diff --git a/.gitattributes b/.gitattributes
index 35d43aba2ce0c0a9e4e7bfdf4a569202eac84ea7..62c145e3d07db8697a92d52dc9a79bc6bc7bf13b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5296,5 +5296,5 @@ dataset/desktop_supplies/electronic_accessories/250f4492b04e5be2a7c02dee9e908d23
 dataset/desktop_supplies/electronic_accessories/250f4492b04e5be2a7c02dee9e908d23/mesh/remote_control_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/254c14f3ebc85b0386895a944dc23a2f/mesh/mouse_033.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/254c14f3ebc85b0386895a944dc23a2f/mouse_033.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mesh/mouse_039.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/electronic_accessories/28009106325d5d5e9e6085d0f9048823/mouse_039.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mesh/usb_drive_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/usb_drive_004.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mesh/material.mtl b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0dbdcc18d43a928b8bd8d4e5bd64eca92bd9d7b8
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl usb_drive_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 usb_drive_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..87085b98085c2a3087c5df2a2abd96313fc7913d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7138074cf6fed9289f049fde0bd3a8d0776714c913afcce6c0442d80747c049
+size 10658580
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mesh/usb_drive_004.glb b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mesh/usb_drive_004.glb
new file mode 100644
index 0000000000000000000000000000000000000000..08e024f80f392efe08ae032cd0af961da41a0867
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mesh/usb_drive_004.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce1b464e9441059a8139e95916ec944eccef2c3e411ab9fd25208d89c5b749f1
+size 13468352
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mesh/usb_drive_004.mtl b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mesh/usb_drive_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9e7451397f392389c8f1c3cb393e6b9a6b3e7bdf
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mesh/usb_drive_004.mtl
@@ -0,0 +1,6 @@
+newmtl usb_drive_004_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/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mesh/usb_drive_004.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mesh/usb_drive_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad9749ad458ceefd7852fbf285cdd209ceed1e47
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mesh/usb_drive_004.obj
@@ -0,0 +1,97600 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl usb_drive_004_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mesh/usb_drive_004_collision.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mesh/usb_drive_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0465f09530d6fda924afae2cb27fdb5061d56d95
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mesh/usb_drive_004_collision.obj
@@ -0,0 +1,6076 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mesh/usb_drive_004_geometry_Looks_material_0.png b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mesh/usb_drive_004_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..87085b98085c2a3087c5df2a2abd96313fc7913d
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 10658580
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/material_0.png b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..87085b98085c2a3087c5df2a2abd96313fc7913d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7138074cf6fed9289f049fde0bd3a8d0776714c913afcce6c0442d80747c049
+size 10658580
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d57e1256abf3675c6669fe36a91ea8bc28b1ca8
--- /dev/null
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diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..951c606a56f754688a93e740c695cad5d5149fdd
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision.obj
@@ -0,0 +1,6076 @@
+# https://github.com/mikedh/trimesh
+
+o usb_drive_004_collision.obj
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diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_0.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74c1fc9db88719f2b2f1c0b08a15367ae3b0cc90
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_0.obj
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+f 32 48 43
+f 34 36 37
+f 35 49 50
+f 35 50 51
+f 35 51 37
+f 35 37 36
+f 35 43 49
+f 37 51 52
+f 37 52 53
+f 37 53 54
+f 37 54 38
+f 41 55 42
+f 41 56 57
+f 41 57 58
+f 41 58 59
+f 41 59 60
+f 41 60 55
+f 43 48 49
+f 44 61 45
+f 45 61 62
+f 45 62 46
+f 46 62 63
+f 46 63 64
+f 46 64 65
+f 46 65 47
+f 47 66 48
+f 47 65 67
+f 47 67 66
+f 48 66 49
+f 49 66 68
+f 49 68 50
+f 50 68 69
+f 50 69 70
+f 50 70 51
+f 51 70 52
+f 52 70 69
+f 52 69 68
+f 52 68 67
+f 52 67 65
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+f 52 63 62
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+f 56 72 57
+f 57 72 71
+f 57 71 73
+f 61 74 62
+f 66 67 68
+f 71 75 76
+f 71 76 73
+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_1.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41682c641246881ac03dc5c2c59b5fc7b62b594b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_1.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.00002427 -0.02691116 -0.00150493
+v -0.00002427 -0.02686574 -0.00186341
+v 0.00520528 -0.02699090 -0.00150493
+v 0.00520528 -0.02686272 -0.00003512
+v -0.00002427 -0.02681023 -0.00128450
+v -0.00002427 -0.02682334 -0.00219628
+v 0.00119429 -0.02682738 -0.00221521
+v 0.00199686 -0.02682839 -0.00221827
+v 0.00360076 -0.02682940 -0.00222189
+v 0.00440333 -0.02682839 -0.00222356
+v 0.00520528 -0.02681930 -0.00219990
+v 0.00578203 -0.02674461 -0.00208356
+v 0.00588399 -0.02681729 -0.00150493
+v 0.00589838 -0.02682234 -0.00071673
+v 0.00589901 -0.02682234 -0.00003512
+v 0.00580455 -0.02683445 -0.00003512
+v 0.00511145 -0.02683849 -0.00003512
+v -0.00002427 -0.02670021 -0.00104654
+v -0.00002427 -0.02612182 -0.00259762
+v 0.00119429 -0.02621165 -0.00260959
+v 0.00199686 -0.02620762 -0.00261237
+v 0.00440333 -0.02620055 -0.00261738
+v 0.00520528 -0.02620055 -0.00257174
+v 0.00590339 -0.02620055 -0.00221243
+v 0.00622679 -0.02620055 -0.00150493
+v 0.00625306 -0.02620056 -0.00071673
+v 0.00625306 -0.02620056 -0.00003512
+v 0.00473675 -0.02665478 -0.00003512
+v -0.00002427 -0.02620056 -0.00086285
+v -0.00002427 -0.02570393 -0.00262990
+v 0.00077768 -0.02579781 -0.00268890
+v 0.00119429 -0.02579983 -0.00268918
+v 0.00199686 -0.02579478 -0.00268862
+v 0.00259551 -0.02579074 -0.00268807
+v 0.00440333 -0.02537588 -0.00268723
+v 0.00520528 -0.02537588 -0.00264409
+v 0.00593716 -0.02537588 -0.00224999
+v 0.00629247 -0.02537588 -0.00150492
+v 0.00631624 -0.02537589 -0.00071672
+v 0.00626182 -0.02608852 -0.00003512
+v -0.00002427 -0.02537589 -0.00073509
+v -0.00002427 -0.02580387 -0.00080133
+v 0.00191804 -0.02121218 -0.00003510
+v -0.00002427 -0.02537588 -0.00265495
+v 0.00136319 -0.01668003 -0.00285642
+v 0.00440333 -0.01668003 -0.00287841
+v 0.00458474 -0.01668003 -0.00287813
+v 0.00499947 -0.01668003 -0.00285141
+v 0.00516024 -0.01668003 -0.00283388
+v 0.00604226 -0.01668003 -0.00234431
+v 0.00617487 -0.01668003 -0.00206766
+v 0.00634940 -0.01668003 -0.00150489
+v 0.00635065 -0.01668003 -0.00148040
+v 0.00631624 -0.02537589 -0.00003511
+v 0.00636566 -0.01668004 -0.00071669
+v 0.00636629 -0.01668004 -0.00003508
+v 0.00125935 -0.01980005 -0.00003509
+v 0.00119429 -0.01962038 -0.00003509
+v 0.00106230 -0.01896226 -0.00003509
+v 0.00102790 -0.01878461 -0.00003509
+v -0.00002427 -0.01879571 -0.00059452
+v -0.00002427 -0.02288674 -0.00268611
+v -0.00002427 -0.01668003 -0.00271726
+v 0.00462415 -0.01668004 -0.00003508
+v 0.00121869 -0.01837884 -0.00003509
+v -0.00002427 -0.01673960 -0.00080603
+v -0.00002427 -0.01668004 -0.00082162
+v 0.00132253 -0.01818100 -0.00003509
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 18
+f 1 18 29
+f 1 29 42
+f 1 42 41
+f 1 41 61
+f 1 61 66
+f 1 66 67
+f 1 67 63
+f 1 63 62
+f 1 62 44
+f 1 44 30
+f 1 30 19
+f 1 19 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 4
+f 4 16 15
+f 4 15 27
+f 4 27 40
+f 4 40 54
+f 4 54 56
+f 4 56 64
+f 4 64 68
+f 4 68 65
+f 4 65 60
+f 4 60 59
+f 4 59 58
+f 4 58 57
+f 4 57 43
+f 4 43 28
+f 4 28 17
+f 4 17 18
+f 4 18 5
+f 6 19 20
+f 6 20 7
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+f 8 20 9
+f 9 20 10
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 22 23
+f 11 23 12
+f 12 23 24
+f 12 24 25
+f 12 25 13
+f 13 25 26
+f 13 26 14
+f 14 26 15
+f 15 26 27
+f 17 28 18
+f 18 28 29
+f 19 30 31
+f 19 31 20
+f 20 31 21
+f 21 31 32
+f 21 32 22
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 23
+f 23 36 24
+f 24 36 37
+f 24 37 38
+f 24 38 25
+f 25 38 26
+f 26 38 39
+f 26 39 40
+f 26 40 27
+f 28 41 42
+f 28 42 29
+f 28 43 41
+f 30 44 31
+f 31 44 45
+f 31 45 46
+f 31 46 32
+f 32 46 33
+f 33 46 34
+f 34 46 47
+f 34 47 35
+f 35 47 36
+f 36 47 48
+f 36 48 49
+f 36 49 37
+f 37 49 50
+f 37 50 51
+f 37 51 38
+f 38 51 52
+f 38 52 53
+f 38 53 39
+f 39 54 40
+f 39 53 55
+f 39 55 56
+f 39 56 54
+f 41 43 57
+f 41 57 58
+f 41 58 59
+f 41 59 60
+f 41 60 61
+f 44 62 45
+f 45 63 67
+f 45 67 64
+f 45 64 56
+f 45 56 55
+f 45 55 53
+f 45 53 52
+f 45 52 51
+f 45 51 50
+f 45 50 49
+f 45 49 48
+f 45 48 47
+f 45 47 46
+f 45 62 63
+f 60 65 66
+f 60 66 61
+f 64 67 68
+f 65 68 66
+f 66 68 67
+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_10.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5e8174a1025b1a6f15baa896baea94181ad5653
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_10.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.00666747 -0.01641296 0.00091100
+v -0.00666028 -0.01641297 0.00164921
+v -0.00403340 -0.01641296 0.00091100
+v -0.00633658 -0.02537658 0.00091097
+v -0.00633004 -0.02537659 0.00164918
+v -0.00635750 -0.01641297 0.00243758
+v -0.00604165 -0.02537659 0.00243755
+v 0.00001186 -0.01641296 0.00115393
+v -0.00121296 -0.01705780 0.00091100
+v -0.00627968 -0.02614770 0.00091096
+v -0.00627576 -0.02620049 0.00091096
+v -0.00626726 -0.02620050 0.00164917
+v -0.00592067 -0.01641297 0.00298481
+v -0.00569245 -0.02537659 0.00287573
+v -0.00590563 -0.02627606 0.00251501
+v -0.00567021 -0.02605248 0.00286095
+v 0.00001186 -0.01799039 0.00095487
+v -0.00012154 -0.01800178 0.00091099
+v -0.00045113 -0.01761156 0.00091100
+v -0.00108872 -0.01713647 0.00091100
+v 0.00001186 -0.01641297 0.00317960
+v -0.00591936 -0.02682670 0.00091096
+v -0.00591413 -0.02682464 0.00164917
+v -0.00581408 -0.02675218 0.00230387
+v -0.00528112 -0.01641297 0.00316214
+v -0.00522357 -0.02537659 0.00296149
+v -0.00522357 -0.01641297 0.00317289
+v -0.00561136 -0.02660107 0.00282960
+v -0.00529551 -0.02627606 0.00289789
+v 0.00001186 -0.01845824 0.00092017
+v -0.00002345 -0.01842822 0.00091099
+v -0.00442119 -0.01641297 0.00319841
+v -0.00121296 -0.02537659 0.00300605
+v 0.00001186 -0.02537659 0.00296440
+v -0.00587555 -0.02683705 0.00091096
+v -0.00522357 -0.02698714 0.00164917
+v -0.00529551 -0.02680394 0.00251501
+v -0.00442119 -0.02620050 0.00295320
+v -0.00442119 -0.02537659 0.00300426
+v -0.00507644 -0.02664247 0.00285557
+v 0.00001186 -0.02537658 0.00092015
+v -0.00005353 -0.01874702 0.00091099
+v -0.00361881 -0.02537659 0.00300537
+v -0.00281773 -0.02537659 0.00300560
+v -0.00361881 -0.02620050 0.00295208
+v -0.00201535 -0.02620050 0.00294984
+v -0.00121296 -0.02620050 0.00294760
+v 0.00001186 -0.02626156 0.00289655
+v -0.00522357 -0.02690226 0.00091096
+v -0.00442119 -0.02687950 0.00243754
+v 0.00001186 -0.02687225 0.00164917
+v -0.00121296 -0.02686915 0.00243754
+v -0.00201535 -0.02687225 0.00243754
+v -0.00442119 -0.02665696 0.00286654
+v 0.00001186 -0.02620049 0.00106836
+v -0.00517257 -0.02689708 0.00091096
+v -0.00450228 -0.02668697 0.00091096
+v -0.00449443 -0.02668386 0.00091096
+v -0.00410926 -0.02634332 0.00091096
+v -0.00398632 -0.02620049 0.00091096
+v -0.00016078 -0.01904408 0.00091099
+v -0.00201535 -0.02665075 0.00286251
+v -0.00121296 -0.02664764 0.00286005
+v -0.00060088 -0.02663419 0.00284953
+v 0.00001186 -0.02651722 0.00283788
+v 0.00001186 -0.02665074 0.00122890
+v 0.00001186 -0.02676771 0.00145057
+v 0.00001186 -0.02683395 0.00213281
+v 0.00001186 -0.02680394 0.00251165
+v 0.00001186 -0.02643855 0.00115300
+v 0.00001186 -0.02659485 0.00279982
+v 0.00001186 -0.02657726 0.00282400
+f 1 2 6
+f 1 6 13
+f 1 13 25
+f 1 25 27
+f 1 27 32
+f 1 32 21
+f 1 21 8
+f 1 8 3
+f 1 3 9
+f 1 9 20
+f 1 20 19
+f 1 19 18
+f 1 18 31
+f 1 31 42
+f 1 42 61
+f 1 61 60
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+f 1 59 58
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+f 1 57 56
+f 1 56 49
+f 1 49 35
+f 1 35 22
+f 1 22 11
+f 1 11 10
+f 1 10 4
+f 1 4 5
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+f 3 8 9
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+f 5 11 12
+f 5 12 7
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+f 7 15 16
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+f 8 34 48
+f 8 48 65
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+f 8 70 55
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+f 8 41 30
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+f 14 26 27
+f 14 27 25
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+f 15 28 16
+f 16 28 29
+f 16 29 26
+f 17 30 31
+f 17 31 18
+f 21 32 33
+f 21 33 34
+f 22 35 23
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+f 23 36 24
+f 24 36 37
+f 24 37 28
+f 26 29 38
+f 26 38 39
+f 26 39 27
+f 27 39 32
+f 28 37 40
+f 28 40 29
+f 29 40 38
+f 30 41 31
+f 31 41 42
+f 32 39 43
+f 32 43 44
+f 32 44 33
+f 33 44 38
+f 33 38 45
+f 33 45 46
+f 33 46 47
+f 33 47 34
+f 34 47 48
+f 35 49 36
+f 36 50 37
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+f 36 51 52
+f 36 52 53
+f 36 53 50
+f 37 50 40
+f 38 40 54
+f 38 54 45
+f 38 44 43
+f 38 43 39
+f 40 50 54
+f 41 55 56
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+f 41 57 58
+f 41 58 59
+f 41 59 60
+f 41 60 61
+f 41 61 42
+f 45 54 46
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+f 46 62 47
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+f 47 63 64
+f 47 64 48
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+f 49 56 66
+f 49 66 67
+f 49 67 51
+f 50 53 54
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+f 52 68 69
+f 52 69 63
+f 52 63 62
+f 52 62 53
+f 53 62 54
+f 55 70 56
+f 56 70 66
+f 63 69 64
+f 64 71 72
+f 64 72 65
+f 64 69 71
+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_11.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13e2c036f44c1b35affaed5571f698c3090f7078
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_11.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00420631 -0.01641296 0.00083252
+v 0.00001252 -0.01631063 0.00115368
+v 0.00001252 -0.01641296 0.00115403
+v -0.00420631 -0.01641297 0.00319661
+v -0.00420631 -0.01548738 0.00089598
+v 0.00001252 -0.00453504 0.00170191
+v 0.00001252 -0.01548738 0.00117801
+v 0.00001252 -0.01641297 0.00317969
+v 0.00001252 -0.01510019 0.00442519
+v -0.00041036 -0.01510019 0.00442519
+v -0.00420631 -0.01510019 0.00442484
+v -0.00420631 -0.00453504 0.00168499
+v 0.00001252 -0.00453505 0.00442559
+v 0.00001252 -0.01486995 0.00442979
+v 0.00001252 -0.01466298 0.00443366
+v -0.00420631 -0.01498274 0.00442696
+v -0.00420631 -0.00453505 0.00442136
+v -0.00097901 -0.00453505 0.00442946
+v -0.00041036 -0.00559901 0.00443123
+v 0.00001252 -0.00559901 0.00442946
+v -0.00420631 -0.01466298 0.00443225
+v -0.00201513 -0.00453505 0.00443299
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 11
+f 1 11 16
+f 1 16 21
+f 1 21 17
+f 1 17 12
+f 1 12 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 6
+f 2 6 13
+f 2 13 20
+f 2 20 15
+f 2 15 14
+f 2 14 9
+f 2 9 8
+f 2 8 3
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 5 12 6
+f 6 12 17
+f 6 17 22
+f 6 22 18
+f 6 18 13
+f 9 14 10
+f 10 14 11
+f 11 14 15
+f 11 15 16
+f 13 18 19
+f 13 19 20
+f 15 21 16
+f 15 20 19
+f 15 19 22
+f 15 22 21
+f 17 21 22
+f 18 22 19
+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_12.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b4466d797177ce6ad06af46ef3945d6311ed6f5
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_12.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.00001293 -0.01661866 0.00115476
+v 0.00001293 -0.01661867 0.00312919
+v 0.00001293 -0.01631135 0.00115370
+v 0.00425009 -0.01661866 0.00084838
+v 0.00249989 -0.01661867 0.00313691
+v 0.00001293 -0.01510093 0.00442525
+v 0.00425009 -0.01631135 0.00084873
+v 0.00001293 -0.01548707 0.00117792
+v 0.00425009 -0.01548707 0.00087014
+v 0.00425009 -0.01661867 0.00314148
+v 0.00410407 -0.01661867 0.00314183
+v 0.00039209 -0.01510093 0.00442525
+v 0.00001293 -0.01486998 0.00442982
+v 0.00001293 -0.01022472 0.00170436
+v 0.00425009 -0.01541510 0.00087821
+v 0.00425009 -0.01509592 0.00442209
+v 0.00039209 -0.01466282 0.00443368
+v 0.00001293 -0.01466282 0.00443333
+v 0.00001293 -0.01022473 0.00442316
+v 0.00425009 -0.01022472 0.00169594
+v 0.00425009 -0.01474543 0.00442807
+v 0.00425009 -0.01466282 0.00442947
+v 0.00425009 -0.01022473 0.00442070
+v 0.00039209 -0.01022473 0.00442316
+f 1 2 6
+f 1 6 13
+f 1 13 18
+f 1 18 19
+f 1 19 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 3 8 9
+f 3 9 7
+f 4 7 9
+f 4 9 15
+f 4 15 20
+f 4 20 23
+f 4 23 22
+f 4 22 21
+f 4 21 16
+f 4 16 10
+f 5 11 6
+f 6 12 13
+f 6 11 12
+f 8 14 9
+f 9 14 15
+f 10 16 11
+f 11 16 12
+f 12 16 17
+f 12 17 13
+f 13 17 18
+f 14 19 24
+f 14 24 23
+f 14 23 20
+f 14 20 15
+f 16 21 17
+f 17 21 22
+f 17 22 23
+f 17 23 24
+f 17 24 19
+f 17 19 18
+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_13.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87919415ad43f7cfda8ce976c87d876f7139766a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_13.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.00516565 0.02259484 -0.00156266
+v -0.00522403 0.02258353 -0.00156266
+v -0.00522403 0.02258353 -0.00150494
+v -0.00522403 0.02258101 -0.00003494
+v -0.00435354 0.02258939 -0.00156266
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+v -0.00602611 0.02229825 -0.00003494
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_14.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7d46e5ae70bba139eb8ee6d1844bb3457515d8c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_14.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_15.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a66fa10afe2b7437790caab90c76a0cf28e7570d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_15.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+v -0.00427524 -0.01709874 -0.00003508
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_16.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c42a0b378705060f6544103a0bfbb78d5d32eb69
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_16.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v -0.00041100 0.02318607 -0.00387077
+v -0.00041100 0.02311286 -0.00465912
+v -0.00121307 0.02316899 -0.00387077
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_17.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c5c8bc98d07a8f16b293b2336b4905da2fa0de0
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_17.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00763055 0.01005883 0.00476789
+v -0.00763055 0.00923422 0.00476788
+v -0.00496350 0.01912484 0.00442892
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+v -0.00763055 0.01912484 0.00476651
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+v -0.00834775 -0.00453389 0.00464699
+v -0.00496350 -0.00368149 0.00442226
+v -0.00496350 -0.00453389 0.00441989
+v -0.00496350 0.01912948 0.00216501
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_18.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aa640917ee4c1c390a98df27466bd35164cb766
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_18.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.00399509 -0.01022472 0.00170892
+v 0.00520132 -0.01022471 -0.00003506
+v 0.00399509 -0.01022473 0.00442068
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_19.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25d54bbce2163db6d71f524a54c712b521a94326
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_19.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00445996 -0.01252143 -0.00156279
+v -0.00518170 -0.01252144 -0.00003507
+v -0.00362281 -0.01363191 -0.00156279
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+v -0.00634667 -0.01709730 -0.00003508
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_2.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94fad4d641b9b44ddc62b809f519fbbbab8b9322
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_2.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
+v 0.00761183 0.01912567 -0.00541666
+v 0.00440348 0.02159758 -0.00538188
+v 0.00520535 0.02159758 -0.00538504
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+v -0.00002427 0.02159758 -0.00529865
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+v 0.00039239 0.02242155 -0.00530602
+v 0.00119513 0.02242155 -0.00529760
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+v 0.00440348 0.02229271 -0.00526915
+v 0.00520535 0.02218454 -0.00520646
+v 0.00602294 0.02164451 -0.00526546
+v 0.00680996 0.02136057 -0.00517064
+v 0.00741180 0.02077361 -0.00517433
+v 0.00813768 0.01978182 -0.00515379
+v 0.00826259 0.01912567 -0.00524176
+v 0.00866440 0.01912368 -0.00481559
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+v -0.00002427 0.02131683 -0.00520909
+v -0.00002427 0.02289160 -0.00511954
+v 0.00039239 0.02289160 -0.00512007
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+v 0.00252022 0.02284467 -0.00506633
+v 0.00305480 0.02281365 -0.00502577
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+v 0.00440348 0.02270469 -0.00479978
+v 0.00723099 0.02120389 -0.00506739
+v 0.00630071 0.02195031 -0.00497256
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+v 0.00365315 0.01912368 -0.00452849
+v -0.00002427 0.01993850 -0.00387052
+v -0.00002427 0.02315088 -0.00424980
+v 0.00039239 0.02318546 -0.00387050
+v 0.00119513 0.02316876 -0.00387050
+v -0.00002427 0.02318586 -0.00387050
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+v 0.00484722 0.02284586 -0.00420714
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+v 0.00850629 0.01994962 -0.00003495
+v 0.00872816 0.01942907 -0.00003495
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+v -0.00002427 0.02275638 -0.00196353
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_20.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4687d81912942d57707a5ac91f0abe5abfd7b02
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_20.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.00281680 -0.01362128 -0.00156279
+v -0.00362227 -0.01363183 -0.00156279
+v -0.00362227 -0.01496661 -0.00104657
+v -0.00002462 -0.01362536 -0.00156279
+v -0.00362227 -0.01709774 -0.00156280
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+v -0.00002462 -0.01709774 -0.00156280
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+v -0.00002462 -0.01709775 -0.00080424
+v -0.00127843 -0.01709775 -0.00055669
+v -0.00002462 -0.01673904 -0.00080597
+v -0.00037364 -0.01709775 -0.00070933
+f 1 2 3
+f 1 3 4
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+f 1 5 2
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+f 3 7 4
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+f 5 9 6
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+f 7 9 11
+f 7 11 10
+f 10 13 14
+f 10 11 13
+f 12 14 15
+f 13 15 14
+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_21.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afbf6d3ef83ae000804a198c54cbefa3bfcf09a3
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_21.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00666918 -0.01992318 -0.00006200
+v -0.00666918 -0.01992318 0.00093800
+v -0.00666918 -0.01641330 -0.00006200
+v -0.00666918 -0.01641330 0.00093800
+v -0.00002293 -0.01992318 -0.00006200
+v -0.00002293 -0.01992318 0.00093800
+v -0.00002293 -0.01641330 -0.00006200
+v -0.00002293 -0.01641330 0.00093800
+f 2 4 1
+f 5 2 1
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+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_22.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deab3dceedc6201dba22e2775e667334391e31d2
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_22.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.00919085 -0.01383651 -0.00387082
+v -0.00903903 -0.01301234 -0.00461924
+v -0.00903408 -0.01383650 -0.00459669
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+v -0.00899473 0.01829883 -0.00457992
+v -0.00877723 0.01829883 -0.00497426
+v -0.00837601 0.01829883 -0.00528807
+v -0.00840637 0.01747466 -0.00529989
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+v -0.00850118 -0.01535269 -0.00391647
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+v -0.00907652 0.01747465 -0.00269092
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+v -0.00824527 0.01931077 -0.00521640
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+v -0.00602631 0.01931077 -0.00517694
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_23.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29bdeee36abe1853713bd432071d1b9abbfbfb64
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_23.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.00915764 -0.01383636 -0.00156279
+v -0.00915586 -0.01383636 -0.00229356
+v -0.00912278 -0.01425162 -0.00269103
+v -0.00909059 -0.01466030 -0.00269103
+v -0.00908880 -0.01466030 -0.00156279
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+v -0.00915139 -0.01383636 -0.00269103
+v -0.00900030 -0.01490748 -0.00269103
+v -0.00907718 -0.01469655 -0.00156279
+v -0.00914960 0.01088173 -0.00156270
+v -0.00912278 0.01582535 -0.00229345
+v -0.00911384 0.01500141 -0.00269092
+v -0.00913082 0.01088173 -0.00229347
+v -0.00891089 -0.01514807 -0.00269104
+v -0.00891089 -0.01514807 -0.00229357
+v -0.00891000 -0.01514477 -0.00156280
+v -0.00914692 0.01170567 -0.00156270
+v -0.00912010 0.01664929 -0.00229345
+v -0.00911026 0.01664929 -0.00269092
+v -0.00843259 -0.01549742 -0.00269104
+v -0.00843259 -0.01549412 -0.00156280
+v -0.00912367 0.01658996 -0.00156268
+v -0.00912278 0.01664929 -0.00156268
+v -0.00910937 0.01694590 -0.00156268
+v -0.00910758 0.01694590 -0.00201327
+v -0.00910579 0.01694590 -0.00229345
+v -0.00910043 0.01694590 -0.00254956
+v -0.00909685 0.01694590 -0.00269092
+v -0.00763065 -0.01582369 -0.00269104
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+v -0.00335362 0.01694590 -0.00200775
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+v -0.00442199 -0.01672343 -0.00268761
+v -0.00265003 -0.01672343 -0.00269104
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_24.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e19f09717151ce7a5dfe159e17e3a8b984658372
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_24.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.00361958 -0.00312557 0.00443491
+v -0.00496332 -0.00368149 0.00442227
+v -0.00496332 -0.00453389 0.00442003
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+v -0.00319333 -0.00394786 0.00443045
+v -0.00319333 -0.00312557 0.00443379
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+v -0.00496332 0.01663713 0.00442903
+v -0.00496332 -0.00453388 0.00144805
+v -0.00319333 -0.00453389 0.00442561
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+v -0.00319333 0.01500414 0.00442606
+v -0.00496332 0.01912947 0.00442867
+v -0.00496332 0.01876813 0.00442904
+v -0.00496332 0.01665105 0.00072075
+v -0.00319333 -0.00453388 0.00171789
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+v -0.00476631 0.01912484 0.00442384
+v -0.00496332 0.01912717 0.00063787
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+v -0.00319333 0.01606500 0.00439075
+v -0.00436137 0.01912947 0.00426327
+v -0.00442531 0.01912949 0.00100621
+v -0.00393321 0.01912949 0.00123034
+v -0.00392922 0.01912949 0.00123257
+v -0.00319333 0.01646806 0.00122401
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+v -0.00319333 0.01664872 0.00406924
+v -0.00329972 0.01912948 0.00322628
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+v -0.00367122 0.01912948 0.00386446
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+v -0.00323578 0.01912948 0.00243794
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+v -0.00319333 0.01742237 0.00243793
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_25.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd285a83cfde615ef4a0022b6c5906f8feaf6bf7
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_25.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.00450911 0.00099701 -0.00155464
+v 0.00450911 0.00938314 -0.00155673
+v 0.00268891 0.00911811 -0.00169023
+v 0.00268891 -0.00724508 -0.00168640
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+v 0.00268891 0.01571236 -0.00173223
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+v 0.00268891 0.01582759 -0.00174353
+v 0.00279885 -0.00889292 -0.00516208
+v 0.00440327 -0.00394939 -0.00516100
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+v 0.00440327 -0.00806900 -0.00515996
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+v 0.00268891 -0.00889292 -0.00516208
+v 0.00450911 -0.00817847 -0.00515960
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+v 0.00268891 0.01702026 -0.00369522
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+v 0.00268891 0.01703178 -0.00293411
+v 0.00268891 0.01679267 -0.00227472
+v 0.00279885 0.00840943 -0.00516131
+v 0.00268891 0.01659967 -0.00465234
+v 0.00333342 0.01912328 -0.00398552
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_26.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b1174807e155b7129dc76b17875149b9132fd02
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_26.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00002427 -0.01014401 -0.00168480
+v -0.00002427 -0.01030742 -0.00168480
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_27.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3152115e98b6f9a46eae11b1478d378f931c667d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_27.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.00001252 -0.01022472 0.00170450
+v 0.00039222 -0.01022472 0.00170450
+v 0.00001252 -0.01022473 0.00442301
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+v 0.00360096 -0.00312497 0.00443399
+v 0.00001252 0.00346806 0.00443658
+v 0.00001252 0.01640752 0.00142963
+v 0.00391751 0.01745895 0.00123644
+v 0.00399509 0.01745894 0.00405315
+v 0.00399509 -0.00312497 0.00443012
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_28.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eb7197cb13ca152a5f684e3dcb7dd9ec5b023bd
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_28.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00633801 -0.02690243 -0.00006202
+v -0.00633801 -0.02690243 0.00093798
+v -0.00633801 -0.01992319 -0.00006202
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+v -0.00231079 -0.02690243 0.00093798
+v -0.00231079 -0.01992319 -0.00006202
+v -0.00231079 -0.01992319 0.00093798
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_29.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cd2e3c8ad5004801c152811229f6d1aac7332f1
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_29.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.00602600 0.01931056 -0.00517701
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_3.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c62b6a9363a3da2ceda84094234ebfbeab6a14f6
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_3.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v 0.00376137 0.02159745 -0.00003494
+v 0.00386824 0.02204883 -0.00003494
+v 0.00387849 0.02104139 -0.00003494
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_30.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13ba406f9faf6d7db577815732e7c19282d43054
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_30.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.00041049 0.00346784 0.00443697
+v -0.00281708 0.00429315 0.00443444
+v -0.00281708 -0.00394929 0.00443441
+v -0.00201467 -0.00453389 0.00443282
+v 0.00001252 0.00346784 0.00443633
+v 0.00001252 0.01500295 0.00443448
+v -0.00041049 0.01500295 0.00443416
+v -0.00319333 0.00511632 0.00443159
+v -0.00319333 -0.00312397 0.00443378
+v -0.00121258 0.01500295 0.00443321
+v -0.00319333 0.01500295 0.00442625
+v -0.00319333 -0.00394929 0.00443029
+v -0.00319333 -0.00422224 0.00442870
+v -0.00319333 -0.00433615 0.00442775
+v -0.00319333 -0.00453389 0.00442585
+v -0.00281708 -0.00453389 0.00442838
+v -0.00178089 -0.00453389 0.00443218
+v 0.00001252 -0.00312397 0.00442903
+v 0.00001252 0.01525872 0.00443036
+v -0.00041049 0.01548869 0.00442656
+v -0.00319333 0.01568212 0.00442181
+v -0.00319333 -0.00453388 0.00171810
+v -0.00097911 -0.00453389 0.00442965
+v 0.00001252 -0.00351513 0.00442808
+v 0.00001252 0.01548869 0.00442656
+v -0.00319333 0.01606469 0.00439077
+v -0.00305086 -0.00453388 0.00171652
+v -0.00319333 0.01580895 0.00122661
+v 0.00001252 -0.00453389 0.00442553
+v 0.00001252 0.01570576 0.00435245
+v 0.00001252 0.01590135 0.00428562
+v -0.00319333 0.01664930 0.00406929
+v -0.00281708 -0.00453388 0.00171398
+v -0.00319333 0.01611200 0.00122503
+v -0.00121258 0.01582829 0.00120507
+v 0.00001252 -0.00453388 0.00170195
+v 0.00001252 0.01646232 0.00389160
+v -0.00319333 0.01715223 0.00368287
+v -0.00224846 -0.00453388 0.00170923
+v -0.00319333 0.01646663 0.00122408
+v -0.00041049 0.01582829 0.00120159
+v -0.00201467 -0.00453388 0.00170733
+v 0.00001252 0.01582829 0.00120127
+v -0.00041049 -0.00453388 0.00170195
+v 0.00001252 0.01660417 0.00354066
+v -0.00319333 0.01734567 0.00322615
+v -0.00319333 0.01669230 0.00130168
+v 0.00001252 0.01627964 0.00123231
+v -0.00121258 -0.00453388 0.00170385
+v 0.00001252 0.01673097 0.00322615
+v -0.00319333 0.01739510 0.00281154
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+v -0.00319333 0.01742304 0.00243811
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+v 0.00001252 0.01655044 0.00164945
+v 0.00001252 0.01677826 0.00243811
+v -0.00319333 0.01733922 0.00208021
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+f 57 59 58
+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_31.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04ac016081857cc8523c7675b90b4143e1987542
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_31.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.00399509 0.01745895 0.00121308
+v 0.00391779 0.01745895 0.00123639
+v 0.00399509 0.01965946 0.00105865
+v 0.00399509 0.01745894 0.00405341
+v 0.00354203 0.01745894 0.00162049
+v 0.00294527 0.01965945 0.00161180
+v 0.00338773 0.01965946 0.00131937
+v 0.00399509 0.01965944 0.00423335
+v 0.00358192 0.01965945 0.00408326
+v 0.00298922 0.01965945 0.00377436
+v 0.00364520 0.01745894 0.00385235
+v 0.00288339 0.01965945 0.00170285
+v 0.00321894 0.01745894 0.00243809
+v 0.00240305 0.01965945 0.00243810
+v 0.00254800 0.01965945 0.00322619
+v 0.00362525 0.01745894 0.00383744
+v 0.00328315 0.01745894 0.00322618
+v 0.00252587 0.01965945 0.00312519
+v 0.00333007 0.01745894 0.00335079
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 11
+f 1 11 16
+f 1 16 19
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+f 1 17 13
+f 1 13 5
+f 1 5 2
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+f 10 15 16
+f 10 16 11
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+f 15 17 19
+f 15 19 16
+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_32.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a943a5cd7a8b967e58adb9e274d39fa2f1a99df
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_32.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.00274006 0.01966411 -0.00269091
+v -0.00002427 0.02001102 -0.00269091
+v -0.00002427 0.02011624 -0.00229349
+v -0.00274006 0.01982194 -0.00227193
+v -0.00274006 0.02294181 -0.00269090
+v -0.00002427 0.02302270 -0.00269090
+v -0.00002427 0.02034247 -0.00188715
+v -0.00274006 0.01984693 -0.00223680
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+v -0.00252234 0.02295727 -0.00269090
+v -0.00041053 0.02302336 -0.00269090
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+v -0.00002427 0.02077356 -0.00178911
+v -0.00274006 0.02077356 -0.00172911
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+v -0.00274006 0.02291551 -0.00248571
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+v -0.00274006 0.02271131 -0.00206414
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_33.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a3da58b27a25786923da3b5b4f1d47d2216ae64
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_33.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00602600 -0.01621469 -0.00269104
+v -0.00602600 -0.01558342 -0.00465912
+v -0.00597842 -0.01625834 -0.00269104
+v -0.00602600 -0.01303488 -0.00269103
+v -0.00287387 -0.01715151 -0.00269104
+v -0.00522299 -0.01667135 -0.00269104
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+v -0.00602600 -0.01522750 -0.00517079
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+v -0.00602600 0.01714481 -0.00269117
+v -0.00002486 -0.01557335 -0.00465912
+v -0.00002486 -0.01670828 -0.00269104
+v -0.00002486 -0.01522414 -0.00516928
+v -0.00602600 -0.01466339 -0.00526475
+v -0.00002486 -0.01466339 -0.00526299
+v -0.00002486 0.01665793 -0.00269117
+v -0.00300369 0.01714481 -0.00269117
+v -0.00602600 0.01714482 -0.00515732
+v -0.00522299 0.01714482 -0.00516060
+v -0.00002486 0.01500256 -0.00516009
+v -0.00002486 0.01677881 -0.00308242
+v -0.00285449 0.01714481 -0.00308242
+v -0.00488757 0.01714482 -0.00514447
+v -0.00002486 0.01561032 -0.00510870
+v -0.00002486 0.01672844 -0.00387071
+v -0.00314409 0.01714482 -0.00428161
+v -0.00296081 0.01714481 -0.00387071
+v -0.00454980 0.01714482 -0.00511374
+v -0.00002486 0.01582521 -0.00502984
+v -0.00002486 0.01660422 -0.00420351
+v -0.00394475 0.01714482 -0.00489657
+v -0.00336261 0.01714482 -0.00455974
+v -0.00317464 0.01714482 -0.00432847
+v -0.00431542 0.01714482 -0.00505353
+v -0.00002486 0.01602332 -0.00495653
+v -0.00002486 0.01646319 -0.00456226
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_34.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f583fa8ac1ec2542837cb966b823d25ee16def0
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_34.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.00274006 0.02294135 -0.00269090
+v -0.00274006 0.02292081 -0.00252325
+v -0.00274006 0.01966454 -0.00269091
+v -0.00281738 0.02293607 -0.00269090
+v -0.00281738 0.02290848 -0.00246384
+v -0.00274006 0.02291083 -0.00245831
+v -0.00274006 0.01982184 -0.00227190
+v -0.00274754 0.01694649 -0.00269092
+v -0.00343531 0.02289381 -0.00269090
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+v -0.00435315 0.02258919 -0.00156266
+v -0.00274006 0.01984708 -0.00223678
+v -0.00274006 0.02024560 -0.00186107
+v -0.00289345 0.01694649 -0.00235728
+v -0.00909703 0.01694649 -0.00269092
+v -0.00401894 0.02284333 -0.00269090
+v -0.00405074 0.02283922 -0.00265953
+v -0.00522424 0.02258332 -0.00156266
+v -0.00274006 0.02271127 -0.00206416
+v -0.00358309 0.02233447 -0.00156266
+v -0.00274006 0.02077325 -0.00172909
+v -0.00335300 0.01694649 -0.00200775
+v -0.00910077 0.01694649 -0.00254956
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+v -0.00405136 0.02283922 -0.00269090
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+v -0.00274006 0.02233916 -0.00178552
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+v -0.00908144 0.01747766 -0.00229345
+v -0.00898604 0.01830170 -0.00269091
+v -0.00522424 0.02258567 -0.00269090
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diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_4.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..491ce1bb2efc7562c8c7204374cc4dec81747575
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_4.obj
@@ -0,0 +1,349 @@
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diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_5.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee99a394d277a97e37c37cddb6b31a13f51af18a
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_5.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_6.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57ea21d3ed8b9045d7d8e2352e6e1d2e98619391
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_6.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.00409207 -0.01658024 -0.00070971
+v -0.00002427 -0.01668004 -0.00082159
+v 0.00409207 -0.01668004 -0.00070971
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_7.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ffcbc5b554cb4961ac5459548730dff20a5f5f8
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_7.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.00910737 -0.01030743 -0.00003506
+v 0.00910985 -0.01030743 -0.00015327
+v 0.00520150 -0.01030743 -0.00003506
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_8.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c819d65be77a2b72022582a53ff6922397df88ff
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_8.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.00915500 -0.00230082 -0.00150503
+v -0.00915316 -0.00147678 -0.00156275
+v -0.00915316 -0.00236119 -0.00156275
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+v -0.00898909 0.01831244 -0.00156267
+v -0.00899139 0.01830036 -0.00156267
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+
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_9.obj b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..370f5e9bcd09132f78d2c2b07036a20daeb4eb39
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/mesh/usb_drive_004_collision_9.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.00425099 -0.01661866 0.00084870
+v 0.00425099 -0.01661867 0.00314146
+v 0.00425099 -0.01631135 0.00084870
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+v 0.00761215 -0.01383916 0.00474385
+v 0.00761215 -0.01301551 0.00476832
+v 0.00425099 -0.01474543 0.00442808
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+v 0.00520584 -0.01661867 0.00311181
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diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/usb_drive_004.xml b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/usb_drive_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e5c508bb2fea9b2dccd29022c4e3f882c0a3904c
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/mjcf/usb_drive_004.xml
@@ -0,0 +1,84 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="usb_drive_004">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/usb_drive_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/usb_drive_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/usb_drive_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/usb_drive_004_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/usb_drive_004_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/usb_drive_004_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/usb_drive_004_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/usb_drive_004_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/usb_drive_004_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/usb_drive_004_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/usb_drive_004_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/usb_drive_004_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/usb_drive_004_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/usb_drive_004_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/usb_drive_004_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/usb_drive_004_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/usb_drive_004_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/usb_drive_004_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/usb_drive_004_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/usb_drive_004_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/usb_drive_004_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/usb_drive_004_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/usb_drive_004_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/usb_drive_004_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/usb_drive_004_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/usb_drive_004_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/usb_drive_004_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/usb_drive_004_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/usb_drive_004_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/usb_drive_004_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/usb_drive_004_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/usb_drive_004_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/usb_drive_004_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/usb_drive_004_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/usb_drive_004_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/usb_drive_004_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="usb_drive_004">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/textures/material_0.png b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..87085b98085c2a3087c5df2a2abd96313fc7913d
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7138074cf6fed9289f049fde0bd3a8d0776714c913afcce6c0442d80747c049
+size 10658580
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/usb_drive_004.urdf b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/usb_drive_004.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..11f3fda5601c9a5ff9a0f9056427e6af00cdab5b
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/usb_drive_004.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="usb_drive_004">
+   <link name="usb_drive_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/usb_drive_004.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/usb_drive_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <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>25d9056e31d550689b8f5cd37e5b2a97</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>electronic_accessories</super_category>
+         <category>usb_drive</category>
+         <name>purple usb drive</name>
+         <color>purple</color>
+         <shape>elongated</shape>
+         <material>plastic, metal</material>
+         <description>compact purple usb drive with metallic connector and engraved design</description>
+         <min_height>0.0102</min_height>
+         <max_height>0.0102</max_height>
+         <real_height>0.0102</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260416202642</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/usb_drive_004.usd b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/usb_drive_004.usd
new file mode 100644
index 0000000000000000000000000000000000000000..68b611360c666c6dac8a211d3181e0e4bb4e8d07
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/usb_drive_004.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dc971580e537c8646d39a62176b5cbeffbaaaff291583921edc39b3dda5fb92
+size 4295040
diff --git a/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/video.mp4 b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..940d819da3069786ea16b13c534b29aa8be3e4cb
--- /dev/null
+++ b/dataset/desktop_supplies/electronic_accessories/25d9056e31d550689b8f5cd37e5b2a97/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 260758