+f 1 22 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 9 4
+f 3 8 10
+f 3 10 17
+f 3 17 18
+f 3 18 24
+f 3 24 26
+f 3 26 20
+f 3 20 13
+f 3 13 12
+f 3 12 9
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 6 15 16
+f 6 16 7
+f 7 17 10
+f 7 10 8
+f 7 16 18
+f 7 18 17
+f 9 12 19
+f 11 19 12
+f 13 20 21
+f 13 21 14
+f 15 22 16
+f 16 22 23
+f 16 23 24
+f 16 24 18
+f 20 25 21
+f 20 26 27
+f 20 27 28
+f 20 28 25
+f 22 25 23
+f 23 25 24
+f 24 25 28
+f 24 28 27
+f 24 27 26
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_66.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..391a636db8f71f895b2c69ff42b8c52d83b15236
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_66.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.04433958 0.01728545 0.00188882
+v 0.04433958 0.01602544 0.00179562
+v 0.04433958 0.01768307 0.00187625
+v 0.04135227 0.01894880 0.00491099
+v 0.04433958 0.01517570 0.00121549
+v 0.04133393 0.01894880 0.00492565
+v 0.04011623 0.01728544 0.00522932
+v 0.03971387 0.01642191 0.00498847
+v 0.04433958 0.01894881 0.00177783
+v 0.04433958 0.01423529 0.00036412
+v 0.04049833 0.01894880 0.00542097
+v 0.04047035 0.01894880 0.00543353
+v 0.03881845 0.01728544 0.00580003
+v 0.03881845 0.01624978 0.00517592
+v 0.04433958 0.01894883 -0.00159094
+v 0.03711058 0.01610921 0.00532671
+v 0.04433958 0.01350144 -0.00102653
+v 0.03881845 0.01894880 0.00614561
+v 0.03878178 0.01894880 0.00615190
+v 0.03711058 0.01728544 0.00608801
+v 0.04433958 0.01707318 -0.00428011
+v 0.03952958 0.01894883 -0.00177525
+v 0.03711058 0.01549412 0.00412141
+v 0.03582052 0.01623486 0.00518953
+v 0.03448317 0.01327365 -0.00099302
+v 0.04433958 0.01329948 -0.00269783
+v 0.03711058 0.01894880 0.00641788
+v 0.03536219 0.01894880 0.00605556
+v 0.03448317 0.01894880 0.00586602
+v 0.03448317 0.01814552 0.00569742
+v 0.03448317 0.01812945 0.00569323
+v 0.03448317 0.01730036 0.00547122
+v 0.04433958 0.01330064 -0.00428012
+v 0.03448317 0.01705999 -0.00428011
+v 0.03448317 0.01894768 -0.00181609
+v 0.03786706 0.01894883 -0.00180143
+v 0.03881845 0.01894883 -0.00179305
+v 0.03448317 0.01686544 0.00518011
+v 0.03448317 0.01653667 0.00485129
+v 0.03448317 0.01602429 0.00408580
+v 0.03448317 0.01402127 0.00044266
+v 0.03448317 0.01340848 -0.00073228
+v 0.03448317 0.01309407 -0.00269783
+v 0.03448317 0.01308777 -0.00428012
+v 0.04433958 0.01330005 -0.00389685
+v 0.03448317 0.01894881 0.00222707
+v 0.03540272 0.01894883 -0.00181085
+f 1 2 5
+f 1 5 10
+f 1 10 17
+f 1 17 26
+f 1 26 45
+f 1 45 33
+f 1 33 21
+f 1 21 15
+f 1 15 9
+f 1 9 3
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+f 21 37 22
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+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 24 41 42
+f 24 42 25
+f 25 43 26
+f 25 42 41
+f 25 41 40
+f 25 40 39
+f 25 39 38
+f 25 38 32
+f 25 32 31
+f 25 31 30
+f 25 30 29
+f 25 29 46
+f 25 46 35
+f 25 35 34
+f 25 34 44
+f 25 44 43
+f 26 43 44
+f 26 44 45
+f 33 45 44
+f 35 46 47
+f 35 47 36
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_67.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35e56eb3e3bdaf3b43ffeba9410b9b60e6687388
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_67.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.03966684 -0.03118248 -0.01126213
+v -0.04669523 -0.02860278 -0.01126213
+v -0.03966684 -0.03466400 -0.01126215
+v -0.03966684 -0.02860276 -0.01532537
+v -0.05039991 -0.02860278 -0.01126213
+v -0.04657632 -0.03537180 -0.01126215
+v -0.03966684 -0.03589632 -0.02145527
+v -0.03966684 -0.02860273 -0.02383056
+v -0.05095751 -0.03079372 -0.01126213
+v -0.05146086 -0.02860274 -0.02145525
+v -0.04661326 -0.03536677 -0.01126215
+v -0.04657632 -0.03578782 -0.02145527
+v -0.04486887 -0.03589560 -0.02145527
+v -0.04316141 -0.03589704 -0.02145527
+v -0.04145396 -0.03589704 -0.02145527
+v -0.04486887 -0.03594302 -0.02486540
+v -0.04316141 -0.03590422 -0.02486540
+v -0.03966684 -0.03584243 -0.02308205
+v -0.03966684 -0.03274750 -0.02581372
+v -0.04999123 -0.02860272 -0.02649365
+v -0.05095751 -0.03179327 -0.01126214
+v -0.05145047 -0.02860273 -0.02486538
+v -0.05145047 -0.02861207 -0.02486538
+v -0.05142738 -0.03031152 -0.02145525
+v -0.04828377 -0.03513754 -0.01126215
+v -0.04828377 -0.03539187 -0.02315959
+v -0.04657632 -0.03579930 -0.02315959
+v -0.04657632 -0.03579068 -0.02486540
+v -0.04657632 -0.03521581 -0.02615967
+v -0.04486887 -0.03533940 -0.02617160
+v -0.04316141 -0.03531353 -0.02617160
+v -0.03966684 -0.03574685 -0.02486540
+v -0.03966684 -0.03575116 -0.02478786
+v -0.03966684 -0.03583954 -0.02315959
+v -0.03966684 -0.03520215 -0.02615967
+v -0.03966684 -0.03279133 -0.02583460
+v -0.03966684 -0.03371038 -0.02625509
+v -0.04999123 -0.02861206 -0.02649365
+v -0.04999815 -0.02860272 -0.02649216
+v -0.05080397 -0.03262395 -0.01126214
+v -0.05116994 -0.03201167 -0.02315958
+v -0.05123227 -0.02860272 -0.02610448
+v -0.05123227 -0.02861206 -0.02610448
+v -0.05121149 -0.03031150 -0.02608808
+v -0.05141468 -0.03031151 -0.02486538
+v -0.05117109 -0.03201167 -0.02486539
+v -0.04929739 -0.03468484 -0.01126215
+v -0.04944863 -0.03481197 -0.02315959
+v -0.04941169 -0.03478108 -0.02486540
+v -0.04828377 -0.03533438 -0.02486540
+v -0.04828377 -0.03492766 -0.02602696
+v -0.04828377 -0.03371038 -0.02639973
+v -0.04657632 -0.03371038 -0.02637438
+v -0.04999123 -0.03031150 -0.02649067
+v -0.05080051 -0.03264191 -0.01126214
+v -0.05091134 -0.03297672 -0.02315958
+v -0.04999123 -0.03201166 -0.02636096
+v -0.05104871 -0.03201166 -0.02593599
+v -0.05089402 -0.03293864 -0.02577794
+v -0.05091018 -0.03297241 -0.02486539
+v -0.05008936 -0.03373200 -0.01126214
+v -0.05030178 -0.03382680 -0.02315958
+v -0.05026599 -0.03382249 -0.02486539
+v -0.04929047 -0.03468191 -0.02584207
+v -0.04991272 -0.03358750 -0.02600309
+v -0.05078550 -0.03266563 -0.01126214
+v -0.05010667 -0.03371044 -0.01126214
+f 1 2 5
+f 1 5 9
+f 1 9 21
+f 1 21 40
+f 1 40 55
+f 1 55 66
+f 1 66 67
+f 1 67 61
+f 1 61 47
+f 1 47 25
+f 1 25 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 18
+f 1 18 34
+f 1 34 33
+f 1 33 32
+f 1 32 35
+f 1 35 37
+f 1 37 36
+f 1 36 19
+f 1 19 8
+f 1 8 4
+f 1 4 2
+f 2 4 8
+f 2 8 20
+f 2 20 39
+f 2 39 42
+f 2 42 22
+f 2 22 10
+f 2 10 5
+f 3 6 7
+f 5 10 9
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 8 19 20
+f 9 10 21
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+f 11 25 12
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+f 12 16 13
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+f 13 16 14
+f 14 16 15
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+f 16 30 31
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+f 16 27 28
+f 17 32 33
+f 17 33 34
+f 17 34 18
+f 17 31 35
+f 17 35 32
+f 19 36 20
+f 20 36 37
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+f 21 24 41
+f 21 41 40
+f 22 42 43
+f 22 43 23
+f 23 43 44
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+f 23 45 24
+f 24 45 46
+f 24 46 41
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+f 26 49 50
+f 26 50 28
+f 26 28 27
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+f 28 50 51
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+f 29 52 30
+f 30 52 31
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+f 35 52 53
+f 35 53 37
+f 37 53 54
+f 37 54 38
+f 38 54 39
+f 39 54 43
+f 39 43 42
+f 40 41 55
+f 41 46 56
+f 41 56 55
+f 43 54 44
+f 44 54 57
+f 44 57 58
+f 44 58 45
+f 45 58 46
+f 46 58 59
+f 46 59 60
+f 46 60 56
+f 47 61 62
+f 47 62 48
+f 48 62 63
+f 48 63 49
+f 49 63 59
+f 49 59 64
+f 49 64 50
+f 50 64 51
+f 51 64 52
+f 52 57 54
+f 52 54 53
+f 52 64 65
+f 52 65 57
+f 55 56 66
+f 56 60 62
+f 56 62 67
+f 56 67 66
+f 57 65 59
+f 57 59 58
+f 59 63 60
+f 59 65 64
+f 60 63 62
+f 61 67 62
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_68.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..714e938b89e84b0f9763530b05bf903b16a3977b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_68.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.05122272 0.01125955 -0.00428150
+v 0.05118703 0.01125957 -0.01126062
+v 0.04726663 0.01125955 -0.00428150
+v 0.05175145 -0.03075042 -0.00428165
+v 0.05173501 -0.03080979 -0.01126077
+v 0.04727367 0.01125957 -0.01126062
+v 0.04726663 0.01125955 -0.00440517
+v 0.04695437 -0.03004225 -0.00428165
+v 0.05174488 -0.03185606 -0.00428166
+v 0.05173501 -0.03178751 -0.01126078
+v 0.04695437 -0.03005594 -0.01126077
+v 0.04695437 -0.03004225 -0.00440532
+v 0.04695437 -0.03531920 -0.00428167
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+f 1 2 6
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+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_69.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e31e1567bdc6a665b7d8f97ba3f702514a99d3a3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_69.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.00722907 -0.02859810 -0.00610981
+v -0.00722907 -0.02859808 -0.01126145
+v -0.00723014 -0.02859810 -0.00428096
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+v -0.01235799 -0.02859808 -0.01126145
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+v -0.01236013 -0.02859810 -0.00440466
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+v -0.01564667 -0.03117494 -0.00428096
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+v -0.00900401 -0.03829390 -0.00428099
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+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_7.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b5d924c7c4b6d6d424599a8b79e3225c315d042
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_7.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v 0.01319253 0.01507731 0.05176579
+v 0.01319253 0.01507731 0.05169754
+v 0.01264272 0.01507729 0.05720301
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+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_70.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f719c0b7e2a59a9a1231909fe97a1ae95535ad1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_70.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v -0.04587016 -0.00875094 -0.02392840
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+v -0.03592896 -0.00875094 -0.02382875
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+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_71.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e71a4111339a1af29264b6f0763a2a14db2277e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_71.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.04464466 0.01321199 -0.00427907
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+f 8 17 18
+f 8 14 15
+f 9 19 20
+f 9 20 32
+f 9 32 21
+f 10 12 22
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 22
+f 13 27 28
+f 17 29 30
+f 17 30 18
+f 18 30 29
+f 18 29 43
+f 18 43 57
+f 18 57 65
+f 18 65 67
+f 18 67 59
+f 18 59 44
+f 18 44 32
+f 18 32 20
+f 18 20 31
+f 19 31 20
+f 21 32 33
+f 23 34 35
+f 23 35 24
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 25
+f 25 38 39
+f 27 40 41
+f 27 41 28
+f 28 41 42
+f 32 44 45
+f 32 45 46
+f 32 46 33
+f 34 47 35
+f 35 47 48
+f 35 48 49
+f 35 49 36
+f 36 50 51
+f 36 51 37
+f 36 49 52
+f 36 52 50
+f 37 51 41
+f 37 41 53
+f 37 53 38
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+f 38 54 55
+f 38 55 56
+f 38 56 39
+f 40 54 41
+f 41 54 53
+f 41 51 42
+f 43 58 57
+f 44 59 60
+f 44 60 45
+f 47 61 62
+f 47 62 48
+f 48 62 49
+f 49 62 63
+f 49 63 52
+f 52 63 64
+f 57 58 65
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+f 58 66 65
+f 59 67 68
+f 59 68 60
+f 60 68 62
+f 60 62 61
+f 62 68 63
+f 63 68 66
+f 63 66 64
+f 65 66 68
+f 65 68 67
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_72.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9324e758748333c8f5b0d21917118e7edd87847c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_72.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.02734684 -0.03474820 -0.01126147
+v -0.02734684 -0.03474868 -0.01122456
+v -0.02734684 -0.02994151 -0.01126145
+v -0.01583566 -0.03466393 -0.01126147
+v -0.02734684 -0.03481478 -0.00428098
+v -0.02734684 -0.02992285 -0.00440466
+v -0.01564667 -0.03117215 -0.01126145
+v -0.01564667 -0.03391069 -0.01126146
+v -0.01564667 -0.03466249 -0.01125737
+v -0.02734684 -0.02992333 -0.00428096
+v -0.01564667 -0.03466249 -0.01122456
+v -0.01564667 -0.03466057 -0.01103662
+v -0.01564667 -0.03444032 -0.00428098
+v -0.01564667 -0.03117456 -0.00428096
+v -0.01564667 -0.03117215 -0.01123275
+f 1 2 5
+f 1 5 10
+f 1 10 6
+f 1 6 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 9
+f 4 9 5
+f 5 9 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 10
+f 6 10 14
+f 6 14 15
+f 6 15 7
+f 7 15 14
+f 7 14 13
+f 7 13 12
+f 7 12 11
+f 7 11 9
+f 7 9 8
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_73.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc7b00a2f0cedcdb1aa9abac815f6db2b4fffe48
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_73.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.02831639 -0.00875098 -0.01126343
+v -0.02635995 -0.00875096 -0.01513522
+v -0.03267473 -0.00875098 -0.01126343
+v -0.02791260 -0.02860427 -0.01126351
+v -0.02635995 -0.00875093 -0.02387148
+v -0.02635995 -0.02860426 -0.01495656
+v -0.03966684 -0.00875096 -0.01533870
+v -0.03273595 -0.02860427 -0.01126351
+v -0.02949781 -0.01501241 -0.02530831
+v -0.02949781 -0.01161349 -0.02530692
+v -0.02949781 -0.00991306 -0.02530554
+v -0.02949781 -0.00875093 -0.02530416
+v -0.02635995 -0.01962788 -0.02387565
+v -0.02635995 -0.02860422 -0.02387294
+v -0.03966684 -0.00875093 -0.02383024
+v -0.03966684 -0.02853234 -0.01532502
+v -0.03966684 -0.02860425 -0.01532503
+v -0.03966684 -0.01501241 -0.02383302
+v -0.02635995 -0.02351069 -0.02387567
+v -0.02949781 -0.02860422 -0.02530699
+v -0.03966684 -0.02018950 -0.02383303
+v -0.03966684 -0.02860422 -0.02383032
+f 1 2 5
+f 1 5 12
+f 1 12 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 14
+f 2 14 19
+f 2 19 13
+f 2 13 5
+f 3 7 8
+f 4 8 17
+f 4 17 22
+f 4 22 20
+f 4 20 14
+f 4 14 6
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 13 9
+f 7 15 18
+f 7 18 21
+f 7 21 22
+f 7 22 17
+f 7 17 16
+f 7 16 8
+f 8 16 17
+f 9 18 10
+f 9 13 19
+f 9 19 20
+f 9 20 21
+f 9 21 18
+f 10 18 15
+f 10 15 11
+f 11 15 12
+f 14 20 19
+f 20 22 21
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_74.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b343add2e21b5431d99a1776e43e761054e6822c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_74.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.04657625 0.01778966 -0.00428078
+v -0.04657625 0.01776819 -0.01126127
+v -0.04827725 0.01755112 -0.00428079
+v -0.03529521 0.01694439 -0.00428079
+v -0.03529521 0.01706762 -0.01122437
+v -0.03529521 0.01706762 -0.01124693
+v -0.04824649 0.01751962 -0.01126128
+v -0.03529521 0.01706690 -0.01126128
+v -0.04828340 0.01751389 -0.01126128
+v -0.04957992 0.01683049 -0.00428079
+v -0.03529521 0.01328176 -0.00428080
+v -0.03529521 0.01327892 -0.01126129
+v -0.04953070 0.01682334 -0.01126128
+v -0.05043349 0.01571014 -0.00428079
+v -0.04955838 0.01680759 -0.01126128
+v -0.03529521 0.01328105 -0.00507699
+v -0.04670698 0.01047229 -0.00428081
+v -0.03529521 0.01327892 -0.01122438
+v -0.04670698 0.01047229 -0.00440451
+v -0.04671467 0.01047230 -0.00951925
+v -0.04671775 0.01047231 -0.01126130
+v -0.05041196 0.01568366 -0.01126128
+v -0.05046887 0.01564853 -0.00428079
+v -0.05030584 0.01047229 -0.00428081
+v -0.05026739 0.01047231 -0.01126130
+v -0.05088873 0.01483336 -0.01126129
+v -0.05090104 0.01485985 -0.00428080
+v -0.05095641 0.01277675 -0.00428080
+v -0.05093949 0.01282691 -0.01126129
+v -0.05098409 0.01388637 -0.01126129
+v -0.05100562 0.01388635 -0.00428080
+f 1 2 3
+f 1 3 10
+f 1 10 14
+f 1 14 23
+f 1 23 27
+f 1 27 31
+f 1 31 28
+f 1 28 24
+f 1 24 17
+f 1 17 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
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+f 2 25 29
+f 2 29 30
+f 2 30 26
+f 2 26 22
+f 2 22 15
+f 2 15 13
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+f 2 9 7
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+f 4 16 18
+f 4 18 12
+f 4 12 8
+f 4 8 6
+f 4 6 5
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+f 10 13 15
+f 10 15 14
+f 11 17 16
+f 12 18 17
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+f 14 15 22
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+f 17 21 20
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+f 22 26 23
+f 23 26 27
+f 24 28 29
+f 24 29 25
+f 26 30 31
+f 26 31 27
+f 28 31 29
+f 29 31 30
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_75.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e505eb57a18cad11e962ec286ba33ea6369ea5ab
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_75.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.05225711 0.02238581 0.00582619
+v 0.05219865 0.02068634 0.00582619
+v 0.05217249 0.02238581 0.00412118
+v 0.05209327 0.02408528 0.00582620
+v 0.05203405 0.02408527 0.00735008
+v 0.05219634 0.02086746 0.00735007
+v 0.05219019 0.02068633 0.00735007
+v 0.05188714 0.01958827 0.00582618
+v 0.05194482 0.02057244 0.00402969
+v 0.05200328 0.01956845 0.00735006
+v 0.05179099 0.02106346 0.00287824
+v 0.05182407 0.02238582 0.00282464
+v 0.05167100 0.02617673 0.00329411
+v 0.05171407 0.02617673 0.00364898
+v 0.05175869 0.02617673 0.00406391
+v 0.05186175 0.02617672 0.00524309
+v 0.05191713 0.02578546 0.00582620
+v 0.05185483 0.02586823 0.00735009
+v 0.05175638 0.01972623 0.00453703
+v 0.05196944 0.01945100 0.00735006
+v 0.04874047 0.01894939 0.00026203
+v 0.04843280 0.01894939 -0.00076098
+v 0.05144871 0.01993001 0.00340036
+v 0.05007575 0.02129554 -0.00031000
+v 0.05137410 0.02238582 0.00197259
+v 0.05161562 0.02617673 0.00313516
+v 0.05187329 0.02617672 0.00582621
+v 0.05184021 0.02600336 0.00735009
+v 0.05077261 0.01897483 0.00735006
+v 0.04885046 0.01894939 0.00076660
+v 0.04780362 0.01894939 -0.00132377
+v 0.04695061 0.02133375 -0.00197342
+v 0.05007575 0.02178231 -0.00031000
+v 0.05030496 0.02578548 0.00113535
+v 0.05025958 0.02617674 0.00119358
+v 0.05182868 0.02617671 0.00711444
+v 0.05180253 0.02617671 0.00735009
+v 0.05061724 0.01900172 0.00735006
+v 0.04440005 0.01894938 0.00178037
+v 0.04748211 0.01894938 0.00222672
+v 0.04874585 0.01894938 0.00213985
+v 0.04745442 0.01894940 -0.00146424
+v 0.04564995 0.02119862 -0.00206491
+v 0.04695061 0.02181911 -0.00197342
+v 0.04627529 0.01894940 -0.00163797
+v 0.04862048 0.02532134 -0.00038484
+v 0.04912428 0.02617674 0.00035077
+v 0.04752518 0.02617671 0.00735009
+v 0.04923581 0.01936043 0.00735006
+v 0.04440005 0.01894940 -0.00159916
+v 0.04852664 0.02068633 0.00735007
+v 0.04440005 0.02241200 0.00277658
+v 0.04440005 0.02116961 -0.00208986
+v 0.04564995 0.02202996 -0.00206491
+v 0.04564995 0.02617674 -0.00076095
+v 0.04723213 0.02617674 -0.00048648
+v 0.04564995 0.01894940 -0.00163335
+v 0.04887815 0.02617674 0.00021493
+v 0.04440005 0.02617673 0.00353254
+v 0.04451851 0.01894940 -0.00161394
+v 0.04440005 0.02208797 -0.00208986
+v 0.04440005 0.02408531 -0.00146884
+v 0.04440005 0.02617674 -0.00081455
+f 1 2 3
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+f 1 5 6
+f 1 6 7
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+f 2 9 3
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+f 3 15 16
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+f 5 48 51
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+f 5 20 10
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+f 5 7 6
+f 8 19 9
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+f 17 27 28
+f 17 28 18
+f 19 22 23
+f 20 29 21
+f 21 30 41
+f 21 41 40
+f 21 40 39
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+f 21 60 57
+f 21 57 45
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+f 21 31 22
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+f 26 33 34
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+f 27 36 28
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+f 29 38 39
+f 29 39 40
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+f 31 42 32
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+f 32 45 43
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+f 33 35 34
+f 35 46 47
+f 38 49 39
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+f 39 51 52
+f 39 52 59
+f 39 59 63
+f 39 63 62
+f 39 62 61
+f 39 61 53
+f 39 53 50
+f 43 53 61
+f 43 61 54
+f 43 45 53
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+f 44 55 56
+f 44 56 46
+f 45 57 53
+f 46 56 58
+f 46 58 47
+f 48 59 52
+f 48 52 51
+f 50 53 60
+f 53 57 60
+f 54 61 62
+f 54 62 63
+f 54 63 55
+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_76.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08af79fadc40b5e7d58bb03970cb6a1265a5e43d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_76.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v -0.03120465 0.02107358 -0.00210955
+v -0.03462035 0.02107486 -0.00210871
+v -0.03120465 0.02211956 -0.00210955
+v -0.02608250 0.02107164 -0.00210871
+v -0.02949820 0.01895005 -0.00209703
+v -0.03632680 0.02107358 -0.00210788
+v -0.03462035 0.02211699 -0.00210871
+v -0.03803606 0.02408529 -0.00149248
+v -0.02779175 0.02408529 -0.00149582
+v -0.02437605 0.02408529 -0.00149582
+v -0.02608250 0.02212085 -0.00210871
+v -0.02266680 0.02106842 -0.00210788
+v -0.01681171 0.02114958 -0.00210537
+v -0.02024699 0.01895005 -0.00176972
+v -0.03014721 0.01895005 -0.00208117
+v -0.04486746 0.02119788 -0.00206195
+v -0.04315821 0.02115924 -0.00209452
+v -0.03974251 0.02111286 -0.00210287
+v -0.03803606 0.02107100 -0.00210537
+v -0.03632680 0.02211505 -0.00210788
+v -0.04145175 0.02408529 -0.00149081
+v -0.04145175 0.02552931 -0.00100818
+v -0.02924083 0.02552931 -0.00100902
+v -0.02582513 0.02552931 -0.00100902
+v -0.01681171 0.02552931 -0.00100818
+v -0.01681171 0.02408529 -0.00149498
+v -0.02266680 0.02212020 -0.00210788
+v -0.01681171 0.02211699 -0.00210537
+v -0.01681171 0.01895005 -0.00155596
+v -0.04486746 0.01895005 -0.00165282
+v -0.04538499 0.02125199 -0.00202605
+v -0.04486746 0.02202359 -0.00206195
+v -0.04315821 0.02210088 -0.00209452
+v -0.04145175 0.02115731 -0.00209869
+v -0.03974251 0.02210990 -0.00210287
+v -0.03803606 0.02211247 -0.00210537
+v -0.04315821 0.02408529 -0.00148830
+v -0.04315821 0.02552931 -0.00100735
+v -0.01681171 0.02552930 0.00323191
+v -0.01681171 0.01895003 0.00211216
+v -0.04538499 0.01895005 -0.00159019
+v -0.04538499 0.02194115 -0.00202605
+v -0.04486746 0.02408529 -0.00140647
+v -0.04145175 0.02210668 -0.00209869
+v -0.04461009 0.02552931 -0.00095474
+v -0.02437605 0.02345793 0.00535529
+v -0.02266680 0.02343088 0.00531354
+v -0.02266680 0.02238553 0.00600157
+v -0.02096035 0.01898608 0.00613850
+v -0.01955882 0.01898608 0.00543627
+v -0.01681171 0.02408527 0.00299644
+v -0.04538499 0.02552930 0.00382225
+v -0.01681171 0.01971648 0.00226831
+v -0.01956441 0.01895002 0.00543293
+v -0.04538499 0.01895003 0.00191427
+v -0.04538499 0.02552931 -0.00085705
+v -0.04486746 0.02552931 -0.00094222
+v -0.02608250 0.02345922 0.00535613
+v -0.02437605 0.02238553 0.00608006
+v -0.02266680 0.02068581 0.00631469
+v -0.02266680 0.01898608 0.00632387
+v -0.02096035 0.01895002 0.00613015
+v -0.01681171 0.02141621 0.00255555
+v -0.04538499 0.02518407 0.00377549
+v -0.03977607 0.01895002 0.00551392
+v -0.03974251 0.01898608 0.00553062
+v -0.03803606 0.01898608 0.00615603
+v -0.03632680 0.02068581 0.00636145
+v -0.03632680 0.02238553 0.00605000
+v -0.03632680 0.02345342 0.00534778
+v -0.03462035 0.02345600 0.00535028
+v -0.03291110 0.02345664 0.00535195
+v -0.02949820 0.02345793 0.00535446
+v -0.02779175 0.02345857 0.00535529
+v -0.04538499 0.02191988 0.00289623
+v -0.04067406 0.01895002 0.00508557
+v -0.02949820 0.02238553 0.00608089
+v -0.03462035 0.02238553 0.00608006
+v -0.03291110 0.02238553 0.00608089
+v -0.03632680 0.01898608 0.00642072
+v -0.03632680 0.01895002 0.00641321
+v -0.02266680 0.01895002 0.00631384
+v -0.04538499 0.02292722 0.00318430
+v -0.03803606 0.01895002 0.00614852
+v -0.04538499 0.02228314 0.00300061
+f 1 2 7
+f 1 7 3
+f 1 3 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 6 20
+f 2 20 7
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
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diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_77.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9746811ffc07154fefbad1e916dcbae9f23baadb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_77.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.05102563 -0.00885715 -0.01126205
+v 0.05223329 -0.00885711 -0.02145562
+v 0.04754801 -0.00885715 -0.01126205
+v 0.05116520 -0.02861024 -0.01126213
+v 0.05220445 -0.00885710 -0.02315976
+v 0.05223444 -0.02011144 -0.02145566
+v 0.05222982 -0.02861019 -0.02486697
+v 0.04045204 -0.00885713 -0.01533232
+v 0.04748342 -0.02861024 -0.01126213
+v 0.05221829 -0.02861020 -0.02145570
+v 0.05222982 -0.02521069 -0.02145568
+v 0.05223213 -0.02351094 -0.02145568
+v 0.05215139 -0.00885710 -0.02422132
+v 0.05201067 -0.02861018 -0.02610147
+v 0.05192647 -0.00885709 -0.02603579
+v 0.05211909 -0.00885710 -0.02486540
+v 0.04045204 -0.00885710 -0.02382920
+v 0.04045204 -0.02861022 -0.01531451
+v 0.05077187 -0.02861018 -0.02649359
+v 0.05077187 -0.00885709 -0.02642195
+v 0.05120903 -0.00885709 -0.02627583
+v 0.04942927 -0.00885709 -0.02610438
+v 0.04045204 -0.02003601 -0.02383371
+v 0.04045204 -0.02861019 -0.02382779
+v 0.04045204 -0.02181118 -0.02383372
+v 0.04993679 -0.00885709 -0.02622514
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+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_8.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2365cc364c1faaa2b0e7f4ba14a3c5578654ebb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_8.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.01491070 -0.03467682 -0.00427970
+v 0.01491070 -0.03469180 -0.00427667
+v 0.01491070 -0.03086278 -0.00427968
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+v 0.01491070 -0.03594416 -0.00099387
+v 0.01491070 -0.03086509 -0.00318723
+v 0.02768611 -0.03005977 -0.00269853
+v 0.02767882 -0.03005976 -0.00427968
+v 0.04735464 -0.03541475 -0.00427970
+v 0.01491070 -0.03584854 0.00071081
+v 0.03028061 -0.03593091 -0.00099387
+v 0.01491070 -0.03086624 -0.00269853
+v 0.02807657 -0.03005978 -0.00099930
+v 0.05152189 -0.03005976 -0.00427968
+v 0.04906241 -0.03515322 -0.00427970
+v 0.04735464 -0.03580246 -0.00099387
+v 0.04564687 -0.03590960 -0.00099387
+v 0.01491070 -0.03508988 0.00179054
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+v 0.04393910 -0.03508182 0.00178025
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+v 0.03881580 -0.03508412 0.00178206
+v 0.01491070 -0.03115370 -0.00106349
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+v 0.05187949 -0.03005977 -0.00267189
+v 0.05175178 -0.03075506 -0.00427968
+v 0.04906241 -0.03532721 -0.00099387
+v 0.05008050 -0.03468720 -0.00427970
+v 0.04906241 -0.03522295 0.00071081
+v 0.04735464 -0.03566017 0.00071081
+v 0.04564687 -0.03579324 0.00071081
+v 0.01491070 -0.03388075 0.00178995
+v 0.04906241 -0.03371081 0.00190622
+v 0.04564687 -0.03507145 0.00178025
+v 0.01491070 -0.03124990 -0.00079522
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+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_9.obj b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd9ba68bacb310ab727720d1b66bac1189aa66f6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/mesh/staples_box_008_collision_9.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.04746362 0.01418223 0.05042831
+v 0.04746362 0.01977439 0.05042833
+v 0.04556428 0.01553236 0.05042832
+v 0.04556428 0.01786664 0.04158582
+v 0.04746362 0.01848130 0.03420652
+v 0.04735709 0.01979511 0.05042833
+v 0.04746362 0.03159941 0.00749770
+v 0.04556428 0.01995050 0.05042833
+v 0.04556428 0.01921506 0.03651729
+v 0.04556428 0.01963806 0.03495710
+v 0.04556428 0.02106763 0.02969882
+v 0.04556428 0.02108489 0.02963557
+v 0.04746362 0.02021474 0.02796995
+v 0.04640835 0.01988144 0.05042833
+v 0.04734278 0.03166157 0.00735011
+v 0.04653738 0.03175135 0.00735011
+v 0.04746362 0.03163912 0.00735011
+v 0.04556428 0.03180832 0.00738807
+v 0.04564924 0.01994877 0.05042833
+v 0.04556428 0.02250583 0.02458391
+v 0.04556428 0.02303243 0.02272433
+v 0.04746362 0.02372132 0.01563599
+v 0.04564924 0.03181695 0.00735011
+v 0.04746362 0.02626623 0.00735009
+v 0.04556428 0.03181868 0.00735011
+v 0.04556428 0.02446717 0.01770219
+v 0.04556428 0.02594508 0.01257043
+v 0.04556428 0.02744889 0.00735009
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+
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/staples_box_008.xml b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/staples_box_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0a01ab59d0f1878c7df4f25767f25fdb6704fc94
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/mjcf/staples_box_008.xml
@@ -0,0 +1,170 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="staples_box_008">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/staples_box_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/staples_box_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/staples_box_008_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/staples_box_008_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/staples_box_008_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/staples_box_008_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/staples_box_008_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/staples_box_008_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/staples_box_008_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/staples_box_008_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/staples_box_008_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/staples_box_008_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/staples_box_008_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/staples_box_008_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/staples_box_008_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/staples_box_008_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/staples_box_008_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/staples_box_008_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/staples_box_008_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/staples_box_008_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/staples_box_008_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/staples_box_008_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/staples_box_008_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/staples_box_008_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/staples_box_008_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/staples_box_008_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/staples_box_008_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/staples_box_008_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/staples_box_008_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/staples_box_008_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/staples_box_008_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/staples_box_008_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/staples_box_008_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/staples_box_008_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_34" file="mesh/staples_box_008_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/staples_box_008_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/staples_box_008_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/staples_box_008_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/staples_box_008_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/staples_box_008_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/staples_box_008_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/staples_box_008_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/staples_box_008_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/staples_box_008_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/staples_box_008_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/staples_box_008_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/staples_box_008_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/staples_box_008_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/staples_box_008_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/staples_box_008_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/staples_box_008_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/staples_box_008_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/staples_box_008_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/staples_box_008_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/staples_box_008_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/staples_box_008_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/staples_box_008_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/staples_box_008_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/staples_box_008_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/staples_box_008_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/staples_box_008_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/staples_box_008_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/staples_box_008_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/staples_box_008_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/staples_box_008_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/staples_box_008_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/staples_box_008_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/staples_box_008_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/staples_box_008_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/staples_box_008_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_70" file="mesh/staples_box_008_collision_70.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_71" file="mesh/staples_box_008_collision_71.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_72" file="mesh/staples_box_008_collision_72.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_73" file="mesh/staples_box_008_collision_73.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_74" file="mesh/staples_box_008_collision_74.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_75" file="mesh/staples_box_008_collision_75.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_76" file="mesh/staples_box_008_collision_76.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_77" file="mesh/staples_box_008_collision_77.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="staples_box_008">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_76" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_77" 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/c6c878dee0a7552eaab9759c5f161f19/staples_box_008.urdf b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/staples_box_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..63ffd72115686ada50ea7e4dbbbf617be40c3e70
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/staples_box_008.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="staples_box_008">
+   <link name="staples_box_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/staples_box_008.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_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>c6c878dee0a7552eaab9759c5f161f19</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>staples_box</category>
+         <name>transparent staples box</name>
+         <color>transparent,gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>transparent box with compartments for colored staples</description>
+         <min_height>0.0861</min_height>
+         <max_height>0.0861</max_height>
+         <real_height>0.0861</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506212046</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>15</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/staples_box_008.usd b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/staples_box_008.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/staples_box_008.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4865342
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/textures/material_0.png b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11928715
diff --git a/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/video.mp4 b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/video.mp4
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c6c878dee0a7552eaab9759c5f161f19/video.mp4
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+version https://git-lfs.github.com/spec/v1
+oid sha256:2e0a6df38f783c8c8aa24b5ec099048d42d2d3d0d61c10254c9a98955fa8f68c
+size 552499