diff --git a/.gitattributes b/.gitattributes
index dd64413208ce79dcd97b1e9161a12ea2f556b3cd..66a09f9d8b398d7eeb3700cd1e6d0adf79799c1a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3120,3 +3120,5 @@ dataset/desktop_supplies/office_stationery/3025e74736895ff0a1db9ec938e263d7/eras
 dataset/desktop_supplies/office_stationery/3025e74736895ff0a1db9ec938e263d7/mesh/eraser_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/346d75e1c14b5fc5b189d23517b9f240/glue_stick_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/346d75e1c14b5fc5b189d23517b9f240/mesh/glue_stick_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mesh/stapler_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/stapler_001.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c9fcf570203d251976eb1210bdfcf63800d706d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stapler_001_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd stapler_001_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..31df60a0111cfc5aa8cc4de34d40613153fb5363
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1db296946db15dcb3869092d90bc3439d8856d597fb4b0a5f45435298998eb88
+size 9867427
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mesh/stapler_001.glb b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mesh/stapler_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9184431f5ef14d8b537e2103151c50763e03e485
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mesh/stapler_001.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50081c35f04e9e29b750ad80362f7fc209e8ea3928bac120e75ae2958757702b
+size 11093236
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mesh/stapler_001.mtl b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mesh/stapler_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f9d493ce4a0e7f3a75c62366c28936ae1f452e64
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mesh/stapler_001.mtl
@@ -0,0 +1,6 @@
+newmtl stapler_001_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_stationery/34d9e7675de759f499e19cd4afea5c4f/mesh/stapler_001.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mesh/stapler_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7533ce929dc54552b681a34102c2a91d2d953879
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mesh/stapler_001.obj
@@ -0,0 +1,112444 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stapler_001_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mesh/stapler_001_collision.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mesh/stapler_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ce32b9d288aaee8207690b3f5993c3230466438
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mesh/stapler_001_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mesh/stapler_001_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mesh/stapler_001_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..31df60a0111cfc5aa8cc4de34d40613153fb5363
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mesh/stapler_001_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1db296946db15dcb3869092d90bc3439d8856d597fb4b0a5f45435298998eb88
+size 9867427
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..31df60a0111cfc5aa8cc4de34d40613153fb5363
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:1db296946db15dcb3869092d90bc3439d8856d597fb4b0a5f45435298998eb88
+size 9867427
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cdbcc13ac3e895fb7dee68a0469d247ddeafa48
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001.obj
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diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fa94993202060cabc774ab76d9788385c4a2ecc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision.obj
@@ -0,0 +1,9269 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_0.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f36464096e5795fdd1231a68fe9a485350ace1e7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_1.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67f5a0b7fddb99ebbe339ccf14e75fdcf2fc4aff
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_1.obj
@@ -0,0 +1,505 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_10.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2007e5009b1cbe2754dadb5ff20eb337f46e1882
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_10.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_11.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d167c84ff70f98b1f2051870144270fd1cff253
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_11.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+f 1 7 3
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+
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_12.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e264719cf3a32d0f9da136aeba41d6b4bc1dad9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_12.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.01693077 -0.01094551 0.01333384
+v -0.01692422 -0.01360999 0.01333383
+v -0.01690131 -0.01360999 0.01402108
+v -0.01690131 -0.01094551 0.01402109
+v -0.01689476 -0.01024283 0.01402109
+v -0.01690458 -0.00827696 0.01333385
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+v -0.01685548 -0.01627854 0.01402107
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+v -0.01683911 -0.00490573 0.01402111
+v -0.01678346 0.00029733 0.01402113
+v -0.01679328 0.00189359 0.01333389
+v -0.01672126 0.00189360 0.01004818
+v -0.01671799 -0.00027536 0.01004817
+v -0.01671471 -0.01894303 0.01333381
+v -0.01625641 -0.02961317 0.01402102
+v -0.01639390 -0.02694462 0.01402103
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+v -0.01647247 -0.00560840 0.01004815
+v 0.01633874 0.00189359 0.01402114
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+
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_13.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7758626a1eaed7258fad281552226fdd8d3ae6bd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_13.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00621257 -0.03208859 0.00472548
+v 0.00621257 -0.03236097 0.00287737
+v 0.00042181 -0.03488961 0.00472547
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+v 0.00621257 -0.03483180 0.00027142
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+v 0.00364368 -0.06019233 0.00027133
+v 0.00621257 -0.06019782 -0.00234081
+v 0.00621257 -0.04557637 -0.00479802
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+
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_14.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4532d23d7a28824e53fff1c5d2ce45507935505
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_14.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v 0.00880351 0.00189773 -0.00702746
+v 0.00881005 0.02155584 -0.00759571
+v 0.00914267 0.00189773 -0.00698235
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+f 20 27 28
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+f 21 40 51
+f 21 51 67
+f 21 67 75
+f 21 75 58
+f 21 58 46
+f 21 46 36
+f 21 36 29
+f 24 28 25
+f 25 28 31
+f 25 31 32
+f 25 32 26
+f 27 33 34
+f 27 34 28
+f 28 34 35
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+f 30 38 39
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+f 31 35 43
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+f 33 44 45
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+f 33 35 34
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+f 37 47 48
+f 38 49 39
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+f 56 74 68
+f 57 58 75
+f 57 75 66
+f 57 66 59
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+f 59 66 65
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+f 64 80 81
+f 66 75 67
+f 71 82 72
+f 72 83 84
+f 72 84 85
+f 72 85 86
+f 72 86 87
+f 72 87 73
+f 72 82 83
+f 73 87 74
+f 76 88 89
+f 76 89 77
+f 76 81 88
+f 77 89 78
+f 78 90 91
+f 78 89 90
+f 80 92 93
+f 80 93 81
+f 81 93 92
+f 81 92 88
+f 82 94 95
+f 82 95 96
+f 82 96 83
+f 83 96 84
+f 84 96 97
+f 84 97 98
+f 84 98 85
+f 85 98 86
+f 88 95 90
+f 88 90 89
+f 88 92 99
+f 88 99 100
+f 88 100 95
+f 90 95 91
+f 91 95 94
+f 92 101 99
+f 95 100 99
+f 95 99 97
+f 95 97 96
+f 97 99 101
+
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_15.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7957dc2414b9150cc849100598662bfac95196d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_15.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.00375275 -0.01561443 0.01004772
+v 0.00375275 -0.01105524 0.00911123
+v 0.00661299 -0.02294313 0.00472655
+v 0.00661299 -0.02294313 0.00511251
+v 0.00661421 -0.02294313 0.00549691
+v 0.00706777 -0.02294314 0.00743140
+v 0.00799455 -0.02294315 0.01004770
+v 0.00375275 0.00188550 0.01004779
+v 0.00375275 0.00189767 0.00691531
+v 0.01293329 -0.02294313 0.00472655
+v 0.00595293 0.00144055 0.00472664
+v 0.01320494 -0.02294315 0.01004770
+v 0.00375397 0.00189766 0.01004779
+v 0.00375275 0.00189766 0.01004675
+v 0.00595047 0.00189768 0.00472664
+v 0.01566693 -0.00982975 0.01004774
+v 0.01534612 -0.01219566 0.01004774
+v 0.01304269 -0.02294313 0.00549691
+v 0.01344339 0.00189768 0.00472664
+v 0.01417597 0.00189768 0.00567201
+v 0.01489379 0.00189768 0.00661894
+v 0.01513225 0.00166424 0.00697000
+v 0.01532031 0.00189767 0.00724502
+v 0.01581566 0.00189767 0.00806486
+v 0.01587712 -0.00027371 0.00849196
+v 0.01580583 -0.00294113 0.00874873
+v 0.01612295 -0.00469673 0.01004776
+v 0.01592383 -0.00724014 0.01004775
+v 0.01367079 -0.02176627 0.01004770
+v 0.01630732 0.00189766 0.01004779
+v 0.01420055 -0.01894323 0.01004771
+v 0.01594472 0.00189767 0.00854405
+v 0.01625324 -0.00213387 0.01004777
+v 0.01630978 0.00039982 0.01004778
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 29
+f 1 29 31
+f 1 31 17
+f 1 17 16
+f 1 16 28
+f 1 28 27
+f 1 27 33
+f 1 33 34
+f 1 34 30
+f 1 30 13
+f 1 13 8
+f 1 8 14
+f 1 14 9
+f 1 9 2
+f 2 9 3
+f 3 10 18
+f 3 18 12
+f 3 12 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 3 9 11
+f 3 11 15
+f 3 15 19
+f 3 19 10
+f 8 13 14
+f 9 14 13
+f 9 13 30
+f 9 30 32
+f 9 32 24
+f 9 24 23
+f 9 23 21
+f 9 21 20
+f 9 20 19
+f 9 19 15
+f 9 15 11
+f 10 16 17
+f 10 17 18
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 28
+f 10 28 16
+f 12 18 29
+f 17 31 18
+f 18 31 29
+f 21 23 22
+f 24 32 33
+f 24 33 25
+f 25 33 27
+f 25 27 26
+f 30 34 32
+f 32 34 33
+
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_16.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1640c6834bdc66509a1ff1a5d99d471921a0502a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_16.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.00880977 0.02155583 -0.00759297
+v 0.01091185 0.02155583 -0.00712632
+v 0.00713979 0.02155582 -0.00675481
+v 0.01125837 0.02299653 -0.01312484
+v 0.01134187 0.02299653 -0.01312484
+v 0.01155479 0.02303117 -0.01312484
+v 0.01574435 0.02155579 0.00358857
+v 0.00751762 0.03173822 -0.01312480
+v 0.00865634 0.02599598 -0.01312482
+v 0.00947776 0.02360114 -0.01312483
+v 0.00957378 0.02355234 -0.01312483
+v 0.00667846 0.02155582 -0.00495162
+v 0.01287929 0.02383102 -0.01312483
+v 0.01621821 0.02155578 0.00510632
+v 0.00780882 0.03411259 -0.01312479
+v 0.00573910 0.03392518 -0.00257302
+v 0.00573910 0.03764103 -0.00312120
+v 0.00573910 0.02155580 0.00119641
+v 0.00573910 0.02199194 0.00100159
+v 0.00573910 0.02377429 0.00039450
+v 0.01317572 0.02415852 -0.01312483
+v 0.01632049 0.02155578 0.00550049
+v 0.00851126 0.03764107 -0.01312478
+v 0.00573910 0.03764091 0.02896456
+v 0.00573910 0.02155568 0.03315984
+v 0.01359112 0.02640535 -0.01312482
+v 0.01635180 0.03440696 0.00288637
+v 0.01639355 0.02373806 0.00550050
+v 0.01636015 0.02155577 0.00763440
+v 0.01363705 0.03764107 -0.01312478
+v 0.00573910 0.03753384 0.02899627
+v 0.00622443 0.03764091 0.02894191
+v 0.00598542 0.02155568 0.03314625
+v 0.00573910 0.02189893 0.03307376
+v 0.01361826 0.02907257 -0.01312481
+v 0.01637894 0.03707418 0.00288638
+v 0.01640190 0.02640528 0.00550051
+v 0.01592074 0.02640520 0.02639566
+v 0.01591657 0.02155570 0.02639564
+v 0.01363809 0.03745213 -0.01312478
+v 0.01637268 0.03764101 0.00288638
+v 0.00622443 0.03707408 0.02909595
+v 0.00573910 0.03404157 0.02992957
+v 0.00880350 0.03764091 0.02877880
+v 0.00643109 0.02155568 0.03311906
+v 0.00703228 0.02228783 0.03289706
+v 0.00573910 0.02595015 0.03203627
+v 0.00622443 0.02640518 0.03189129
+v 0.01363809 0.03440702 -0.01312479
+v 0.01363913 0.03478490 -0.01312479
+v 0.01588004 0.03707410 0.02378154
+v 0.01588943 0.02907242 0.02639567
+v 0.01586542 0.02155570 0.02852956
+v 0.01587169 0.03764093 0.02378154
+v 0.00622443 0.03440686 0.02980724
+v 0.00880350 0.03707408 0.02893284
+v 0.00573910 0.03262766 0.03030107
+v 0.00622443 0.03277724 0.03023764
+v 0.01135440 0.03764092 0.02857493
+v 0.00880350 0.02155568 0.03295596
+v 0.00880350 0.02203906 0.03283364
+v 0.00880350 0.02373796 0.03240324
+v 0.00880350 0.02907241 0.03103501
+v 0.00622443 0.02907241 0.03120718
+v 0.00573910 0.02857171 0.03136121
+v 0.01579445 0.03173807 0.02639568
+v 0.01582681 0.02155569 0.02900527
+v 0.01563476 0.03764093 0.02554848
+v 0.00880350 0.03440686 0.02963961
+v 0.01138258 0.03707408 0.02872444
+v 0.01138258 0.03440686 0.02943573
+v 0.00880350 0.03245761 0.03015156
+v 0.01272795 0.03048633 0.03033277
+v 0.01186478 0.03764092 0.02848884
+v 0.01138258 0.02155568 0.03274755
+v 0.01138258 0.02373796 0.03219483
+v 0.01138258 0.02640518 0.03151525
+v 0.01138258 0.02907241 0.03083114
+v 0.01138258 0.03073510 0.03040073
+v 0.00880350 0.03112400 0.03050040
+v 0.01557213 0.03764092 0.02594717
+v 0.01557318 0.02907242 0.02837102
+v 0.01555230 0.02155569 0.03043694
+v 0.01138258 0.03207028 0.03005188
+v 0.01382805 0.02155568 0.03196376
+v 0.01312770 0.02907241 0.03051853
+v 0.01345231 0.03764092 0.02808109
+v 0.01502208 0.03764092 0.02697562
+v 0.01519743 0.03554997 0.02760537
+v 0.01535921 0.03377234 0.02785454
+v 0.01547820 0.03173807 0.02807201
+v 0.01548968 0.02155569 0.03070425
+v 0.01414013 0.02155568 0.03176441
+v 0.01526736 0.02515345 0.03033275
+v 0.01403471 0.02618791 0.03075864
+v 0.01359321 0.03707409 0.02815811
+v 0.01469644 0.03764092 0.02727917
+v 0.01488327 0.03707409 0.02733354
+v 0.01536756 0.02373797 0.03047773
+f 1 2 7
+f 1 7 14
+f 1 14 22
+f 1 22 29
+f 1 29 39
+f 1 39 53
+f 1 53 67
+f 1 67 83
+f 1 83 92
+f 1 92 93
+f 1 93 85
+f 1 85 75
+f 1 75 60
+f 1 60 45
+f 1 45 33
+f 1 33 25
+f 1 25 18
+f 1 18 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 3 12 8
+f 4 11 10
+f 4 10 9
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+f 4 15 23
+f 4 23 30
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+f 4 40 50
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+f 17 59 74
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+f 17 88 81
+f 17 81 68
+f 17 68 54
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+f 17 41 30
+f 17 30 23
+f 21 26 22
+f 22 26 27
+f 22 27 28
+f 22 28 29
+f 24 31 32
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+f 26 35 36
+f 26 36 27
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+f 41 54 51
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+f 47 64 65
+f 51 54 52
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+f 56 70 59
+f 56 69 71
+f 56 71 70
+f 57 65 64
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+f 58 64 72
+f 58 72 69
+f 59 70 73
+f 59 73 74
+f 60 75 61
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+f 61 76 62
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+f 62 78 63
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+f 63 79 80
+f 63 80 64
+f 64 80 72
+f 66 68 81
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+f 66 82 67
+f 67 82 83
+f 69 72 84
+f 69 84 71
+f 70 71 73
+f 71 84 73
+f 72 80 84
+f 73 84 79
+f 73 79 78
+f 73 78 77
+f 73 77 76
+f 73 76 75
+f 73 75 85
+f 73 85 86
+f 73 86 87
+f 73 87 74
+f 79 84 80
+f 81 88 89
+f 81 89 90
+f 81 90 91
+f 81 91 82
+f 82 91 92
+f 82 92 83
+f 85 93 94
+f 85 94 95
+f 85 95 86
+f 86 95 94
+f 86 94 96
+f 86 96 87
+f 87 96 89
+f 87 89 97
+f 88 97 98
+f 88 98 89
+f 89 98 97
+f 89 96 94
+f 89 94 90
+f 90 94 99
+f 90 99 91
+f 91 99 92
+f 92 99 93
+f 93 99 94
+
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_17.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85d667268acc220fa5d2db9ac424cf2f3c251b13
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_17.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00508668 -0.06019014 0.00472641
+v 0.00364182 -0.06018761 0.00472641
+v 0.00364182 -0.06019269 0.01004600
+v -0.00508668 -0.06018258 0.01004756
+v -0.00508668 -0.03452697 0.00472650
+v 0.00364182 -0.03666515 0.00472650
+v -0.00409472 -0.06017753 0.01004756
+v -0.00476030 -0.06018258 0.01004756
+v 0.00364182 -0.05992731 0.01004756
+v -0.00508668 -0.05203679 0.01004759
+v -0.00508668 -0.03443598 0.00518017
+v 0.00364182 -0.03486059 0.00472754
+v 0.00187835 -0.03488080 0.00472650
+v 0.00364182 -0.05238557 0.01004759
+v -0.00508668 -0.03761798 0.00796418
+v -0.00508668 -0.03437280 0.00549686
+v 0.00364182 -0.03471147 0.00549686
+v 0.00364182 -0.03762051 0.00745165
+v 0.00364182 -0.03581090 0.00708497
+v -0.00508668 -0.03667274 0.00776887
+v -0.00508668 -0.03477971 0.00649952
+v -0.00508668 -0.03545959 0.00748448
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 15
+f 1 15 20
+f 1 20 22
+f 1 22 21
+f 1 21 16
+f 1 16 11
+f 1 11 5
+f 1 5 13
+f 1 13 6
+f 1 6 2
+f 2 6 12
+f 2 12 17
+f 2 17 19
+f 2 19 18
+f 2 18 14
+f 2 14 9
+f 2 9 3
+f 3 7 8
+f 3 8 4
+f 3 9 7
+f 4 8 7
+f 4 7 9
+f 4 9 14
+f 4 14 10
+f 5 11 12
+f 5 12 13
+f 6 13 12
+f 10 14 15
+f 11 16 12
+f 12 16 17
+f 14 18 15
+f 15 18 19
+f 15 19 20
+f 16 21 17
+f 17 21 22
+f 17 22 19
+f 19 22 20
+
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_18.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf104920c9a18d3a312c2aeed4de7830668e57c3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_18.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00669235 -0.06019421 -0.00576032
+v -0.00669235 -0.06019421 0.00472548
+v -0.00669235 -0.03236452 -0.00576032
+v -0.00669235 -0.03236452 0.00472548
+v -0.00569234 -0.06019421 -0.00576032
+v -0.00569234 -0.06019421 0.00472548
+v -0.00569234 -0.03236452 -0.00576032
+v -0.00569234 -0.03236452 0.00472548
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_19.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f12ed4d3629f0671f32f8e61437d730ba6089588
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_19.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01483853 -0.06025835 0.01312378
+v -0.01483853 -0.06025835 0.01412378
+v -0.01483853 -0.03959688 0.01312378
+v -0.01483853 -0.03959688 0.01412378
+v 0.01440223 -0.06025835 0.01312378
+v 0.01440223 -0.06025835 0.01412378
+v 0.01440223 -0.03959688 0.01312378
+v 0.01440223 -0.03959688 0.01412378
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_2.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..710d522d12db93eef0102b488ada5d8dd8a723e5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_2.obj
@@ -0,0 +1,862 @@
+# https://github.com/mikedh/trimesh
+v 0.00069710 0.03764555 0.02913967
+v 0.00069710 0.03764567 -0.00190915
+v 0.00106566 0.03764555 0.02913553
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+f 244 264 250
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+f 247 267 248
+f 247 251 268
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+f 250 268 251
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+f 254 272 273
+f 254 273 255
+f 255 273 256
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+f 256 274 257
+f 257 274 261
+f 260 261 275
+f 260 275 276
+f 260 276 262
+f 261 274 275
+f 262 276 277
+f 264 278 269
+f 264 277 279
+f 264 279 278
+f 272 280 273
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+f 273 281 274
+f 274 282 275
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+f 275 285 284
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+f 276 287 277
+f 277 288 279
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+
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_20.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6b77cba62a5750882568d45b5949b235c09fd83
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_20.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00701457 0.00096339 0.00402438
+v -0.00701457 0.00096339 0.00502438
+v -0.00701457 0.00196339 0.00402438
+v -0.00701457 0.00196339 0.00502438
+v -0.00601457 0.00096339 0.00402438
+v -0.00601457 0.00096339 0.00502438
+v -0.00601457 0.00196339 0.00402438
+v -0.00601457 0.00196339 0.00502438
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_21.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f921aa60f1fabe015b93891293fb0a75c417eca
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_21.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.00582403 -0.01582897 0.01004734
+v -0.00582403 -0.01356455 0.00883914
+v 0.00375275 -0.01561381 0.01004734
+v -0.00582403 0.00189592 0.01004741
+v -0.00582403 -0.01096351 0.00816227
+v 0.00375275 -0.01105547 0.00911113
+v 0.00375275 0.00188551 0.01004741
+v 0.00101826 0.00189592 0.01004741
+v -0.00582403 0.00189594 0.00613473
+v 0.00375275 0.00189593 0.00691504
+v 0.00375275 0.00189592 0.01004702
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 10
+f 3 10 11
+f 3 11 7
+f 4 8 11
+f 4 11 10
+f 4 10 9
+f 5 9 10
+f 5 10 6
+f 7 11 8
+
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_22.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f1373d54ff9d99065aa22efafc97b86813d6010
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_22.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.01672298 0.00189766 0.01004779
+v -0.00582403 0.00189766 0.01004779
+v -0.01625138 0.00189767 0.00807007
+v -0.01671871 -0.00027372 0.01004778
+v -0.00582403 0.00189768 0.00613454
+v -0.00582403 -0.01582841 0.01004772
+v -0.01631220 -0.00027371 0.00850133
+v -0.01560481 0.00189767 0.00694604
+v -0.01336954 -0.02294313 0.00472655
+v -0.01663335 -0.00294114 0.01004777
+v -0.00582403 -0.01096285 0.00816221
+v -0.00704463 -0.02294313 0.00472655
+v -0.00644500 0.00189768 0.00472664
+v -0.00848608 -0.02294315 0.01004770
+v -0.00751302 -0.02294314 0.00743452
+v -0.00728149 -0.02294313 0.00647718
+v -0.00704889 -0.02294313 0.00549691
+v -0.00704569 -0.02294313 0.00495208
+v -0.00582403 -0.01356461 0.00883932
+v -0.01624071 -0.00294113 0.00875915
+v -0.01441302 0.00189768 0.00532095
+v -0.01348690 -0.02294313 0.00549691
+v -0.01602199 -0.01035010 0.01004774
+v -0.01623217 -0.00827598 0.01004775
+v -0.01647331 -0.00560856 0.01004776
+v -0.01394889 0.00100530 0.00472663
+v -0.01394356 0.00189768 0.00472664
+v -0.01363948 -0.02294315 0.01004770
+v -0.01411534 -0.02175655 0.01004770
+v -0.01458906 -0.01930554 0.01004771
+v -0.01551411 -0.01360839 0.01004773
+f 1 2 5
+f 1 5 13
+f 1 13 27
+f 1 27 21
+f 1 21 8
+f 1 8 3
+f 1 3 4
+f 1 4 10
+f 1 10 25
+f 1 25 24
+f 1 24 23
+f 1 23 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 14
+f 1 14 6
+f 1 6 2
+f 2 6 19
+f 2 19 11
+f 2 11 5
+f 3 7 4
+f 3 8 9
+f 3 9 7
+f 4 7 10
+f 5 11 12
+f 5 12 13
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 12
+f 6 12 19
+f 7 20 10
+f 7 9 20
+f 8 21 9
+f 9 12 18
+f 9 18 17
+f 9 17 16
+f 9 16 15
+f 9 15 14
+f 9 14 28
+f 9 28 22
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 20
+f 9 21 26
+f 9 26 27
+f 9 27 13
+f 9 13 12
+f 10 20 25
+f 11 19 12
+f 21 27 26
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 22 31 23
+
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_23.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7f43aef643263ea8bb3111fe7e5bbde9388ef3a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_23.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.01363954 -0.02294315 0.01004770
+v -0.00848656 -0.02294315 0.01004770
+v -0.01348717 -0.02294313 0.00549691
+v -0.01348047 -0.02428125 0.00549690
+v -0.01346456 -0.02695022 0.00549689
+v -0.01344698 -0.02961555 0.00549688
+v -0.01339089 -0.03228452 0.00749438
+v -0.01226820 -0.05362169 0.01004758
+v -0.00508668 -0.03761881 0.00796418
+v -0.00508668 -0.03667447 0.00776887
+v -0.00508668 -0.03546030 0.00748448
+v -0.00751289 -0.02294314 0.00743452
+v -0.00658862 -0.03761882 0.01004764
+v -0.01342856 -0.02294313 0.00511251
+v -0.01336242 -0.02428125 0.00472654
+v -0.01331052 -0.02961555 0.00472652
+v -0.01335824 -0.03248141 0.00524842
+v -0.01333814 -0.02695022 0.00472653
+v -0.01330466 -0.03445032 0.00595366
+v -0.01330466 -0.03445033 0.00730217
+v -0.01228159 -0.05362168 0.00810892
+v -0.01209322 -0.05628702 0.01004757
+v -0.00508668 -0.05203563 0.01004759
+v -0.00508668 -0.03478211 0.00649952
+v -0.00704908 -0.02294313 0.00549691
+v -0.00728098 -0.02294313 0.00647718
+v -0.01336912 -0.02294313 0.00472655
+v -0.01326614 -0.03213502 0.00472651
+v -0.01323684 -0.03299551 0.00472651
+v -0.01228997 -0.05362167 0.00472643
+v -0.01229834 -0.05362167 0.00549679
+v -0.01209239 -0.05628700 0.00549678
+v -0.01183369 -0.05692872 0.00472642
+v -0.01186718 -0.05684488 0.01004757
+v -0.00508668 -0.06018109 0.01004756
+v -0.00508668 -0.03437375 0.00549686
+v -0.00704406 -0.02294313 0.00472655
+v -0.01223722 -0.05440559 0.00472643
+v -0.01209155 -0.05628700 0.00472642
+v -0.01121500 -0.05845280 0.00472642
+v -0.01121332 -0.05844917 0.01004757
+v -0.00667485 -0.06018838 0.01004756
+v -0.00508668 -0.06018836 0.00549677
+v -0.00508668 -0.03443573 0.00518017
+v -0.00508668 -0.03452689 0.00472650
+v -0.00925427 -0.05973624 0.00472641
+v -0.00925427 -0.05973624 0.00549677
+v -0.01121416 -0.05845280 0.00549678
+v -0.00925427 -0.05972896 0.01004756
+v -0.00667485 -0.06019200 0.00472641
+v -0.00508668 -0.06018836 0.00472641
+f 1 2 12
+f 1 12 26
+f 1 26 25
+f 1 25 37
+f 1 37 27
+f 1 27 14
+f 1 14 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 22
+f 1 22 34
+f 1 34 41
+f 1 41 49
+f 1 49 42
+f 1 42 35
+f 1 35 23
+f 1 23 13
+f 1 13 2
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 13 9
+f 3 14 4
+f 4 15 5
+f 4 14 15
+f 5 15 6
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+f 6 17 7
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+f 6 18 16
+f 7 17 19
+f 7 19 20
+f 7 20 8
+f 8 21 22
+f 8 20 21
+f 9 13 23
+f 9 23 35
+f 9 35 43
+f 9 43 51
+f 9 51 45
+f 9 45 44
+f 9 44 36
+f 9 36 24
+f 9 24 11
+f 9 11 10
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 14 27 15
+f 15 27 37
+f 15 37 45
+f 15 45 51
+f 15 51 50
+f 15 50 46
+f 15 46 40
+f 15 40 33
+f 15 33 39
+f 15 39 38
+f 15 38 30
+f 15 30 29
+f 15 29 28
+f 15 28 16
+f 15 16 18
+f 16 28 17
+f 17 29 30
+f 17 30 19
+f 17 28 29
+f 19 30 31
+f 19 31 20
+f 20 31 21
+f 21 31 22
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 24 36 25
+f 25 36 37
+f 30 38 31
+f 31 38 32
+f 32 38 39
+f 32 39 33
+f 33 40 34
+f 34 40 41
+f 35 42 43
+f 36 44 37
+f 37 44 45
+f 40 46 47
+f 40 47 48
+f 40 48 41
+f 41 48 47
+f 41 47 49
+f 42 50 43
+f 42 49 47
+f 42 47 50
+f 43 50 51
+f 46 50 47
+
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_24.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79a1fcfd513ddccb4767a9ff746ce64d1ab5aefc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_24.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.00293857 -0.06008719 0.01322618
+v 0.00293857 -0.05983875 0.01004787
+v 0.00364495 -0.06019221 0.01004787
+v 0.00364495 -0.06022454 0.01322618
+v 0.00293857 -0.04920076 0.01322622
+v 0.00293857 -0.05238590 0.01004790
+v 0.00555847 -0.06019019 0.01004787
+v 0.00611827 -0.06023059 0.01322618
+v 0.00420474 -0.03959890 0.01322625
+v 0.00619205 -0.03959889 0.01004794
+v 0.00622452 -0.06018817 0.01004787
+v 0.00622452 -0.06022858 0.01322618
+v 0.01289480 -0.03959890 0.01322625
+v 0.01183621 -0.03959889 0.01004794
+v 0.00880310 -0.05971757 0.01004787
+v 0.00880310 -0.05974384 0.01322618
+v 0.01298925 -0.04410495 0.01322624
+v 0.01179981 -0.05362198 0.01004789
+v 0.01024735 -0.05877031 0.01004787
+v 0.01074910 -0.05844109 0.01004788
+v 0.01076090 -0.05844312 0.01322619
+v 0.01298040 -0.04562178 0.01322623
+v 0.01166995 -0.05560133 0.01004789
+v 0.01161879 -0.05628804 0.01004788
+v 0.01164240 -0.05628805 0.01322619
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 16
+f 1 16 21
+f 1 21 25
+f 1 25 22
+f 1 22 17
+f 1 17 13
+f 1 13 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 14
+f 2 14 18
+f 2 18 23
+f 2 23 24
+f 2 24 20
+f 2 20 19
+f 2 19 15
+f 2 15 11
+f 2 11 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 6
+f 6 9 10
+f 7 11 8
+f 8 11 12
+f 9 13 14
+f 9 14 10
+f 11 15 12
+f 12 15 16
+f 13 17 14
+f 14 17 18
+f 15 19 16
+f 16 19 20
+f 16 20 21
+f 17 22 18
+f 18 22 23
+f 20 24 25
+f 20 25 21
+f 22 25 24
+f 22 24 23
+
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_25.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..425ae6188942bef41b878058070e2d78c0a7ba3c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_25.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.01345111 -0.04562144 0.01322623
+v -0.01226838 -0.05362119 0.01004789
+v -0.01209365 -0.05628913 0.01004788
+v -0.01210982 -0.05628914 0.01322619
+v -0.01344464 -0.03959688 0.01322625
+v -0.01236546 -0.03959687 0.01004794
+v -0.01186713 -0.05684654 0.01004788
+v -0.01121348 -0.05844811 0.01004788
+v -0.01207342 -0.05637800 0.01322619
+v -0.00518742 -0.03959688 0.01322625
+v -0.00665328 -0.03959687 0.01004794
+v -0.00975894 -0.05939936 0.01004787
+v -0.00925495 -0.05975079 0.01322618
+v -0.01122319 -0.05845014 0.01322619
+v -0.00518742 -0.03959688 0.01305169
+v -0.00518742 -0.06022540 0.01322618
+v -0.00518742 -0.05201558 0.01004790
+v -0.00925495 -0.05972856 0.01004787
+v -0.00667513 -0.06022944 0.01322618
+v -0.00667513 -0.06018904 0.01004787
+v -0.00518742 -0.06018298 0.01004787
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 13
+f 1 13 19
+f 1 19 16
+f 1 16 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 17
+f 2 17 21
+f 2 21 20
+f 2 20 18
+f 2 18 12
+f 2 12 8
+f 2 8 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 5 10 15
+f 5 15 11
+f 5 11 6
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 10 16 21
+f 10 21 17
+f 10 17 15
+f 11 15 17
+f 12 18 13
+f 13 18 19
+f 16 19 20
+f 16 20 21
+f 18 20 19
+
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_26.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..777944778bce85759a62ef9c3ee7897e3559e3b2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_26.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v -0.00389033 -0.06019422 0.01322618
+v -0.00389033 -0.06015314 0.01092818
+v 0.00293790 -0.06008830 0.01322618
+v -0.00389033 -0.04915362 0.01322622
+v -0.00389033 -0.06008829 0.01004787
+v 0.00293790 -0.05983970 0.01004787
+v 0.00293790 -0.04920010 0.01322622
+v -0.00287418 -0.04915903 0.01322622
+v 0.00293790 -0.05238635 0.01004790
+v 0.00106405 -0.05237879 0.01004790
+v -0.00187943 -0.05237771 0.01004790
+v -0.00389033 -0.05238743 0.01004790
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 12
+f 1 12 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 9
+f 3 9 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 12 11
+f 5 11 10
+f 5 10 9
+f 5 9 6
+f 7 9 8
+
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_3.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14a9d07c55ced66dc263711720317bfdec841fe0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_3.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.01344364 0.00189160 0.00472664
+v 0.01146882 0.00189164 -0.00495308
+v 0.00621327 0.00189160 0.00472664
+v 0.01285190 -0.03088242 0.00472652
+v 0.01177885 -0.05362119 -0.00234057
+v 0.01144900 -0.00027222 -0.00495309
+v 0.01079073 0.00189164 -0.00642518
+v 0.00621327 0.00189161 0.00396354
+v 0.00621327 -0.06018575 0.00472641
+v 0.01282005 -0.03228042 0.00472651
+v 0.01182132 -0.05362122 0.00472643
+v 0.01161605 -0.05628956 0.00027098
+v 0.01159269 -0.05628955 -0.00234058
+v 0.01083037 -0.05628954 -0.00470124
+v 0.01093159 -0.05362118 -0.00479101
+v 0.01139663 -0.00560894 -0.00495311
+v 0.01142423 -0.00294058 -0.00495310
+v 0.01136761 -0.00827730 -0.00495312
+v 0.01063501 0.00189164 -0.00675782
+v 0.00660257 0.00189163 -0.00234036
+v 0.00621327 -0.04828446 -0.00575781
+v 0.00621327 -0.06019181 0.00027097
+v 0.00622389 -0.06019788 -0.00234059
+v 0.00622389 -0.06018575 0.00472641
+v 0.01161322 -0.05628958 0.00472642
+v 0.01075180 -0.05845343 0.00027098
+v 0.01074260 -0.05844126 -0.00234058
+v 0.01051893 -0.05816165 -0.00430070
+v 0.00752132 -0.05762068 -0.00625966
+v 0.00854978 -0.05655091 -0.00591782
+v 0.01011547 -0.03978097 -0.00627572
+v 0.01029455 -0.02694974 -0.00641264
+v 0.01050124 -0.01094566 -0.00660249
+v 0.01053167 -0.00827730 -0.00663585
+v 0.01056140 -0.00560894 -0.00666922
+v 0.01058901 -0.00294058 -0.00670144
+v 0.01061449 -0.00027222 -0.00673251
+v 0.01133788 -0.01094566 -0.00495313
+v 0.00914222 0.00189165 -0.00698456
+v 0.00681633 0.00189164 -0.00495308
+v 0.00621327 -0.05653875 -0.00582114
+v 0.00727146 0.00189164 -0.00653223
+v 0.00621327 -0.06019180 -0.00235095
+v 0.00632369 -0.05865399 -0.00521228
+v 0.00854978 -0.05845948 -0.00508452
+v 0.00880389 -0.05972377 -0.00234059
+v 0.00880389 -0.05973594 0.00027097
+v 0.00621327 -0.05866007 -0.00519962
+v 0.00880389 -0.05972987 0.00288369
+v 0.00880389 -0.05972380 0.00472641
+v 0.01074826 -0.05844737 0.00472642
+v 0.00880389 0.00189165 -0.00703175
+v 0.00724952 -0.05762068 -0.00625966
+v 0.01017422 -0.05882422 0.00472641
+f 1 2 7
+f 1 7 19
+f 1 19 39
+f 1 39 52
+f 1 52 42
+f 1 42 40
+f 1 40 20
+f 1 20 8
+f 1 8 3
+f 1 3 9
+f 1 9 24
+f 1 24 50
+f 1 50 54
+f 1 54 51
+f 1 51 25
+f 1 25 11
+f 1 11 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 5 6
+f 3 8 21
+f 3 21 41
+f 3 41 48
+f 3 48 43
+f 3 43 22
+f 3 22 9
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 7
+f 7 17 16
+f 7 16 18
+f 7 18 19
+f 8 20 21
+f 9 22 23
+f 9 23 24
+f 11 25 12
+f 12 25 26
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+f 13 27 28
+f 13 28 14
+f 14 28 29
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+f 14 30 31
+f 14 31 15
+f 15 31 32
+f 15 32 33
+f 15 33 34
+f 15 34 35
+f 15 35 36
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+f 15 37 19
+f 15 19 38
+f 15 38 18
+f 15 18 16
+f 18 38 19
+f 19 37 36
+f 19 36 39
+f 20 40 21
+f 21 40 42
+f 21 42 41
+f 22 43 23
+f 23 44 45
+f 23 45 46
+f 23 46 47
+f 23 47 24
+f 23 43 48
+f 23 48 44
+f 24 47 49
+f 24 49 50
+f 25 51 26
+f 26 47 46
+f 26 46 27
+f 26 51 47
+f 27 46 28
+f 28 46 45
+f 28 45 29
+f 29 52 31
+f 29 31 30
+f 29 45 44
+f 29 44 53
+f 29 53 52
+f 31 52 39
+f 31 39 36
+f 31 36 35
+f 31 35 34
+f 31 34 33
+f 31 33 32
+f 41 53 48
+f 41 42 53
+f 42 52 53
+f 44 48 53
+f 47 51 49
+f 49 51 54
+f 49 54 50
+
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_4.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e1c4f89d5a43a0c8fb72d8405ddbb068e454235
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_4.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.00658504 0.00189160 0.00472664
+v -0.00658504 0.00189160 0.00432198
+v -0.01394321 0.00189160 0.00472664
+v -0.00658504 -0.06018817 0.00472641
+v -0.00701474 0.00189163 -0.00234042
+v -0.00658504 -0.04828150 -0.00576116
+v -0.01191225 0.00189164 -0.00495281
+v -0.01394970 0.00100423 0.00472663
+v -0.00667516 -0.06018817 0.00472641
+v -0.00667516 -0.06019423 0.00027059
+v -0.00658504 -0.06018814 -0.00234065
+v -0.00718344 0.00189164 -0.00446400
+v -0.00658504 -0.05628611 -0.00572545
+v -0.00770254 0.00189164 -0.00655068
+v -0.00761314 0.00189164 -0.00625671
+v -0.00722598 0.00189164 -0.00495281
+v -0.01108242 0.00189164 -0.00675820
+v -0.01189351 -0.00027209 -0.00495282
+v -0.01223741 -0.05361792 -0.00234063
+v -0.01326622 -0.03212646 0.00472651
+v -0.00743506 -0.06005446 0.00472641
+v -0.00925478 -0.05973839 0.00288298
+v -0.00667516 -0.06018814 -0.00234065
+v -0.00925478 -0.05973838 0.00027059
+v -0.00667516 -0.05890569 -0.00495304
+v -0.00658504 -0.05890569 -0.00495189
+v -0.00658504 -0.05637728 -0.00570470
+v -0.00667516 -0.05628611 -0.00573352
+v -0.00925478 0.00189165 -0.00705103
+v -0.00896783 0.00189165 -0.00696226
+v -0.01178753 -0.01094490 -0.00495286
+v -0.01181709 -0.00827670 -0.00495285
+v -0.01184376 -0.00560850 -0.00495284
+v -0.01186972 -0.00294029 -0.00495283
+v -0.01103844 -0.00294029 -0.00670173
+v -0.01106296 -0.00027209 -0.00673285
+v -0.01138523 -0.05361791 -0.00479739
+v -0.01129078 -0.05628611 -0.00471900
+v -0.01206221 -0.05628612 -0.00234064
+v -0.01208817 -0.05628613 0.00027060
+v -0.01229004 -0.05361795 0.00472643
+v -0.01323739 -0.03298952 0.00472651
+v -0.00925478 -0.05973232 0.00472641
+v -0.01121508 -0.05845596 0.00472642
+v -0.01121580 -0.05845595 0.00288299
+v -0.00925478 -0.05973229 -0.00234065
+v -0.00925478 -0.05867473 -0.00480432
+v -0.01121580 -0.05845594 0.00027060
+v -0.00925478 -0.05628611 -0.00585342
+v -0.01053809 -0.04165658 -0.00626032
+v -0.01101177 -0.00560850 -0.00667061
+v -0.01054458 -0.04165658 -0.00626032
+v -0.01098293 -0.00827670 -0.00663834
+v -0.01095265 -0.01094490 -0.00660492
+v -0.01097932 -0.05817026 -0.00431896
+v -0.01120643 -0.05844986 -0.00234064
+v -0.01209105 -0.05628614 0.00288299
+v -0.01223669 -0.05440807 0.00472643
+v -0.01209177 -0.05628615 0.00472642
+f 1 2 5
+f 1 5 12
+f 1 12 16
+f 1 16 15
+f 1 15 14
+f 1 14 30
+f 1 30 29
+f 1 29 17
+f 1 17 7
+f 1 7 3
+f 1 3 8
+f 1 8 20
+f 1 20 42
+f 1 42 41
+f 1 41 58
+f 1 58 59
+f 1 59 44
+f 1 44 43
+f 1 43 21
+f 1 21 9
+f 1 9 4
+f 1 4 11
+f 1 11 26
+f 1 26 27
+f 1 27 13
+f 1 13 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 5 6 12
+f 6 13 14
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+f 6 16 12
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+f 8 19 20
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+f 10 22 24
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+f 10 46 23
+f 11 25 26
+f 11 23 25
+f 13 27 28
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+f 13 29 30
+f 13 30 14
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+f 17 32 33
+f 17 33 34
+f 17 34 18
+f 17 29 35
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+f 17 36 37
+f 17 37 31
+f 18 34 19
+f 19 37 38
+f 19 38 39
+f 19 39 40
+f 19 40 41
+f 19 41 42
+f 19 42 20
+f 19 34 33
+f 19 33 32
+f 19 32 37
+f 21 43 22
+f 22 43 44
+f 22 44 45
+f 22 45 48
+f 22 48 24
+f 23 46 47
+f 23 47 25
+f 24 48 46
+f 25 47 49
+f 25 49 26
+f 26 49 27
+f 27 49 28
+f 28 49 50
+f 28 50 29
+f 29 51 35
+f 29 50 52
+f 29 52 51
+f 31 37 32
+f 35 51 37
+f 35 37 36
+f 37 52 38
+f 37 51 53
+f 37 53 54
+f 37 54 52
+f 38 52 49
+f 38 49 55
+f 38 55 39
+f 39 55 56
+f 39 56 40
+f 40 57 58
+f 40 58 41
+f 40 56 48
+f 40 48 57
+f 44 59 45
+f 45 59 48
+f 46 48 56
+f 46 56 55
+f 46 55 47
+f 47 55 49
+f 48 59 57
+f 49 52 50
+f 51 52 53
+f 52 54 53
+f 57 59 58
+
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_5.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e090a3d7c899debf7a75d05f948d012819022404
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_5.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.00621257 -0.00008101 0.00472923
+v 0.00069588 0.00189832 0.00703978
+v 0.00621257 0.00074988 0.00398495
+v 0.00621257 0.00189833 0.00472924
+v 0.00573844 0.00189821 0.03848356
+v 0.00364377 0.00189821 0.03858580
+v 0.00106471 0.00189821 0.03865532
+v 0.00069588 0.00189821 0.03865123
+v 0.00069588 0.03764103 -0.00190781
+v 0.00621257 0.00189834 0.00396451
+v 0.00573844 0.03392237 -0.00257441
+v 0.00573844 0.03764103 -0.00312237
+v 0.00573844 0.03764091 0.02896345
+v 0.00573844 0.01040275 0.03645113
+v 0.00573844 0.00773653 0.03716678
+v 0.00573844 0.00725647 0.03728128
+v 0.00573844 0.00456441 0.03791514
+v 0.00573844 0.00278818 0.03829954
+v 0.00493546 0.00373353 0.03814823
+v 0.00364377 0.00240043 0.03848356
+v 0.00364377 0.00384801 0.03817685
+v 0.00106471 0.00399942 0.03820957
+v 0.00069588 0.00233027 0.03856535
+v 0.00069588 0.00202007 0.03863078
+v 0.00069588 0.03764091 0.02913521
+v 0.00419079 0.03764091 0.02904115
+v 0.00364377 0.01040275 0.03656155
+v 0.00364377 0.00773653 0.03726901
+v 0.00364377 0.00518111 0.03787015
+v 0.00106471 0.00533621 0.03790696
+v 0.00069588 0.00514419 0.03795194
+v 0.00069588 0.00399942 0.03820957
+v 0.00069588 0.00377046 0.03825864
+v 0.00069588 0.01040275 0.03663516
+v 0.00106471 0.03764091 0.02913521
+v 0.00364377 0.03764091 0.02906569
+v 0.00106471 0.01040275 0.03663516
+v 0.00106471 0.00773653 0.03734262
+v 0.00069588 0.00773653 0.03734262
+f 1 2 3
+f 1 3 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 24
+f 2 24 23
+f 2 23 33
+f 2 33 32
+f 2 32 31
+f 2 31 39
+f 2 39 34
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+f 3 12 10
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+f 21 30 22
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+f 22 32 33
+f 22 33 23
+f 25 34 37
+f 25 37 35
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+f 27 36 37
+f 27 37 38
+f 27 38 28
+f 28 38 29
+f 29 38 30
+f 30 38 39
+f 30 39 31
+f 34 39 38
+f 34 38 37
+f 35 37 36
+
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_6.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b70412d0def3011974d77550920f2ee6effdf63
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_6.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v -0.00925531 0.00189773 -0.00705078
+v -0.00925531 0.01778857 -0.00742395
+v -0.00896770 0.00189773 -0.00696085
+v -0.01108304 0.00189772 -0.00675849
+v -0.01121408 0.01778857 -0.00695629
+v -0.00887608 0.01778857 -0.00726656
+v -0.00769896 0.00239703 -0.00655614
+v -0.00770244 0.00189772 -0.00654714
+v -0.01111087 0.00506469 -0.00679446
+v -0.01191224 0.00189772 -0.00495080
+v -0.01592257 0.01778853 0.00397083
+v -0.00759342 0.01778856 -0.00672246
+v -0.00767924 0.00506469 -0.00658311
+v -0.00761314 0.00189772 -0.00625486
+v -0.01625193 0.00189767 0.00807181
+v -0.01651403 0.00506464 0.00811229
+v -0.01624149 0.01039841 0.00611575
+v -0.01648851 0.01778852 0.00545476
+v -0.00748325 0.01778856 -0.00632225
+v -0.00722115 0.00239703 -0.00495080
+v -0.00722579 0.00189772 -0.00495080
+v -0.01689442 0.00189766 0.01072490
+v -0.01669958 0.00773230 0.00811230
+v -0.01681556 0.01039840 0.00811231
+v -0.01685731 0.01306606 0.00811232
+v -0.01684339 0.01573372 0.00811233
+v -0.01681904 0.01778851 0.00811234
+v -0.00720144 0.00506469 -0.00495079
+v -0.00711562 0.01778856 -0.00495074
+v -0.00548852 0.01778853 0.00273872
+v -0.00548852 0.01567463 0.00300402
+v -0.00548852 0.00252765 0.00593585
+v -0.00548852 0.00217456 0.00602129
+v -0.00548852 0.00213878 0.00603028
+v -0.00548852 0.00189768 0.00627311
+v -0.01729568 0.00189759 0.02900871
+v -0.01730032 0.00239690 0.02900871
+v -0.01733395 0.00239689 0.03162132
+v -0.01729336 0.00506455 0.03162133
+v -0.01714724 0.00773221 0.03162134
+v -0.01638762 0.01778843 0.02900877
+v -0.00548852 0.01778841 0.03413057
+v -0.00548852 0.00189756 0.03851485
+v -0.01733511 0.00189758 0.03162132
+v -0.01708345 0.00189757 0.03423394
+v -0.01705910 0.00239688 0.03423394
+v -0.01686195 0.00506454 0.03423395
+v -0.01603854 0.01778843 0.03119419
+v -0.00617044 0.01778841 0.03409460
+v -0.00667492 0.01039830 0.03643288
+v -0.00548852 0.01039830 0.03649134
+v -0.00548852 0.00354171 0.03817760
+v -0.00667492 0.00189756 0.03845190
+v -0.01627744 0.00189757 0.03625298
+v -0.01625425 0.00239688 0.03619902
+v -0.01606637 0.00506454 0.03592473
+v -0.01640849 0.00790175 0.03446329
+v -0.01560828 0.00890503 0.03548855
+v -0.01544128 0.01632316 0.03265113
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diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_7.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd41a160c585f1051de49d64eff71f3007405607
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_8.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14ef41652b21dd719c08d90a37dadf20b9f38881
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_9.obj b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bca8c6d286c166947fe3e9e2530cd9bd0c00747e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/mesh/stapler_001_collision_9.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.00473462 -0.03959890 0.01322625
+v -0.00518661 -0.03959890 0.01305169
+v -0.00518661 -0.03959890 0.01322625
+v -0.00389100 -0.04915446 0.01322622
+v -0.00389100 -0.05238541 0.01004790
+v -0.00455643 -0.05214510 0.01004790
+v -0.00518661 -0.05201586 0.01004790
+v -0.00518661 -0.06022655 0.01322618
+v -0.00389100 -0.06019222 0.01322618
+v -0.00389100 -0.06008721 0.01004787
+v -0.00518661 -0.06018413 0.01004787
+v -0.00420108 -0.06022453 0.01322618
+v -0.00409493 -0.06022251 0.01322618
+v -0.00409493 -0.06017808 0.01004787
+v -0.00389100 -0.06015183 0.01092818
+v -0.00476036 -0.06018212 0.01004787
+f 1 2 3
+f 1 3 8
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+
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/stapler_001.xml b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/stapler_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..061939b4c6c6d4aad7613ec8823719ea580cfc8d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/mjcf/stapler_001.xml
@@ -0,0 +1,68 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stapler_001">
+  <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/stapler_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stapler_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stapler_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stapler_001_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stapler_001_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stapler_001_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/stapler_001_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stapler_001_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/stapler_001_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/stapler_001_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/stapler_001_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/stapler_001_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/stapler_001_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/stapler_001_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/stapler_001_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/stapler_001_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/stapler_001_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/stapler_001_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/stapler_001_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/stapler_001_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/stapler_001_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/stapler_001_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/stapler_001_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/stapler_001_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/stapler_001_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/stapler_001_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/stapler_001_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/stapler_001_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stapler_001">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/stapler_001.urdf b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/stapler_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..63fbac8a0114fe0c9b13daa0f337e75a8628b565
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/stapler_001.urdf
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_001">
+   <link name="stapler_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stapler_001.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/stapler_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>34d9e7675de759f499e19cd4afea5c4f</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>stapler</category>
+         <name>black stapler</name>
+         <color>black</color>
+         <shape>elongated</shape>
+         <material>plastic-metal</material>
+         <description>compact black stapler with metallic base and ergonomic design</description>
+         <min_height>0.0787</min_height>
+         <max_height>0.0787</max_height>
+         <real_height>0.0787</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260416203212</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/stapler_001.usd b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/stapler_001.usd
new file mode 100644
index 0000000000000000000000000000000000000000..07e9786efc7dee04366d72920e98bfc3d3c5060b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/stapler_001.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0e4921458b0c53512c73050b710de6fbe62ae3a3aeeadd8510b0f943876a4af
+size 3589741
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/textures/material_0.png b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..31df60a0111cfc5aa8cc4de34d40613153fb5363
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1db296946db15dcb3869092d90bc3439d8856d597fb4b0a5f45435298998eb88
+size 9867427
diff --git a/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/video.mp4 b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8c52b56d95ec6c364c546c2ac82cba5ebb9ad08d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/34d9e7675de759f499e19cd4afea5c4f/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba34a51041f48df6d8f256bfc9ea4087de8591f3fae23b0733dec52b7dd25135
+size 255628