diff --git a/.gitattributes b/.gitattributes
index b1df8a6e68b0670b5d5808150ff460266cad47e4..0dffd3569c77f04999050dbd85bba141e69f233c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3244,7 +3244,6 @@ dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mesh
dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/pen_holder_037.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/c378ba7773e25174ac07f93f3cfd7df1/mesh/sharpener_031.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/c378ba7773e25174ac07f93f3cfd7df1/sharpener_031.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/c918062725c857ba8af3b6106a916d25/eraser_012.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/c918062725c857ba8af3b6106a916d25/mesh/eraser_012.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mesh/stapler_009.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/stapler_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/caf3d889a6455cf98348111a4c94a1c4.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mesh/open_notebook.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mesh/open_notebook_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/caf3d889a6455cf98348111a4c94a1c4.urdf b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/caf3d889a6455cf98348111a4c94a1c4.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..36e19c6594c7fcdb74be38f7fcd61f560831a29b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/caf3d889a6455cf98348111a4c94a1c4.urdf
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diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/caf3d889a6455cf98348111a4c94a1c4.usd b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/caf3d889a6455cf98348111a4c94a1c4.usd
new file mode 100644
index 0000000000000000000000000000000000000000..1fde46f13f0e6e90cfd0416f46a8574f8187ac8f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/caf3d889a6455cf98348111a4c94a1c4.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6669e0beb48754733b1e110bc9370257d30c15ff07a92d266a6d438648c8baf
+size 643615
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mesh/material_0.png
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mesh/open_notebook.glb b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mesh/open_notebook.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ddcb480258c93e84cf145a83f421d437a0347164
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mesh/open_notebook.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2656676
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mesh/open_notebook.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mesh/open_notebook.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9306351ae64a79260e26a0786e9b61ffd77a3e09
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mesh/open_notebook.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+
+o open_notebook.obj
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mesh/open_notebook_collision.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mesh/open_notebook_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7664a1fa9c45a862cac68cd7f5eb00b2423d77ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mesh/open_notebook_collision.obj
@@ -0,0 +1,7444 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..051778795ef25291ef8b58512a076f8ec466d9b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:81fc11ed5f279c850c33c0bb876d5b1053b0d022a40763c7c8a0861afbf23bbf
+size 2184153
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71811dff3cfd581bc7ebbd264600172f5c92fd06
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+
+o open_notebook.obj
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e4cd762639b3f3c295e8e6fd0b86d047e523bba
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision.obj
@@ -0,0 +1,7444 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_0.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a75e651950e0db579d6bffdcb6ad66e99e9e647a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_0.obj
@@ -0,0 +1,634 @@
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diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_1.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddac293f95bbc7f4ed3040fb010fa6c904e7257c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_10.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c162c4239920112b4b7a27408782cef5e17dbc7a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_10.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_11.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00eec5ea07f399e11a0912541fbed3f561e82ff7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_11.obj
@@ -0,0 +1,277 @@
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+f 27 31 28
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+f 29 41 42
+f 31 48 49
+f 31 49 32
+f 31 47 50
+f 31 50 48
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+f 34 54 72
+f 34 72 89
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+f 46 68 47
+f 46 66 67
+f 47 68 50
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+f 50 68 69
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+f 56 73 57
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+f 58 75 76
+f 58 76 59
+f 59 76 61
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+f 61 79 80
+f 61 80 62
+f 61 62 65
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+f 62 81 63
+f 63 81 64
+f 64 82 66
+f 64 81 79
+f 64 79 82
+f 66 82 67
+f 67 83 68
+f 67 82 84
+f 67 84 83
+f 68 85 86
+f 68 86 69
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+f 68 87 85
+f 71 88 72
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+f 85 87 88
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+
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_12.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed2efd34abac068d25689e5fcba9bcd693613ddb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_12.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.01482186 -0.11883692 -0.01379580
+v -0.01478840 -0.11603329 -0.01372886
+v -0.01179748 -0.11883691 -0.01589582
+v -0.01478171 -0.11883693 -0.01049518
+v -0.01638088 -0.11362193 -0.00236003
+v -0.01638088 -0.11207102 -0.00565925
+v -0.01638088 -0.11183688 -0.00604830
+v -0.01638088 -0.10722619 -0.00714431
+v -0.01440701 -0.11148264 -0.01314318
+v -0.01129565 -0.11584717 -0.01588187
+v -0.01638088 -0.09839507 -0.00513629
+v -0.00975669 -0.11723798 -0.01658187
+v -0.00979015 -0.11883691 -0.01658467
+v -0.01360408 -0.11883694 -0.00919696
+v -0.01638088 -0.09839508 -0.00235997
+v -0.01239299 -0.11883694 -0.00800472
+v -0.01096778 -0.11883694 -0.00687523
+v -0.00850546 -0.11883695 -0.00605391
+v -0.00679253 -0.11883695 -0.00569136
+v -0.01341673 -0.11383805 -0.00236003
+v -0.01391187 -0.10878708 -0.01256308
+v -0.01132910 -0.11148264 -0.01477048
+v -0.01148969 -0.09839507 -0.00607893
+v -0.01132910 -0.10794859 -0.01314038
+v 0.00838958 -0.11719396 -0.01659303
+v 0.04303610 -0.11148263 -0.01552905
+v 0.04303610 -0.11467449 -0.01630158
+v 0.04562556 -0.11691379 -0.01660558
+v 0.00835612 -0.11883691 -0.01659583
+v 0.05196872 -0.09839508 -0.00235997
+v -0.00679253 -0.11423429 -0.00236003
+v 0.04303610 -0.11883695 -0.00633558
+v 0.04303610 -0.11407819 -0.00236003
+v 0.00890479 -0.10458264 -0.01236087
+v -0.00714047 -0.09839506 -0.00688212
+v -0.00679253 -0.09839506 -0.00694487
+v 0.04324352 -0.10660181 -0.01336208
+v 0.04536460 -0.10460665 -0.01234832
+v 0.04603372 -0.10693601 -0.01301348
+v 0.04678312 -0.11148264 -0.01399099
+v 0.05196872 -0.10913330 -0.00855967
+v 0.04640172 -0.11883691 -0.01571175
+v 0.04562556 -0.11883691 -0.01660559
+v 0.05196872 -0.11325772 -0.00236003
+v 0.05196872 -0.09839507 -0.00522414
+v 0.04555864 -0.11883695 -0.00662423
+v 0.04756598 -0.11376801 -0.00236003
+v 0.01132697 -0.09839506 -0.00763233
+v 0.00933302 -0.10458264 -0.01236087
+v 0.04733848 -0.09839507 -0.00592136
+v 0.04751245 -0.09839507 -0.00590184
+v 0.05196872 -0.11179286 -0.00604412
+v 0.04834883 -0.11883693 -0.01198583
+v 0.04715113 -0.11883692 -0.01475517
+v 0.04883059 -0.11883693 -0.01015354
+v 0.05196872 -0.11186090 -0.00592420
+v 0.04701731 -0.11883694 -0.00702722
+f 1 2 3
+f 1 3 13
+f 1 13 29
+f 1 29 43
+f 1 43 42
+f 1 42 54
+f 1 54 53
+f 1 53 55
+f 1 55 57
+f 1 57 46
+f 1 46 32
+f 1 32 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 14
+f 1 14 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 3
+f 2 8 11
+f 2 11 9
+f 3 10 12
+f 3 12 13
+f 4 14 5
+f 5 15 11
+f 5 11 8
+f 5 8 7
+f 5 7 6
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+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 31
+f 5 31 33
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+f 5 30 15
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+f 10 22 12
+f 11 15 30
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+f 11 45 51
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+f 11 36 35
+f 11 35 23
+f 11 23 24
+f 11 24 21
+f 12 25 13
+f 12 22 26
+f 12 26 27
+f 12 27 28
+f 12 28 25
+f 13 25 29
+f 19 31 20
+f 19 32 33
+f 19 33 31
+f 21 24 22
+f 22 24 34
+f 22 34 26
+f 23 35 24
+f 24 35 36
+f 24 36 34
+f 25 28 29
+f 26 37 38
+f 26 38 39
+f 26 39 28
+f 26 28 27
+f 26 34 37
+f 28 39 40
+f 28 40 41
+f 28 41 42
+f 28 42 43
+f 28 43 29
+f 30 44 56
+f 30 56 52
+f 30 52 41
+f 30 41 45
+f 32 46 44
+f 32 44 47
+f 32 47 33
+f 34 36 48
+f 34 48 49
+f 34 49 37
+f 37 49 38
+f 38 50 51
+f 38 51 45
+f 38 45 39
+f 38 49 48
+f 38 48 50
+f 39 45 40
+f 40 45 41
+f 41 52 53
+f 41 53 54
+f 41 54 42
+f 44 55 56
+f 44 46 57
+f 44 57 55
+f 52 56 55
+f 52 55 53
+
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_13.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd77469593a3ffb110f07193f1a861309cebba95
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_13.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.08351176 -0.11335580 -0.00235911
+v 0.12687184 -0.11335581 -0.00127444
+v 0.07964694 -0.11465540 -0.00235911
+v -0.13440040 -0.11335580 -0.00235911
+v 0.12909543 -0.11335581 -0.00121658
+v 0.07567624 -0.11471872 -0.00235911
+v 0.12909543 -0.11392567 -0.00019711
+v -0.00678201 -0.11883698 0.00591232
+v -0.13434746 -0.11339390 -0.00235911
+v -0.13622692 -0.11407376 -0.00052316
+v -0.13643868 -0.11335581 -0.00093462
+v 0.13317202 -0.11335581 -0.00084002
+v 0.13251024 -0.11384625 -0.00005934
+v -0.04053299 -0.11851664 0.00384308
+v -0.04286247 -0.11788348 0.00234512
+v -0.03849469 -0.11563412 -0.00183285
+v -0.04333895 -0.11537603 -0.00235911
+v -0.00564375 -0.11883698 0.00610060
+v -0.00995858 -0.11883698 0.00655523
+v -0.04124771 -0.11851664 0.00384308
+v -0.13363273 -0.11352697 -0.00235911
+v -0.13363273 -0.11429644 -0.00098880
+v -0.13363273 -0.11461894 0.00216511
+v -0.13630634 -0.11413280 0.00216511
+v -0.13662399 -0.11335582 0.00216511
+v -0.13654458 -0.11335581 0.00022262
+v 0.13380733 -0.11335582 0.00192540
+v 0.13251024 -0.11384625 0.00052846
+v -0.00349957 -0.11883699 0.00702180
+v -0.00360545 -0.11883698 0.00654145
+v -0.05702464 -0.11511900 -0.00235911
+v -0.12910613 -0.11434366 -0.00112473
+v -0.12910613 -0.11372444 -0.00235911
+v -0.01003799 -0.11883699 0.00702180
+v -0.04124771 -0.11851665 0.00487541
+v -0.13082677 -0.11368098 -0.00235911
+v -0.13363273 -0.11408290 0.00468990
+v -0.13609456 -0.11394393 0.00448509
+v -0.13627987 -0.11335583 0.00485155
+v 0.12909543 -0.11335582 0.00352165
+v 0.12909543 -0.11349051 0.00297334
+v 0.07927635 -0.11536587 0.00702182
+v -0.02226775 -0.11824408 0.00702181
+v -0.09299920 -0.11478153 0.00702182
+v -0.13363273 -0.11335583 0.00573784
+v 0.09399442 -0.11335584 0.00702182
+v 0.09320028 -0.11432974 0.00702182
+v 0.09227378 -0.11458622 0.00702182
+v -0.09429630 -0.11335584 0.00702182
+v -0.12910613 -0.11335583 0.00589581
+f 1 2 3
+f 1 3 6
+f 1 6 17
+f 1 17 31
+f 1 31 33
+f 1 33 36
+f 1 36 21
+f 1 21 9
+f 1 9 4
+f 1 4 11
+f 1 11 26
+f 1 26 25
+f 1 25 39
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+f 1 49 46
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+f 10 26 11
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+f 15 22 32
+f 15 32 33
+f 15 33 31
+f 19 34 20
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+f 20 35 23
+f 20 23 22
+f 21 36 22
+f 22 36 32
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+f 23 38 24
+f 23 35 37
+f 24 38 25
+f 25 38 39
+f 27 40 28
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+f 28 41 42
+f 28 42 29
+f 29 42 48
+f 29 48 47
+f 29 47 46
+f 29 46 49
+f 29 49 44
+f 29 44 43
+f 29 43 34
+f 32 36 33
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+f 35 43 44
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+f 37 45 38
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+f 38 45 39
+f 40 46 47
+f 40 47 48
+f 40 48 42
+f 40 42 41
+f 44 49 50
+f 44 50 45
+
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_14.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c62235868e9f9470ddf8e4ccb07f98499cd62779
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_14.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.06686586 -0.09839313 0.01121317
+v 0.07059625 -0.11335534 0.01455918
+v 0.07187292 -0.11335535 0.01716168
+v 0.07201129 -0.11148361 0.01702451
+v 0.07238027 -0.10898209 0.01670442
+v 0.07081210 -0.09839314 0.01334249
+v 0.06686586 -0.09839308 -0.00235997
+v 0.06686586 -0.11123459 0.00630436
+v 0.06686586 -0.11335530 0.00288274
+v 0.07313668 -0.11335535 0.01755335
+v 0.07475097 -0.11148362 0.01769849
+v 0.07475097 -0.10834793 0.01691318
+v 0.07475097 -0.09839314 0.01412185
+v 0.07127517 -0.09839314 0.01353335
+v 0.08571153 -0.09839308 -0.00235997
+v 0.06686586 -0.11265228 -0.00236002
+v 0.06686586 -0.11335529 -0.00091663
+v 0.07475097 -0.11335536 0.01794899
+v 0.07862342 -0.11148361 0.01729887
+v 0.07782826 -0.10828788 0.01692909
+v 0.07928020 -0.09839314 0.01415366
+v 0.08571153 -0.11307700 -0.00236003
+v 0.08571153 -0.09839314 0.01351944
+v 0.07239134 -0.11335528 -0.00236003
+v 0.07881344 -0.11335535 0.01741418
+v 0.08353087 -0.11335528 -0.00236003
+v 0.08571153 -0.11308872 -0.00232425
+v 0.08014731 -0.11335535 0.01677399
+v 0.08107899 -0.11335535 0.01631473
+v 0.08325228 -0.11335534 0.01424903
+v 0.08571153 -0.10271074 0.01252534
+v 0.08571153 -0.11313559 -0.00216321
+v 0.08372642 -0.11335528 -0.00215128
+v 0.08386479 -0.11335533 0.01205808
+v 0.08571153 -0.10701075 0.01080358
+v 0.08571153 -0.11312243 0.00217694
+v 0.08385741 -0.11335533 0.01038604
+v 0.08571153 -0.11185996 0.00628647
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 13
+f 1 13 21
+f 1 21 23
+f 1 23 15
+f 1 15 7
+f 1 7 16
+f 1 16 17
+f 1 17 9
+f 1 9 8
+f 1 8 2
+f 2 8 9
+f 2 9 17
+f 2 17 24
+f 2 24 26
+f 2 26 33
+f 2 33 37
+f 2 37 34
+f 2 34 30
+f 2 30 29
+f 2 29 28
+f 2 28 25
+f 2 25 18
+f 2 18 10
+f 2 10 3
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 7 15 22
+f 7 22 26
+f 7 26 24
+f 7 24 16
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 12 20 13
+f 13 20 21
+f 15 23 31
+f 15 31 35
+f 15 35 38
+f 15 38 36
+f 15 36 32
+f 15 32 27
+f 15 27 22
+f 16 24 17
+f 18 25 19
+f 19 25 23
+f 19 23 20
+f 20 23 21
+f 22 27 26
+f 23 25 28
+f 23 28 29
+f 23 29 30
+f 23 30 31
+f 26 27 32
+f 26 32 33
+f 30 34 35
+f 30 35 31
+f 32 36 34
+f 32 34 37
+f 32 37 33
+f 34 36 38
+f 34 38 35
+
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_15.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11c59fc7e2b8de39eda74af44d12c69fbb0de758
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_15.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.10479205 0.10622277 0.00672470
+v -0.04971781 0.10622275 0.01014571
+v -0.11552748 0.10788974 0.00672471
+v 0.12913253 0.10622277 0.00672470
+v -0.07388479 0.11023125 0.01014572
+v 0.09462228 0.10622275 0.01014571
+v -0.11552748 0.11023126 0.00742131
+v -0.12011088 0.10898967 0.00672471
+v 0.12881389 0.10671093 0.00672470
+v 0.12878939 0.10622276 0.00726188
+v 0.08954869 0.11023125 0.01014572
+v 0.12457366 0.10622276 0.00779873
+v -0.12013538 0.11023126 0.00698259
+v -0.12126286 0.11023127 0.00672471
+v 0.12457366 0.10809340 0.00672471
+v 0.12548052 0.10622276 0.00768788
+v 0.09714682 0.11023127 0.00672471
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 17
+f 1 17 15
+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 16
+f 1 16 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 11
+f 2 11 5
+f 3 7 8
+f 3 5 7
+f 4 9 10
+f 5 11 17
+f 5 17 14
+f 5 14 13
+f 5 13 7
+f 6 12 11
+f 7 13 8
+f 8 13 14
+f 9 15 10
+f 10 15 11
+f 10 11 16
+f 11 12 16
+f 11 15 17
+
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_16.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa6b0a4912d99c2757fd2d6f2deb72e5fa16a6b0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_16.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.01644789 -0.09839313 0.01197233
+v 0.01644789 -0.10683353 0.01043648
+v 0.02154326 -0.11335535 0.01737875
+v 0.02168479 -0.11148361 0.01725831
+v 0.02218592 -0.10837430 0.01690699
+v 0.02124105 -0.09839314 0.01369486
+v 0.01644789 -0.09839308 -0.00235797
+v 0.02009727 -0.11335534 0.01456007
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+
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_17.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d40e355069fe94a51c56fa92c9123c7384828a20
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_17.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.09400343 -0.11335584 0.00702382
+v 0.10646110 -0.11335584 0.00907065
+v 0.10646110 -0.11883699 0.00900779
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+
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_18.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7c19f98eb81181bd617eabd662c6a84ab906df9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_18.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_19.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61f97d1ecf389a1b79fb0319f77bd270af501091
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_19.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_2.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..674f42a05b9d1c8b27dcf351c2097c33b5ffe9ad
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_2.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.13423322 0.09780044 0.00672561
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+
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_20.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4a5a3df97edee2ea4704820feae020583fe2d90
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_20.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_21.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85e1ee85ddea791b4c9e7ffeb9cbc51fa2e4ab0a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_21.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_22.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..130e4b40fedac98c1126a0c92e884826be0965a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_22.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.05199252 -0.11883693 -0.00985075
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+v 0.05197541 -0.11186090 -0.00592417
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+v 0.07942671 -0.11883695 -0.00530392
+v 0.07474942 -0.11469455 -0.00236003
+v 0.05197541 -0.09839507 -0.00522439
+v 0.05272816 -0.11603329 -0.01340094
+v 0.05388807 -0.11883692 -0.01425261
+v 0.08692679 -0.09839508 -0.00235997
+v 0.07569377 -0.11471856 -0.00236003
+v 0.08146938 -0.11883695 -0.00644411
+v 0.08692679 -0.11297755 -0.00236002
+v 0.07966279 -0.11465452 -0.00236003
+v 0.05411047 -0.10893316 -0.01244610
+v 0.05360408 -0.11148264 -0.01288240
+v 0.05582468 -0.09839507 -0.00613738
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+v 0.05842166 -0.11700184 -0.01659989
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+v 0.08692679 -0.09839507 -0.00582097
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+
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_23.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7f42f85d135fdfed1c81b490da0dcdd0e7899d8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_23.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.07736449 -0.11883868 -0.01653878
+v 0.07838117 -0.11883868 -0.01605282
+v 0.07958059 -0.12058732 -0.01544067
+v 0.07731394 -0.12058732 -0.01652173
+v 0.07640223 -0.11883868 -0.01653878
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+v 0.06442942 -0.12079222 -0.01383102
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+v 0.08279589 -0.11883869 -0.01336892
+v 0.08378925 -0.11883870 -0.01022976
+v 0.08384173 -0.12513734 -0.01022978
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+v 0.07699708 -0.12287115 -0.01643137
+v 0.07927928 -0.12833257 -0.01289834
+v 0.06442942 -0.12513733 -0.01241065
+v 0.06442942 -0.11883870 -0.01070038
+v 0.08378536 -0.12849512 0.00088092
+v 0.08421108 -0.12968561 0.00088091
+v 0.08428690 -0.12968560 -0.00196839
+v 0.08253929 -0.11883871 -0.00709741
+v 0.08283671 -0.12603466 0.00088093
+v 0.08402058 -0.12968559 -0.00609995
+v 0.08245181 -0.12927401 -0.00987853
+v 0.08170728 -0.13205419 -0.00826719
+v 0.07927928 -0.13060758 -0.01110113
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+
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_24.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8b3432107f9faf66d4801063a052351e7150ac9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_24.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.09005454 -0.12058705 -0.01675530
+v -0.09013152 -0.11883691 -0.01671042
+v -0.08923148 -0.11883691 -0.01547609
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+v -0.08522272 -0.12955678 -0.00599336
+v -0.08794951 -0.13423599 0.00088090
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+v -0.08736625 -0.12968636 0.00088091
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+
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_25.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09885b5c6a48d8f6f87830763469cffe395c0869
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_25.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v -0.04025826 -0.12058668 -0.01670156
+v -0.04032833 -0.11883869 -0.01666714
+v -0.03530369 -0.12058669 -0.01282914
+v -0.04047847 -0.12329525 -0.01658453
+v -0.04190478 -0.12329525 -0.01658453
+v -0.05995144 -0.12058668 -0.01656903
+v -0.07740255 -0.11934399 -0.01649847
+v -0.07740255 -0.11883869 -0.01649847
+v -0.06008657 -0.11883869 -0.01659141
+v -0.03922731 -0.11883869 -0.01579111
+v -0.03548386 -0.11883870 -0.01273276
+v -0.03413761 -0.12968551 -0.00196747
+v -0.03437783 -0.12968550 -0.00609977
+v -0.03559896 -0.12382197 -0.01265188
+v -0.03947754 -0.12881951 -0.01322157
+v -0.04304584 -0.12918018 -0.01347801
+v -0.03645475 -0.12685550 -0.01205468
+v -0.06116256 -0.12915875 -0.01344876
+v -0.06075718 -0.12469149 -0.01563795
+v -0.05898555 -0.12287744 -0.01643308
+v -0.07928429 -0.12513785 -0.01504418
+v -0.07906408 -0.12075094 -0.01600452
+v -0.07906408 -0.11883869 -0.01594600
+v -0.03554391 -0.11883871 -0.01132492
+v -0.03409257 -0.12968552 0.00088091
+v -0.03512352 -0.13442059 -0.00165941
+v -0.03544883 -0.13285293 -0.00609978
+v -0.03539878 -0.12968549 -0.00911854
+v -0.04304584 -0.13145667 -0.01176383
+v -0.03605438 -0.13208338 -0.00829932
+v -0.03818635 -0.13007650 -0.01134733
+v -0.03851666 -0.13283685 -0.00922354
+v -0.06116256 -0.13143524 -0.01173285
+v -0.07928429 -0.12881951 -0.01326632
+v -0.08216695 -0.12808925 -0.01276721
+v -0.08274247 -0.12513786 -0.01342121
+v -0.08314285 -0.12058669 -0.01385834
+v -0.08315286 -0.11883870 -0.01381015
+v -0.03547385 -0.12618242 0.00088093
+v -0.03451296 -0.12860531 0.00088092
+v -0.03673001 -0.11883871 -0.01028367
+v -0.03509850 -0.13448309 0.00088090
+v -0.03617449 -0.13655781 -0.00007603
+v -0.03703528 -0.13605965 -0.00283147
+v -0.04304584 -0.13318144 -0.00969855
+v -0.03853167 -0.13512227 -0.00599997
+v -0.04005307 -0.13676134 -0.00455599
+v -0.06116256 -0.13304574 -0.00966757
+v -0.07928429 -0.13287791 -0.00939909
+v -0.07928429 -0.13109422 -0.01146437
+v -0.08521977 -0.12954621 -0.01006857
+v -0.08521977 -0.12593062 -0.01008060
+v -0.08521977 -0.12529143 -0.01008060
+v -0.08326797 -0.11883871 -0.00984307
+v -0.03849664 -0.11883872 -0.00917702
+v -0.04278559 -0.11883873 -0.00654205
+v -0.03641472 -0.12587889 0.00088093
+v -0.03579915 -0.13585077 0.00088089
+v -0.03617449 -0.13655781 0.00034563
+v -0.03694020 -0.13670957 0.00088089
+v -0.03725549 -0.13677027 0.00088089
+v -0.03844159 -0.13699168 0.00088089
+v -0.03853167 -0.13697382 -0.00165942
+v -0.04148940 -0.13676134 -0.00455599
+v -0.04209997 -0.13705417 -0.00196749
+v -0.07928429 -0.13467947 -0.00609978
+v -0.08221700 -0.13241726 -0.00876229
+v -0.08330800 -0.13369926 -0.00196748
+v -0.08332802 -0.13370105 0.00088090
+v -0.08521977 -0.12955694 -0.00599307
+v -0.08288762 -0.13306898 -0.00609978
+v -0.08521977 -0.12512003 -0.00740605
+v -0.08521977 -0.12507897 -0.00587429
+v -0.08312783 -0.12570034 0.00088093
+v -0.08070560 -0.12431838 0.00088093
+v -0.08089577 -0.11883872 -0.00779844
+v -0.03851666 -0.12539681 0.00088093
+v -0.06067711 -0.11883873 -0.00618751
+v -0.06116256 -0.12067065 0.00088095
+v -0.03629961 -0.13648996 0.00088089
+v -0.04088884 -0.13704882 0.00088089
+v -0.07735251 -0.13655067 -0.00022232
+v -0.05455646 -0.13652567 -0.00406548
+v -0.04208995 -0.13707558 0.00088089
+v -0.07903406 -0.13600073 -0.00174720
+v -0.08192672 -0.13445630 0.00088090
+v -0.08490448 -0.12968552 0.00088091
+v -0.08367334 -0.12691446 0.00088092
+v -0.07936937 -0.12367025 0.00088094
+v -0.07961459 -0.11883873 -0.00673997
+v -0.06573678 -0.11883873 -0.00620300
+v -0.07735251 -0.13655067 0.00039554
+v -0.07788300 -0.13637569 0.00088089
+v -0.07903406 -0.13599539 0.00088089
+f 1 2 3
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+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
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+f 29 32 45
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+f 33 48 49
+f 33 49 50
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+f 33 45 48
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+f 39 41 55
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+f 42 58 43
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+f 43 63 47
+f 43 47 44
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+
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_26.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d2e111fcd7f2cda34c3c0e2c176e85e4c1f313c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_26.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.01576466 -0.09839308 -0.00235997
+v -0.01576466 -0.09839313 0.01176920
+v -0.01576466 -0.11335528 -0.00236003
+v -0.04816933 -0.09839308 -0.00235997
+v -0.01576466 -0.11335531 0.00501223
+v -0.02057017 -0.09839314 0.01358320
+v -0.02261608 -0.10913295 0.01665594
+v -0.02227985 -0.11148361 0.01692854
+v -0.02211174 -0.11335535 0.01708086
+v -0.04816933 -0.11335528 -0.00236003
+v -0.04816933 -0.09839309 -0.00029341
+v -0.02492209 -0.09839314 0.01427272
+v -0.02492209 -0.11148361 0.01739356
+v -0.02492209 -0.11335536 0.01772428
+v -0.04816933 -0.11335531 0.00558951
+v -0.04816299 -0.09839314 0.01320637
+v -0.04816933 -0.09839900 0.01320036
+v -0.04304028 -0.09839314 0.01470768
+v -0.04304028 -0.10751459 0.01708089
+v -0.04304028 -0.11148362 0.01789667
+v -0.04304028 -0.11335536 0.01811715
+v -0.04816933 -0.10255402 0.01214000
+v -0.04780455 -0.11335534 0.01455930
+v -0.04756666 -0.09839314 0.01370948
+v -0.04618051 -0.11148361 0.01720915
+v -0.04631374 -0.11335535 0.01732340
+v -0.04710038 -0.09839314 0.01388988
+v -0.04571107 -0.10833036 0.01687843
+v -0.04488953 -0.11335536 0.01771025
+f 1 2 5
+f 1 5 3
+f 1 3 10
+f 1 10 4
+f 1 4 11
+f 1 11 16
+f 1 16 24
+f 1 24 27
+f 1 27 18
+f 1 18 12
+f 1 12 6
+f 1 6 2
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+f 3 14 21
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+f 3 15 10
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+f 4 17 11
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+f 17 22 23
+f 18 27 28
+f 18 28 19
+f 19 28 20
+f 20 28 25
+f 20 25 21
+f 21 25 29
+f 24 25 28
+f 24 28 27
+f 25 26 29
+
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_27.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..086ef9d88615c472ca033ccd71e9cfbd28f85560
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_27.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.06763496 -0.09839313 0.00976966
+v -0.06763496 -0.10693312 0.00760650
+v -0.06613731 -0.11335534 0.01455867
+v -0.06473684 -0.11335535 0.01743413
+v -0.06445103 -0.11148361 0.01726109
+v -0.06678705 -0.09839313 0.01064296
+v -0.06763496 -0.09839308 -0.00235796
+v -0.06763496 -0.11147185 0.00643537
+v -0.06763496 -0.11335531 0.00522199
+v -0.06310009 -0.11335536 0.01782852
+v -0.06116420 -0.11335536 0.01819676
+v -0.06116420 -0.11148362 0.01788286
+v -0.06384130 -0.10853101 0.01685866
+v -0.06636215 -0.09839313 0.01104742
+v -0.04816933 -0.09839308 -0.00235796
+v -0.06763496 -0.11335528 -0.00235802
+v -0.05763348 -0.11335535 0.01738584
+v -0.05778782 -0.11148361 0.01724700
+v -0.05833467 -0.10846656 0.01689085
+v -0.06116420 -0.10814435 0.01699951
+v -0.06116420 -0.10586985 0.01614433
+v -0.06294956 -0.09839314 0.01261292
+v -0.04816933 -0.11335528 -0.00235802
+v -0.04816933 -0.09839309 -0.00029343
+v -0.04816933 -0.09839900 0.01320049
+v -0.05625397 -0.11335535 0.01571167
+v -0.04816933 -0.10255402 0.01214003
+v -0.06116420 -0.09839314 0.01280811
+v -0.04816933 -0.11335531 0.00559023
+v -0.05031672 -0.09839314 0.01271957
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 22
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+f 1 28 30
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+f 1 9 8
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+f 19 25 20
+f 20 25 21
+f 21 25 28
+f 21 28 22
+f 24 30 25
+f 25 30 28
+f 26 29 27
+
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_28.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5daa7829d63145b31d6b7f6fb8185e507cece4c3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_28.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.08813438 -0.09839308 -0.00235997
+v -0.08813438 -0.09839314 0.01354445
+v -0.08813438 -0.11335528 -0.00236003
+v -0.13765566 -0.09839308 -0.00235997
+v -0.08824188 -0.09839314 0.01379984
+v -0.08839826 -0.11335534 0.01475752
+v -0.08813438 -0.11335534 0.01257468
+v -0.13440604 -0.11335528 -0.00236003
+v -0.13801239 -0.10281759 -0.00235999
+v -0.13773873 -0.09839308 -0.00196491
+v -0.09287931 -0.09839314 0.01442636
+v -0.09292329 -0.11335536 0.01782827
+v -0.08987402 -0.11238286 0.01715586
+v -0.08972742 -0.11335535 0.01727757
+v -0.08912148 -0.11335535 0.01615023
+v -0.13603330 -0.11335529 -0.00122871
+v -0.13692756 -0.11148207 -0.00236002
+v -0.13800750 -0.10693308 -0.00236000
+v -0.13804660 -0.10693308 -0.00196494
+v -0.13805149 -0.10238407 -0.00196493
+v -0.13782670 -0.09839310 0.00165654
+v -0.10647396 -0.09839314 0.01486333
+v -0.10647396 -0.11148362 0.01775445
+v -0.10647396 -0.11335536 0.01802380
+v -0.13645356 -0.11335529 -0.00093340
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diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_29.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dd6fabf21be3cc23c266beba855bc3993bf98bb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_29.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_3.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94eef623ff8db49a23a0dad83b40ccbd4ae7be63
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_3.obj
@@ -0,0 +1,601 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_30.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1a1569c785608e8485e1f4bccef2b61010fd488
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_30.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.08812749 -0.09839314 0.01354531
+v -0.08812749 -0.11335534 0.01257443
+v -0.08209909 -0.11335535 0.01694016
+v -0.08190049 -0.11148361 0.01683187
+v -0.07928652 -0.11148361 0.01755063
+v -0.07928652 -0.10844899 0.01689292
+v -0.07597039 -0.10820880 0.01697760
+v -0.07895149 -0.09839314 0.01339171
+v -0.08812749 -0.09839308 -0.00235997
+v -0.08812749 -0.11335528 -0.00236003
+v -0.08082721 -0.11335535 0.01733204
+v -0.07928652 -0.11335536 0.01775738
+v -0.07458015 -0.11183072 0.01721586
+v -0.07295118 -0.11054481 0.01617415
+v -0.06763496 -0.09839313 0.00977034
+v -0.07518399 -0.09839314 0.01325781
+v -0.06763496 -0.09839308 -0.00235997
+v -0.06763496 -0.11335528 -0.00236003
+v -0.07464435 -0.11335535 0.01736157
+v -0.07268838 -0.11335535 0.01672355
+v -0.07245166 -0.11335535 0.01661524
+v -0.07233731 -0.11335535 0.01640060
+v -0.06763496 -0.10693312 0.00760615
+v -0.06763496 -0.11335531 0.00522141
+v -0.06763496 -0.11147185 0.00643445
+f 1 2 3
+f 1 3 4
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+f 1 16 15
+f 1 15 17
+f 1 17 9
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+
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_31.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c75bf7a90001452bb97249ab3933a87194a2c665
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_31.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.03598779 -0.09839461 0.01225944
+v 0.03800346 -0.11335534 0.01455888
+v 0.03954993 -0.11335535 0.01743326
+v 0.03964201 -0.11148361 0.01732548
+v 0.04016530 -0.10796567 0.01697817
+v 0.03877377 -0.09839314 0.01356888
+v 0.03598925 -0.09839314 0.01225944
+v 0.03598779 -0.09839308 -0.00235997
+v 0.03598779 -0.11142205 0.00622718
+v 0.03598779 -0.11335531 0.00513731
+v 0.04103793 -0.11335536 0.01771671
+v 0.04303752 -0.11335536 0.01803209
+v 0.04303752 -0.11148362 0.01785844
+v 0.04303752 -0.10743696 0.01709595
+v 0.04303752 -0.10516246 0.01641129
+v 0.04303752 -0.09839314 0.01429745
+v 0.03922982 -0.09839314 0.01372457
+v 0.05092042 -0.09839308 -0.00235997
+v 0.03598779 -0.11335528 -0.00236003
+v 0.04605591 -0.11335535 0.01722367
+v 0.04599452 -0.11148361 0.01715781
+v 0.04567879 -0.10809017 0.01690032
+v 0.04724573 -0.09839314 0.01359283
+v 0.05092042 -0.11335528 -0.00236003
+v 0.05092042 -0.09839313 0.01184425
+v 0.04681014 -0.11335535 0.01569267
+v 0.05092042 -0.11335531 0.00494368
+v 0.04734366 -0.11335534 0.01455888
+v 0.05092042 -0.11141619 0.00599364
+v 0.05092042 -0.11326597 0.00499958
+v 0.05092042 -0.11283538 0.00523113
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+
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_32.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bccda59d69afb511339731f7a99d0cd5f409c7c5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_32.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.05092042 -0.09839313 0.01184338
+v 0.05346769 -0.11335534 0.01439045
+v 0.05405925 -0.11335535 0.01555310
+v 0.05464612 -0.11335535 0.01633348
+v 0.05550301 -0.11335535 0.01679696
+v 0.05722305 -0.11148361 0.01733571
+v 0.05330536 -0.09839314 0.01295849
+v 0.05092042 -0.09839308 -0.00235997
+v 0.05092042 -0.11141619 0.00599244
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+v 0.05681411 -0.11335535 0.01741097
+v 0.05884163 -0.11335536 0.01770410
+v 0.06115790 -0.11335536 0.01787444
+v 0.06115790 -0.11148361 0.01762489
+v 0.05808150 -0.10824395 0.01695147
+v 0.05634118 -0.09839314 0.01375670
+v 0.06686585 -0.09839308 -0.00235997
+v 0.05092042 -0.11335528 -0.00236003
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+v 0.06378946 -0.11148361 0.01691383
+v 0.06351943 -0.10895720 0.01669795
+v 0.06115790 -0.10829667 0.01692572
+v 0.06115790 -0.09839314 0.01428554
+v 0.05657998 -0.09839314 0.01379631
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+v 0.06512240 -0.11335534 0.01455881
+v 0.06686585 -0.11123459 0.00630341
+v 0.06686585 -0.11335530 0.00288279
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+f 28 30 34
+f 28 34 35
+f 29 33 32
+f 34 36 35
+
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_33.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efec3427a23c530fd8ae33d7630b893d41a66d74
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_33.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.01576466 -0.09839313 0.01177035
+v -0.01443237 -0.11335534 0.01468309
+v -0.01395655 -0.11335535 0.01689846
+v -0.01391971 -0.11272996 0.01686917
+v -0.01474242 -0.09839314 0.01290538
+v -0.01576466 -0.09839308 -0.00235997
+v -0.01576466 -0.11335531 0.00501282
+v -0.01343008 -0.11335535 0.01708405
+v -0.01154675 -0.11132250 0.01728919
+v -0.01018222 -0.10831717 0.01691802
+v -0.01167722 -0.09839314 0.01356570
+v -0.00008410 -0.09839308 -0.00235997
+v -0.01576466 -0.11335528 -0.00236003
+v -0.01145312 -0.11335535 0.01759589
+v -0.00789215 -0.10831717 0.01691802
+v -0.00679930 -0.09839314 0.01399939
+v -0.01146540 -0.09839314 0.01358523
+v -0.00008410 -0.11335528 -0.00236003
+v -0.00008410 -0.09839313 0.01197547
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+v -0.00487146 -0.11039835 0.01642180
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+v -0.00654911 -0.11174284 0.01715830
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+v -0.00008410 -0.11170180 0.00714615
+v -0.00459825 -0.11335535 0.01667575
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+
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_34.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4628af0216d17d9ad453b076deb06f1f1d6d0d82
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_34.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.00008410 -0.09839313 0.01197569
+v 0.00425118 -0.11335535 0.01690000
+v 0.00429001 -0.11250296 0.01686257
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+v 0.00767376 -0.10783386 0.01709313
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+v -0.00008410 -0.09839308 -0.00235997
+v -0.00008410 -0.11170180 0.00714585
+v 0.00489362 -0.11335535 0.01717193
+v -0.00008410 -0.11335531 0.00614678
+v 0.00641477 -0.11118483 0.01746753
+v 0.00658468 -0.11335536 0.01776901
+v 0.01050246 -0.10783386 0.01709313
+v 0.01132291 -0.09839314 0.01432654
+v 0.00662029 -0.09839314 0.01376494
+v 0.00641315 -0.09839314 0.01373735
+v 0.01644789 -0.09839308 -0.00235997
+v -0.00008410 -0.11335528 -0.00236003
+v 0.01155108 -0.11335535 0.01766457
+v 0.01173556 -0.11116872 0.01741038
+v 0.01352210 -0.10944197 0.01656503
+v 0.01546076 -0.09839314 0.01346344
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+v 0.01644789 -0.09839313 0.01197175
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+v 0.01388459 -0.11247659 0.01676601
+v 0.01644789 -0.11335531 0.00519895
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+v 0.01479728 -0.11335534 0.01476788
+v 0.01644789 -0.10683353 0.01043470
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+
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_4.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0dca67738116e0c4044d2576aab5930daa4d249
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_4.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v -0.05670955 0.10083756 -0.01151672
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+v 0.10226904 0.10685638 -0.00720734
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+
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_5.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd53b715d41cd76aae0ec6ac44fb152c05babd5d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_5.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.11529812 -0.11883693 -0.01022962
+v -0.13436005 -0.11339380 -0.00236003
+v -0.11439325 -0.11883692 -0.01338897
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diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_6.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79fa7c80b37cf1d7f9eafaf3dfb28092b9ee5959
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_6.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_7.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9f95576ac170c2a4243511347e14617c7b0b892
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_7.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_8.obj b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf0f70e3b09f7d60467a47619e190d48d58f96d0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/caf3d889a6455cf98348111a4c94a1c4/mjcf/mesh/open_notebook_collision_8.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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