diff --git a/.gitattributes b/.gitattributes
index 2b8c0da1c95753d27f0338d054a3b9f83e9a8d38..2149234d201b4c2b6ceb084179daf5ad164f60d1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3451,3 +3451,5 @@ dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/mesh/pen_
 dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/mesh/pen_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/dec86865c2e051b896969de5c57a3412/mesh/scotch_tape_020.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/dec86865c2e051b896969de5c57a3412/scotch_tape_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mesh/stamp_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/stamp_015.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mesh/material.mtl b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..689b36e3b03b49f2a5f7bd5b92eb19ff6c18d642
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stamp_015_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mesh/material_0.png b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c71e41084a02c0bbddc59b00d69ec7eacfa85ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mesh/stamp_015.glb b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mesh/stamp_015.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cb9b8b56b624d8173a78b19bb4706ccacc6fb2ac
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mesh/stamp_015.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 14759532
diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mesh/stamp_015.mtl b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mesh/stamp_015.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5eb739cf40da7922d8cbe522ec77ef1e5c2f5356
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mesh/stamp_015.mtl
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+newmtl stamp_015_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mesh/stamp_015.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mesh/stamp_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9e44931a7dfedd31aee1006e8130033e936a1e9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mesh/stamp_015.obj
@@ -0,0 +1,113436 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stamp_015_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mesh/stamp_015_collision.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mesh/stamp_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3226d6bf89860d7dfcf8cf49adef1aa8cee0a046
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mesh/stamp_015_collision.obj
@@ -0,0 +1,17887 @@
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015.obj
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c0cf610c542611fc12546d776c67d12a6277f1a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision.obj
@@ -0,0 +1,17887 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_0.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e172ffc25f7cbd4ebac21f062e5eaf4535f214ad
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_1.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d52b032b9e7e0ffa1ec9d11fa4e152662757f546
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_1.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_10.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20f18bb7aed6124c13cc30c2ad702259d88fb032
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_10.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_11.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2670c14698ab1fa80c9121fc20cbd8022431226
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_11.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_12.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1829a26984b0ff4cd3e8d2e62ae7df74ced06af2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_12.obj
@@ -0,0 +1,835 @@
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_13.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1557c15d972230fe159b135ad6edea53c8a13335
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_13.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_14.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10e6dc765968daa3f609abc10bf3215fa661cd4b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_14.obj
@@ -0,0 +1,502 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_15.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4422fcc07270266c81ebf180df5e26a9c4facd2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_15.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.02255513 0.02117641 -0.03802433
+v 0.02239762 0.02117641 -0.03859078
+v 0.02241194 0.02117640 -0.03629848
+v 0.02926267 0.01485774 -0.03350365
+v 0.02925449 0.01485146 -0.03457188
+v 0.02921767 0.01481473 -0.03629851
+v 0.02916244 0.01476226 -0.03727168
+v 0.02200691 0.02117642 -0.03987094
+v 0.02210101 0.02117640 -0.03457185
+v 0.02972907 0.01423962 -0.03350365
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+v 0.02963702 0.01045644 -0.04146359
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+
diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_16.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a1fadf2612be02d53e1b70ef44eca8807b8733b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_16.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.01981572 -0.01575900 -0.01539218
+v 0.02083984 -0.01461196 -0.01539217
+v 0.01981572 -0.01573848 -0.01513333
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+v 0.01981572 -0.01534587 -0.01386645
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+v 0.02325958 0.00999189 -0.01539208
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+
diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_17.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3310bd82e6ea032a1e0dc39a41eba42f43857a2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_17.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.00001812 0.02446858 -0.01156488
+v 0.00001812 0.01577978 -0.01156491
+v 0.00001812 0.02440566 -0.01557740
+v -0.00084311 0.02446858 -0.01156488
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+v -0.01364942 0.02076000 -0.01156489
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+
diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_18.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1853d99725f17612e3ff7dbfdf5e513efb560ff1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_18.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_19.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8f0ae5ea28f42524a005aac527f3af086302dc2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_19.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_2.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e77b253730f984d35380a24ca134d32c38812790
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_2.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_20.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36af2650f2736453af63041c66029d1fef4799a1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_20.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_21.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10f8b90fbaa688294fc3cc66e8d7b70208e83412
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_21.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.02832061 0.01573867 -0.01098363
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+
diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_22.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd7bdff9a76600cb47d1e75c3731909bd09f1af3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_22.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+f 8 41 25
+f 8 25 24
+f 8 24 9
+f 8 13 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 23
+f 8 23 15
+f 10 24 11
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 12 26 28
+f 12 28 29
+f 12 29 30
+f 12 30 31
+f 12 31 32
+f 12 32 33
+f 12 33 34
+f 12 34 15
+f 12 15 27
+f 13 14 16
+f 14 35 16
+f 15 23 27
+f 16 35 17
+f 17 35 36
+f 17 36 37
+f 17 37 18
+f 18 37 38
+f 18 38 19
+f 19 39 40
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+f 25 41 26
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+f 29 45 30
+f 30 46 31
+f 30 45 47
+f 30 47 48
+f 30 48 46
+f 31 46 34
+f 31 34 32
+f 32 34 33
+
diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_23.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc5ff936b398ae97b033788744d1f9c1d9a712bf
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_23.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.00001812 -0.01747113 -0.03037279
+v 0.00472528 -0.01747113 -0.03038580
+v 0.00001812 -0.01747120 -0.01139420
+v 0.00001812 0.01045367 -0.03037083
+v 0.00474272 -0.01740552 -0.03038580
+v 0.01862004 -0.01747113 -0.03038580
+v 0.01876344 -0.01747120 -0.01139420
+v 0.00001812 0.01045360 -0.01139410
+v 0.01460858 0.01045367 -0.03038570
+v 0.01888553 -0.01715399 -0.03038580
+v 0.01981572 -0.01747114 -0.02728126
+v 0.01981572 -0.01747118 -0.01684853
+v 0.01927699 -0.01715679 -0.01139420
+v 0.01981572 0.01045360 -0.01139410
+v 0.01981572 0.01045367 -0.03038570
+v 0.01929636 -0.01666187 -0.03038580
+v 0.01959868 -0.01626818 -0.03038580
+v 0.01981572 -0.01598385 -0.03038580
+v 0.01981572 -0.01651704 -0.01139420
+v 0.01955023 -0.01684786 -0.01139420
+f 1 2 6
+f 1 6 11
+f 1 11 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 2
+f 2 5 9
+f 2 9 15
+f 2 15 18
+f 2 18 17
+f 2 17 16
+f 2 16 10
+f 2 10 6
+f 2 4 5
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+f 3 20 19
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+f 3 14 8
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+f 4 14 15
+f 4 15 9
+f 4 9 5
+f 6 10 11
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+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 15
+f 11 15 14
+f 11 14 19
+f 11 19 12
+f 12 19 20
+f 12 20 13
+
diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_24.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f93f8824f87e8ef451fa6c4b67aca2defaff7be
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_24.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.02243159 0.01045639 -0.02671827
+v 0.02243159 0.01045641 -0.03330278
+v 0.01981572 0.01045639 -0.02671827
+v 0.02243159 -0.01244924 -0.02671836
+v 0.01981572 0.01045354 -0.03303270
+v 0.02138883 0.01045641 -0.03310660
+v 0.02243159 0.00711165 -0.03346872
+v 0.01981572 0.01045641 -0.03272098
+v 0.01981572 -0.01884904 -0.02671838
+v 0.02156553 -0.01525471 -0.02671837
+v 0.02243159 -0.01239760 -0.02728336
+v 0.02243159 0.00531018 -0.03355540
+v 0.02243159 -0.00670345 -0.03358097
+v 0.01981572 -0.01182100 -0.03300054
+v 0.01981572 -0.01596898 -0.03111812
+v 0.01984901 -0.01882323 -0.02671838
+v 0.02243159 -0.01196730 -0.03111810
+v 0.02243159 -0.00839591 -0.03348289
+v 0.01981572 -0.01353354 -0.03294747
+v 0.01981572 -0.01505676 -0.03241473
+v 0.02063621 -0.01451460 -0.03209023
+v 0.02243159 -0.01132473 -0.03222660
+v 0.02243159 -0.01018877 -0.03294007
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+f 1 16 10
+f 1 10 4
+f 1 4 11
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+f 1 17 22
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+f 16 21 17
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+f 21 23 22
+
diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_25.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..638880a8f845da0c2bb8c031125cd0423150de28
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_25.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.02325958 -0.01148468 -0.01538857
+v 0.02325958 -0.01107126 -0.01386643
+v 0.02325958 -0.01100765 -0.01539216
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+v 0.02325958 0.00951817 -0.01386636
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+v 0.02825552 -0.01657574 -0.01386645
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+v 0.02838601 -0.01659958 -0.01539218
+v 0.02944755 -0.01642998 -0.01386645
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+v 0.03031231 -0.01532749 -0.01386645
+v 0.03253376 0.00786709 -0.01468785
+v 0.03252962 0.00785385 -0.01539209
+v 0.03327425 0.00529906 -0.01539210
+v 0.03264354 0.00739271 -0.01386636
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+v 0.03305780 -0.00667192 -0.01386641
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+
diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_26.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47e9e9e0085fadf1fef033d4fb799aa97e4ff692
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_26.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
+v -0.02811608 0.01519461 -0.01569449
+v -0.02929497 0.01501123 -0.01569449
+v -0.02668905 0.01489378 -0.01569450
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+v -0.02459644 0.01577981 -0.01659955
+v -0.02491166 0.01577981 -0.01663646
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+v -0.02602985 0.01411902 -0.01569450
+v -0.02370934 0.01024110 -0.01569451
+v -0.02822896 0.01570153 -0.02248612
+v -0.02925556 0.01487322 -0.03077782
+v -0.02942596 0.01490408 -0.01569450
+v -0.02811501 0.01577982 -0.01924238
+v -0.02812459 0.01577983 -0.02076016
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+v -0.02623432 0.01577986 -0.03077781
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_27.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae4a9ea770a98994ff92fe8b8e2e22b7710aa83d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_27.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_28.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0177e3bfad916043aedf684e483f03c1eae070e6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_28.obj
@@ -0,0 +1,580 @@
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_29.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ebdd54712c6fc4f4c229a3d86cffa874ed8b72a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_29.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_3.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a683ad16e4eb1355c7dbb155e9e0cf25d3c793fe
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_3.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_30.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bc3e84db257a10d841e0e32059586c1eb6b2763
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_30.obj
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_31.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68e1cae2e058b4a58571b8967c2ac0e2881f9365
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_31.obj
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_32.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9885d90947b60ec67ee8104e113108712b81bd1a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_32.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_33.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75303efdbefcfecf8de5d9e459bc4ab52e85a2a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_33.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_34.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..105fcf40a663f10d5e9d1c440a210392584b48ed
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_34.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.02158717 -0.00527132 -0.02786907
+v -0.02158717 -0.00527130 -0.03284037
+v -0.02506149 -0.00527132 -0.02786907
+v -0.02158717 -0.01349070 -0.02786910
+v -0.02158717 -0.00527613 -0.03284145
+v -0.02218164 -0.00527130 -0.03338524
+v -0.02506149 -0.00527130 -0.03338524
+v -0.02506149 -0.01151773 -0.02786909
+v -0.02158717 -0.01322194 -0.03111832
+v -0.02158717 -0.00606146 -0.03298024
+v -0.02217688 -0.00529544 -0.03338524
+v -0.02506149 -0.01083538 -0.03338526
+v -0.02158717 -0.01286387 -0.03162809
+v -0.02158717 -0.00805213 -0.03325133
+v -0.02192556 -0.00748164 -0.03338525
+v -0.02356477 -0.01038478 -0.03338526
+v -0.02158717 -0.01170117 -0.03263303
+v -0.02158717 -0.00978371 -0.03317304
+v -0.02214900 -0.00889218 -0.03338525
+v -0.02317368 -0.01011925 -0.03338526
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 17
+f 1 17 18
+f 1 18 14
+f 1 14 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 12
+f 3 12 8
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 6 11 15
+f 6 15 19
+f 6 19 20
+f 6 20 16
+f 6 16 12
+f 6 12 7
+f 8 12 9
+f 9 12 13
+f 10 14 11
+f 11 14 15
+f 12 16 17
+f 12 17 13
+f 14 18 15
+f 15 18 19
+f 16 20 17
+f 17 20 18
+f 18 20 19
+
diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_35.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85794e72c6f724defa182763cc03db330e1c9d29
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_35.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.01858750 0.00523843 -0.03077811
+v -0.01893421 -0.00527051 -0.03077815
+v -0.02218229 -0.00527050 -0.03338499
+v -0.02101594 0.00523844 -0.03262336
+v -0.03299711 0.00523843 -0.03077811
+v -0.03314943 -0.00527051 -0.03077815
+v -0.02213587 0.00523844 -0.03338495
+v -0.03319730 -0.00527050 -0.03338499
+v -0.03300291 0.00523843 -0.03118085
+v -0.03322051 0.00358742 -0.03284491
+v -0.03314217 0.00392482 -0.03077812
+v -0.03318134 -0.00497219 -0.03077815
+v -0.03319440 -0.00497219 -0.03111861
+v -0.03316103 -0.00527051 -0.03111861
+v -0.03301742 0.00523844 -0.03338495
+v -0.03319440 -0.00527050 -0.03284494
+v -0.03323502 -0.00497218 -0.03338499
+v -0.03301742 0.00523844 -0.03290717
+v -0.03318569 0.00358741 -0.03111858
+v -0.03307980 0.00476423 -0.03338495
+v -0.03322486 0.00358742 -0.03338496
+v -0.03326693 0.00305148 -0.03338496
+v -0.03334237 0.00187571 -0.03284491
+v -0.03317264 0.00358741 -0.03077812
+v -0.03327419 -0.00326048 -0.03077814
+v -0.03329014 -0.00326048 -0.03111860
+v -0.03334382 -0.00326047 -0.03284493
+v -0.03322922 -0.00497218 -0.03284494
+v -0.03335252 -0.00326047 -0.03338498
+v -0.03328724 0.00187570 -0.03111858
+v -0.03325533 0.00221310 -0.03077812
+v -0.03334962 0.00187571 -0.03338496
+v -0.03336848 0.00133977 -0.03338497
+v -0.03340620 0.00016296 -0.03338497
+v -0.03339604 0.00016296 -0.03284492
+v -0.03331336 -0.00154773 -0.03077814
+v -0.03333221 -0.00154773 -0.03111860
+v -0.03339604 -0.00154772 -0.03284493
+v -0.03340620 -0.00154772 -0.03338498
+v -0.03326983 0.00187570 -0.03077812
+v -0.03333221 0.00016295 -0.03111859
+v -0.03330610 0.00050139 -0.03077813
+v -0.03331336 0.00016295 -0.03077813
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 15
+f 1 15 18
+f 1 18 9
+f 1 9 5
+f 1 5 11
+f 1 11 24
+f 1 24 31
+f 1 31 40
+f 1 40 42
+f 1 42 43
+f 1 43 36
+f 1 36 25
+f 1 25 12
+f 1 12 6
+f 1 6 2
+f 2 6 14
+f 2 14 16
+f 2 16 8
+f 2 8 3
+f 3 7 4
+f 3 8 17
+f 3 17 29
+f 3 29 39
+f 3 39 34
+f 3 34 33
+f 3 33 32
+f 3 32 22
+f 3 22 21
+f 3 21 20
+f 3 20 15
+f 3 15 7
+f 5 9 10
+f 5 10 11
+f 6 12 13
+f 6 13 14
+f 8 16 17
+f 9 18 10
+f 10 19 11
+f 10 18 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 19
+f 11 19 24
+f 12 25 26
+f 12 26 13
+f 13 26 27
+f 13 27 28
+f 13 28 14
+f 14 28 16
+f 15 20 18
+f 16 28 17
+f 17 28 29
+f 19 23 30
+f 19 30 31
+f 19 31 24
+f 22 32 23
+f 23 32 33
+f 23 33 34
+f 23 34 35
+f 23 35 30
+f 25 36 37
+f 25 37 26
+f 26 37 38
+f 26 38 27
+f 27 38 39
+f 27 39 29
+f 27 29 28
+f 30 40 31
+f 30 35 41
+f 30 41 42
+f 30 42 40
+f 34 39 38
+f 34 38 35
+f 35 38 37
+f 35 37 41
+f 36 43 41
+f 36 41 37
+f 41 43 42
+
diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_36.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38521f0ff4c9fe5a601941dfd6855f985b02163b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_36.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.02158717 -0.00527056 -0.01634287
+v -0.02158717 -0.00527052 -0.02786741
+v -0.02506149 -0.00527056 -0.01634287
+v -0.02158717 -0.01416599 -0.01634290
+v -0.02506149 -0.00527052 -0.02786741
+v -0.02158717 -0.01349035 -0.02786744
+v -0.02506149 -0.01240967 -0.01634290
+v -0.02506149 -0.01524549 -0.01635532
+v -0.02309410 -0.01777288 -0.01666559
+v -0.02158717 -0.01777288 -0.01674794
+v -0.02506149 -0.01151862 -0.02786743
+v -0.02158717 -0.01777284 -0.02662193
+v -0.02227823 -0.01777284 -0.02663772
+v -0.02398682 -0.01777284 -0.02666593
+v -0.02506149 -0.01688550 -0.02681597
+v -0.02506149 -0.01669828 -0.01654147
+v -0.02485370 -0.01777288 -0.01672200
+v -0.02480303 -0.01777284 -0.02655875
+v -0.02506149 -0.01777284 -0.02648203
+v -0.02506149 -0.01777288 -0.01683481
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 10
+f 1 10 12
+f 1 12 6
+f 1 6 2
+f 2 6 11
+f 2 11 5
+f 3 5 11
+f 3 11 15
+f 3 15 19
+f 3 19 20
+f 3 20 16
+f 3 16 8
+f 3 8 7
+f 4 8 9
+f 4 9 10
+f 4 7 8
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 11
+f 8 16 9
+f 9 17 20
+f 9 20 19
+f 9 19 18
+f 9 18 14
+f 9 14 13
+f 9 13 12
+f 9 12 10
+f 9 16 17
+f 14 18 15
+f 15 18 19
+f 16 20 17
+
diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_37.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f256fa545dd86c0e0310b70f73831fd601c1fb1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_37.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.01981572 -0.00368470 -0.03038602
+v 0.01981572 -0.00368470 -0.03104359
+v 0.01800769 -0.00368470 -0.03038602
+v 0.01981572 -0.01598508 -0.03038607
+v 0.01981572 -0.00958585 -0.03255845
+v 0.00474137 -0.01740638 -0.03038607
+v 0.01840800 -0.00368470 -0.03054928
+v 0.01929576 -0.01666266 -0.03038607
+v 0.01928986 -0.01665456 -0.03111862
+v 0.01981572 -0.01596888 -0.03111862
+v 0.01981572 -0.01182105 -0.03300091
+v 0.01969607 -0.01182105 -0.03302909
+v 0.01627351 -0.01695690 -0.03310223
+v 0.01459251 -0.01747385 -0.03275391
+v 0.00472512 -0.01747386 -0.03038607
+v 0.01890432 -0.01713373 -0.03038607
+v 0.01860889 -0.01747386 -0.03104018
+v 0.01860741 -0.01747386 -0.03111862
+v 0.01908749 -0.01640754 -0.03224019
+v 0.01981572 -0.01505778 -0.03241515
+v 0.01981572 -0.01353255 -0.03294747
+v 0.01969607 -0.01353255 -0.03301129
+v 0.01798405 -0.01524540 -0.03310144
+v 0.01627942 -0.01747385 -0.03295679
+v 0.01861923 -0.01747386 -0.03038607
+v 0.01778611 -0.01747385 -0.03246806
+v 0.01967392 -0.01515091 -0.03247099
+v 0.01801803 -0.01697039 -0.03259809
+f 1 2 7
+f 1 7 3
+f 1 3 6
+f 1 6 15
+f 1 15 25
+f 1 25 16
+f 1 16 8
+f 1 8 4
+f 1 4 10
+f 1 10 20
+f 1 20 21
+f 1 21 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 7 6
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 13 14
+f 6 14 15
+f 6 12 13
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 12 23 13
+f 13 24 14
+f 13 23 24
+f 14 24 26
+f 14 26 18
+f 14 18 17
+f 14 17 25
+f 14 25 15
+f 16 25 17
+f 18 26 19
+f 19 27 20
+f 19 26 28
+f 19 28 27
+f 20 27 21
+f 21 27 22
+f 22 27 28
+f 22 28 23
+f 23 28 24
+f 24 28 26
+
diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_38.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3672c3ba5b38b083a8f0b1611ab3781bdf28be4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_38.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
+v 0.01981572 -0.01747542 -0.01684860
+v 0.01981572 -0.02026428 -0.01671564
+v 0.01981572 -0.01747538 -0.02718373
+v 0.01825184 -0.01747542 -0.01557347
+v 0.01825765 -0.01747693 -0.01557347
+v 0.01981572 -0.02197679 -0.01667247
+v 0.01981572 -0.01772864 -0.02718374
+v 0.00001812 -0.01747538 -0.02718373
+v 0.00001812 -0.01747542 -0.01557347
+v 0.01753869 -0.01823218 -0.01557348
+v 0.01981572 -0.02368930 -0.01674180
+v 0.01981572 -0.02209588 -0.01667701
+v 0.01981572 -0.02380985 -0.02648028
+v 0.01973046 -0.01802260 -0.02718374
+v 0.00001812 -0.02638013 -0.02718377
+v 0.00001812 -0.02561135 -0.01557350
+v 0.01666082 -0.01909145 -0.01557348
+v 0.01969557 -0.02380688 -0.01674294
+v 0.01981572 -0.02381140 -0.01678612
+v 0.01580814 -0.01989193 -0.01557348
+v 0.01981572 -0.02543192 -0.02571316
+v 0.01964325 -0.02551333 -0.02575635
+v 0.01798441 -0.02551784 -0.02641664
+v 0.01969557 -0.02380684 -0.02652688
+v 0.01971689 -0.01804521 -0.02718374
+v 0.00001812 -0.03065537 -0.02660986
+v 0.00442103 -0.02643440 -0.02718377
+v 0.00001812 -0.03065541 -0.01667250
+v 0.00087661 -0.02561135 -0.01557350
+v 0.01798441 -0.02551788 -0.01682022
+v 0.01396714 -0.02155921 -0.01557349
+v 0.01981572 -0.02543045 -0.01744983
+v 0.01981572 -0.02610125 -0.02421188
+v 0.01903669 -0.02651882 -0.02531881
+v 0.01798441 -0.02687610 -0.02563475
+v 0.01639726 -0.02737356 -0.02593137
+v 0.01456013 -0.02723035 -0.02654734
+v 0.01776349 -0.02015871 -0.02718374
+v 0.01814525 -0.01984968 -0.02718374
+v 0.01915877 -0.01883212 -0.02718374
+v 0.01917622 -0.01881102 -0.02718374
+v 0.01946884 -0.01844771 -0.02718374
+v 0.01627324 -0.02551784 -0.02662462
+v 0.00001812 -0.03211613 -0.02582457
+v 0.00087079 -0.03065537 -0.02660986
+v 0.00600430 -0.02597763 -0.02718377
+v 0.00942857 -0.02894286 -0.02662009
+v 0.00429313 -0.03065537 -0.02653372
+v 0.00258196 -0.03065537 -0.02658713
+v 0.00001812 -0.03219908 -0.01742826
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+v 0.00087079 -0.03065541 -0.01667363
+v 0.00258196 -0.02558873 -0.01557350
+v 0.01968782 -0.02554954 -0.01745437
+v 0.01456013 -0.02723039 -0.01672476
+v 0.01627324 -0.02723039 -0.01709071
+v 0.01069014 -0.02332448 -0.01557350
+v 0.01981572 -0.02549376 -0.01748733
+v 0.01981572 -0.02615854 -0.02248557
+v 0.01915490 -0.02660475 -0.02421188
+v 0.01798441 -0.02740523 -0.02421188
+v 0.01703483 -0.02803084 -0.02421188
+v 0.01590891 -0.02836701 -0.02547792
+v 0.01456013 -0.02871524 -0.02576546
+v 0.01113780 -0.02894286 -0.02650871
+v 0.00685504 -0.02560980 -0.02718376
+v 0.01100215 -0.02372694 -0.02718376
+v 0.01734296 -0.02041650 -0.02718374
+v 0.00001812 -0.03243422 -0.02501312
+v 0.00087079 -0.03211764 -0.02582343
+v 0.00600430 -0.03065537 -0.02641325
+v 0.00429313 -0.03198046 -0.02574956
+v 0.00258196 -0.03207242 -0.02580183
+v 0.00001812 -0.03287291 -0.01903297
+v 0.00087079 -0.03287442 -0.01903297
+v 0.00258196 -0.03215536 -0.01744304
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+v 0.00258196 -0.03065541 -0.01668841
+v 0.00429313 -0.02551939 -0.01557350
+v 0.01782162 -0.02718064 -0.01768281
+v 0.01911420 -0.02657764 -0.01787715
+v 0.01113780 -0.02894290 -0.01675432
+v 0.01284897 -0.02894290 -0.01706799
+v 0.01443611 -0.02897003 -0.01757372
+v 0.01627324 -0.02834140 -0.01784306
+v 0.00600236 -0.02521789 -0.01557350
+v 0.01981572 -0.02618117 -0.01869883
+v 0.01981572 -0.02620678 -0.02076040
+v 0.01919172 -0.02663190 -0.02248557
+v 0.01798441 -0.02745649 -0.02248557
+v 0.01707747 -0.02805647 -0.02248557
+v 0.01618022 -0.02851927 -0.02421188
+v 0.01367645 -0.02978706 -0.02467103
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+v 0.01113780 -0.03029358 -0.02572682
+v 0.00771740 -0.03065537 -0.02614845
+v 0.00001812 -0.03274777 -0.02421190
+v 0.00087079 -0.03274777 -0.02421190
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+v 0.00429313 -0.03206190 -0.01748054
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+v 0.01714336 -0.02809568 -0.01815218
+v 0.01924404 -0.02667110 -0.01903295
+v 0.01981572 -0.02623694 -0.01903295
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+v 0.01378303 -0.02983532 -0.01809764
+v 0.01981572 -0.02621735 -0.02021261
+v 0.01922466 -0.02665451 -0.02076040
+v 0.01781387 -0.02761780 -0.02061606
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+v 0.01459695 -0.02939814 -0.02248558
+v 0.01439735 -0.02945240 -0.02414257
+v 0.01371521 -0.02980364 -0.02352091
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+v 0.00868441 -0.03154329 -0.02514836
+v 0.00771740 -0.03166238 -0.02536543
+v 0.00001812 -0.03279301 -0.02248559
+v 0.00087079 -0.03279301 -0.02248559
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+v 0.00258196 -0.03270256 -0.02248559
+v 0.00001812 -0.03281562 -0.02161732
+v 0.00258196 -0.03274477 -0.02076042
+v 0.00429313 -0.03256387 -0.02076042
+v 0.00429313 -0.03260006 -0.01903297
+v 0.00600430 -0.03192472 -0.01757260
+v 0.01714142 -0.02809417 -0.01903295
+v 0.01799603 -0.02752736 -0.01903295
+v 0.01466866 -0.02943282 -0.01903296
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+v 0.00771740 -0.03174380 -0.01777943
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_39.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3560f05d9fc379fda3d6fc5c2814a55ddac3f0e8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_39.obj
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_4.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07cf366e1f960be9dce7746006980b0ed20fa295
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_4.obj
@@ -0,0 +1,1057 @@
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_40.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a695a47b6ff51029516bfc04b149f27abe22b74
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_40.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_41.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0ba69813e4f91c675cc5bb13f2b4d67348635a4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_41.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+v -0.01282252 -0.02165896 -0.03239284
+v -0.01446508 -0.02037818 -0.03250789
+v -0.01058996 -0.02311004 -0.03218747
+f 1 2 7
+f 1 7 16
+f 1 16 17
+f 1 17 8
+f 1 8 3
+f 1 3 9
+f 1 9 19
+f 1 19 32
+f 1 32 33
+f 1 33 21
+f 1 21 10
+f 1 10 4
+f 1 4 11
+f 1 11 22
+f 1 22 34
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+f 1 39 24
+f 1 24 12
+f 1 12 5
+f 1 5 2
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+f 2 6 7
+f 3 8 9
+f 4 10 11
+f 5 12 13
+f 5 13 6
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+f 6 14 15
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+f 9 18 19
+f 9 17 20
+f 9 20 18
+f 10 21 11
+f 11 21 23
+f 11 23 22
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+f 13 26 14
+f 14 26 27
+f 14 27 28
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+f 15 28 20
+f 15 20 17
+f 15 17 16
+f 18 29 30
+f 18 30 31
+f 18 31 19
+f 18 20 29
+f 19 31 32
+f 20 28 29
+f 21 33 23
+f 22 23 35
+f 22 35 36
+f 22 36 37
+f 22 37 34
+f 23 33 32
+f 23 32 31
+f 23 31 35
+f 24 38 25
+f 24 39 40
+f 24 40 41
+f 24 41 38
+f 25 38 42
+f 25 42 26
+f 26 42 43
+f 26 43 44
+f 26 44 27
+f 27 44 29
+f 27 29 28
+f 29 45 46
+f 29 46 30
+f 29 44 45
+f 30 46 47
+f 30 47 48
+f 30 48 31
+f 31 48 35
+f 34 37 40
+f 34 40 39
+f 35 48 36
+f 36 48 47
+f 36 47 49
+f 36 49 37
+f 37 49 40
+f 38 41 49
+f 38 49 45
+f 38 45 42
+f 40 49 41
+f 42 45 43
+f 43 45 44
+f 45 49 46
+f 46 49 47
+
diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_42.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e70cd3988a6d5cd63cee32c57bb08fd8a32579a6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_42.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.01461017 0.01045502 -0.03038570
+v 0.01639257 0.01045640 -0.03038570
+v 0.01625448 0.01045640 -0.03071223
+v 0.01846746 0.01045641 -0.03240109
+v 0.01800835 -0.00368470 -0.03038575
+v 0.01981572 0.01045640 -0.03038570
+v 0.01967560 0.01045641 -0.03302278
+v 0.01840886 -0.00368470 -0.03054927
+v 0.01981572 -0.00368470 -0.03038575
+v 0.01981572 0.01045641 -0.03272113
+v 0.01969649 0.01045641 -0.03302745
+v 0.01969649 0.01043565 -0.03302667
+v 0.01981572 -0.00368470 -0.03104347
+v 0.01981572 0.01045503 -0.03303315
+v 0.01981572 0.01031661 -0.03303133
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 6
+f 1 6 2
+f 2 6 10
+f 2 10 11
+f 2 11 7
+f 2 7 4
+f 2 4 3
+f 4 7 5
+f 5 8 13
+f 5 13 9
+f 5 7 8
+f 6 9 13
+f 6 13 15
+f 6 15 14
+f 6 14 10
+f 7 11 12
+f 7 12 13
+f 7 13 8
+f 10 14 11
+f 11 14 15
+f 11 15 12
+f 12 15 13
+
diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_43.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..800f04cd05f9daf2ec8a1d31a16134d8e740689c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_43.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v 0.02243185 -0.01221663 -0.02888169
+v 0.02243185 -0.01213467 -0.02767262
+v 0.02243185 -0.01196544 -0.03111855
+v 0.02726727 -0.01619067 -0.03542087
+v 0.02668456 -0.01644189 -0.02767264
+v 0.02243185 0.01045639 -0.02767254
+v 0.02243185 -0.01132292 -0.03222674
+v 0.02704821 -0.01585752 -0.03542087
+v 0.02761798 -0.01625148 -0.03542087
+v 0.02825464 -0.01640484 -0.03457133
+v 0.02722303 -0.01622240 -0.03457133
+v 0.02825464 -0.01655558 -0.02767264
+v 0.03158689 0.01045639 -0.02767254
+v 0.02243185 0.01045641 -0.03330300
+v 0.02243185 -0.01019125 -0.03293975
+v 0.02297571 -0.00839591 -0.03542084
+v 0.02318074 -0.00911774 -0.03542084
+v 0.02346562 -0.00985809 -0.03542085
+v 0.02669751 -0.01531548 -0.03542087
+v 0.02821687 -0.01633345 -0.03542087
+v 0.02928194 -0.01626206 -0.03542087
+v 0.02930136 -0.01628321 -0.03457133
+v 0.02931323 -0.01629644 -0.03284495
+v 0.02932618 -0.01630703 -0.03111857
+v 0.02934884 -0.01632819 -0.02767264
+v 0.03160307 0.01044585 -0.03542077
+v 0.03159875 0.01045642 -0.03542077
+v 0.03217715 0.00872452 -0.02767255
+v 0.02319585 0.01045642 -0.03542077
+v 0.02298003 0.00701118 -0.03542078
+v 0.02243185 0.00711164 -0.03346836
+v 0.02243185 -0.00839592 -0.03348283
+v 0.02243185 -0.00670370 -0.03358067
+v 0.02964452 -0.01577291 -0.03542087
+v 0.03007184 -0.01524409 -0.03457133
+v 0.03009881 -0.01524410 -0.03284495
+v 0.03012148 -0.01524411 -0.03111857
+v 0.03016464 -0.01524412 -0.02767264
+v 0.03190198 0.00956537 -0.03542077
+v 0.03249440 0.00771183 -0.02767255
+v 0.03234873 0.00820102 -0.03542078
+v 0.03218147 0.00872455 -0.03542078
+v 0.02243185 0.00530838 -0.03355560
+v 0.03003515 -0.01524409 -0.03542087
+v 0.03038262 -0.01470205 -0.03542086
+v 0.03072037 -0.01416530 -0.03542086
+v 0.03073656 -0.01418381 -0.03457132
+v 0.03075167 -0.01420762 -0.03284494
+v 0.03076246 -0.01423407 -0.03111856
+v 0.03078188 -0.01428167 -0.02767263
+v 0.03249656 0.00770390 -0.02767255
+v 0.03249548 0.00771715 -0.03542078
+v 0.03107540 -0.01330862 -0.03542086
+v 0.03136028 -0.01258414 -0.03542086
+v 0.03163652 -0.01182000 -0.03542085
+v 0.03163113 -0.01182003 -0.02767262
+v 0.03269619 0.00685250 -0.02767255
+v 0.03270159 0.00684987 -0.02939210
+v 0.03270699 0.00684723 -0.03111848
+v 0.03270699 0.00686047 -0.03542078
+v 0.03221276 -0.01010927 -0.03542085
+v 0.03221060 -0.01010930 -0.02767262
+v 0.03299510 0.00530572 -0.02767256
+v 0.03302208 0.00529780 -0.03284487
+v 0.03302640 0.00529781 -0.03457125
+v 0.03286993 0.00607782 -0.03542079
+v 0.03250843 -0.00915211 -0.03542084
+v 0.03250951 -0.00914950 -0.02767261
+v 0.03299618 0.00529778 -0.02767256
+v 0.03325624 0.00358709 -0.03457126
+v 0.03302640 0.00529781 -0.03542079
+v 0.03325732 0.00358709 -0.03542080
+v 0.03261634 -0.00871584 -0.03542084
+v 0.03271562 -0.00829543 -0.03542084
+v 0.03271346 -0.00828487 -0.03111854
+v 0.03271022 -0.00828752 -0.02939216
+v 0.03270375 -0.00829282 -0.02767261
+v 0.03320769 0.00359499 -0.02767257
+v 0.03338682 0.00187372 -0.03457126
+v 0.03339221 0.00187372 -0.03542080
+v 0.03303503 -0.00668254 -0.03542083
+v 0.03303395 -0.00668254 -0.03457129
+v 0.03303072 -0.00668255 -0.03284491
+v 0.03300374 -0.00667728 -0.02767260
+v 0.03332423 0.00188162 -0.02767257
+v 0.03344725 0.00016300 -0.03457127
+v 0.03345372 0.00016300 -0.03542081
+v 0.03314618 -0.00584172 -0.03542083
+v 0.03325948 -0.00497182 -0.03542083
+v 0.03325732 -0.00497182 -0.03457129
+v 0.03321524 -0.00497185 -0.02767260
+v 0.03336955 0.00016826 -0.02767258
+v 0.03344832 -0.00155037 -0.03457128
+v 0.03345480 -0.00070691 -0.03542081
+v 0.03332746 -0.00412835 -0.03542083
+v 0.03339005 -0.00325845 -0.03457128
+v 0.03333070 -0.00325319 -0.02767259
+v 0.03336955 0.00016297 -0.02767258
+v 0.03336739 -0.00155040 -0.02767259
+v 0.03342566 -0.00242027 -0.03542082
+v 0.03345480 -0.00155037 -0.03542082
+v 0.03339437 -0.00325845 -0.03542082
+f 1 2 6
+f 1 6 14
+f 1 14 31
+f 1 31 43
+f 1 43 33
+f 1 33 32
+f 1 32 15
+f 1 15 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 12
+f 2 12 25
+f 2 25 38
+f 2 38 50
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+f 16 33 30
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+f 30 43 31
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+f 36 49 50
+f 36 50 37
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+f 48 53 49
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+f 49 54 50
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+f 51 57 58
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+f 93 96 100
+f 93 100 101
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+f 93 98 99
+f 95 102 96
+f 96 102 100
+
diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_44.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6edb2a6c177586eb9fc6a90c1693eb16f9785e42
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_44.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.00001812 0.01577979 -0.01156452
+v 0.00001812 -0.00149569 -0.01156459
+v 0.00001812 0.01577986 -0.03036970
+v -0.01906650 0.01577979 -0.01156452
+v -0.00011659 -0.00527058 -0.01156460
+v 0.00001812 -0.00527058 -0.01156648
+v 0.00001812 0.00358977 -0.03036975
+v -0.01106987 0.01577986 -0.03077781
+v -0.02370934 0.01577981 -0.01663678
+v -0.02082470 0.01387380 -0.01156453
+v -0.02370934 -0.00527058 -0.01156460
+v 0.00001812 -0.00527051 -0.03036790
+v -0.01893180 -0.00527051 -0.03077789
+v -0.02370934 0.01577986 -0.03077781
+v -0.02370934 0.00937978 -0.01156455
+v -0.02129618 0.01316085 -0.01156453
+v -0.02370934 -0.00527051 -0.03077789
+f 1 2 6
+f 1 6 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 9
+f 1 9 4
+f 1 4 10
+f 1 10 16
+f 1 16 15
+f 1 15 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 10
+f 5 11 17
+f 5 17 13
+f 5 13 12
+f 5 12 6
+f 7 12 8
+f 8 12 13
+f 8 13 17
+f 8 17 14
+f 9 14 17
+f 9 17 11
+f 9 11 15
+f 9 15 16
+f 9 16 10
+
diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_45.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36ea51c779278010850d748a8933ad8898a374cc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_45.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02158717 -0.00527145 -0.01156506
+v -0.02158717 -0.00527143 -0.01634287
+v -0.02506149 -0.00527145 -0.01156506
+v -0.02158717 -0.01384131 -0.01156509
+v -0.02506149 -0.00527143 -0.01634287
+v -0.02158717 -0.01416608 -0.01634290
+v -0.02506149 -0.01158434 -0.01156508
+v -0.02506149 -0.01240979 -0.01634290
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
+
diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_46.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bd9ac0b33a164814fed20eea2f62578b0e798fd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_46.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.03403206 -0.00154845 -0.01569456
+v -0.03399771 -0.00326009 -0.01569456
+v -0.03339245 -0.00154847 -0.01156499
+v -0.03339346 0.00016521 -0.01156498
+v -0.03403004 0.00016523 -0.01569455
+v -0.03396133 -0.00368292 -0.01569456
+v -0.03324897 -0.00497175 -0.01156500
+v -0.03328130 -0.00441476 -0.01156500
+v -0.03334799 -0.00326011 -0.01156499
+v -0.03335001 0.00187685 -0.01156497
+v -0.03399164 0.00187687 -0.01569454
+v -0.03400680 0.00123043 -0.01569455
+v -0.03381987 -0.00503068 -0.01569457
+v -0.03321865 -0.00527058 -0.01156500
+v -0.03324897 0.00358849 -0.01156497
+v -0.03381280 0.00360274 -0.01569454
+v -0.03381381 -0.00505101 -0.01569457
+v -0.03374812 -0.00527056 -0.01569457
+v -0.02371035 -0.00527058 -0.01156500
+v -0.03306809 0.00530013 -0.01156496
+v -0.03380976 0.00362917 -0.01569454
+v -0.02371035 -0.00527056 -0.01569457
+v -0.02371035 0.00938002 -0.01156495
+v -0.03296907 0.00585713 -0.01156496
+v -0.03276294 0.00701177 -0.01156495
+v -0.03268918 0.00733093 -0.01156495
+v -0.03253963 0.00797533 -0.01156495
+v -0.03380572 0.00364543 -0.01569454
+v -0.02371035 0.01023992 -0.01569451
+v -0.02685284 0.01521220 -0.01156492
+v -0.03227994 0.00883319 -0.01156495
+v -0.03338639 0.00519648 -0.01569453
+v -0.02603033 0.01412059 -0.01569450
+v -0.02666489 0.01488494 -0.01569450
+v -0.02668914 0.01489307 -0.01569450
+v -0.02811589 0.01519596 -0.01569449
+v -0.02826342 0.01549680 -0.01156492
+v -0.03227691 0.00882505 -0.01212647
+v -0.03211221 0.00934952 -0.01156495
+v -0.03225570 0.00874173 -0.01569452
+v -0.02929509 0.01501097 -0.01569449
+v -0.02944463 0.01510040 -0.01156492
+v -0.03226479 0.00879051 -0.01385269
+v -0.03157567 0.01099205 -0.01156494
+v -0.03169692 0.01043508 -0.01557929
+v -0.03173734 0.01030701 -0.01569451
+v -0.02936986 0.01497845 -0.01569449
+v -0.03002261 0.01435638 -0.01156493
+v -0.03118664 0.01214873 -0.01156494
+v -0.03169490 0.01043508 -0.01569451
+v -0.02942544 0.01490527 -0.01569450
+v -0.03030654 0.01374249 -0.01569450
+v -0.03033888 0.01369776 -0.01569450
+v -0.03030048 0.01396201 -0.01156493
+v -0.03107549 0.01247398 -0.01156493
+v -0.03080065 0.01301067 -0.01569450
+v -0.03085522 0.01310416 -0.01156493
+f 1 2 3
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+f 1 11 16
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+f 1 21 28
+f 1 28 32
+f 1 32 40
+f 1 40 46
+f 1 46 50
+f 1 50 56
+f 1 56 53
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_5.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a0f5e219d2d61554b4f980ea387befd3f003a86
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_6.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5934f850dac364cdc924e6869f56f4bd350d907
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_6.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.02940517 0.01073458 -0.04146473
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+v 0.02355245 0.01073458 -0.04146473
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+
diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_7.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..839c65ab5e7511ad5166f4b053f20c89a45ed790
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_7.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_8.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c6530624fa125401d1200157897d82dd1511a06
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_8.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_9.obj b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf4928c31450b333dd5cfbf400b679ca83e2a9cc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/mesh/stamp_015_collision_9.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00771504 0.02258021 -0.05313913
+v -0.00771504 0.02301266 -0.04146469
+v -0.00771504 0.03010216 -0.05313910
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+v 0.00600381 0.02956749 -0.04146466
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/stamp_015.xml b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/stamp_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..28b4800acc0c021222da81ec197554b443573cf7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mjcf/stamp_015.xml
@@ -0,0 +1,108 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stamp_015">
+  <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/stamp_015.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stamp_015_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stamp_015_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stamp_015_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stamp_015_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stamp_015_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/stamp_015_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stamp_015_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/stamp_015_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/stamp_015_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/stamp_015_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/stamp_015_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/stamp_015_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/stamp_015_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/stamp_015_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/stamp_015_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/stamp_015_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/stamp_015_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/stamp_015_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/stamp_015_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/stamp_015_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/stamp_015_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/stamp_015_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/stamp_015_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/stamp_015_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/stamp_015_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/stamp_015_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/stamp_015_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/stamp_015_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/stamp_015_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/stamp_015_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/stamp_015_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/stamp_015_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/stamp_015_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/stamp_015_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/stamp_015_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/stamp_015_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/stamp_015_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/stamp_015_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/stamp_015_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/stamp_015_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/stamp_015_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/stamp_015_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/stamp_015_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/stamp_015_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/stamp_015_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/stamp_015_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/stamp_015_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stamp_015">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" 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_tools/e812d0a1b9ba54378096f80aa0c10544/stamp_015.urdf b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/stamp_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fb967ac2f4ad0e098e04b3757e4d5c6c25fb117f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/stamp_015.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stamp_015">
+   <link name="stamp_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stamp_015.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/stamp_015_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>e812d0a1b9ba54378096f80aa0c10544</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>stamp</category>
+         <name>self-inking stamp</name>
+         <color>gray,red</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cylindrical self-inking stamp with red base and side button</description>
+         <min_height>0.1050</min_height>
+         <max_height>0.1050</max_height>
+         <real_height>0.1050</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609174255</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.034415 -0.033856 -0.062139</min>
+            <max>0.034442 0.032441 0.042815</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Top/base surfaces are split from the cylindrical body, while the real functional parts are body, stamp face, and side button.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/stamp_015.usd b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/stamp_015.usd
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+size 4954824
diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/textures/material_0.png b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/textures/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/video.mp4 b/dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/video.mp4
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 200603