diff --git a/.gitattributes b/.gitattributes
index f938a8d29fe7f867ab3431c14383ad3071c51e49..39cbef55c1ac46f724bcbd90aad5cec1fa23e8d7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3073,7 +3073,6 @@ dataset/desktop_supplies/electronic_accessories/f7eec103bd5957229341cfba37ed88d1
 dataset/desktop_supplies/electronic_accessories/f7eec103bd5957229341cfba37ed88d1/mesh/ac_remote_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mesh/stapler_032.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/stapler_032.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/024d2abe4a7556e1bc0275e38d9d3750/marker_031.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/024d2abe4a7556e1bc0275e38d9d3750/mesh/marker_031.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/correction_tape_001.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/0558ceadc9d35c1cb80afb543d7b3990/mesh/correction_tape_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/03ece668efba5617b6596f5c1e3e301c.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mesh/notebook.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mesh/notebook_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/03ece668efba5617b6596f5c1e3e301c.urdf b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/03ece668efba5617b6596f5c1e3e301c.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4405b119f8c9b23a55450e6af9855771cbbe194f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/03ece668efba5617b6596f5c1e3e301c.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="notebook">
+   <link name="notebook">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/notebook.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/notebook_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.275000</scale>
+         <version>v0.1.7</version>
+         <category>notebook</category>
+         <description>rectangular notebook with black and beige cover, visible spine</description>
+         <min_height>0.054</min_height>
+         <max_height>0.054</max_height>
+         <real_height>0.054</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260120002313</generate_time>
+         <gs_model>mesh/notebook_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>3.982656955718994</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/03ece668efba5617b6596f5c1e3e301c.usd b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/03ece668efba5617b6596f5c1e3e301c.usd
new file mode 100644
index 0000000000000000000000000000000000000000..37e66dc224b6dc6cfb9cbfbe7e333acaf732f6b6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/03ece668efba5617b6596f5c1e3e301c.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a570d012a8c55f949b1f5e769aeb3ec13788cfbfaf776a949072db2cc1936b0d
+size 412685
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dce1cec86b85f245ddbdcc222b888d6f196f6f8d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f98069d0005fbc98ebd49a218c588d7f4883dd9655ddf440b95d14902175b6e
+size 1083520
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mesh/notebook.glb b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mesh/notebook.glb
new file mode 100644
index 0000000000000000000000000000000000000000..850fd17ad986d2b84b4b89adc77ea62177cdac0d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mesh/notebook.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3ab2d79c364d9bac39d7c658dc9cf0ca0aa1bfb3cf284b1e8be9f22a5fe46f8
+size 1363192
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mesh/notebook.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mesh/notebook.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8c061e4b0066335a05debe2617cbe8716a7e931
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mesh/notebook.obj
@@ -0,0 +1,25486 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+
+o notebook.obj
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mesh/notebook_collision.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mesh/notebook_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ca23d7afcb16e26aa93cdd3b811d21e8154e312
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mesh/notebook_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mesh/notebook_gs.ply b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mesh/notebook_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..18b191f89a876dc3e1723c0c431135a9b5df0c70
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mesh/notebook_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb79f78598af2b94e22fc391155a8190f5f488851775a67a1239d036bcb93698
+size 3375369
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/03ece668efba5617b6596f5c1e3e301c.xml b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/03ece668efba5617b6596f5c1e3e301c.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c9b0848e942eb441bb379d9c1a0b32cfaf7dcb45
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/03ece668efba5617b6596f5c1e3e301c.xml
@@ -0,0 +1,80 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="notebook">
+  <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/notebook.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/notebook_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/notebook_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/notebook_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/notebook_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/notebook_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/notebook_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/notebook_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/notebook_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/notebook_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/notebook_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/notebook_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/notebook_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/notebook_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/notebook_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/notebook_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/notebook_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/notebook_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/notebook_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/notebook_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/notebook_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/notebook_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/notebook_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/notebook_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/notebook_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/notebook_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/notebook_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/notebook_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/notebook_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/notebook_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/notebook_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/notebook_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/notebook_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/notebook_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="notebook">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dce1cec86b85f245ddbdcc222b888d6f196f6f8d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f98069d0005fbc98ebd49a218c588d7f4883dd9655ddf440b95d14902175b6e
+size 1083520
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8459c89ec7e34b415d00da111605b84b3fcb6079
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook.obj
@@ -0,0 +1,25486 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+
+o notebook.obj
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8a0822e50a7df8baad3a675bc9cdde502ec584c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision.obj
@@ -0,0 +1,7598 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_0.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d5f7641786edcc76ed45f62f1fe02df325b5da7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_0.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_1.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcf82b9531b5121ec81abca6f1b32ff44a0b5e77
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_1.obj
@@ -0,0 +1,883 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_10.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..100a285e4603aff1f60776a09f95000fbbc0ebec
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_10.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_11.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c825d1a6e9ab9bb5cd787de4e1ea073d26d216e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_11.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.13716173 -0.00390459 0.02321855
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+
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_12.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87c48d3e429eba078d749156abe1b7b58ab72270
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_12.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.12045706 -0.10367714 -0.02708827
+v 0.12495528 -0.10367714 -0.02708024
+v 0.12045706 -0.10661238 -0.02694376
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+v 0.12792564 -0.10367714 -0.02705615
+v 0.12495528 -0.10664272 -0.02693305
+v 0.12045706 -0.10664272 -0.02694108
+v 0.12045706 -0.12233633 0.00025011
+v 0.12526938 -0.10367724 0.00025018
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+
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_13.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98cc11670198ea3d7dc186ce01e35a97658f2c74
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_13.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.12520373 0.01583246 0.00025104
+v -0.12200020 0.01583246 0.00025104
+v -0.12854416 0.02023989 0.00025105
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+f 8 28 15
+f 8 15 11
+f 8 11 10
+f 8 10 9
+f 13 14 20
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 19
+f 15 28 16
+f 16 28 30
+f 16 30 27
+f 16 27 26
+f 18 19 29
+f 19 27 29
+f 27 30 31
+f 27 31 32
+f 27 32 29
+
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_14.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3697afe68e9ca77eab711725e7bc60c6ea79bed7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_14.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.12526889 -0.10367724 0.00025062
+v 0.13000082 -0.10367724 0.00025062
+v 0.12526503 -0.10209909 0.00025062
+v 0.12503282 -0.10367716 -0.02261173
+v 0.13738510 -0.10367717 -0.01970890
+v 0.13038396 -0.00292178 0.00025099
+v 0.12527405 -0.09958389 0.00025063
+v 0.13783404 -0.10367716 -0.02261173
+v 0.12558496 -0.02953337 -0.02261146
+v 0.13744186 -0.08396007 -0.01974016
+v 0.13775922 -0.10367716 -0.02193135
+v 0.13797078 -0.09379395 -0.02261169
+v 0.13800304 -0.08925675 -0.02261168
+v 0.13802884 -0.08471955 -0.02261166
+v 0.13803271 -0.08396006 -0.02261166
+v 0.13815527 -0.04387488 -0.02261151
+v 0.13749089 -0.04314499 -0.01964377
+v 0.13748830 -0.02499618 -0.01965042
+v 0.13749475 -0.02045898 -0.01967502
+v 0.13749347 -0.01592178 -0.01969738
+v 0.13748572 -0.01138458 -0.01970184
+v 0.13747540 -0.00685724 -0.01971078
+v 0.13746767 -0.00292171 -0.01972419
+v 0.12607518 -0.00292178 0.00025099
+v 0.12603648 -0.00685731 0.00025097
+v 0.12600294 -0.00685730 -0.00209233
+v 0.13786629 -0.10281903 -0.02261173
+v 0.12603777 -0.00292177 -0.00209231
+v 0.12563785 -0.02609102 -0.02261145
+v 0.13820686 -0.02119873 -0.02261143
+v 0.13792305 -0.09832130 -0.02261171
+v 0.13821203 -0.01666153 -0.02261141
+v 0.13820686 -0.01213419 -0.02261139
+v 0.13819654 -0.00356283 -0.02261136
+v 0.13819526 -0.00292170 -0.02261136
+v 0.12607002 -0.00292178 -0.00005787
+v 0.12603390 -0.00292170 -0.02261136
+f 1 2 6
+f 1 6 24
+f 1 24 25
+f 1 25 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 9
+f 4 9 29
+f 4 29 37
+f 4 37 35
+f 4 35 34
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+f 4 32 30
+f 4 30 16
+f 4 16 15
+f 4 15 14
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+f 4 12 31
+f 4 31 27
+f 4 27 8
+f 5 10 6
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+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 10
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 22
+f 6 22 23
+f 6 23 35
+f 6 35 37
+f 6 37 28
+f 6 28 36
+f 6 36 24
+f 6 10 17
+f 7 25 26
+f 7 26 9
+f 8 27 11
+f 9 26 28
+f 9 28 29
+f 10 16 30
+f 10 30 17
+f 11 27 31
+f 11 31 12
+f 17 30 32
+f 17 32 19
+f 17 19 18
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 20 34 21
+f 21 34 35
+f 21 35 22
+f 22 35 23
+f 24 36 25
+f 25 36 28
+f 25 28 26
+f 28 37 29
+
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_15.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c70e9a9803455f8581c5f63f209e3f58982bcb6d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_15.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.11795370 -0.12237751 0.00025279
+v 0.11795370 -0.10694271 0.02286391
+v 0.11795370 -0.12740220 0.00025277
+v 0.04317190 -0.12203699 0.00025279
+v 0.11795370 -0.11876767 0.02286386
+v 0.03862877 -0.12202685 0.00025279
+v 0.03686324 -0.12202482 0.00025279
+v 0.03408563 -0.12202280 0.00025279
+v 0.03862877 -0.10693054 0.02286391
+v 0.11795370 -0.12746301 0.00073970
+v 0.07950573 -0.12760085 0.00212744
+v 0.08245202 -0.12736572 0.00025277
+v 0.11745890 -0.11876969 0.02286386
+v 0.11795370 -0.11944262 0.02236366
+v 0.02954250 -0.12202280 0.00025279
+v 0.02469574 -0.10693054 0.02286391
+v 0.11795370 -0.12763530 0.00212744
+v 0.07950573 -0.12736166 0.00025277
+v 0.07950573 -0.12756640 0.00634598
+v 0.00307086 -0.12739209 0.00560453
+v 0.00307086 -0.12741843 0.00212744
+v 0.00307086 -0.12721370 0.00025277
+v 0.11586206 -0.11877578 0.02286386
+v 0.11586206 -0.11944465 0.02236808
+v 0.11795370 -0.12048446 0.02135660
+v 0.02499936 -0.12202685 0.00025279
+v 0.00307086 -0.10694878 0.02286391
+v 0.11795370 -0.12761100 0.00440935
+v 0.11795370 -0.12758870 0.00634598
+v 0.11795370 -0.12739007 0.00780676
+v 0.11795370 -0.12721779 0.00906613
+v 0.07950573 -0.12720157 0.00900194
+v 0.07496260 -0.12719752 0.00898424
+v 0.00307086 -0.12711036 0.00867659
+v 0.00307086 -0.12715900 0.00826934
+v 0.00307086 -0.12738601 0.00634598
+v 0.00307086 -0.12206536 0.00025279
+v 0.11479374 -0.11877983 0.02286386
+v 0.07950573 -0.11887712 0.02286386
+v 0.07950573 -0.11947709 0.02241456
+v 0.11795370 -0.12171072 0.02016141
+v 0.02322259 -0.12202888 0.00025279
+v 0.01870195 -0.12203496 0.00025279
+v 0.01417006 -0.12204307 0.00025279
+v 0.00682682 -0.12205726 0.00025279
+v 0.00307086 -0.11889537 0.02286386
+v 0.11795370 -0.12485849 0.01478088
+v 0.07950573 -0.12483822 0.01478088
+v 0.00307086 -0.12476525 0.01478088
+v 0.07496260 -0.11888726 0.02286386
+v 0.07496260 -0.11948114 0.02241678
+v 0.11795370 -0.12245865 0.01919420
+v 0.07496260 -0.12174923 0.02017691
+v 0.00307086 -0.11946898 0.02243670
+v 0.00590470 -0.11889942 0.02286386
+v 0.11795370 -0.12403760 0.01654930
+v 0.07496260 -0.12332414 0.01806763
+v 0.00307086 -0.12329982 0.01804329
+v 0.00682682 -0.11889942 0.02286386
+v 0.00682682 -0.11947101 0.02243891
+v 0.11795370 -0.12333225 0.01805214
+v 0.00682682 -0.12173910 0.02015477
+v 0.00307086 -0.12173708 0.02015256
+f 1 2 5
+f 1 5 14
+f 1 14 25
+f 1 25 41
+f 1 41 52
+f 1 52 61
+f 1 61 56
+f 1 56 47
+f 1 47 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 17
+f 1 17 10
+f 1 10 3
+f 1 3 12
+f 1 12 18
+f 1 18 22
+f 1 22 37
+f 1 37 45
+f 1 45 44
+f 1 44 43
+f 1 43 42
+f 1 42 26
+f 1 26 15
+f 1 15 8
+f 1 8 7
+f 1 7 6
+f 1 6 4
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+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 16
+f 2 16 27
+f 2 27 46
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+f 15 27 16
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+f 19 33 34
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+f 20 34 49
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+f 20 58 63
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+f 20 54 46
+f 20 46 27
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+f 20 22 21
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+f 24 38 39
+f 24 39 40
+f 24 40 25
+f 25 40 41
+f 26 42 27
+f 27 42 43
+f 27 43 44
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+f 31 47 48
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+f 31 49 32
+f 32 49 33
+f 33 49 34
+f 39 50 40
+f 40 50 51
+f 40 51 41
+f 41 51 53
+f 41 53 52
+f 46 54 55
+f 47 56 57
+f 47 57 58
+f 47 58 48
+f 48 58 49
+f 50 59 60
+f 50 60 51
+f 51 60 53
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+f 53 57 61
+f 53 60 62
+f 53 62 57
+f 54 63 62
+f 54 62 60
+f 54 60 55
+f 55 60 59
+f 56 61 57
+f 57 62 58
+f 58 62 63
+
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_16.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bae6e4ef5320b22c94454186072644215895fa06
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_16.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.12039858 -0.12793987 0.00025051
+v -0.12039858 -0.12788431 0.00025051
+v -0.12039858 -0.12759134 -0.00207751
+v 0.00505194 -0.12714180 -0.00038461
+v 0.00505194 -0.12720999 0.00025051
+v -0.11931796 -0.12307823 0.00025053
+v -0.12039858 -0.12258576 0.00024149
+v -0.12039858 -0.12758881 -0.00209333
+v 0.00505194 -0.12506075 -0.00631088
+v -0.12039858 -0.12707612 -0.00426540
+v 0.00505194 -0.12206045 0.00025053
+v -0.03957288 -0.12231047 0.00025053
+v -0.12039858 -0.10213901 -0.02283749
+v -0.03521354 -0.12227006 0.00025053
+v -0.01590969 -0.12213620 0.00025053
+v -0.01136616 -0.12211348 0.00025053
+v -0.00682263 -0.12209327 0.00025053
+v 0.00505194 -0.12413892 -0.00882876
+v -0.12039858 -0.12618713 -0.00637417
+v 0.00505194 -0.12355298 -0.01042898
+v 0.00058210 -0.12207054 0.00025053
+v 0.00505194 -0.10353815 -0.02283749
+v -0.12039858 -0.11500152 -0.02283753
+v -0.00393687 -0.12208317 0.00025053
+v -0.00227910 -0.12207812 0.00025053
+v -0.12039858 -0.12417426 -0.01052844
+v -0.08859388 -0.12407325 -0.01052844
+v -0.07496328 -0.12402021 -0.01052844
+v -0.07041976 -0.12399748 -0.01052844
+v -0.06133270 -0.12394444 -0.01052844
+v -0.02499675 -0.12255287 -0.01269598
+v -0.02045322 -0.12253267 -0.01266433
+v -0.01792358 -0.12252004 -0.01264173
+v 0.00505194 -0.12234578 -0.01253550
+v -0.05680145 -0.12391414 -0.01052844
+v 0.00505194 -0.11501920 -0.02283753
+v -0.12039858 -0.11726440 -0.02018857
+v -0.07956822 -0.11504950 -0.02283753
+v -0.07496328 -0.11729218 -0.02023604
+v -0.12039858 -0.12277259 -0.01301015
+v -0.09768094 -0.12273218 -0.01296268
+v -0.09313740 -0.12272461 -0.01295138
+v -0.07041976 -0.12268420 -0.01289714
+v -0.06133270 -0.12266652 -0.01287001
+v -0.02499675 -0.12116888 -0.01480476
+v 0.00505194 -0.11884538 -0.01803234
+v 0.00505194 -0.11966113 -0.01675531
+v 0.00505194 -0.12094159 -0.01474598
+v 0.00505194 -0.12148710 -0.01388937
+v -0.01136616 -0.11503435 -0.02283753
+v 0.00505194 -0.11725682 -0.02014110
+v -0.02499675 -0.11727198 -0.02019083
+v -0.04317086 -0.11728207 -0.02020891
+v -0.12039858 -0.11896408 -0.01807980
+v -0.07503697 -0.11505455 -0.02283753
+v -0.07496328 -0.11896912 -0.01812726
+v -0.07950682 -0.11896912 -0.01812500
+v -0.08405034 -0.11896912 -0.01812048
+v -0.07049344 -0.11505708 -0.02283753
+v -0.07041976 -0.11505708 -0.02283753
+v -0.01590969 -0.11503688 -0.02283753
+v -0.12039858 -0.12123201 -0.01511893
+v -0.09313740 -0.12123706 -0.01506016
+v -0.07496328 -0.12123706 -0.01501496
+v -0.07041976 -0.12123201 -0.01500818
+v -0.06133270 -0.12122444 -0.01498105
+v -0.02499675 -0.11890094 -0.01808206
+v -0.02954027 -0.11890852 -0.01808658
+v -0.05680145 -0.11895145 -0.01811144
+f 1 2 7
+f 1 7 13
+f 1 13 23
+f 1 23 37
+f 1 37 54
+f 1 54 62
+f 1 62 40
+f 1 40 26
+f 1 26 19
+f 1 19 10
+f 1 10 8
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+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 21
+f 1 21 25
+f 1 25 24
+f 1 24 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 9 18
+f 4 18 20
+f 4 20 34
+f 4 34 49
+f 4 49 48
+f 4 48 47
+f 4 47 46
+f 4 46 51
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+f 4 36 22
+f 4 22 11
+f 4 11 5
+f 4 8 10
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+f 6 12 7
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+f 7 17 13
+f 9 10 18
+f 10 19 20
+f 10 20 18
+f 11 22 13
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+f 13 17 24
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+f 13 22 36
+f 13 36 50
+f 13 50 61
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+f 13 55 38
+f 13 38 23
+f 19 26 27
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+f 19 29 30
+f 19 30 20
+f 20 31 32
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+f 20 30 35
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+f 23 38 39
+f 23 39 37
+f 26 40 41
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+f 26 42 43
+f 26 43 27
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+f 27 44 28
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+f 29 44 31
+f 29 31 30
+f 30 31 35
+f 31 45 46
+f 31 46 32
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+f 32 46 47
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+f 32 48 49
+f 32 49 34
+f 32 34 33
+f 36 51 52
+f 36 52 53
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+f 36 39 50
+f 37 39 54
+f 38 55 39
+f 39 56 57
+f 39 57 58
+f 39 58 54
+f 39 55 59
+f 39 59 60
+f 39 60 61
+f 39 61 50
+f 39 53 56
+f 40 62 63
+f 40 63 64
+f 40 64 65
+f 40 65 66
+f 40 66 41
+f 41 66 42
+f 42 66 43
+f 43 66 44
+f 44 66 46
+f 44 46 45
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+f 46 66 67
+f 51 67 68
+f 51 68 69
+f 51 69 52
+f 52 69 56
+f 52 56 53
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+f 56 63 62
+f 56 62 57
+f 56 69 63
+f 57 62 58
+f 63 69 64
+f 64 69 65
+f 65 69 68
+f 65 68 67
+f 65 67 66
+
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_17.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dff58b9928629288c7cb045d4ae6123d3d717b67
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_17.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
+v 0.00307192 -0.11891950 0.02284750
+v -0.02133627 -0.11890824 0.02284750
+v 0.00307192 -0.10701946 0.02284755
+v 0.11793133 -0.11876188 0.02286435
+v 0.11477684 -0.11877314 0.02286435
+v 0.11130913 -0.11878440 0.02286435
+v 0.07949571 -0.11887446 0.02286435
+v 0.00680809 -0.11889698 0.02286435
+v 0.00680809 -0.11663407 0.02454899
+v 0.00307192 -0.11663407 0.02454769
+v 0.00228889 -0.11663407 0.02454726
+v -0.00681664 -0.11662281 0.02454899
+v -0.02044138 -0.11661156 0.02453992
+v -0.02498296 -0.11661156 0.02453387
+v -0.07599181 -0.11879566 0.02284750
+v -0.00719697 -0.10699695 0.02284755
+v -0.02498296 -0.00391584 0.02286003
+v 0.11793133 -0.10692940 0.02286440
+v 0.11793133 -0.11789500 0.02350581
+v 0.07949571 -0.11665659 0.02452523
+v 0.07495413 -0.11665659 0.02452825
+v 0.07495413 -0.11438241 0.02580512
+v 0.07041255 -0.11438241 0.02580469
+v 0.05678782 -0.11438241 0.02580296
+v 0.05224624 -0.11438241 0.02580124
+v -0.02498296 -0.11433737 0.02576495
+v 0.03862151 -0.11438241 0.02579216
+v -0.11057940 -0.11419102 0.02569929
+v -0.07950427 -0.11652149 0.02447512
+v -0.10769336 -0.11871685 0.02284750
+v -0.08053339 -0.11878440 0.02284750
+v -0.10675372 -0.10698569 0.02284755
+v -0.02952453 -0.00391584 0.02286003
+v 0.11793133 -0.00391584 0.02290452
+v 0.11793133 -0.11657778 0.02447469
+v 0.11130913 -0.11432611 0.02577877
+v 0.07949571 -0.11438241 0.02580296
+v 0.07495413 -0.11116254 0.02674161
+v 0.07041255 -0.11116254 0.02674248
+v 0.04316309 -0.11116254 0.02674334
+v -0.02498296 -0.11116254 0.02672304
+v -0.02952453 -0.11116254 0.02672045
+v -0.07494032 -0.11116254 0.02665177
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+v -0.11057940 -0.10698569 0.02284755
+v -0.04317164 -0.00391584 0.02286348
+v 0.11793133 -0.00391586 0.02695411
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+
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_18.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8689d423d334cd8e0f1e5fdf13d4616468fd79df
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_18.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.00206854 -0.00390460 0.02682935
+v 0.00206854 0.10204911 0.02658051
+v 0.00206854 -0.00390458 0.02287345
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+
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_19.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfcc4539896f85126403eaee8165ee8cd8ea9607
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_19.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.13706574 0.10167330 0.02188114
+v -0.13718307 0.11562589 0.02188119
+v -0.13717264 0.11562590 0.01961499
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+v -0.12277613 0.10167330 0.02188114
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+v -0.11586727 0.12679000 0.01712951
+v -0.12495308 0.12745174 0.02188124
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+
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_2.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0491d0eb7609abc062cec59f51731daf4d791e37
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_2.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.12047700 -0.00390460 0.02695146
+v 0.12047700 -0.00390458 0.02288243
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diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_20.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dbb8263861551830cdd86333de60c6d9f0bf47e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_20.obj
@@ -0,0 +1,523 @@
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diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_21.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20fcae9a1af059ad5ceed8cceb51d0f6d0f6420f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_21.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+v -0.13706480 0.10166557 0.02188114
+v -0.12854383 0.02024573 0.00025543
+f 1 2 10
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+f 1 27 11
+f 1 11 3
+f 1 3 4
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+f 1 14 31
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+f 1 23 22
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+
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_22.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcb537efe0ff1b71156579db970a02a22e255d22
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_22.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
+v -0.13797615 -0.00291183 -0.02318233
+v -0.13792095 -0.00291184 -0.02283527
+v -0.13797615 0.00676203 -0.02318230
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+v -0.12043665 -0.00230850 -0.02283527
+v 0.00298838 -0.00291184 -0.02287552
+v 0.00227079 -0.00230850 -0.02287511
+v 0.00298838 0.00151605 -0.02287468
+v 0.00298838 0.10155763 -0.02286200
+v -0.13781054 0.08431649 -0.02283495
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+v -0.13772775 0.10155764 -0.02343044
+v -0.13681697 0.07933640 -0.02568539
+v -0.13683077 0.07025566 -0.02569774
+v -0.13684457 0.05211462 -0.02571712
+v -0.13402942 0.06572552 -0.02649949
+v -0.13402942 0.04305434 -0.02652011
+v -0.13441581 -0.00291182 -0.02642048
+v -0.12043665 0.00229323 -0.02283525
+v 0.00298838 -0.00291182 -0.02695236
+v -0.12497677 0.10155763 -0.02283489
+v -0.12065746 0.04306455 -0.02283510
+v -0.12045046 0.02951501 -0.02283515
+v 0.00298838 0.10155765 -0.02697006
+v -0.13674798 0.10155764 -0.02563479
+v -0.13402942 0.07025567 -0.02648839
+v -0.12948929 0.07025567 -0.02690486
+v -0.12948929 0.06572552 -0.02691433
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+v -0.12494918 0.03851397 -0.02699452
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+v -0.12948929 0.02944345 -0.02695183
+v -0.12948929 0.02491330 -0.02695021
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+v -0.13009648 -0.00291182 -0.02683284
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+v -0.07496645 -0.00291182 -0.02702178
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+v -0.09768086 0.07479604 -0.02700466
+v -0.09359612 0.10155765 -0.02694788
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+v -0.12040906 0.07025567 -0.02697509
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+v -0.12948929 -0.00291182 -0.02687967
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+v -0.10223477 0.03851397 -0.02701793
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+v -0.11585513 0.10155765 -0.02690804
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+v -0.11131502 0.09747745 -0.02693310
+v -0.11131502 0.07479604 -0.02698741
+v -0.10269016 0.10155765 -0.02693720
+f 1 2 5
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+f 1 39 60
+f 1 60 79
+f 1 79 109
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+
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_23.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51e64b3e2468521a2bd949fbd49b3d49666d0a8a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_23.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.12047699 0.10679275 0.01356536
+v 0.12047699 0.11250957 0.01356538
+v 0.12047699 0.10670040 0.01056319
+v 0.12909496 0.10202616 0.01356534
+v 0.12495509 0.11250137 0.01356538
+v 0.12495509 0.11142804 0.00025365
+v 0.12047699 0.11135826 0.00025365
+v 0.12047699 0.10669938 0.01050194
+v 0.13429822 0.10202616 0.01356534
+v 0.12047699 0.10666656 0.00634659
+v 0.12047699 0.10666144 0.00212869
+v 0.12047699 0.10666144 0.00206745
+v 0.12047699 0.10666555 0.00025363
+v 0.12918561 0.10202621 0.00025361
+v 0.12924108 0.11220480 0.01356538
+v 0.12949813 0.11105245 0.00025365
+v 0.12949813 0.11218428 0.01356538
+v 0.13418323 0.10655467 0.01356536
+v 0.13375841 0.10202621 0.00025361
+v 0.13254756 0.10971329 0.00025364
+v 0.13220663 0.11104112 0.01356538
+v 0.13313472 0.11062859 0.01356538
+v 0.13366236 0.10403341 0.00025362
+v 0.13353924 0.10655472 0.00025363
+f 1 2 7
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+f 1 11 10
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+f 1 3 4
+f 1 4 9
+f 1 9 18
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+
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_24.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fd48fe96660aefd4b18807c35f0ee3a84f837a8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_24.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.12047700 0.11135753 0.00025365
+v 0.12045213 0.11235980 0.01345799
+v 0.12047700 0.11139082 0.01060579
+v 0.12047700 0.10666660 0.00025363
+v -0.12493695 0.11194375 0.00025365
+v -0.06130191 0.11407134 0.01346453
+v 0.12047700 0.10822866 0.01345798
+v -0.11053887 0.11411732 0.01361362
+v 0.12047700 0.10666200 0.00206879
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+v -0.12695120 0.11174375 0.00025365
+v -0.12493695 0.11408169 0.01361362
+v -0.12282325 0.11414606 0.01361362
+v 0.12047700 0.10679069 0.01345797
+v -0.11053887 0.10754704 0.01361360
+v 0.12047700 0.10666200 0.00212894
+v -0.12687660 0.10240440 0.00615157
+v -0.13239710 0.10240442 0.00025362
+v -0.12948764 0.11144374 0.00025365
+v -0.12948764 0.11293683 0.01361361
+v 0.12047700 0.10670105 0.01056261
+v -0.12710040 0.10240437 0.01361358
+v 0.12047700 0.10666773 0.00634643
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+v -0.13349126 0.10240437 0.01361358
+v -0.13257117 0.10655510 0.00025363
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+v -0.13222303 0.10968622 0.00025364
+v -0.13299391 0.11053102 0.01361361
+v -0.13356586 0.10655505 0.01361359
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+f 28 30 29
+
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_25.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f92355ea81656b6266a6aef79839d85babac1bfa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_25.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.13673143 0.11562370 0.02005934
+v 0.13666302 0.12016125 0.02025288
+v 0.13673143 0.11562369 0.02229832
+v 0.13672667 0.10202865 0.02007211
+v 0.13429685 0.10202867 0.01356534
+v 0.13418387 0.10655616 0.01356536
+v 0.13510519 0.12016125 0.01814463
+v 0.13649116 0.12277065 0.02067583
+v 0.13666302 0.12016124 0.02203561
+v 0.13544731 0.11562368 0.02440786
+v 0.13552210 0.11109116 0.02443477
+v 0.13555233 0.10655612 0.02445653
+v 0.13557461 0.10202863 0.02448471
+v 0.13672667 0.10202864 0.02237517
+v 0.12909511 0.10202867 0.01356534
+v 0.13313525 0.11063116 0.01356538
+v 0.13237782 0.12309244 0.01664643
+v 0.13377811 0.12444489 0.01922633
+v 0.13214709 0.12716993 0.02058741
+v 0.13649116 0.12277065 0.02156399
+v 0.13518635 0.12016123 0.02414387
+v 0.13291406 0.12016123 0.02574461
+v 0.13317503 0.11562368 0.02581892
+v 0.13325141 0.11109116 0.02584583
+v 0.13328005 0.10655612 0.02585606
+v 0.13330392 0.10202863 0.02585988
+v 0.12048813 0.10202864 0.02264943
+v 0.12047700 0.10679247 0.01356536
+v 0.13220597 0.11104344 0.01356538
+v 0.12949769 0.12379382 0.01643624
+v 0.12949769 0.12606132 0.01776657
+v 0.12949769 0.12747915 0.01987484
+v 0.13214709 0.12716993 0.02161143
+v 0.13378606 0.12442981 0.02299428
+v 0.13239692 0.12306224 0.02556904
+v 0.12949769 0.12016122 0.02631236
+v 0.12949769 0.11562367 0.02641872
+v 0.12949769 0.11109115 0.02646869
+v 0.12949769 0.10655611 0.02649174
+v 0.12949769 0.10202862 0.02649941
+v 0.12047700 0.10202862 0.02597779
+v 0.12047700 0.10206886 0.02264431
+v 0.12047700 0.11251154 0.01356538
+v 0.12949769 0.11218725 0.01356538
+v 0.12495631 0.12424631 0.01632732
+v 0.12495631 0.12651383 0.01725008
+v 0.12495631 0.12770037 0.01935963
+v 0.12949769 0.12747914 0.02233426
+v 0.12949769 0.12604873 0.02444379
+v 0.12949769 0.12378121 0.02578306
+v 0.12495631 0.12426638 0.02589842
+v 0.12495631 0.12016122 0.02649820
+v 0.12495631 0.11562367 0.02655201
+v 0.12495631 0.11109115 0.02659813
+v 0.12495631 0.10655611 0.02662246
+v 0.12495631 0.10202862 0.02663013
+v 0.12047700 0.10202862 0.02665705
+v 0.12047700 0.12433932 0.01630425
+v 0.12495631 0.11250400 0.01356538
+v 0.12924150 0.11220736 0.01356538
+v 0.12047700 0.12660685 0.01718216
+v 0.12047700 0.12662444 0.01721292
+v 0.12047700 0.12770791 0.01929042
+v 0.12495631 0.12770036 0.02287125
+v 0.12495631 0.12653391 0.02498078
+v 0.12047700 0.12661687 0.02503975
+v 0.12047700 0.12434683 0.02592533
+v 0.12047700 0.12016122 0.02654946
+v 0.12047700 0.11109115 0.02663017
+v 0.12047700 0.11555831 0.02659558
+v 0.12047700 0.10649075 0.02665194
+v 0.12047700 0.12770790 0.02293021
+f 1 2 9
+f 1 9 3
+f 1 3 14
+f 1 14 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 20
+f 2 20 9
+f 2 6 7
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 4 14 13
+f 4 13 26
+f 4 26 40
+f 4 40 56
+f 4 56 57
+f 4 57 41
+f 4 41 27
+f 4 27 15
+f 4 15 5
+f 5 15 28
+f 5 28 43
+f 5 43 59
+f 5 59 60
+f 5 60 44
+f 5 44 29
+f 5 29 16
+f 5 16 6
+f 6 16 7
+f 7 17 8
+f 7 16 17
+f 8 17 18
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+f 8 19 33
+f 8 33 20
+f 9 20 21
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+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 11
+f 11 24 13
+f 11 13 12
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+f 13 25 26
+f 15 27 28
+f 16 29 30
+f 16 30 17
+f 17 30 31
+f 17 31 19
+f 17 19 18
+f 19 32 48
+f 19 48 33
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+f 20 33 34
+f 20 34 35
+f 20 35 21
+f 21 35 22
+f 22 36 23
+f 22 35 36
+f 23 36 37
+f 23 37 38
+f 23 38 24
+f 24 38 39
+f 24 39 25
+f 25 39 26
+f 26 39 40
+f 27 41 42
+f 27 42 28
+f 28 42 41
+f 28 41 57
+f 28 57 71
+f 28 71 69
+f 28 69 70
+f 28 70 68
+f 28 68 67
+f 28 67 66
+f 28 66 72
+f 28 72 63
+f 28 63 62
+f 28 62 61
+f 28 61 58
+f 28 58 43
+f 29 44 30
+f 30 45 46
+f 30 46 31
+f 30 44 45
+f 31 46 32
+f 32 47 64
+f 32 64 48
+f 32 46 47
+f 33 48 49
+f 33 49 35
+f 33 35 34
+f 35 49 50
+f 35 50 36
+f 36 50 51
+f 36 51 52
+f 36 52 37
+f 37 52 53
+f 37 53 38
+f 38 54 55
+f 38 55 39
+f 38 53 54
+f 39 55 56
+f 39 56 40
+f 43 58 59
+f 44 60 45
+f 45 59 58
+f 45 58 61
+f 45 61 46
+f 45 60 59
+f 46 61 62
+f 46 62 47
+f 47 63 72
+f 47 72 64
+f 47 62 63
+f 48 64 65
+f 48 65 49
+f 49 65 50
+f 50 65 51
+f 51 65 66
+f 51 66 67
+f 51 67 68
+f 51 68 52
+f 52 68 53
+f 53 68 54
+f 54 69 55
+f 54 68 70
+f 54 70 69
+f 55 69 71
+f 55 71 56
+f 56 71 57
+f 64 72 66
+f 64 66 65
+
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_26.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89018d7710228085545b5cb1a566f6347aea37a6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_26.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.13064639 -0.10661671 0.01724096
+v -0.13065333 -0.10210198 0.01056285
+v -0.13057690 -0.10661669 0.01056284
+v -0.12481916 -0.10661671 0.01724096
+v -0.13127795 -0.00392467 0.01724134
+v -0.13066236 -0.09756716 0.01056287
+v -0.13019964 -0.10661667 0.00634507
+v -0.13020103 -0.10661667 0.00635886
+v -0.12441271 -0.10661667 0.00634507
+v -0.12476358 -0.10474647 0.01724097
+v -0.12863288 -0.00391462 0.01724134
+v -0.13089998 -0.00391462 0.01635230
+v -0.13010722 -0.00391458 0.00634545
+v -0.13014891 -0.01138546 0.00634542
+v -0.13016142 -0.01592028 0.00634540
+v -0.13024271 -0.07488299 0.00634518
+v -0.13023924 -0.07941781 0.00634517
+v -0.12837025 -0.10661666 0.00350015
+v -0.12860509 -0.01592027 0.00321516
+v -0.12471703 -0.10021166 0.01724098
+v -0.12561887 -0.10661666 0.00349050
+v -0.12522354 -0.01592027 0.00321516
+v -0.12520617 -0.01138545 0.00320002
+v -0.12437797 -0.09756714 0.00634510
+v -0.12430780 -0.04578376 0.01724118
+v -0.12428834 -0.00391462 0.01724134
+v -0.12858008 -0.00391457 0.00316008
+v -0.12858702 -0.00685063 0.00317246
+v -0.12835566 -0.10661666 0.00349050
+v -0.12524785 -0.00391457 0.00316008
+v -0.12443564 -0.01138546 0.00634542
+v -0.12417996 -0.01138550 0.01724131
+v -0.12423207 -0.00496034 0.01724133
+v -0.12449817 -0.00391458 0.00634545
+v -0.12498452 -0.00391458 0.00427517
+v -0.12419524 -0.00685068 0.01724132
+v -0.12421887 -0.00562397 0.01724133
+f 1 2 3
+f 1 3 8
+f 1 8 7
+f 1 7 18
+f 1 18 29
+f 1 29 21
+f 1 21 9
+f 1 9 4
+f 1 4 10
+f 1 10 20
+f 1 20 25
+f 1 25 32
+f 1 32 36
+f 1 36 37
+f 1 37 33
+f 1 33 26
+f 1 26 11
+f 1 11 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 5 6
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+f 5 12 13
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+f 5 15 16
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+f 6 17 7
+f 7 17 19
+f 7 19 18
+f 9 20 10
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 20
+f 11 26 34
+f 11 34 35
+f 11 35 30
+f 11 30 27
+f 11 27 13
+f 11 13 12
+f 13 27 14
+f 14 27 15
+f 15 27 16
+f 16 27 28
+f 16 28 19
+f 16 19 17
+f 18 19 29
+f 19 28 29
+f 21 29 27
+f 21 27 30
+f 21 30 23
+f 21 23 22
+f 23 30 31
+f 23 31 24
+f 24 31 32
+f 24 32 25
+f 26 33 34
+f 27 29 28
+f 30 35 31
+f 31 35 34
+f 31 34 36
+f 31 36 32
+f 33 37 34
+f 34 37 36
+
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_27.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d604a5922a30509adabf64bc26f792cf405ecc55
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_27.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.11060439 -0.12352034 0.00025279
+v -0.11060439 -0.11858067 0.01643418
+v -0.11060439 -0.12785805 0.00025277
+v -0.12384929 -0.11858061 0.00025280
+v -0.11060439 -0.11858069 0.02293826
+v -0.11060439 -0.12804446 0.00148519
+v -0.12949786 -0.12802829 0.00025277
+v -0.13120611 -0.11858061 0.00025280
+v -0.11060439 -0.11944519 0.02232538
+v -0.11586867 -0.11858069 0.02292716
+v -0.11586867 -0.11944043 0.02231872
+v -0.11132560 -0.11944424 0.02232538
+v -0.11060439 -0.12809582 0.00182938
+v -0.11132560 -0.12814718 0.00212694
+v -0.12949786 -0.12829649 0.00212694
+v -0.13399091 -0.12776104 0.00025277
+v -0.11586867 -0.12818522 0.00212694
+v -0.13237215 -0.11887257 0.00025280
+v -0.13654935 -0.11858065 0.01216844
+v -0.11060439 -0.12171342 0.02020472
+v -0.12041173 -0.12170391 0.02020916
+v -0.12041173 -0.11858069 0.02291606
+v -0.12041173 -0.11943567 0.02231206
+v -0.11060439 -0.12813956 0.00212694
+v -0.11060439 -0.12803497 0.00567543
+v -0.11132560 -0.12802165 0.00634605
+v -0.12949786 -0.12813007 0.00634605
+v -0.13404092 -0.12801593 0.00212694
+v -0.11586867 -0.12805684 0.00634605
+v -0.13658619 -0.12728647 0.00025277
+v -0.13409356 -0.11962676 0.00025280
+v -0.13691522 -0.11858066 0.01303669
+v -0.11060439 -0.12339106 0.01809516
+v -0.12495216 -0.12341579 0.01809739
+v -0.12041173 -0.12340818 0.01809961
+v -0.12495216 -0.12169059 0.02020694
+v -0.12949786 -0.12341579 0.01808850
+v -0.12949786 -0.11858069 0.02287165
+v -0.12949786 -0.11940620 0.02228541
+v -0.12949786 -0.12167443 0.02019805
+v -0.11060439 -0.12801500 0.00634605
+v -0.11060439 -0.12739398 0.00956145
+v -0.12949786 -0.12744153 0.00969468
+v -0.13404092 -0.12729126 0.00920394
+v -0.13404092 -0.12783334 0.00634605
+v -0.11586867 -0.12741491 0.00961252
+v -0.12041173 -0.12742536 0.00964583
+v -0.13657303 -0.12727793 0.00634605
+v -0.13669147 -0.12737873 0.00212694
+v -0.11132560 -0.12739683 0.00957033
+v -0.13736268 -0.12492883 0.00025278
+v -0.13717842 -0.12141662 0.00025279
+v -0.13737058 -0.11858067 0.01623433
+v -0.11060439 -0.12499736 0.01477983
+v -0.12949786 -0.12536255 0.01477983
+v -0.13404092 -0.12318469 0.01778206
+v -0.13404092 -0.11858069 0.02241199
+v -0.13404092 -0.11910471 0.02204559
+v -0.13404092 -0.12137199 0.01989162
+v -0.12949786 -0.12673300 0.01180202
+v -0.13404092 -0.12653233 0.01131350
+v -0.13636773 -0.12709914 0.00860882
+v -0.13714158 -0.12493838 0.01023430
+v -0.13741794 -0.12478524 0.00634606
+v -0.13749165 -0.12478523 0.00212695
+v -0.13746533 -0.12025069 0.01477985
+v -0.13698102 -0.11858068 0.02016698
+v -0.13404092 -0.12493173 0.01477983
+v -0.13658356 -0.12281092 0.01728243
+v -0.13646775 -0.11858069 0.02161036
+v -0.13664411 -0.11858069 0.02154374
+v -0.13703630 -0.12349471 0.01477984
+v -0.13703367 -0.12012803 0.01881242
+v -0.13669674 -0.11858069 0.02149044
+f 1 2 5
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+f 1 33 54
+f 1 54 42
+f 1 42 41
+f 1 41 25
+f 1 25 24
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+f 1 13 6
+f 1 6 3
+f 1 3 7
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+f 1 16 30
+f 1 30 51
+f 1 51 52
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+f 1 31 18
+f 1 18 8
+f 1 8 4
+f 1 4 2
+f 2 4 8
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+f 3 6 7
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+f 36 40 37
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+f 42 60 50
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+f 44 62 45
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+f 54 55 60
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+f 55 68 61
+f 55 61 60
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+f 57 70 58
+f 58 70 71
+f 58 71 59
+f 59 71 69
+f 61 68 62
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+f 64 66 65
+f 66 72 73
+f 66 73 67
+f 67 73 74
+f 69 71 74
+f 69 74 73
+f 69 73 72
+
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_28.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ece52e5d59ad8badd181d643d5aa244aa030f3d4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_28.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
+v 0.00206854 0.10204911 0.02657995
+v 0.00206854 0.10222242 0.02657996
+v 0.00206854 0.10204913 0.02278797
+v 0.02041629 0.10204911 0.02663044
+v 0.00206854 0.10675843 0.02657738
+v 0.00206854 0.10630890 0.01345885
+v 0.00208013 0.10204913 0.02208628
+v 0.02497135 0.10204911 0.02664080
+v 0.02045106 0.10655499 0.02662787
+v 0.00227717 0.11109100 0.02657093
+v 0.00206854 0.11129444 0.02656963
+v 0.00206854 0.11221124 0.01345887
+v 0.00682064 0.10630638 0.01345885
+v 0.00682064 0.10204913 0.02210440
+v 0.01136412 0.10630638 0.01345885
+v 0.01590759 0.10631141 0.01345885
+v 0.04005058 0.10634406 0.01345885
+v 0.02499453 0.10655499 0.02663694
+v 0.05677565 0.10204911 0.02667834
+v 0.02045106 0.11109100 0.02661754
+v 0.00227717 0.11562450 0.02655799
+v 0.00206854 0.11582794 0.02655671
+v 0.00206854 0.12469656 0.01591226
+v 0.02499453 0.11230919 0.01345887
+v 0.12047699 0.10204913 0.02264685
+v 0.04316842 0.10635159 0.01345885
+v 0.02499453 0.11109100 0.02662660
+v 0.05679884 0.10655499 0.02667448
+v 0.05679884 0.11109100 0.02666544
+v 0.06130754 0.10204911 0.02668352
+v 0.02045106 0.11562450 0.02660201
+v 0.00206854 0.12016051 0.02653859
+v 0.00206854 0.12700225 0.01669811
+v 0.02499453 0.12469656 0.01590060
+v 0.02927142 0.11232175 0.01345887
+v 0.12047699 0.10679113 0.01345885
+v 0.12047699 0.10204912 0.02408390
+v 0.06133072 0.11562450 0.02665639
+v 0.02499453 0.11562450 0.02661107
+v 0.06133072 0.10655499 0.02667836
+v 0.06133072 0.11109100 0.02666803
+v 0.07497273 0.10204911 0.02668352
+v 0.06587419 0.10655499 0.02667966
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+
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_29.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd52664db2910b4cb7921b202d3fd9a9fb377ea4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_29.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.00676137 0.10204741 0.02208275
+v -0.00681649 0.10631458 0.01346591
+v -0.00540547 0.10631208 0.01346591
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+v -0.11054875 0.10344894 0.02208276
+v -0.11054875 0.10754593 0.01346592
+v 0.00206854 0.11221351 0.01346593
+v 0.00206854 0.10206242 0.02208275
+v -0.11054875 0.12747511 0.02208285
+v -0.11054875 0.11379774 0.01346594
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+v -0.05937711 0.11403299 0.01346594
+v 0.00206854 0.12748512 0.02208285
+v -0.10742907 0.12748011 0.02208285
+v -0.11054875 0.12747512 0.01917091
+v -0.07756609 0.11400046 0.01346594
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+
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_3.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1ca2e9b70ff92a6fb5aa236dcbf322b6626d339
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_3.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.11795552 -0.10663388 0.02711516
+v 0.11795552 -0.11116976 0.02667602
+v 0.12041280 -0.10663388 0.02710727
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+v 0.13648383 -0.00390460 0.02398125
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+
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_30.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08675535d5571e94ebaefd54a70432558ad49b0c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_30.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v -0.11060178 -0.00391464 0.02289981
+v -0.12417938 -0.01138550 0.01724131
+v -0.12419240 -0.00685068 0.01724132
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+v -0.12430701 -0.04578376 0.01724118
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+v -0.12481750 -0.10661671 0.01724096
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+v -0.12949791 -0.10210204 0.02710557
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+v -0.13667870 -0.00685071 0.02568668
+v -0.12949791 -0.10661675 0.02704813
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+f 82 85 83
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+
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_31.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..519068373039f7d9557d6fefe16224ac4b4e1842
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_31.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.13737137 -0.11857950 0.01623611
+v -0.13720891 -0.10664201 0.02321741
+v -0.13720891 -0.10662680 0.02321741
+v -0.13671890 -0.10664200 0.02072542
+v -0.13733731 -0.11857950 0.01607482
+v -0.13698093 -0.11857951 0.02016895
+v -0.13719842 -0.11117855 0.02321739
+v -0.13680275 -0.10664201 0.02578734
+v -0.13680275 -0.10662680 0.02578734
+v -0.13671104 -0.10662679 0.02072218
+v -0.13688660 -0.11669445 0.01607483
+v -0.13710933 -0.11762469 0.01607483
+v -0.12116968 -0.11857950 0.01607482
+v -0.13669794 -0.11857952 0.02149181
+v -0.13686826 -0.11526224 0.02307341
+v -0.13655382 -0.11117855 0.02555241
+v -0.13404089 -0.10662681 0.02663605
+v -0.13623675 -0.11558518 0.01607484
+v -0.12760791 -0.10662677 0.01607487
+v -0.13035404 -0.10663613 0.01607487
+v -0.11060438 -0.11857950 0.01643638
+v -0.12502423 -0.10663145 0.01607487
+v -0.13664290 -0.11857952 0.02154593
+v -0.13668746 -0.11853272 0.02157300
+v -0.13631537 -0.11344857 0.02532832
+v -0.13404089 -0.11117856 0.02614781
+v -0.13404089 -0.10664202 0.02663496
+v -0.12949718 -0.10664202 0.02704741
+v -0.12951291 -0.10662681 0.02704633
+v -0.11060438 -0.10662679 0.02292621
+v -0.11060438 -0.11857952 0.02293807
+v -0.13646734 -0.11857952 0.02161197
+v -0.13404089 -0.11857952 0.02241196
+v -0.13404089 -0.11608133 0.02415593
+v -0.13404089 -0.11381364 0.02551127
+v -0.12949718 -0.11117856 0.02652777
+v -0.12949718 -0.10662681 0.02704741
+v -0.12495348 -0.10664202 0.02708855
+v -0.12496920 -0.10662681 0.02708855
+v -0.11060438 -0.10662681 0.02713401
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+v -0.11588441 -0.10662681 0.02712319
+v -0.11060438 -0.10736280 0.02704416
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+
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_32.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9360ea7c8cd5a0ee94e6cc6a6bb918af43d5e38
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_32.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.13733782 -0.11857950 0.01607482
+v -0.13688829 -0.11669445 0.01607483
+v -0.13691520 -0.11857949 0.01303617
+v -0.12116924 -0.11857950 0.01607482
+v -0.13623617 -0.11558518 0.01607484
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+v -0.13020085 -0.10662673 0.00635957
+v -0.13019926 -0.10662673 0.00634563
+v -0.13654956 -0.11857948 0.01216887
+v -0.12502659 -0.10663145 0.01607487
+v -0.12384739 -0.11857944 0.00025280
+v -0.12388221 -0.11824011 0.00025281
+v -0.12415128 -0.11571266 0.00025281
+v -0.12441245 -0.10662673 0.00634563
+v -0.13035597 -0.10663613 0.01607487
+v -0.13057439 -0.10662675 0.01057526
+v -0.12837110 -0.10662672 0.00350058
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+v -0.12959937 -0.11322499 0.00025282
+v -0.13120595 -0.11857944 0.00025280
+v -0.12525452 -0.10662676 0.01478011
+v -0.12761134 -0.10662677 0.01607487
+v -0.12448526 -0.11370590 0.00025282
+v -0.12500601 -0.11116324 0.00025283
+v -0.12561856 -0.10662672 0.00349129
+v -0.13003465 -0.10662676 0.01478011
+v -0.12835686 -0.10662672 0.00349129
+f 1 2 3
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+f 1 22 15
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+f 1 5 2
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+
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_4.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fa864d39137e9e664ba4541c54c7f264ce81ab8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_4.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.12607579 -0.00291192 0.00025099
+v 0.12607073 -0.00291192 -0.00005852
+v 0.13038405 -0.00291192 0.00025099
+v 0.12529855 0.10617735 0.00025139
+v 0.12603787 -0.00291191 -0.00209275
+v 0.13746887 -0.00291185 -0.01972348
+v 0.13248574 0.01130004 0.00025104
+v 0.12529855 0.11139078 0.00025141
+v 0.12529855 0.10246376 -0.02265893
+v 0.12586599 -0.00291184 -0.02265932
+v 0.13820819 -0.00291184 -0.02265932
+v 0.13298747 0.01583501 0.00025106
+v 0.13271701 0.01331161 0.00025105
+v 0.12748112 0.11121224 0.00025141
+v 0.13404146 0.11822307 -0.02054615
+v 0.12949940 0.11842541 -0.02024112
+v 0.12529855 0.11842541 -0.02024560
+v 0.12529855 0.11867538 -0.02265887
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+v 0.13820439 0.00223018 -0.02265930
+v 0.13376217 0.09948797 0.00025137
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+v 0.12529855 0.11853255 -0.02126608
+v 0.13819934 0.00676515 -0.02265929
+v 0.13375838 0.10201137 0.00025137
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+v 0.13737282 0.11108137 -0.01982399
+v 0.13626827 0.11787790 -0.02265888
+v 0.13510431 0.11816356 -0.02265888
+f 1 2 5
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diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_5.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f799a1d64b7f630524f72ead8c038fc152ad8105
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_5.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_6.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f9547ab8b8c6b2e3a326d423b92eb84912c78e3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_6.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_7.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b11d19337064c7d7bc3f55975d493c79f46b6786
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_7.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.12529729 0.11867521 -0.02265887
+v 0.12529729 0.11843323 -0.02024560
+v 0.12529729 0.10247661 -0.02265893
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+
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_8.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6691dde1e8a66f6574e2fdcfb0cece9b657b479
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_8.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.11795558 -0.11117138 0.02667797
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diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_9.obj b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..073002631d1ba9fd2c3f902bc94dc8c9e5762273
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/mjcf/mesh/notebook_collision_9.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.12040029 -0.10665722 -0.02674977
+v -0.12042942 -0.10665722 -0.02674977
+v -0.12039858 -0.10665722 -0.02660438
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diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/textures/material_0.png b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dce1cec86b85f245ddbdcc222b888d6f196f6f8d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f98069d0005fbc98ebd49a218c588d7f4883dd9655ddf440b95d14902175b6e
+size 1083520
diff --git a/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/video.mp4 b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..656ab7ead50197097aded0cfec333429ff3d8238
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/03ece668efba5617b6596f5c1e3e301c/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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