diff --git a/.gitattributes b/.gitattributes
index 2dbdb4e7a42574fb69398137f3481b74c323a7d8..7031ff886f56832fa4cb40cb931167de661c4eba 100644
--- a/.gitattributes
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dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/correction_tape_019.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/1e02c22b9c805254b4a81de191ccde3e/mesh/correction_tape_019.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/correction_tape_004.urdf b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/correction_tape_004.urdf
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diff --git a/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mesh/correction_tape_004_collision.obj b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mesh/correction_tape_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c853f2de92659899d7626f55a980195d6763293f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mesh/correction_tape_004_collision.obj
@@ -0,0 +1,8220 @@
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diff --git a/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mesh/correction_tape_004_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mesh/correction_tape_004_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..62ee6ae3a38b16d00a35153ea099bd8928795a12
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mesh/correction_tape_004_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f9214f08731b80f491a767c25ecc30df9d8f49fff61dddcc50691bb4e1b906b
+size 10654225
diff --git a/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b3e80b8b3b4911fafc8ab9e1028880df62faa75
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl correction_tape_004_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 correction_tape_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..62ee6ae3a38b16d00a35153ea099bd8928795a12
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f9214f08731b80f491a767c25ecc30df9d8f49fff61dddcc50691bb4e1b906b
+size 10654225
diff --git a/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/correction_tape_004.xml b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/correction_tape_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..290f6971132113c2eb5aaae1f05a1df6d2d65f73
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/correction_tape_004.xml
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diff --git a/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004.obj b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36fa2fd6aac365c902405131af03deb8366656e1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004.obj
@@ -0,0 +1,117120 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision.obj b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36cb1f55373690438afe56e5c833b303997354af
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision.obj
@@ -0,0 +1,8220 @@
+# https://github.com/mikedh/trimesh
+
+o correction_tape_004_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_0.obj b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..593af78bbe5b1448503ddd250b78f1192265d72e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_0.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_1.obj b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e20a5a1752bee5e62fc0c26b479518e6485fa2f8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_1.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_10.obj b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2897b5bb8af73946991c90345869d0d856db055a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_11.obj b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ad0af481cd6a169340c6244642bb2ce2faa52b7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_11.obj
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diff --git a/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_12.obj b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f29f6249383331434d9568dceb7c4fd3e0a3156
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_12.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.00444515 0.00599864 0.00654233
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+
diff --git a/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_13.obj b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c22c89e19a4122fe8a4bc95ab5e0f6209a2e8d3c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_13.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.00103608 -0.00476858 0.00757203
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+
diff --git a/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_14.obj b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd651f5ef64d930f64b050a3a78a5fa2c923a4e6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_14.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
+v 0.01205772 -0.00460894 0.00493442
+v 0.01639597 -0.00568780 0.00493442
+v 0.01639597 -0.00578192 0.00547041
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+v 0.01205772 0.00453608 0.00756948
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diff --git a/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_15.obj b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db746d0f723ef6ef2ae420aecaea600f329e9a3f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_15.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_2.obj b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d6619b5cdff8ce3a90ffc37f2e5c83889615037
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_2.obj
@@ -0,0 +1,637 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_3.obj b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca344e8aebe06abbc016bb28241bfc0543293ad6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_4.obj b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0015c03b8f5b6e315c8c66c78175995e841dbe33
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_4.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_5.obj b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80510d887b762c55575e3a200961a595e7774206
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_5.obj
@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_6.obj b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0e558322a0dfd4c70d49f4bb53b1310081fd429
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_7.obj b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06b84b0232f439ea752f97bea25e10a302a66cd9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_7.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_8.obj b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c777e1af98ed3cb34fa4e354a506d4c7c027e969
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_8.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_9.obj b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b4444de33e4f782156d0b96359144f1e4b86b1d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/20c5b3280cf05a518149724185ade621/mjcf/mesh/correction_tape_004_collision_9.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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