diff --git a/.gitattributes b/.gitattributes
index 9675d16f8367bdf24cd6620cf6c397006b80c5a9..8b1d1f4a0b55497e62d90a8bca539d04dd00575e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3451,5 +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/e153444686e85d3db03e23118796ee11/mesh/scissors_026.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/e153444686e85d3db03e23118796ee11/scissors_026.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/e3f7ababd4cc56c1a6ccecbb6b5269c7/mesh/sticky_notes_012.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/e3f7ababd4cc56c1a6ccecbb6b5269c7/sticky_notes_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mesh/staples_box_040.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/staples_box_040.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mesh/material.mtl b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c6ba64baf5d9a1d0c293258e933298a2245c9053
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl staples_box_040_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd staples_box_040_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mesh/material_0.png b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfd803440edcd57d8597c770cd16b1d8841bddfd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6963c9efadba32338c9abda2f9a00cdef46574174c6c0410a14023ce7703e317
+size 12394915
diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mesh/staples_box_040.glb b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mesh/staples_box_040.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8864932b34bae2be2daf4026378445c4008e437d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mesh/staples_box_040.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:531d6170ce4f098ed81a17049d52a237ed22f059729d0840cf73aeac32cbddd5
+size 15643692
diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mesh/staples_box_040.mtl b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mesh/staples_box_040.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..470e93e1bfb39463e9b560f29da586744b504104
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mesh/staples_box_040.mtl
@@ -0,0 +1,6 @@
+newmtl staples_box_040_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mesh/staples_box_040.obj b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mesh/staples_box_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1593acf3522e21822eaaa9aa5241d81b45a0b95b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mesh/staples_box_040.obj
@@ -0,0 +1,115788 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl staples_box_040_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mesh/staples_box_040_collision.obj b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mesh/staples_box_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fde27a8d37ae3516b1532a9882840187a1a3bb12
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mesh/staples_box_040_collision.obj
@@ -0,0 +1,4835 @@
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diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mesh/staples_box_040_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mesh/staples_box_040_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfd803440edcd57d8597c770cd16b1d8841bddfd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mesh/staples_box_040_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040.obj b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040.obj
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diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision.obj b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37434868bc42ee9972a638c1536464de85fac53a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision.obj
@@ -0,0 +1,4835 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_0.obj b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f27216b48f5cc13443f31a873221ae5cfe0c8e8d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_1.obj b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b894023f5e547bc24474a155f3374b64a85224ad
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_10.obj b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26a4bd4de4caac343cdb1ebc53b4a79ce8eadcaf
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_10.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v -0.00623223 0.00132411 0.00329733
+v 0.00040489 0.00132411 0.00329733
+v -0.00623223 0.00132409 0.00740763
+v -0.00623223 0.03749678 0.00329747
+v 0.00040489 0.00132409 0.00740763
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+v -0.00623223 0.03684172 0.00740777
+v -0.00623223 0.03748970 0.00338198
+v 0.00040489 0.03661511 0.00740776
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+
diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_11.obj b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a486b93eb9e19d740893fbb9cc226ad084bb9e76
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_11.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
+v -0.01317681 -0.03479830 0.00708295
+v -0.01326085 -0.03214251 0.00870446
+v -0.01325697 -0.03214251 0.00868981
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+v -0.01340308 -0.03214252 0.01125555
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+
diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_12.obj b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1958408271a8d28d88d2e2ca65667e6d175e3caa
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_12.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.00040489 0.01510932 0.00329699
+v 0.01245730 0.01510932 0.00329699
+v 0.00040489 0.01510930 0.00733804
+v 0.00040489 0.03715917 0.00329707
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+v 0.01250112 0.01510930 0.00733804
+v 0.00040489 0.03661887 0.00733811
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+
diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_13.obj b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..307e38864cabf3906e7a7693db29801a9af3dd55
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_13.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.00035254 -0.03214241 0.00708178
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+
diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_14.obj b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65787c389da2478e06506dbb134191f4d160f9c0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_14.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_15.obj b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fac682749c8c5ac043b97beb5b105653aca0d0a1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_15.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_16.obj b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02e84e862ab95040b24b91798a4e5f6e2cf623b9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_16.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_17.obj b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2abad0fd336bdb133dadc62fb8e4c41e48ee36ce
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_17.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00040489 0.03652473 0.01537405
+v 0.00040489 0.03784821 0.01504030
+v -0.00287664 0.03652473 0.01537405
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diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_2.obj b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0bc4aa702877db5a29621e2fdc794d8c017b9c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_2.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.00583724 -0.03677516 -0.00700232
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+
diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_3.obj b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9bbb8d9bc6396ce0da42a729785f40a4f38d22e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_3.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.00928153 -0.03893010 -0.00542459
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+v -0.01056143 -0.03866720 -0.00670795
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diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_4.obj b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc970922430d7d136b897145af789cd8a2b60d4b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_4.obj
@@ -0,0 +1,442 @@
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diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_5.obj b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e85c4f141de87c4d0f810539ebe9fb5a67d35758
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_5.obj
@@ -0,0 +1,202 @@
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diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_6.obj b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c181a6f1b86543d30df5d0a46d976e9efb9d2966
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_6.obj
@@ -0,0 +1,211 @@
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diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_7.obj b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af59a9cb74160cca03e86d2a5b9a1ccbe7e2c37e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_7.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_8.obj b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8630e78a50231b9abb4bceac61cbb487cd326308
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_8.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_9.obj b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5e265c9b10dc3ff1bcbfacd2f303301e5572a52
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/mesh/staples_box_040_collision_9.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/staples_box_040.xml b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/staples_box_040.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2ab6f9feadbacaa4c40e35ca80394a6226f169dc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mjcf/staples_box_040.xml
@@ -0,0 +1,50 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="staples_box_040">
+  <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/staples_box_040.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/staples_box_040_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/staples_box_040_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/staples_box_040_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/staples_box_040_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/staples_box_040_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/staples_box_040_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/staples_box_040_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/staples_box_040_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/staples_box_040_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/staples_box_040_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/staples_box_040_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/staples_box_040_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/staples_box_040_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/staples_box_040_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/staples_box_040_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/staples_box_040_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/staples_box_040_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/staples_box_040_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="staples_box_040">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/staples_box_040.urdf b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/staples_box_040.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59ff2b64eb967b7ba3558e72d5c4bb7516982b15
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/staples_box_040.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="staples_box_040">
+   <link name="staples_box_040">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/staples_box_040.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/staples_box_040_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0400" />
+         <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>e5fd714000ab57a2935e7f0112b6718b</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>staples_box</category>
+         <name>clear staples box</name>
+         <color>transparent,gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>small transparent rectangular box containing metal staples with printed front label</description>
+         <min_height>0.0300</min_height>
+         <max_height>0.0300</max_height>
+         <real_height>0.0300</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.06</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611151650</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.013485 -0.039900 -0.014636</min>
+            <max>0.014165 0.040314 0.015364</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>11</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/staples_box_040.usd b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/staples_box_040.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/staples_box_040.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6ba57c87fb94e7f4d00acf3a599212a664fef155c1e873102ecbe270f33fd6e
+size 4859469
diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/textures/material_0.png b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6963c9efadba32338c9abda2f9a00cdef46574174c6c0410a14023ce7703e317
+size 12394915
diff --git a/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/video.mp4 b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1567a63b7681ea7b8b2b3ddcb9dee2b3ae20918a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdd2da6ad8c486216fd147061a89efe77e3e0ac015005ff3db8da01735fa2d93
+size 454680