diff --git a/.gitattributes b/.gitattributes
index 09dc9a6aa05f5bc4238c5646d277fb331c04ecb2..4f61ba65bd2e1156248e1ec49258ee44de51ab9e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5330,3 +5330,4 @@ dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mesh
 dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/sharpener_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/5a6a0ff6a828596d8f3d26428378d4ba/ballpoint_pen_032.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/5a6a0ff6a828596d8f3d26428378d4ba/mesh/ballpoint_pen_032.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/5b16eeb5c8345f0b908f4a9040c1e085.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/5b16eeb5c8345f0b908f4a9040c1e085.urdf b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/5b16eeb5c8345f0b908f4a9040c1e085.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5a4de5082cba5e47c93ca0771a476bbbd69f54d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/5b16eeb5c8345f0b908f4a9040c1e085.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="notebook_12">
+   <link name="notebook_12">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/notebook_12.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/notebook_12_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>0.225000</scale>
+         <version>v0.1.5</version>
+         <category>notebook</category>
+         <description>yellow spiral-bound notebook with metallic rings and hardcover</description>
+         <min_height>0.2</min_height>
+         <max_height>0.25</max_height>
+         <real_height>0.225</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20251014150729</generate_time>
+         <gs_model>mesh/notebook_12_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.651435136795044</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>1</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/5b16eeb5c8345f0b908f4a9040c1e085.usd b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/5b16eeb5c8345f0b908f4a9040c1e085.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f19beed68ac4fd78cb05a050c24f17d3fbdca958
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/5b16eeb5c8345f0b908f4a9040c1e085.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1b18184a00d3976e3ab016cb6e6b691c60d6c722a84a71e1c753ac03b76f4a1
+size 966403
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0c69199673d38ab5121ad579aa9b01caa402ac3256191606f08650a94c4be47
+size 2073642
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mesh/notebook_12.glb b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mesh/notebook_12.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mesh/notebook_12.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43032fd122c1f06ea802722c71eea0ccdd5b0c1e91caa3b44fec87fb6f4078c0
+size 2765396
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mesh/notebook_12.obj b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mesh/notebook_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99eb7c2f3a2062e75abc51119a2bce6e62af4deb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mesh/notebook_12.obj
@@ -0,0 +1,63772 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mesh/notebook_12_collision.obj b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mesh/notebook_12_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d9efececd3c2d708b3199b0a7e5ba0de04645a9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mesh/notebook_12_collision.obj
@@ -0,0 +1,4120 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mesh/notebook_12_gs.ply b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mesh/notebook_12_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..3184bb32bb0500cbb9d5c00d22dd74f906652e0a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mesh/notebook_12_gs.ply
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+version https://git-lfs.github.com/spec/v1
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+size 32483946
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/5b16eeb5c8345f0b908f4a9040c1e085.xml b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/5b16eeb5c8345f0b908f4a9040c1e085.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1b8f2a8da938a4018a3bca8d4e1d74d51ff4445a
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+<?xml version='1.0' encoding='utf-8'?>
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+  <asset>
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+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:a0c69199673d38ab5121ad579aa9b01caa402ac3256191606f08650a94c4be47
+size 2073642
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12.obj b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c5b34a1ca38e01370046e9176b7a07063f4132c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision.obj b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fb05316f7606c3f62750eb15e2f55efeef34ea5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision.obj
@@ -0,0 +1,4120 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_0.obj b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90b8a66484a89ec2a683ee2ba7df4c9e11a6168e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_0.obj
@@ -0,0 +1,604 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_1.obj b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..022e6a527e1cee60f393087d68d60ba8beee1825
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_1.obj
@@ -0,0 +1,907 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_10.obj b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e6db191980390d6f336f7cc2cc6a92399505960
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_10.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.00620006 0.04568034 0.11126877
+v 0.00424498 0.04568034 0.11118666
+v 0.00424498 0.06248792 0.11121956
+v -0.00620006 0.06356162 0.11130168
+v -0.00620006 0.04568096 -0.05646861
+v 0.00424498 0.04568096 -0.05646861
+v 0.00424498 0.06356162 0.11121956
+v -0.00620006 0.06727993 0.11110463
+v -0.00620006 0.07109450 -0.05646852
+v 0.00424498 0.07091965 -0.05646852
+v 0.00424498 0.06620624 0.11100608
+v 0.00424498 0.06727993 0.11089114
+v -0.00620006 0.07021964 0.10941314
+v -0.00267783 0.07109996 -0.05646852
+v -0.00620006 0.07129665 -0.05269138
+v -0.00215026 0.07358876 -0.02779517
+v -0.00106445 0.07358877 -0.03080045
+v 0.00177481 0.07103166 -0.05646852
+v 0.00116749 0.07358877 -0.03080045
+v 0.00180651 0.07358877 -0.02935529
+v 0.00225841 0.07358876 -0.02779517
+v 0.00246494 0.07358875 -0.02572596
+v 0.00424498 0.07104257 -0.05272423
+v 0.00424498 0.07017592 0.10915038
+v -0.00620006 0.07112394 0.10762311
+v 0.00185967 0.07358827 0.10571813
+v 0.00034956 0.07358827 0.10571813
+v -0.00176583 0.07358827 0.10570171
+v -0.00312156 0.07358827 0.10527473
+v -0.00620006 0.07144691 -0.04876646
+v -0.00238644 0.07358875 -0.02406731
+v 0.00424498 0.07358829 0.10108704
+v 0.00424498 0.07173097 -0.02994650
+v 0.00424498 0.07308283 0.10481490
+v 0.00387588 0.07358828 0.10440434
+v -0.00620006 0.07136437 0.10713044
+v -0.00460202 0.07358828 0.10322194
+v -0.00620006 0.07157529 -0.04264094
+v -0.00517049 0.07358830 0.09845947
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+v -0.00503655 0.07358828 0.10218734
+v -0.00620006 0.07170315 0.10580023
+v -0.00620006 0.07167904 -0.02406732
+v -0.00620006 0.07234794 0.09845947
+v -0.00620006 0.07231241 0.10218734
+v -0.00514902 0.07358829 0.09998675
+v -0.00620006 0.07230694 0.10225303
+f 1 2 3
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+
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_11.obj b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1100c6927f9df46db817e2be97ffd3b11354bf9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_11.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.01325846 0.07300709 -0.00183466
+v 0.01205405 0.07300709 -0.00183466
+v 0.01468179 0.07300709 -0.00238120
+v 0.01423937 0.07707771 -0.00333694
+v 0.01313756 0.07314403 -0.00183466
+v 0.01026084 0.07300709 -0.00238407
+v 0.01220697 0.07307046 -0.00183466
+v 0.01340615 0.07707771 -0.00333694
+v 0.01546338 0.07300710 -0.00551742
+v 0.01539476 0.07471897 -0.00551742
+v 0.01454324 0.07471896 -0.00291345
+v 0.01455043 0.07836492 -0.00568623
+v 0.01410344 0.08044905 -0.00703971
+v 0.01364729 0.08044905 -0.00703971
+v 0.00959753 0.07300710 -0.00416393
+v 0.01560061 0.07300711 -0.00923166
+v 0.01558493 0.07471898 -0.00923166
+v 0.01466676 0.07857909 -0.00915724
+v 0.01410344 0.08044905 -0.00786955
+v 0.01364729 0.08044905 -0.00786955
+v 0.01075619 0.07599822 -0.02408861
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+v 0.01219325 0.07300719 -0.03106785
+v 0.01012687 0.07300719 -0.03002626
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+
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_12.obj b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22437f3621e2034b28db6170d9c4cb2702325541
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_12.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.00620101 0.04567525 0.07567899
+v -0.00620101 0.07137318 0.07567908
+v -0.01581982 0.04567525 0.07567899
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+v -0.00620101 0.07142704 0.03531408
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+v -0.01473223 0.07027718 0.03531408
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+v -0.01572754 0.06356114 0.07567905
+v -0.01211448 0.07144598 0.03531408
+v -0.01471151 0.07028666 0.03531408
+f 1 2 5
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+f 1 31 37
+f 1 37 36
+f 1 36 35
+f 1 35 55
+f 1 55 54
+f 1 54 53
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+f 1 22 10
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+
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_13.obj b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eed08902f91106873bf4909fa0b66071825e890
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_13.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.01211463 0.04567512 0.11258990
+v -0.01153665 0.04567512 0.11247790
+v -0.00904604 0.06728017 0.11199744
+v -0.01211463 0.06728017 0.11248882
+v -0.01448046 0.06356068 0.11205885
+v -0.01451539 0.04567512 0.11208768
+v -0.00905403 0.04567512 0.11198652
+v -0.00955115 0.06968561 0.11186015
+v -0.00620106 0.06356068 0.11130010
+v -0.00620106 0.06728017 0.11110502
+v -0.01211463 0.06985183 0.11196855
+v -0.01414505 0.06954449 0.11175899
+v -0.01438662 0.06728017 0.11197576
+v -0.01545374 0.06356069 0.10963087
+v -0.01551563 0.04567513 0.10963081
+v -0.01470306 0.04567512 0.11162882
+v -0.00620106 0.04567512 0.11127114
+v -0.00620106 0.07022190 0.10941412
+v -0.00620106 0.07136662 0.10714513
+v -0.01211463 0.07101536 0.10963090
+v -0.01491170 0.07762648 0.08659413
+v -0.01449543 0.07004942 0.10963090
+v -0.01529502 0.06728018 0.10963089
+v -0.01566437 0.06728019 0.10591668
+v -0.01578516 0.06356070 0.10591666
+v -0.01582708 0.05241162 0.10591662
+v -0.01557852 0.04567513 0.10892988
+v -0.00620106 0.04567525 0.07567899
+v -0.00620106 0.07170533 0.10581191
+v -0.01211463 0.07759825 0.08663749
+v -0.01502849 0.07771117 0.08363504
+v -0.01638809 0.07471612 0.08363502
+v -0.01584305 0.04567514 0.10591660
+v -0.01639807 0.07099977 0.08363501
+v -0.01581910 0.04567525 0.07567899
+v -0.00620106 0.07137300 0.07567908
+v -0.00620106 0.07230747 0.10226029
+v -0.01013812 0.07688948 0.08591848
+v -0.01214158 0.07767353 0.08373982
+v -0.01331751 0.07704003 0.08136242
+v -0.01436067 0.07704003 0.08136242
+v -0.01466513 0.07035375 0.07567908
+v -0.01546772 0.06778836 0.07567907
+v -0.01559749 0.06728030 0.07567907
+v -0.01572726 0.06356081 0.07567905
+v -0.01575122 0.06037133 0.07567904
+v -0.01575421 0.05984758 0.07567904
+v -0.01579514 0.05241173 0.07567901
+v -0.01580812 0.04921598 0.07567900
+v -0.01581011 0.04869224 0.07567900
+v -0.01581710 0.04644361 0.07567899
+v -0.01582009 0.04567525 0.07620288
+v -0.00868468 0.07143572 0.07567908
+v -0.01013812 0.07688949 0.08505135
+v -0.00620106 0.07154549 0.07730495
+v -0.00620106 0.07231375 0.10220248
+v -0.00620106 0.07234827 0.09848827
+v -0.01211463 0.07147022 0.07567908
+v -0.01427781 0.07052624 0.07567908
+v -0.00620106 0.07202216 0.08363501
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 15
+f 1 15 27
+f 1 27 33
+f 1 33 52
+f 1 52 35
+f 1 35 28
+f 1 28 17
+f 1 17 7
+f 1 7 2
+f 2 7 3
+f 3 8 4
+f 3 7 9
+f 3 9 10
+f 3 10 8
+f 4 8 11
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 7 17 9
+f 8 10 18
+f 8 18 19
+f 8 19 20
+f 8 20 11
+f 9 17 28
+f 9 28 36
+f 9 36 55
+f 9 55 60
+f 9 60 57
+f 9 57 56
+f 9 56 37
+f 9 37 29
+f 9 29 19
+f 9 19 18
+f 9 18 10
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 13
+f 13 23 14
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 15
+f 15 26 27
+f 19 29 30
+f 19 30 20
+f 20 30 21
+f 21 30 31
+f 21 31 32
+f 21 32 22
+f 22 32 23
+f 23 32 24
+f 24 32 25
+f 25 32 26
+f 26 33 27
+f 26 32 34
+f 26 34 33
+f 28 35 51
+f 28 51 50
+f 28 50 49
+f 28 49 48
+f 28 48 47
+f 28 47 46
+f 28 46 45
+f 28 45 44
+f 28 44 43
+f 28 43 42
+f 28 42 59
+f 28 59 58
+f 28 58 53
+f 28 53 36
+f 29 37 38
+f 29 38 30
+f 30 38 39
+f 30 39 31
+f 31 39 40
+f 31 40 41
+f 31 41 32
+f 32 41 42
+f 32 42 43
+f 32 43 44
+f 32 44 45
+f 32 45 46
+f 32 46 47
+f 32 47 48
+f 32 48 49
+f 32 49 50
+f 32 50 51
+f 32 51 34
+f 33 34 52
+f 34 51 35
+f 34 35 52
+f 36 53 40
+f 36 40 39
+f 36 39 54
+f 36 54 55
+f 37 56 38
+f 38 54 39
+f 38 56 57
+f 38 57 54
+f 40 53 58
+f 40 58 41
+f 41 58 59
+f 41 59 42
+f 54 60 55
+f 54 57 60
+
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_14.obj b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..181217e61cff00751f086dfd987026e8106c3372
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_14.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.00821697 0.07213311 0.00934403
+v 0.01078262 0.07580577 0.00934405
+v 0.00826741 0.07213312 0.00598333
+v 0.00823525 0.07213305 0.02419951
+v 0.01251791 0.07806078 0.00934406
+v 0.01259466 0.07791332 0.02419954
+v 0.00833831 0.07213312 0.00540601
+v 0.00823890 0.07213305 0.02422531
+v 0.01481165 0.07806078 0.00934406
+v 0.01298572 0.07760526 0.00648004
+v 0.00994422 0.07213315 -0.00183144
+v 0.00901006 0.07213304 0.02742475
+v 0.00905830 0.07213304 0.02755699
+v 0.01307124 0.07732548 0.02677327
+v 0.01479995 0.07791332 0.02419954
+v 0.01565882 0.07471889 0.00934404
+v 0.01454265 0.07760526 0.00648004
+v 0.01567929 0.07471883 0.02419952
+v 0.01313703 0.07314402 -0.00183143
+v 0.01220579 0.07307091 -0.00183143
+v 0.01403610 0.07213315 -0.00183144
+v 0.00912336 0.07213304 0.02770212
+v 0.01076508 0.07213303 0.02959856
+v 0.01250621 0.07213303 0.03111121
+v 0.01446079 0.07732548 0.02677327
+v 0.01561935 0.07213311 0.00934403
+v 0.01544100 0.07213312 0.00676061
+v 0.01568441 0.07213305 0.02419951
+v 0.01500608 0.07213304 0.02793111
+v 0.01269261 0.07213303 0.03109508
+v 0.01423127 0.07213303 0.03043713
+v 0.01460479 0.07437703 0.02797305
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 21
+f 1 21 27
+f 1 27 26
+f 1 26 28
+f 1 28 29
+f 1 29 31
+f 1 31 30
+f 1 30 24
+f 1 24 23
+f 1 23 22
+f 1 22 13
+f 1 13 12
+f 1 12 8
+f 1 8 4
+f 1 4 2
+f 2 5 3
+f 2 4 6
+f 2 6 5
+f 3 5 7
+f 4 8 6
+f 5 9 17
+f 5 17 10
+f 5 10 11
+f 5 11 7
+f 5 6 15
+f 5 15 9
+f 6 8 12
+f 6 12 13
+f 6 13 14
+f 6 14 25
+f 6 25 15
+f 9 16 17
+f 9 15 18
+f 9 18 16
+f 10 17 19
+f 10 19 20
+f 10 20 11
+f 11 20 19
+f 11 19 21
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 15 25 18
+f 16 26 27
+f 16 27 21
+f 16 21 17
+f 16 18 28
+f 16 28 26
+f 17 21 19
+f 18 25 29
+f 18 29 28
+f 24 30 25
+f 25 30 31
+f 25 31 32
+f 25 32 29
+f 29 32 31
+
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_15.obj b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da1342010fabea799f246d24f91eb5aa8a0219b0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_15.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00098138 0.07358840 0.07004219
+v 0.00041547 0.07358840 0.06996857
+v 0.00013572 0.08036192 0.06700342
+v -0.00007101 0.08036192 0.06700342
+v -0.00056413 0.07843576 0.06766486
+v -0.00213072 0.07358842 0.06668399
+v 0.00140265 0.07358841 0.06888353
+v 0.00062836 0.07843576 0.06766486
+v 0.00141640 0.07843577 0.06505871
+v 0.00034909 0.08052584 0.06505872
+v -0.00032753 0.08052584 0.06505872
+v -0.00143609 0.07843577 0.06505871
+v -0.00236163 0.07358842 0.06505869
+v 0.00248229 0.07358842 0.06505869
+v 0.00244910 0.07358843 0.06336089
+v 0.00215086 0.07358843 0.06134484
+v 0.00035573 0.08053605 0.06284106
+v -0.00033938 0.08053605 0.06284106
+v -0.00202831 0.07358843 0.06134484
+v 0.00168145 0.07358844 0.05980902
+v 0.00069854 0.07810048 0.06150003
+v 0.00102096 0.07358845 0.05847253
+v 0.00008783 0.07663751 0.05945678
+v -0.00001174 0.07663751 0.05945678
+v -0.00068883 0.07810048 0.06150003
+v -0.00091358 0.07358845 0.05848046
+v 0.00050935 0.07358845 0.05847253
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 19
+f 1 19 26
+f 1 26 27
+f 1 27 22
+f 1 22 20
+f 1 20 16
+f 1 16 15
+f 1 15 14
+f 1 14 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 5
+f 5 12 6
+f 6 12 13
+f 7 14 9
+f 7 9 8
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 10 18 11
+f 11 18 12
+f 12 18 19
+f 12 19 13
+f 16 20 17
+f 17 20 21
+f 17 21 22
+f 17 22 23
+f 17 23 24
+f 17 24 18
+f 18 24 25
+f 18 25 19
+f 19 25 26
+f 20 22 21
+f 22 27 24
+f 22 24 23
+f 24 27 26
+f 24 26 25
+
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_16.obj b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0aa6276cb0556cc1b2ae86622342059e461fe20
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_16.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00953982 0.07300724 -0.04266166
+v 0.00987753 0.07300723 -0.04016344
+v 0.01108460 0.07539635 -0.04266165
+v 0.01078097 0.07529103 -0.04637551
+v 0.00976227 0.07300725 -0.04637552
+v 0.01018425 0.07300722 -0.03943613
+v 0.01282024 0.07744962 -0.04266165
+v 0.01251723 0.07783270 -0.04637550
+v 0.01306934 0.07733864 -0.04886796
+v 0.01016133 0.07300726 -0.04856435
+v 0.01007210 0.07300726 -0.04808872
+v 0.01221670 0.07300722 -0.03863957
+v 0.01347459 0.07682848 -0.04058595
+v 0.01454720 0.07744962 -0.04266165
+v 0.01483781 0.07783270 -0.04637550
+v 0.01452365 0.07733864 -0.04886796
+v 0.01213924 0.07300727 -0.05041608
+v 0.01290079 0.07300722 -0.03862341
+v 0.01413637 0.07682848 -0.04058595
+v 0.01546366 0.07471901 -0.04266166
+v 0.01583049 0.07471902 -0.04637552
+v 0.01486879 0.07471903 -0.04944981
+v 0.01494687 0.07300726 -0.04987003
+v 0.01466741 0.07300722 -0.03939458
+v 0.01450196 0.07471900 -0.03996372
+v 0.01556962 0.07300724 -0.04266166
+v 0.01586953 0.07300725 -0.04637552
+v 0.01543887 0.07300726 -0.04829652
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 10
+f 1 10 17
+f 1 17 23
+f 1 23 28
+f 1 28 27
+f 1 27 26
+f 1 26 24
+f 1 24 18
+f 1 18 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 6 12 13
+f 6 13 7
+f 7 13 19
+f 7 19 14
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 9 17 10
+f 12 18 13
+f 13 18 19
+f 14 19 20
+f 14 20 15
+f 15 21 16
+f 15 20 21
+f 16 22 23
+f 16 23 17
+f 16 21 22
+f 18 24 19
+f 19 24 25
+f 19 25 20
+f 20 25 24
+f 20 24 26
+f 20 26 21
+f 21 27 28
+f 21 28 23
+f 21 23 22
+f 21 26 27
+
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_17.obj b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..945a8b2a1cba22c24eee8fc5b3e258e57fb59f5d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_17.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.00810676 0.07213291 0.06505969
+v 0.01070646 0.07599974 0.06505971
+v 0.00884396 0.07213292 0.06140660
+v 0.00885161 0.07213290 0.06871847
+v 0.00886003 0.07213290 0.06874986
+v 0.01291804 0.07745228 0.06785374
+v 0.01244189 0.07793572 0.06505972
+v 0.01295708 0.07751422 0.06230562
+v 0.01236916 0.07213294 0.05782488
+v 0.00887075 0.07213290 0.06877413
+v 0.01001366 0.07213289 0.07109725
+v 0.01218238 0.07213288 0.07239010
+v 0.01220917 0.07213288 0.07240009
+v 0.01461366 0.07745228 0.06785374
+v 0.01496656 0.07793572 0.06505972
+v 0.01462820 0.07751422 0.06230562
+v 0.01409464 0.07326224 0.05913058
+v 0.01436640 0.07213294 0.05843420
+v 0.01222831 0.07213288 0.07240009
+v 0.01592652 0.07471875 0.06505970
+v 0.01422784 0.07351216 0.07115006
+v 0.01446438 0.07213289 0.07187068
+v 0.01490073 0.07473862 0.06896392
+v 0.01468332 0.07213293 0.05880236
+v 0.01555218 0.07213292 0.06247684
+v 0.01524062 0.07213290 0.06883120
+v 0.01583236 0.07213291 0.06505969
+f 1 2 3
+f 1 3 9
+f 1 9 18
+f 1 18 24
+f 1 24 25
+f 1 25 27
+f 1 27 26
+f 1 26 22
+f 1 22 19
+f 1 19 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 5
+f 1 5 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 19
+f 6 19 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 8
+f 8 16 9
+f 9 17 18
+f 9 16 17
+f 14 20 15
+f 14 19 21
+f 14 21 22
+f 14 22 23
+f 14 23 20
+f 15 20 16
+f 16 24 18
+f 16 18 17
+f 16 20 24
+f 19 22 21
+f 20 25 24
+f 20 23 22
+f 20 22 26
+f 20 26 27
+f 20 27 25
+
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_18.obj b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f256b6e596c33dc78d1138fc6c9edb459e76e052
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_18.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00812946 0.07213297 0.04648617
+v 0.00893145 0.07213296 0.04980917
+v 0.01100381 0.07582162 0.04648619
+v 0.00813542 0.07213298 0.04277254
+v 0.00898060 0.07213296 0.04992278
+v 0.01273959 0.07766401 0.04648620
+v 0.01270608 0.07778010 0.04277257
+v 0.01097030 0.07576525 0.04277256
+v 0.00897911 0.07213300 0.03932699
+v 0.00902677 0.07213296 0.05000321
+v 0.01332116 0.07695480 0.04863727
+v 0.01465707 0.07766401 0.04648620
+v 0.01473451 0.07778010 0.04277257
+v 0.01327649 0.07710960 0.04048872
+v 0.01219228 0.07213300 0.03795720
+v 0.01219228 0.07213295 0.05099896
+v 0.01425570 0.07695480 0.04863727
+v 0.01559533 0.07471884 0.04648618
+v 0.01569585 0.07471885 0.04277255
+v 0.01435921 0.07710960 0.04048872
+v 0.01492216 0.07213300 0.03923763
+v 0.01222057 0.07213295 0.05099769
+v 0.01485291 0.07213296 0.04992662
+v 0.01462058 0.07471883 0.04911215
+v 0.01568766 0.07213297 0.04648617
+v 0.01520066 0.07213299 0.04003423
+v 0.01472111 0.07471886 0.03998318
+v 0.01573681 0.07213298 0.04277254
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 21
+f 1 21 26
+f 1 26 28
+f 1 28 25
+f 1 25 23
+f 1 23 22
+f 1 22 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 6 11 17
+f 6 17 12
+f 6 12 13
+f 6 13 7
+f 7 13 20
+f 7 20 14
+f 7 14 9
+f 7 9 8
+f 9 14 15
+f 10 16 11
+f 11 16 17
+f 12 17 18
+f 12 18 13
+f 13 19 20
+f 13 18 19
+f 14 20 15
+f 15 20 21
+f 16 22 17
+f 17 22 23
+f 17 23 24
+f 17 24 18
+f 18 24 23
+f 18 23 25
+f 18 25 19
+f 19 26 27
+f 19 27 20
+f 19 25 28
+f 19 28 26
+f 20 27 21
+f 21 27 26
+
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_19.obj b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa67a1586a4472aa041de036d62fd9560b0f2830
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_19.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00940827 0.07300732 -0.06494934
+v 0.01068651 0.07574204 -0.06494933
+v 0.00981125 0.07300733 -0.06766624
+v 0.00959949 0.07300731 -0.06310386
+v 0.01294139 0.07765316 -0.06789609
+v 0.00992932 0.07300730 -0.06102852
+v 0.01290802 0.07766636 -0.06203630
+v 0.01242291 0.07820070 -0.06494932
+v 0.01113697 0.07300734 -0.06953119
+v 0.01457962 0.07765316 -0.06789609
+v 0.01327058 0.07385739 -0.07105458
+v 0.01274504 0.07300734 -0.07164680
+v 0.01077827 0.07300730 -0.05987786
+v 0.01458667 0.07766636 -0.06203630
+v 0.01191213 0.07300730 -0.05867006
+v 0.01253264 0.07300729 -0.05838044
+v 0.01491073 0.07820070 -0.06494932
+v 0.01504805 0.07494589 -0.06894546
+v 0.01502430 0.07300734 -0.07061691
+v 0.01458539 0.07300734 -0.07143640
+v 0.01440700 0.07385739 -0.07105458
+v 0.01595026 0.07471913 -0.06494934
+v 0.01321988 0.07300729 -0.05838044
+v 0.01421129 0.07367992 -0.05896616
+v 0.01432936 0.07300730 -0.05863110
+v 0.01488378 0.07483909 -0.06097267
+v 0.01550493 0.07300733 -0.06880651
+v 0.01593486 0.07300732 -0.06494934
+v 0.01596309 0.07300732 -0.06665714
+v 0.01513917 0.07300730 -0.06109735
+f 1 2 3
+f 1 3 9
+f 1 9 12
+f 1 12 20
+f 1 20 19
+f 1 19 27
+f 1 27 29
+f 1 29 28
+f 1 28 30
+f 1 30 25
+f 1 25 23
+f 1 23 16
+f 1 16 15
+f 1 15 13
+f 1 13 6
+f 1 6 4
+f 1 4 2
+f 2 5 3
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 5 9
+f 5 8 17
+f 5 17 10
+f 5 10 21
+f 5 21 11
+f 5 11 12
+f 5 12 9
+f 6 13 7
+f 7 14 17
+f 7 17 8
+f 7 13 15
+f 7 15 16
+f 7 16 23
+f 7 23 14
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 17 22
+f 10 22 18
+f 11 21 12
+f 12 21 20
+f 14 22 17
+f 14 23 24
+f 14 24 25
+f 14 25 26
+f 14 26 22
+f 18 27 19
+f 18 22 27
+f 22 28 29
+f 22 29 27
+f 22 26 30
+f 22 30 28
+f 23 25 24
+f 25 30 26
+
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_2.obj b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d55c7bc8d0972d02a86c313083ec72659abd0ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_2.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.01219189 0.04567512 0.11253801
+v 0.01265562 0.04567512 0.11245978
+v 0.01219189 0.06356134 0.11251674
+v 0.00424498 0.06356134 0.11122590
+v 0.00424498 0.04567512 0.11119384
+v 0.01467247 0.04567512 0.11211841
+v 0.01454941 0.06356134 0.11206868
+v 0.01219189 0.06727987 0.11247764
+v 0.00913359 0.06727987 0.11198335
+v 0.00424498 0.06620753 0.11101611
+v 0.00424498 0.04567525 0.07620974
+v 0.01558050 0.04567513 0.11009858
+v 0.01444578 0.06727987 0.11198335
+v 0.01578517 0.04567513 0.10963274
+v 0.01555978 0.05984596 0.10963279
+v 0.01548335 0.06356135 0.10963280
+v 0.01421262 0.06956966 0.11176644
+v 0.01219189 0.06983460 0.11195136
+v 0.00967634 0.06963590 0.11182690
+v 0.00424498 0.06727987 0.11089521
+v 0.00424498 0.07152211 0.07620983
+v 0.01619190 0.04567525 0.07620974
+v 0.01524889 0.06727988 0.10963282
+v 0.01609346 0.04567514 0.10661725
+v 0.01616340 0.04567514 0.10591671
+v 0.01747818 0.07471706 0.08568307
+v 0.01742766 0.07662522 0.08555507
+v 0.01449501 0.07011847 0.10963283
+v 0.01566470 0.07737901 0.08632316
+v 0.01219189 0.07104889 0.10963283
+v 0.00424498 0.07308007 0.10482866
+v 0.00424498 0.07017524 0.10915633
+v 0.01218541 0.07153157 0.07620983
+v 0.00424498 0.07167349 0.07766780
+v 0.00988230 0.07713616 0.08472651
+v 0.01208956 0.07789312 0.08354592
+v 0.01317894 0.07719294 0.08117405
+v 0.01596004 0.05613700 0.07620978
+v 0.01747818 0.07471706 0.08509988
+v 0.01747558 0.07234212 0.08509633
+v 0.01619967 0.04567521 0.08734718
+v 0.01617765 0.04567515 0.10290476
+v 0.01747558 0.07234212 0.08568307
+v 0.01742766 0.07662522 0.08536304
+v 0.01579941 0.07759033 0.08392642
+v 0.01219189 0.07776064 0.08686369
+v 0.00424498 0.07335132 0.10402500
+v 0.01473205 0.07719294 0.08117405
+v 0.01461677 0.07039614 0.07620983
+v 0.00424498 0.07381811 0.10220077
+v 0.00988230 0.07713615 0.08627338
+v 0.01586807 0.05985554 0.07620979
+v 0.01573465 0.06356777 0.07620980
+v 0.01620097 0.04567520 0.09106322
+v 0.01618931 0.04567517 0.09918872
+v 0.01619708 0.04567518 0.09547624
+v 0.01548594 0.06728947 0.07620982
+v 0.01695356 0.07471706 0.08324009
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 22
+f 1 22 41
+f 1 41 54
+f 1 54 56
+f 1 56 55
+f 1 55 42
+f 1 42 25
+f 1 25 24
+f 1 24 14
+f 1 14 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 10 20
+f 4 20 32
+f 4 32 31
+f 4 31 47
+f 4 47 50
+f 4 50 34
+f 4 34 21
+f 4 21 11
+f 4 11 5
+f 4 9 10
+f 6 12 7
+f 7 13 8
+f 7 12 14
+f 7 14 15
+f 7 15 16
+f 7 16 13
+f 8 13 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 10
+f 11 21 33
+f 11 33 49
+f 11 49 57
+f 11 57 53
+f 11 53 52
+f 11 52 38
+f 11 38 22
+f 13 16 23
+f 13 23 17
+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 16 26 27
+f 16 27 23
+f 17 23 28
+f 17 28 27
+f 17 27 29
+f 17 29 30
+f 17 30 18
+f 18 30 31
+f 18 31 19
+f 19 31 32
+f 19 32 20
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 33
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 23 27 28
+f 25 42 43
+f 25 43 26
+f 26 43 40
+f 26 40 39
+f 26 39 44
+f 26 44 27
+f 27 44 45
+f 27 45 29
+f 29 45 46
+f 29 46 30
+f 30 47 31
+f 30 46 47
+f 33 48 49
+f 33 37 48
+f 34 50 35
+f 35 51 36
+f 35 50 51
+f 36 46 45
+f 36 45 48
+f 36 48 37
+f 36 51 46
+f 38 52 39
+f 39 52 53
+f 39 53 44
+f 40 43 54
+f 40 54 41
+f 42 55 43
+f 43 55 56
+f 43 56 54
+f 44 53 57
+f 44 57 58
+f 44 58 49
+f 44 49 48
+f 44 48 45
+f 46 51 50
+f 46 50 47
+f 49 58 57
+
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_20.obj b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1659fb2925b8a07d24a89a4d8bb4df54f2a8ef8a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_20.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.00036955 0.07358855 0.03085907
+v -0.00100577 0.07358855 0.03085907
+v 0.00107413 0.07358855 0.03085642
+v 0.00016469 0.07672185 0.02985616
+v -0.00009438 0.07672185 0.02985616
+v -0.00067059 0.07815077 0.02770175
+v -0.00166199 0.07358855 0.02945286
+v 0.00212165 0.07358856 0.02791399
+v 0.00067357 0.07815077 0.02770175
+v 0.00027252 0.08046305 0.02632473
+v -0.00023245 0.08046305 0.02632473
+v -0.00209329 0.07358856 0.02791399
+v 0.00249049 0.07358857 0.02419946
+v 0.00216848 0.07471867 0.02419946
+v 0.00099802 0.07872850 0.02403498
+v 0.00143761 0.07843593 0.00934405
+v 0.00044182 0.08058921 0.01164441
+v -0.00101943 0.07872850 0.02403498
+v -0.00238944 0.07358857 0.02583651
+v -0.00039346 0.08058921 0.01164441
+v -0.00138145 0.07843593 0.00934405
+v 0.00255148 0.07358863 0.00934403
+v 0.00239389 0.07358863 0.00767249
+v 0.00174840 0.07358864 0.00556052
+v 0.00131174 0.07358864 0.00414370
+v 0.00058672 0.07843593 0.00684470
+v 0.00008175 0.08032743 0.00744965
+v 0.00037351 0.08053988 0.00934406
+v -0.00215867 0.07471867 0.02419946
+v -0.00243287 0.07358857 0.02419946
+v -0.00032272 0.08053988 0.00934406
+v -0.00001095 0.08032743 0.00744965
+v -0.00051885 0.07843593 0.00684470
+v -0.00160930 0.07358864 0.00556052
+v -0.00234407 0.07358863 0.00934403
+v 0.00050524 0.07358865 0.00375632
+v -0.00041688 0.07358865 0.00375632
+f 1 2 7
+f 1 7 12
+f 1 12 19
+f 1 19 30
+f 1 30 35
+f 1 35 34
+f 1 34 37
+f 1 37 36
+f 1 36 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 13
+f 1 13 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 6
+f 6 11 12
+f 6 12 7
+f 8 10 9
+f 8 13 14
+f 8 14 10
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 10 17 20
+f 10 20 11
+f 11 18 19
+f 11 19 12
+f 11 20 21
+f 11 21 18
+f 13 22 16
+f 13 16 14
+f 14 16 15
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 17 28 31
+f 17 31 20
+f 18 29 19
+f 18 21 29
+f 19 29 30
+f 20 31 21
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 30
+f 21 30 29
+f 25 36 27
+f 25 27 26
+f 27 32 31
+f 27 31 28
+f 27 36 37
+f 27 37 32
+f 32 37 33
+f 33 37 34
+
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_21.obj b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a97842ce600c30d3801b9df9a262c2a0be6fae8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_21.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.00140868 0.07358867 -0.00228124
+v 0.00068091 0.07763386 -0.00308299
+v -0.00060106 0.07763386 -0.00308299
+v -0.00130206 0.07358867 -0.00228962
+v 0.00249748 0.07358868 -0.00551905
+v 0.00119494 0.07869844 -0.00526202
+v 0.00058527 0.08081978 -0.00633197
+v -0.00194090 0.07358867 -0.00395742
+v -0.00056711 0.08081978 -0.00633197
+v -0.00115574 0.07869844 -0.00526202
+v 0.00246592 0.07358875 -0.02574488
+v 0.00117725 0.07870977 -0.00951112
+v 0.00058527 0.08081979 -0.00845791
+v -0.00236551 0.07358868 -0.00551905
+v -0.00056711 0.08081979 -0.00845791
+v -0.00113948 0.07870977 -0.00951112
+v -0.00238751 0.07358875 -0.02408826
+v 0.00225839 0.07358876 -0.02780099
+v 0.00030650 0.08050558 -0.02627843
+v 0.00103858 0.07873178 -0.02391504
+v -0.00025965 0.08050558 -0.02627843
+v -0.00100799 0.07873178 -0.02391504
+v -0.00209774 0.07471914 -0.02408826
+v -0.00215129 0.07358876 -0.02780099
+v 0.00072920 0.07818464 -0.02763055
+v 0.00180700 0.07358877 -0.02936821
+v 0.00020178 0.07677821 -0.02978166
+v -0.00012576 0.07677821 -0.02978166
+v -0.00068427 0.07818464 -0.02763055
+v -0.00106537 0.07358877 -0.03081531
+v 0.00116721 0.07358877 -0.03082089
+v 0.00042365 0.07358877 -0.03082089
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 17
+f 1 17 24
+f 1 24 30
+f 1 30 32
+f 1 32 31
+f 1 31 26
+f 1 26 18
+f 1 18 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 9
+f 2 9 3
+f 3 8 4
+f 3 9 10
+f 3 10 8
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 15
+f 7 15 9
+f 8 10 14
+f 9 15 10
+f 10 15 16
+f 10 16 17
+f 10 17 14
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 12 20 13
+f 13 20 19
+f 13 19 21
+f 13 21 15
+f 15 21 22
+f 15 22 16
+f 16 22 23
+f 16 23 17
+f 17 23 24
+f 18 25 19
+f 18 26 25
+f 19 25 27
+f 19 27 28
+f 19 28 21
+f 21 28 29
+f 21 29 24
+f 21 24 22
+f 22 24 23
+f 24 29 30
+f 25 26 31
+f 25 31 27
+f 27 31 32
+f 27 32 28
+f 28 32 30
+f 28 30 29
+
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_22.obj b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a707c6ed1add31b13e43ae31d1eb192c0a03527
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_22.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.00517011 0.07358896 0.09848703
+v -0.00514891 0.07358895 0.09999535
+v -0.00328709 0.07631019 0.09848704
+v -0.00020495 0.08040876 0.08509626
+v -0.00125476 0.07860886 0.08376651
+v -0.00254052 0.07471862 0.08363187
+v -0.00267693 0.07358901 0.08363187
+v -0.00503739 0.07358894 0.10220151
+v -0.00314331 0.07613458 0.10220152
+v -0.00006578 0.08033927 0.10046518
+v -0.00020495 0.08040875 0.08581882
+v 0.00021442 0.08040876 0.08509626
+v -0.00074230 0.07748526 0.08088173
+v -0.00184649 0.07358903 0.07982947
+v -0.00460143 0.07358894 0.10322903
+v -0.00074230 0.07718074 0.10448460
+v -0.00118010 0.07842654 0.10190206
+v 0.00010750 0.08033927 0.10046518
+v 0.00021442 0.08040875 0.08581882
+v 0.00101352 0.07860886 0.08376651
+v 0.00070752 0.07748526 0.08088173
+v 0.00309194 0.07572666 0.10220152
+v 0.00424406 0.07382061 0.10220151
+v -0.00047132 0.07358903 0.07767277
+v -0.00312303 0.07358893 0.10528683
+v -0.00176722 0.07358893 0.10571267
+v 0.00034991 0.07358893 0.10573190
+v 0.00185964 0.07358893 0.10573740
+v 0.00086882 0.07718074 0.10448460
+v 0.00113334 0.07842654 0.10190206
+v 0.00226426 0.07471862 0.08363187
+v 0.00245782 0.07358902 0.08198343
+v 0.00424406 0.07378523 0.10202292
+v 0.00424406 0.07358895 0.10111353
+v 0.00186609 0.07358903 0.07982673
+v 0.00139879 0.07358903 0.07830467
+v 0.00052963 0.07358903 0.07767277
+v 0.00387538 0.07358894 0.10442414
+v 0.00424406 0.07358894 0.10310539
+v 0.00387261 0.07359094 0.10442689
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 14
+f 1 14 24
+f 1 24 37
+f 1 37 36
+f 1 36 35
+f 1 35 32
+f 1 32 34
+f 1 34 39
+f 1 39 38
+f 1 38 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 15
+f 1 15 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 19
+f 4 19 12
+f 4 12 21
+f 4 21 13
+f 4 13 5
+f 5 13 14
+f 5 14 6
+f 6 14 7
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 10 17 16
+f 10 16 29
+f 10 29 18
+f 10 18 19
+f 10 19 11
+f 12 20 21
+f 12 19 22
+f 12 22 23
+f 12 23 20
+f 13 21 37
+f 13 37 24
+f 13 24 14
+f 15 25 16
+f 16 25 26
+f 16 26 27
+f 16 27 28
+f 16 28 29
+f 18 29 30
+f 18 30 22
+f 18 22 19
+f 20 31 32
+f 20 32 21
+f 20 23 33
+f 20 33 34
+f 20 34 31
+f 21 35 36
+f 21 36 37
+f 21 32 35
+f 22 30 38
+f 22 38 39
+f 22 39 23
+f 23 39 34
+f 23 34 33
+f 28 40 29
+f 28 38 40
+f 29 40 30
+f 30 40 38
+f 31 34 32
+
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_3.obj b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9df4116a0d69531b7fb9911bf3ba2fef789a2148
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_3.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.01541228 0.04567581 -0.07627285
+v 0.01547363 0.06728003 -0.07627277
+v 0.00424498 0.04567581 -0.07627285
+v 0.01541489 0.04567582 -0.07980721
+v 0.01757003 0.07158259 -0.08352355
+v 0.01750868 0.07193547 -0.08138152
+v 0.01479615 0.07102268 -0.07627276
+v 0.01749171 0.07471785 -0.08143149
+v 0.01741469 0.07660445 -0.08163497
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+v 0.01741077 0.07659767 -0.08352353
+v 0.01401033 0.08033692 -0.08199196
+v 0.01219197 0.07240370 -0.07627275
+v 0.01380800 0.08033692 -0.08158854
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+v 0.01499457 0.06728015 -0.10952075
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+v 0.01428576 0.06728016 -0.11178417
+v 0.01219197 0.06728016 -0.11248748
+v 0.01219197 0.06986915 -0.11183414
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+v 0.00424498 0.07066992 -0.10795349
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+v 0.00940765 0.06728016 -0.11208048
+v 0.01219197 0.06356127 -0.11270526
+v 0.01219197 0.05984915 -0.11273383
+v 0.01219197 0.05613026 -0.11273742
+v 0.00424498 0.07011005 -0.10881387
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+f 1 24 10
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+f 1 4 5
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+f 3 43 54
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+f 3 59 65
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+f 3 60 44
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+f 3 28 11
+f 4 12 5
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+f 5 14 15
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+f 9 20 21
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+f 19 21 20
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+f 23 38 39
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+f 25 37 26
+f 26 37 41
+f 26 41 42
+f 26 42 43
+f 26 43 27
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+f 28 45 29
+f 29 45 46
+f 29 46 47
+f 30 48 49
+f 30 49 50
+f 30 50 32
+f 31 34 51
+f 31 51 35
+f 32 50 33
+f 33 50 34
+f 34 50 52
+f 34 52 51
+f 35 51 38
+f 37 40 53
+f 37 53 54
+f 37 54 43
+f 37 43 41
+f 38 51 39
+f 39 55 56
+f 39 56 57
+f 39 57 40
+f 39 51 55
+f 40 57 58
+f 40 58 59
+f 40 59 53
+f 41 43 42
+f 44 60 58
+f 44 58 61
+f 44 61 45
+f 45 61 62
+f 45 62 63
+f 45 63 46
+f 46 63 64
+f 46 64 47
+f 47 64 49
+f 47 49 48
+f 49 64 63
+f 49 63 50
+f 50 63 62
+f 50 62 52
+f 51 52 55
+f 52 62 55
+f 55 62 56
+f 56 62 61
+f 56 61 58
+f 56 58 57
+f 58 60 65
+f 58 65 59
+
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_4.obj b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9a86939d2ed0c091106d7fe5b66212fd3ff4a66
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_4.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.00424498 0.04567574 -0.05647390
+v 0.00424498 0.07092045 -0.05647381
+v -0.00620006 0.04567574 -0.05647390
+v 0.00424498 0.04567593 -0.11000465
+v 0.00177481 0.07103425 -0.05647381
+v 0.00424498 0.07170682 -0.07609257
+v 0.00200997 0.07843537 -0.09466314
+v 0.00051621 0.08066318 -0.07698189
+v -0.00620006 0.07109633 -0.05647381
+v -0.00620006 0.04567594 -0.11054992
+v 0.00424498 0.06356104 -0.11003106
+v -0.00267885 0.07109978 -0.05647381
+v 0.00424498 0.07174822 -0.07827361
+v 0.00206007 0.07843538 -0.09837409
+v 0.00082600 0.08090466 -0.09466313
+v -0.00053586 0.08066318 -0.07698189
+v -0.00620006 0.07124807 -0.05760138
+v -0.00620006 0.04869358 -0.11054460
+v 0.00424498 0.06728222 -0.11002045
+v -0.00620006 0.06521644 -0.11050749
+v 0.00424498 0.07186210 -0.10209035
+v 0.00424498 0.07176900 -0.10419199
+v 0.00424498 0.07152760 -0.10581189
+v 0.00081680 0.08089087 -0.09837408
+v -0.00087223 0.08090466 -0.09466313
+v -0.00620006 0.07263800 -0.08096814
+v -0.00620006 0.06728223 -0.11049689
+v 0.00424498 0.06809267 -0.10969753
+v 0.00424498 0.07066887 -0.10795057
+v -0.00084667 0.08089087 -0.09837408
+v 0.00043135 0.08056670 -0.10068746
+v -0.00620006 0.07270354 -0.08323917
+v -0.00620006 0.07026192 -0.10913109
+v 0.00424498 0.07011018 -0.10881346
+v -0.00040703 0.08056670 -0.10068746
+v -0.00620006 0.07146208 -0.10580659
+v 0.00053257 0.07710074 -0.10429255
+v -0.00047554 0.07710074 -0.10429255
+f 1 2 5
+f 1 5 12
+f 1 12 9
+f 1 9 3
+f 1 3 10
+f 1 10 4
+f 1 4 11
+f 1 11 19
+f 1 19 28
+f 1 28 34
+f 1 34 29
+f 1 29 23
+f 1 23 22
+f 1 22 21
+f 1 21 13
+f 1 13 6
+f 1 6 2
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+f 2 7 8
+f 2 8 5
+f 3 9 17
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+f 3 26 32
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+f 6 14 7
+f 7 14 15
+f 7 15 8
+f 8 16 12
+f 8 15 25
+f 8 25 16
+f 9 12 16
+f 9 16 17
+f 10 18 11
+f 11 18 20
+f 11 20 19
+f 13 21 14
+f 14 21 22
+f 14 22 23
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+f 14 24 15
+f 15 24 30
+f 15 30 25
+f 16 26 17
+f 16 25 26
+f 19 20 27
+f 19 27 28
+f 23 29 24
+f 24 29 31
+f 24 31 35
+f 24 35 30
+f 25 30 32
+f 25 32 26
+f 27 33 34
+f 27 34 28
+f 29 34 31
+f 30 35 33
+f 30 33 36
+f 30 36 32
+f 31 34 37
+f 31 37 38
+f 31 38 35
+f 33 35 38
+f 33 38 37
+f 33 37 34
+
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_5.obj b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39fbe0abfeac420cded974de05a33f6fc6e010d8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_5.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.01619120 0.04567784 0.07620974
+v 0.01596070 0.05613753 0.07620978
+v 0.00424615 0.04567784 0.07620974
+v 0.01619822 0.04567788 0.06504545
+v 0.01596187 0.07300732 -0.06664223
+v 0.01583082 0.07213208 0.06504554
+v 0.01586826 0.05985059 0.07620979
+v 0.00424615 0.07152211 0.07620983
+v 0.00424615 0.04567813 -0.00182083
+v 0.01619354 0.04567789 0.06132901
+v 0.01601218 0.06727991 -0.06865719
+v 0.01597825 0.07099564 -0.06865718
+v 0.01547395 0.06727994 -0.07626920
+v 0.01479533 0.07101975 -0.07626919
+v 0.01476958 0.07107860 -0.07626919
+v 0.01550438 0.07300733 -0.06879150
+v 0.01586826 0.07300725 -0.04637338
+v 0.01523994 0.07213207 0.06882170
+v 0.01462333 0.07039053 0.07619490
+v 0.01548565 0.06728473 0.07620982
+v 0.01573371 0.06356632 0.07620980
+v 0.01559915 0.07300711 -0.00922379
+v 0.01546225 0.07300710 -0.00550733
+v 0.01218611 0.07152746 0.07620983
+v 0.01218260 0.07213205 0.07238890
+v 0.01001333 0.07213206 0.07109038
+v 0.00885966 0.07213207 0.06873214
+v 0.00424615 0.07182176 0.06504554
+v 0.01556288 0.04567813 -0.00182083
+v 0.00424615 0.04568107 -0.07626928
+v 0.01618184 0.04567791 0.05761255
+v 0.01541194 0.04568107 -0.07626928
+v 0.01617014 0.04567792 0.05461253
+v 0.01615258 0.04567794 0.05019457
+v 0.01278167 0.07243488 -0.07626918
+v 0.01458472 0.07300734 -0.07141839
+v 0.01502349 0.07300734 -0.07061242
+v 0.01468066 0.07300709 -0.00237298
+v 0.01446420 0.07213206 0.07186651
+v 0.01461514 0.07039588 0.07620983
+v 0.01222823 0.07213205 0.07238890
+v 0.01205273 0.07300709 -0.00182073
+v 0.01025904 0.07300709 -0.00238790
+v 0.00885147 0.07213207 0.06870229
+v 0.00959796 0.07300710 -0.00416404
+v 0.00810614 0.07213208 0.06504554
+v 0.00929375 0.07300710 -0.00550733
+v 0.00911005 0.07300711 -0.00738795
+v 0.00905974 0.07300711 -0.00922379
+v 0.00424615 0.07189406 0.04647821
+v 0.01589985 0.04567804 0.02047788
+v 0.00424615 0.07170725 -0.07626919
+v 0.01613035 0.04567795 0.04647812
+v 0.01600516 0.04567800 0.03162724
+v 0.01219196 0.07240278 -0.07626918
+v 0.01274540 0.07300734 -0.07164228
+v 0.01325788 0.07300709 -0.00182073
+v 0.00892518 0.07300717 -0.02408960
+v 0.00424615 0.07188885 0.00932861
+v 0.00940958 0.07300732 -0.06494071
+v 0.00981208 0.07300733 -0.06765716
+v 0.01113424 0.07300734 -0.06952286
+f 1 2 7
+f 1 7 21
+f 1 21 20
+f 1 20 40
+f 1 40 24
+f 1 24 8
+f 1 8 3
+f 1 3 9
+f 1 9 29
+f 1 29 51
+f 1 51 54
+f 1 54 53
+f 1 53 34
+f 1 34 33
+f 1 33 31
+f 1 31 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 28
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+f 3 52 30
+f 3 30 9
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+f 5 11 12
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+f 29 32 51
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+f 35 55 56
+f 35 56 36
+f 38 57 39
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+f 44 45 47
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+
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_6.obj b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51e7022eb58d4c760aacf0322371783aadeef8f1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_6.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.00142765 0.07358848 0.04967441
+v 0.00061713 0.07731471 0.04878926
+v -0.00055856 0.07731471 0.04878926
+v -0.00134235 0.07358848 0.04967134
+v 0.00255845 0.07358849 0.04648621
+v 0.00105946 0.07850717 0.04651491
+v 0.00042749 0.08063014 0.04529681
+v -0.00203838 0.07358848 0.04811002
+v -0.00049198 0.08063014 0.04529681
+v -0.00115119 0.07850717 0.04651491
+v 0.00258467 0.07358850 0.04277245
+v 0.00228962 0.07471891 0.04277245
+v 0.00115378 0.07879461 0.04242824
+v 0.00042749 0.08063015 0.04343737
+v -0.00220835 0.07471890 0.04648621
+v -0.00250795 0.07358849 0.04648621
+v -0.00049198 0.08063015 0.04343737
+v -0.00126568 0.07879461 0.04242824
+v 0.00209594 0.07358851 0.04090891
+v 0.00077449 0.07779447 0.04019281
+v -0.00256696 0.07358850 0.04449256
+v -0.00074971 0.07779447 0.04019281
+v -0.00231881 0.07471891 0.04277245
+v -0.00141901 0.07358852 0.03921031
+v 0.00149019 0.07358852 0.03920826
+v -0.00254981 0.07358850 0.04277245
+v 0.00029433 0.07358852 0.03920826
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 21
+f 1 21 26
+f 1 26 24
+f 1 24 27
+f 1 27 25
+f 1 25 19
+f 1 19 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 9
+f 2 9 3
+f 3 8 4
+f 3 9 10
+f 3 10 8
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 7
+f 7 13 14
+f 7 14 17
+f 7 17 9
+f 8 10 15
+f 8 15 16
+f 9 17 18
+f 9 18 10
+f 10 18 15
+f 11 19 13
+f 11 13 12
+f 13 19 20
+f 13 20 14
+f 14 20 22
+f 14 22 17
+f 15 18 16
+f 16 18 21
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+f 18 23 21
+f 18 22 24
+f 18 24 23
+f 19 25 20
+f 20 25 27
+f 20 27 22
+f 21 23 26
+f 22 27 24
+f 23 24 26
+
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_7.obj b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..925353f21170bab30773d23991dbc5036879fd0d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_7.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00620102 0.04567885 -0.03770307
+v -0.00620102 0.07141017 -0.03770298
+v -0.01520340 0.04567885 -0.03770307
+v -0.00620102 0.04567899 -0.07656734
+v -0.01211476 0.07238440 -0.03770297
+v -0.00620102 0.07156298 -0.03898514
+v -0.01252971 0.07788917 -0.04266419
+v -0.01309416 0.07716326 -0.04025587
+v -0.01522161 0.06728080 -0.03770299
+v -0.01575922 0.07471813 -0.04266421
+v -0.01592022 0.07471814 -0.04637752
+v -0.01599017 0.07099956 -0.06866124
+v -0.01586943 0.06728091 -0.06866125
+v -0.01513632 0.04567899 -0.07656734
+v -0.00620102 0.07170958 -0.07656725
+v -0.01221443 0.07233664 -0.03770297
+v -0.01433900 0.07716326 -0.04025587
+v -0.01237542 0.07811523 -0.04637750
+v -0.01048468 0.07636741 -0.06494790
+v -0.01222018 0.07820127 -0.06494789
+v -0.01476737 0.07788917 -0.04266419
+v -0.01491303 0.07016849 -0.03770298
+v -0.01469550 0.07471812 -0.03955202
+v -0.01490057 0.07811523 -0.04637750
+v -0.01492453 0.07820127 -0.06494789
+v -0.01596047 0.07471821 -0.06494791
+v -0.01548706 0.06780308 -0.07656726
+v -0.01211476 0.07279206 -0.07656724
+v -0.01274629 0.07768550 -0.06802583
+v -0.01472904 0.07104721 -0.03770298
+v -0.01462937 0.07768550 -0.06802583
+v -0.01485362 0.07149308 -0.07656725
+v -0.01494466 0.07102825 -0.07656725
+v -0.01462746 0.07175097 -0.07656725
+f 1 2 5
+f 1 5 16
+f 1 16 30
+f 1 30 22
+f 1 22 9
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diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_8.obj b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2eefac3b719db71400e93ed8583953633ce26d0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_8.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_9.obj b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c96cc3b23e6dec0e73f866a328c918974b1aa372
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/mjcf/mesh/notebook_12_collision_9.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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+v -0.00620099 0.07142589 0.03531408
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diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/textures/material_0.png b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad675e9ce5c96a870358c41bba6dd08e3c8eabee
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 2073642
diff --git a/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/video.mp4 b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dc7ab46190d46613996b67adad051f1ca3934411
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/video.mp4
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+version https://git-lfs.github.com/spec/v1
+oid sha256:f2fdd648ce71b0f7a79e7e61da661f3eebd3cccbf8c835aa26ad84697286ce27
+size 226140