diff --git a/.gitattributes b/.gitattributes
index 32bc3aaf481d0218f510ba064923bd0c6f23c53a..65ade7f35d1ebf44b3d29d542ad65223eb5ea3c6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3260,7 +3260,5 @@ dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mark
 dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mesh/marker_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/d3ef0c336d9e50eb9d8954e48b0cf6a0/d3ef0c336d9e50eb9d8954e48b0cf6a0.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/d3d50a08f19551bea9ce7665ff96f971.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mesh/pen_holder_025.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/pen_holder_025.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/marker_001.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mesh/marker_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mesh/notebook_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/notebook_011.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..618ff96df0ba9e09e4f7f6cff33a9456311c51c9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl notebook_011_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 notebook_011_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e8628db4d23643b9ce855a40416f9eef6c0934f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c3b7ea4b9e0bfed675a981c1dfc8eaa813c18b574e2c767b40d9bd02676e4bf
+size 12341764
diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mesh/notebook_011.glb b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mesh/notebook_011.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c6037d126e64e867f53b780e06ebaa54ebe90d03
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mesh/notebook_011.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea9841ba5f50a35feed686d09ab99732925be182f9b546d540ca10b211abfd20
+size 15753264
diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mesh/notebook_011.mtl b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mesh/notebook_011.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..18b3a56d4e495c29141411626e38c2d48e081678
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mesh/notebook_011.mtl
@@ -0,0 +1,6 @@
+newmtl notebook_011_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mesh/notebook_011.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mesh/notebook_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..410144d10bd6d6cbb538db20c279f370bd349689
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mesh/notebook_011.obj
@@ -0,0 +1,122628 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl notebook_011_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mesh/notebook_011_collision.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mesh/notebook_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05864b12ac03cd5afba983bcebd5a3e7455ef6de
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mesh/notebook_011_collision.obj
@@ -0,0 +1,9271 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mesh/notebook_011_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mesh/notebook_011_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e8628db4d23643b9ce855a40416f9eef6c0934f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mesh/notebook_011_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12341764
diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e8628db4d23643b9ce855a40416f9eef6c0934f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:9c3b7ea4b9e0bfed675a981c1dfc8eaa813c18b574e2c767b40d9bd02676e4bf
+size 12341764
diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011.obj
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index 0000000000000000000000000000000000000000..83cc881bd62dbf1cccaa838efa169616ad8de3df
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ff809a25af4c58ba6695ed1ee4258b6e2238d5d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision.obj
@@ -0,0 +1,9271 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_0.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69184f801889b495e9e9edf0325a7a0ac984216d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_0.obj
@@ -0,0 +1,637 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_1.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..142e569c2a2fc9ca00890026e56810585c3094f3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_1.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_10.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a3de77bb3f1fca588c810e840ab0c2a137aed0f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_11.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e265103630e45638e8fac78db8d23c94dfca6bd0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_11.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_12.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56dc104870a6328f334c3de6984a677c6d65d8a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_12.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_13.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f1edfb3492dc92d30aa11c42c367ec307092875
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_13.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_14.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c3aad539fcde4f2e0446833120388b7779c7327
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_14.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_15.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0d6712681372bfa29767b90fb50eef3cff731c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_15.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_16.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cc284dd06a139f7f7fe4ff6f2f4226c6cc5374e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_16.obj
@@ -0,0 +1,457 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_17.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d271594d1065d5a4d4a9a0447c945e3d56be915
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_17.obj
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diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_18.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d00357b0038e4b4e6006fc49900462a4aa1da293
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_18.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_19.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc15060cd70965e33859c89293e20fc15e4801bd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_19.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_2.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e884439a86e895e79e120a4c83648f150b1ef958
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_2.obj
@@ -0,0 +1,658 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_20.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95b811c03ce10da09b03c752f16daa4575480b27
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_20.obj
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diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_21.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38198f3614901dc17c0bd1b0b99e3657a05bab4a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_21.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_22.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46c26a88f6d4c8acfde83f465ebd7d84949586a2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_22.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_23.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e4c72167871a19c8fb57e0bf80750735e2368b4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_23.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.06388593 -0.00121328 -0.00555049
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+v -0.06256662 -0.04324877 -0.01572056
+v -0.06388593 -0.04324877 -0.01506447
+f 1 2 3
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+f 51 52 53
+f 52 54 53
+
diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_24.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c072912ab40257b0c4b532a9f7d81068b7083600
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_24.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.06097125 0.05515369 0.01632483
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+v -0.06174068 0.05576376 0.01602127
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+v -0.06255698 0.05573287 0.01562665
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+v -0.06255698 0.05975240 0.01451445
+v -0.06255698 0.04083243 0.01535583
+v -0.06097125 0.04085946 0.01587066
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+v -0.06255698 0.04031117 0.01521013
+v -0.06255698 0.03910648 0.01462730
+v -0.06195333 0.03900995 0.01475965
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+v -0.06097125 0.07212376 0.01110620
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+v -0.06209023 0.07050592 0.00818601
+v -0.06255698 0.06042812 0.01338281
+v -0.06255698 0.03811415 0.01285212
+v -0.06189559 0.03343822 0.01052688
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+v -0.06118809 0.03343822 0.01217456
+v -0.06097125 0.03343824 0.00541868
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+v -0.06255698 0.03794040 0.01205680
+v -0.06255698 0.03770873 0.01052690
+v -0.06255698 0.03789407 0.00807783
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+v -0.06255698 0.03961619 0.00671913
+v -0.06097125 0.04330752 0.00405273
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+f 43 63 62
+f 52 62 63
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+
diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_25.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be320a22e6d0f3c4a31fffba70579b815bedbc17
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_25.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.06255710 0.05573367 0.01562683
+v -0.06255710 0.05814272 0.01528746
+v -0.06388606 0.05814273 0.01466790
+v -0.06388606 0.05568540 0.01498260
+v -0.06255710 0.04330687 0.01556365
+v -0.06255710 0.05975183 0.01451499
+v -0.06361454 0.05959551 0.01429795
+v -0.06388606 0.05871970 0.01447060
+v -0.06388606 0.04330688 0.01491548
+v -0.06255710 0.04261726 0.01551235
+v -0.06255710 0.06042764 0.01338242
+v -0.06255710 0.06069889 0.01280134
+v -0.06388606 0.05970585 0.01383624
+v -0.06388606 0.05936104 0.01420817
+v -0.06388606 0.04109782 0.01474973
+v -0.06255710 0.04253450 0.01550544
+v -0.06255710 0.06118852 0.01052830
+v -0.06388606 0.06069200 0.01052830
+v -0.06388606 0.06015180 0.01287434
+v -0.06388606 0.04083347 0.01472703
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+v -0.06255710 0.06085752 0.00815661
+v -0.06388606 0.06020239 0.00815365
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+v -0.06372851 0.03929564 0.01437088
+v -0.06255710 0.04031165 0.01521045
+v -0.06255710 0.05802782 0.00600491
+v -0.06388606 0.05802782 0.00600491
+v -0.06388606 0.03921748 0.01408477
+v -0.06388606 0.03865660 0.01292951
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+v -0.06255710 0.03910714 0.01462738
+v -0.06255710 0.05797955 0.00599702
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+v -0.06255710 0.03770494 0.01052822
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+v -0.06255710 0.03961519 0.00671912
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+v -0.06388606 0.03870719 0.00805195
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+
diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_26.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9fb2a659d863c4148851f729786807d645ab78a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_26.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.06097125 0.01363085 0.01616312
+v -0.06195333 0.01363085 0.01587381
+v -0.06195333 0.01115694 0.01556536
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+v -0.06097125 0.02849305 0.01591570
+v -0.06195333 0.02846630 0.01570051
+v -0.06255698 0.01363085 0.01558091
+v -0.06255698 0.01293013 0.01550919
+v -0.06097125 0.01119438 0.01580207
+v -0.06255698 0.01115694 0.01528801
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+v -0.06139795 0.03343824 0.00606372
+v -0.06255698 0.01363089 0.00564403
+v -0.06255698 0.03159817 0.00818571
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+
diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_27.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c37052270a8e2a459246fdb6ce0284b13f560cff
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_27.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.06255710 0.02221003 0.00984880
+v -0.06255710 0.02229663 0.01052792
+v -0.06388606 0.02300287 0.01107066
+v -0.06388606 0.02294610 0.01052792
+v -0.06388606 0.02324727 0.00893868
+v -0.06388606 0.02340411 0.00818533
+v -0.06388606 0.02385153 0.00674730
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diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_28.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6dc373f931b639fc51e10313e28752b58b99df4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_28.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_3.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4215d047c7d9ed160b750d123bafb507cdc91b07
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_3.obj
@@ -0,0 +1,484 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_4.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96628768c963abef81633bba4db74bb3ee3eba13
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_4.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_5.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2226a547b901d97de0cf406ee72753cc4e5a1ac9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_5.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_6.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aed87df92e95d46c5350eec397dd4ca5ca5324c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_6.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_7.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9073c61920c20d8a25e962e293bac4afc5be02f2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_7.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_8.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9fa63470c451e9ff802a9cdb132d7b711f629de
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_8.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_9.obj b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28a9c902d5b2874d8abc9c69a750320d7b33b842
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/mesh/notebook_011_collision_9.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/notebook_011.xml b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mjcf/notebook_011.xml
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+   <link name="notebook_011">
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+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/notebook_011.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/notebook_011_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
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+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
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+         <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>d6c931a81cfe56228199ed630bda9389</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>notebook</category>
+         <name>spiral notebook</name>
+         <color>beige,brown</color>
+         <shape>cuboid</shape>
+         <material>paper</material>
+         <description>small beige spiral notebook with brown strap and tab</description>
+         <min_height>0.0329</min_height>
+         <max_height>0.0329</max_height>
+         <real_height>0.0329</real_height>
+         <min_mass>0.08</min_mass>
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+         <version>v0.1.0</version>
+         <generate_time>20260518175932</generate_time>
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+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
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+            <geometry>
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+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
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diff --git a/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/notebook_011.usd b/dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/notebook_011.usd
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