diff --git a/.gitattributes b/.gitattributes
index f3fec4f87ae4aa1ceff0aecab266b52e0f119e0f..ffca7460202e6a13066fec798fd0832769ad604d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3469,3 +3469,5 @@ dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mesh/cutt
 dataset/desktop_supplies/office_tools/fe02afd8aeda5474a8e3f487b3bb8b6a/fe02afd8aeda5474a8e3f487b3bb8b6a.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/fe02afd8aeda5474a8e3f487b3bb8b6a/mesh/glue_stick.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/fe02afd8aeda5474a8e3f487b3bb8b6a/mesh/glue_stick_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mesh/staples_box_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/staples_box_014.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mesh/material.mtl b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e669aa0e45fead40a2d2241ebe123c8f31834a53
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl staples_box_014_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd staples_box_014_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mesh/material_0.png b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe635aa2e2d790d648b99b7a34f427f6c512d8f2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:391f95530f62fd3024d32d236a9d860e51b076c03287dc336ea6551bcb909b45
+size 11617067
diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mesh/staples_box_014.glb b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mesh/staples_box_014.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f3a50750ec4516ff607534d8c965347f9fb4b016
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mesh/staples_box_014.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 14708024
diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mesh/staples_box_014.mtl b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mesh/staples_box_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3b7667e5dcbf3345b9ac626c9b1247c699675788
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mesh/staples_box_014.mtl
@@ -0,0 +1,6 @@
+newmtl staples_box_014_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/febc31c81b9d5aae8caf458c186a8472/mesh/staples_box_014.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mesh/staples_box_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d27884d5de503ae5787d71e4472ed7e5df55a26
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mesh/staples_box_014.obj
@@ -0,0 +1,111002 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl staples_box_014_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mesh/staples_box_014_collision.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mesh/staples_box_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ba93adee70a5b242da578e2a70c43d2fcd290b4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mesh/staples_box_014_collision.obj
@@ -0,0 +1,25397 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mesh/staples_box_014_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mesh/staples_box_014_geometry_Looks_material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mesh/staples_box_014_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11617067
diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 11617067
diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014.obj
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index 0000000000000000000000000000000000000000..dd8d041d0f91e3d45044a38505c1d4653d3aa765
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+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl staples_box_014_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08db737f1d09c66d0894e93cf53f13398a9ef7f3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision.obj
@@ -0,0 +1,25397 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_0.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a9908152f636d7b33da3dda3028b2b209f43b72
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_1.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65ec0888ab9034548dddf5fea0ae3f1373d26338
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_10.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1b9fed88443cf1e767e26c97cb6aaac1a4d3c43
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_10.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_11.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ba6e5565a4eb68179bc237a52268851d4145145
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_11.obj
@@ -0,0 +1,667 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_12.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36e0296ae624d42918f3b89b935d818da7906711
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_12.obj
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_13.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2227bd607b4824ad301ed3d6fd55755528934291
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_13.obj
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_14.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4f48396565f21b2c9a0c25fde1e7ee04086c090
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_14.obj
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_15.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..627fe6618275093ef2138213a607c1ff7a4c6498
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_15.obj
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_16.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bf2b959f9e1bf27fe261cd873f9b3d4a026c899
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_16.obj
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_17.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6a1e80c1cdc6e3c17172ae6e2d890ffbfbf9be6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_17.obj
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_18.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7a4079f4ef77d82b84d9c44c38024a701ddc167
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_18.obj
@@ -0,0 +1,553 @@
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_19.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..658bd6d0caf294219079b29d9c8b6f1a40e4ac0e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_19.obj
@@ -0,0 +1,823 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_2.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d8f625b369a9601726ffdc55933d8bcdbd28b5d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_2.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_20.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d76947cf1fa578dce63228c5db290803e6f5faf
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_20.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_21.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f293836e294bc52ba609473dcb5e532f3ce5d01
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_21.obj
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_22.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09f56f078bdac485d1eaa68b7ed44e9d80d066f5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_22.obj
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_23.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c349dfac675e3fb91930a0b57f2d961df9f317b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_23.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_24.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78d4b9529e49b69f3a6e4eb4fcdb1da4369ef506
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_24.obj
@@ -0,0 +1,709 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_25.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe36ca25e1360028b8394ac99d4f6ee7ffb57334
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_25.obj
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+
diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_26.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17ee35eb01462b61ffdbb515f303e5ead4baf28f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_26.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.03409779 0.02923019 -0.01410269
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+v -0.03409779 0.02923024 -0.02618439
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+
diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_27.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aadd9c5d70b1aaf760eb879e537295405fe7b242
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_27.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.02823376 0.02751270 0.03054740
+v 0.01597058 0.01481577 0.03076909
+v 0.02823376 0.02609645 0.03054925
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+
diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_28.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84e5bca656e3710f7cc6e8b140c6fb6393c0c035
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_28.obj
@@ -0,0 +1,694 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_29.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98137b6366aa3803d7df0ce6675f4ee3110d9482
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_29.obj
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_3.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c353b61755cc76773eeeb4c11f9a7d8db30e736
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_30.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42b513888a22686756ba4de1be203fe217b2149a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_30.obj
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_31.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc36b9e7636ab58e5fc88654c6e869907778baa4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_31.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_32.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06b3d12259df5be3f364447527ff65aa3d4fda71
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_32.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_33.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8e2549427c6ca2c07cd49a37c8d09fd17267645
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_33.obj
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_34.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3d45cd515ba379f6b2e7a662c7fae9b68227659
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_34.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_35.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e977271967023f5f52a651498382219fe4df3a2b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_35.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_36.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c269d835a96f1bcf43f5c47dbca588ab961fb7e2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_36.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_37.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a78e2949a64b612d155b2a852b9cee490fd94e2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_37.obj
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_38.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d9ece063b3395c0a42f115e1ece87ca56c0c6fc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_38.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.02428481 -0.03038901 -0.01792988
+v 0.03839098 -0.03038901 -0.01792988
+v 0.02903749 -0.03038903 -0.01477638
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+
diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_39.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91d54b7ad04b40e5d853b8f593fe4baeb0a4fd13
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_39.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.03876203 0.01785408 -0.00189944
+v 0.03876106 0.01785408 -0.00295696
+v 0.02967502 0.01785408 -0.00189944
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+
diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_4.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5d673f5511f4ebdd64e8896059cebf955895505
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_4.obj
@@ -0,0 +1,1090 @@
+# https://github.com/mikedh/trimesh
+v 0.03875831 0.03042086 0.00563958
+v 0.03874586 0.03173818 0.00563959
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_40.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34aab45300b8cfbfc8a0145c4b78eaae1b651768
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_40.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_41.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d797002babb0170273b3d73e7e7706a3632fe12
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_41.obj
@@ -0,0 +1,121 @@
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+
diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_42.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..324f878712154ee61c698d753cc030cee317ef73
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_42.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.03003122 -0.03038911 0.00653586
+v 0.03844275 -0.03038911 0.00653586
+v 0.03018113 -0.03038912 0.00691539
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+
diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_43.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aefaf86eebd8ca2e74078489a581f9072263100d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_43.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.01923641 0.04180472 -0.01111212
+v -0.01923641 0.04180472 -0.01112303
+v -0.02347473 0.04180472 -0.01111212
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+v -0.02064541 0.04179344 -0.01252015
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+v -0.02768758 0.04179257 -0.01252015
+v -0.00135513 0.04178996 -0.01252015
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+v -0.03025943 0.04179256 -0.01136884
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+v -0.03025943 0.04179430 -0.01111430
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+
diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_44.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38466af73391c560b1f4db6e282abbc89b8e4942
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_44.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v 0.03934436 0.01069797 0.00653590
+v 0.04066598 0.00993527 0.00653590
+v 0.03934436 0.01078670 0.00564029
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+
diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_45.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..829e17d74803cd231a8ba0e6d0977649dfedac52
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_45.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
+v -0.02179491 0.04170356 -0.01557350
+v -0.02064670 0.04163152 -0.01671168
+v -0.02205410 0.04163152 -0.01671168
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_46.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1aa99376b3e66e42b5d673e3367475ea19be556e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_46.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_47.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..484448459639266d64b142004d4a7ccb18451d89
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_47.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_5.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ec356efe0f103343fb061f9f18da6ff3c512359
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_5.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_6.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ac306e34f6a3e051f9f0c9896584c55f3e6efac
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_6.obj
@@ -0,0 +1,709 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_7.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de5971be262dd60df08a08f0f98d38ffacb7751d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_8.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76739c84f4027fdba2f04205b2158d7b43f43ef5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_9.obj b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83d305d0d8ebac2d2d1bf414c43d2f9c9db7fa5e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/mesh/staples_box_014_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/staples_box_014.xml b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/staples_box_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8002cd3854aaf4abc4189a26236726623e63c09b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/mjcf/staples_box_014.xml
@@ -0,0 +1,110 @@
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+    <mesh name="collision_mesh_0_12" file="mesh/staples_box_014_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/staples_box_014_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/staples_box_014_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/staples_box_014_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/staples_box_014_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/staples_box_014_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/staples_box_014_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/staples_box_014_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/staples_box_014_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/staples_box_014_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/staples_box_014_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/staples_box_014_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/staples_box_014_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/staples_box_014_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/staples_box_014_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/staples_box_014_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/staples_box_014_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/staples_box_014_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/staples_box_014_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/staples_box_014_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/staples_box_014_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/staples_box_014_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/staples_box_014_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/staples_box_014_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/staples_box_014_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/staples_box_014_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/staples_box_014_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/staples_box_014_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/staples_box_014_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/staples_box_014_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/staples_box_014_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/staples_box_014_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/staples_box_014_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/staples_box_014_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/staples_box_014_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/staples_box_014_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="staples_box_014">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" 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/febc31c81b9d5aae8caf458c186a8472/staples_box_014.urdf b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/staples_box_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..097a4e1159f028e1a10834cc373324dac35996ef
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/staples_box_014.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="staples_box_014">
+   <link name="staples_box_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/staples_box_014.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_014_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>febc31c81b9d5aae8caf458c186a8472</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>staples_box</category>
+         <name>wooden staples box</name>
+         <color>brown,white</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>small rounded wooden box with hinged lid and white side latch</description>
+         <min_height>0.0575</min_height>
+         <max_height>0.0575</max_height>
+         <real_height>0.0575</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518180956</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.041609 -0.041969 -0.026539</min>
+            <max>0.044007 0.041987 0.030928</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/febc31c81b9d5aae8caf458c186a8472/staples_box_014.usd b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/staples_box_014.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/staples_box_014.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89235dfc2ed439bb1c85a3546825705862feca0a8a38c6685105201665b8c2e9
+size 4756935
diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/textures/material_0.png b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/textures/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/textures/material_0.png
@@ -0,0 +1,3 @@
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+size 11617067
diff --git a/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/video.mp4 b/dataset/desktop_supplies/office_tools/febc31c81b9d5aae8caf458c186a8472/video.mp4
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@@ -0,0 +1,3 @@
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+size 585553