diff --git a/.gitattributes b/.gitattributes
index 787f1b737fc39dfe5b18e4f4405f8caeb14009a6..b32f7a172ff74f942c49c43b88f8c7bac91fc8c4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3298,8 +3298,4 @@ dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/glue
 dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mesh/glue_stick_032.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mesh/stapler_040.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/stapler_040.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/fd6c4e09af6952b3982c1cc2481072e5/correction_tape_016.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/fd6c4e09af6952b3982c1cc2481072e5/mesh/correction_tape_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/fe78b9e4d57b5c4fb5dd8a7bbfdd7091/fe78b9e4d57b5c4fb5dd8a7bbfdd7091.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/fe78b9e4d57b5c4fb5dd8a7bbfdd7091/mesh/pen.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/fe78b9e4d57b5c4fb5dd8a7bbfdd7091/mesh/pen_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/fdb83e0401f2541792b09528ca4b18b0.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/fdb83e0401f2541792b09528ca4b18b0.urdf b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/fdb83e0401f2541792b09528ca4b18b0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9d52d6013f8b92046262f8e5a5a2776d5d9c25a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/fdb83e0401f2541792b09528ca4b18b0.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_19">
+   <link name="stapler_19">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/stapler_19.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/stapler_19_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>0.138832</scale>
+         <version>v0.1.5</version>
+         <category>stapler</category>
+         <description>modern blue stapler with metallic components and ergonomic design</description>
+         <min_height>0.05</min_height>
+         <max_height>0.08</max_height>
+         <real_height>0.065</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20251014153651</generate_time>
+         <gs_model>mesh/stapler_19_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.633983612060547</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/fdb83e0401f2541792b09528ca4b18b0.usd b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/fdb83e0401f2541792b09528ca4b18b0.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d1bdbccaf59133f687a1713cd0027a2a87f61ba8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/fdb83e0401f2541792b09528ca4b18b0.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e559758224e7512988f00415c4c5267e9b8b4ba9e5cb87228e52031edf70105
+size 994844
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..deb7f6b4b1e175947cefe919949d84860fffc5d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2860011e49a8b2da823a7413199236f91bd6d309f6efcf8dd4670119ee997c15
+size 2101309
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mesh/stapler_19.glb b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mesh/stapler_19.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f2d1121ce77499f9ef6a29413025758c8ca72a07
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mesh/stapler_19.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:703d6427464f79b1159b1025a56176f1ca18b3141e9036c56db8c8ef4765236a
+size 2796740
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mesh/stapler_19.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mesh/stapler_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80c2746334899a53d6f372209f14cb0bd17832e3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mesh/stapler_19.obj
@@ -0,0 +1,63940 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mesh/stapler_19_collision.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mesh/stapler_19_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..519e08a8c554d9d4d4ada72404f3dd728ed473b6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mesh/stapler_19_collision.obj
@@ -0,0 +1,14849 @@
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+  </worldbody>
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diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..deb7f6b4b1e175947cefe919949d84860fffc5d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:2860011e49a8b2da823a7413199236f91bd6d309f6efcf8dd4670119ee997c15
+size 2101309
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcb118c579743353fde4a1a77fd9bd12057d89b0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b7dd834b5b3b58500805455ca2ace703444ff14
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision.obj
@@ -0,0 +1,14849 @@
+# https://github.com/mikedh/trimesh
+
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+f 4990 4995 5000
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_0.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..394a16dddd5e0088f5980d75461d36e30776d43b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_0.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.01022033 -0.00427280 -0.01351392
+v 0.00998251 -0.00427280 -0.01351042
+v 0.01132029 -0.00427280 -0.01343547
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+v 0.01283261 -0.03360577 -0.00987852
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_1.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ab1e01ef65b652f12af948a67d6e45561c28a05
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_1.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.01683695 -0.00847785 0.01384318
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+v -0.01746056 -0.02673841 0.02121493
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+v -0.01555085 -0.06693178 0.02121478
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_10.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8879187ef1e4dc94734fcfcbc828014d49c60c74
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_10.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.02217510 -0.00611818 -0.02513896
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_11.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1a17000d01949481ed70d6d491b9d895e030e98
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_11.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00008248 0.02419734 -0.00635770
+v 0.00769625 0.02419734 -0.00635770
+v 0.00008248 0.02333711 -0.00635770
+v 0.00008248 0.02419734 -0.00421228
+v 0.00769625 0.02419734 -0.00440338
+v 0.00769625 0.01884734 -0.00635772
+v 0.00008248 0.01908398 -0.00506461
+v 0.00020844 0.02419734 -0.00421228
+v 0.00008248 0.00727431 0.00283033
+v 0.00736758 0.02419734 -0.00438427
+v 0.00769625 0.01679111 -0.00127574
+v 0.00769625 -0.00846868 0.00409917
+v 0.00008248 -0.00847188 0.00410936
+v 0.00112811 0.02419734 -0.00421610
+v 0.00112811 0.00727431 0.00283033
+v 0.00334084 0.00727112 0.00282778
+v 0.00008248 0.00533962 0.00343929
+v 0.00112811 0.00533962 0.00344056
+v 0.00334084 0.02419734 -0.00425050
+v 0.00555208 0.02340746 -0.00396895
+v 0.00769625 0.01450145 -0.00031006
+v 0.00769625 -0.00847188 0.00426224
+v 0.00563630 -0.00847188 0.00412083
+v 0.00008248 -0.00847188 0.00664589
+v 0.00334084 0.02348740 -0.00394474
+v 0.00334084 0.00533962 0.00344056
+v 0.00555208 0.00533962 0.00339979
+v 0.00555208 0.00720076 0.00280357
+v 0.00112811 -0.00847188 0.00665354
+v 0.00334084 -0.00847188 0.00665736
+v 0.00769625 0.00708244 0.00276408
+v 0.00769625 -0.00847188 0.00662933
+v 0.00529422 -0.00847188 0.00664972
+v 0.00769625 0.00533962 0.00333100
+v 0.00769625 0.00702488 0.00278319
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 13
+f 1 13 24
+f 1 24 17
+f 1 17 9
+f 1 9 4
+f 1 4 8
+f 1 8 14
+f 1 14 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
+f 2 5 11
+f 2 11 21
+f 2 21 31
+f 2 31 35
+f 2 35 34
+f 2 34 32
+f 2 32 22
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+f 2 12 6
+f 3 6 7
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+f 6 12 13
+f 6 13 7
+f 8 15 16
+f 8 16 14
+f 9 17 18
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+f 9 26 15
+f 10 19 20
+f 10 20 21
+f 10 21 11
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+f 13 23 22
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+f 28 34 35
+f 28 35 31
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_12.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a8d332d8fd9537ed60029f946ba74656a2bac3f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_12.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.01123543 -0.00427301 -0.01337675
+v -0.01139423 -0.00427301 -0.01314519
+v -0.01028073 -0.00427301 -0.01337675
+v -0.01112799 -0.01299090 -0.01331219
+v -0.01200870 -0.04142500 -0.01190232
+v -0.01200965 -0.04047937 -0.01191881
+v -0.01204782 -0.00427302 -0.01213306
+v -0.00938918 -0.00427301 -0.01317405
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+v -0.01115344 -0.04142500 -0.01212426
+v -0.01241490 -0.04142500 -0.01107640
+v -0.01104835 -0.01652607 -0.01326479
+v -0.01218965 -0.00427302 -0.01169468
+v -0.01283193 -0.04142500 -0.01019895
+v -0.01298461 -0.04142500 -0.00987737
+v -0.01295492 -0.03131413 -0.00987734
+v -0.01294267 -0.02902282 -0.00987733
+v -0.00917430 -0.00427301 -0.01311015
+v -0.00993485 -0.04142499 -0.01243484
+v -0.01092159 -0.01528221 -0.01328266
+v -0.01101725 -0.01652607 -0.01326479
+v -0.01269810 -0.00427302 -0.00987724
+v -0.01295822 -0.04142501 -0.00894701
+v -0.01284418 -0.04142502 -0.00635794
+v -0.01251810 -0.00427304 -0.00635781
+v -0.00899100 -0.00427301 -0.01289165
+v -0.00852119 -0.04142500 -0.01153815
+v -0.00911775 -0.04142500 -0.01193049
+v -0.00933640 -0.04142500 -0.01207410
+v -0.00817295 -0.04142502 -0.00635794
+v -0.00860836 -0.00427304 -0.00635781
+v -0.00852967 -0.00427302 -0.01198258
+v -0.00819133 -0.04142500 -0.00987737
+v -0.00817107 -0.04142501 -0.00762293
+v -0.00820405 -0.00427302 -0.00987724
+v -0.00829877 -0.00427303 -0.00762280
+v -0.00852778 -0.01069962 -0.00635783
+f 1 2 7
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+f 1 23 26
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+f 1 36 33
+f 1 33 27
+f 1 27 19
+f 1 19 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
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+f 4 9 21
+f 4 21 10
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+f 5 13 11
+f 6 12 7
+f 7 12 15
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+f 10 22 13
+f 11 13 20
+f 13 22 20
+f 14 18 23
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+f 20 22 21
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+f 25 32 26
+f 27 33 28
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+f 31 35 36
+f 31 36 37
+f 31 37 38
+f 32 38 37
+f 33 36 34
+f 34 36 35
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_13.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baf0f87388aabd93d93ac28314399bd3344c7819
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_13.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00900449 -0.00847455 -0.00635782
+v 0.01179476 -0.00847455 -0.00635782
+v 0.00858595 -0.01041728 -0.00635783
+v 0.00859953 -0.00847455 -0.00635224
+v 0.01625285 -0.00847456 -0.00281226
+v 0.01239811 -0.02673303 -0.00635789
+v 0.00826343 -0.02572648 -0.00635788
+v 0.00863305 -0.00847455 -0.00619970
+v 0.00821814 -0.02801826 -0.00635789
+v 0.00820274 -0.02902480 -0.00536641
+v 0.00847904 -0.03611391 -0.00292676
+v 0.01714428 -0.00847457 -0.00085625
+v 0.01705007 -0.01069870 -0.00085626
+v 0.01710805 -0.02673306 0.00139918
+v 0.01250048 -0.03611390 -0.00635792
+v 0.01244884 -0.02902480 -0.00635790
+v 0.01242710 -0.02773957 -0.00635789
+v 0.01160632 -0.00847728 0.00314413
+v 0.01160632 -0.00847458 0.00314320
+v 0.00853974 -0.02902481 -0.00368943
+v 0.00854790 -0.03611391 -0.00269610
+v 0.00818824 -0.03030734 -0.00635790
+v 0.00816106 -0.03131388 -0.00536642
+v 0.00814838 -0.03611390 -0.00515343
+v 0.01723578 -0.02215220 0.00139920
+v 0.01719411 -0.02444127 0.00139919
+v 0.01733725 -0.00847458 0.00139925
+v 0.01735899 -0.02673306 0.00314406
+v 0.01733996 -0.02902483 0.00314405
+v 0.01719502 -0.03594888 0.00314403
+v 0.01718777 -0.03611393 0.00314403
+v 0.01694588 -0.02902483 0.00139917
+v 0.01644853 -0.03611393 0.00157122
+v 0.00816559 -0.03611390 -0.00635792
+v 0.01161266 -0.00847458 0.00314413
+v 0.00880518 -0.03611391 -0.00191760
+v 0.01090604 -0.03611393 0.00314403
+v 0.00817193 -0.03259912 -0.00635791
+v 0.00814294 -0.03360566 -0.00536642
+v 0.00813117 -0.03611390 -0.00536643
+v 0.01719683 -0.03589747 0.00314403
+v 0.01738617 -0.00847458 0.00314413
+v 0.00816197 -0.03611390 -0.00626398
+v 0.00816469 -0.03489090 -0.00635792
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+f 18 29 28
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+f 38 40 39
+f 40 44 43
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_14.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cb23ff5ae43dad70884d628a718bf2bd9e1466f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_14.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.01229790 0.06862055 0.00220800
+v 0.01229790 0.06849445 0.00288037
+v 0.01332119 0.06835095 0.00255724
+v 0.01336791 0.06837704 0.00220800
+v 0.01229790 0.06530707 0.00220799
+v 0.01229790 0.06792916 0.00390035
+v 0.01370176 0.06813353 0.00220800
+v 0.01371219 0.06637242 0.00507535
+v 0.01425423 0.06708122 0.00346298
+v 0.01567623 0.06626372 0.00286567
+v 0.01499449 0.02419731 0.00220784
+v 0.01229790 0.02419726 0.01604037
+v 0.01229790 0.06784219 0.00401132
+v 0.01575062 0.06636373 0.00220799
+v 0.01229790 0.06671160 0.00535279
+v 0.01229790 0.06525923 0.00640051
+v 0.01333208 0.06378946 0.00705818
+v 0.01425967 0.06472437 0.00580973
+v 0.01518681 0.06566363 0.00436871
+v 0.01570617 0.06413300 0.00504108
+v 0.01599465 0.06489832 0.00363269
+v 0.01632033 0.06489832 0.00220799
+v 0.01604772 0.06565060 0.00220799
+v 0.01691680 0.02419731 0.00220784
+v 0.01229790 0.02419725 0.01887836
+v 0.01229790 0.06400688 0.00717732
+v 0.01382105 0.06261104 0.00736662
+v 0.01492690 0.06261105 0.00661592
+v 0.01333163 0.05921929 0.00931518
+v 0.01543538 0.06131522 0.00697005
+v 0.01597288 0.06261105 0.00548823
+v 0.01663557 0.06261106 0.00365553
+v 0.01675986 0.06261106 0.00220798
+v 0.01692542 0.02419731 0.00365539
+v 0.01690002 0.04428691 0.00220791
+v 0.01265170 0.02419725 0.01878860
+v 0.01229790 0.02428421 0.01886041
+v 0.01229790 0.05945846 0.00941799
+v 0.01364551 0.05802783 0.00952406
+v 0.01229790 0.05814088 0.00990267
+v 0.01313885 0.05217923 0.01148566
+v 0.01475136 0.05802783 0.00869339
+v 0.01570390 0.05978893 0.00727359
+v 0.01615477 0.06045860 0.00609531
+v 0.01658976 0.05802784 0.00591089
+v 0.01682790 0.06031946 0.00365552
+v 0.01682653 0.06031946 0.00220797
+v 0.01693177 0.02419730 0.00591077
+v 0.01689911 0.04510876 0.00220792
+v 0.01363190 0.02419725 0.01850301
+v 0.01344049 0.02510606 0.01839367
+v 0.01229790 0.02581485 0.01853075
+v 0.01411997 0.05573622 0.00986676
+v 0.01355162 0.05065294 0.01170271
+v 0.01229790 0.05247057 0.01158195
+v 0.01522582 0.05573623 0.00903119
+v 0.01543900 0.05437083 0.00922866
+v 0.01591346 0.05802783 0.00756570
+v 0.01610170 0.05573623 0.00790351
+v 0.01651764 0.05115736 0.00816787
+v 0.01672448 0.04886575 0.00816786
+v 0.01676712 0.05573624 0.00591088
+v 0.01687008 0.05344463 0.00591088
+v 0.01690138 0.05115737 0.00591087
+v 0.01689503 0.04657417 0.00220792
+v 0.01690501 0.04199528 0.00816783
+v 0.01691317 0.02419729 0.00816777
+v 0.01690410 0.04886576 0.00591086
+v 0.01432998 0.02419725 0.01801995
+v 0.01549752 0.02935011 0.01604692
+v 0.01498451 0.04886574 0.01109887
+v 0.01562860 0.05284454 0.00943428
+v 0.01580324 0.05115735 0.00965949
+v 0.01601688 0.04886574 0.00997282
+v 0.01589940 0.02419726 0.01660993
+v 0.01639971 0.02595837 0.01493228
+v 0.01656436 0.02419727 0.01493227
+v 0.01684286 0.04657415 0.00816785
+v 0.01688958 0.04428689 0.00816784
+v 0.01684150 0.02419727 0.01267689
+v 0.01471145 0.02419725 0.01774741
+v 0.01506026 0.02419726 0.01747650
+v 0.01680794 0.02595837 0.01267690
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_15.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf751c3197666c021b3e0db1fde70da660df7f0e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_15.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.01370880 0.06632728 -0.01835795
+v 0.01370880 0.06644523 -0.01825926
+v 0.01403749 0.06619335 -0.01835795
+v 0.01370880 0.06179145 -0.01835796
+v 0.01391554 0.06640925 -0.01821815
+v 0.01370880 0.06659716 -0.01801139
+v 0.01539034 0.06594146 -0.01758377
+v 0.01501834 0.06549168 -0.01835795
+v 0.01370880 0.06490791 -0.00635755
+v 0.01388390 0.05061080 -0.01835800
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_16.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f76844d32f7e3eb64180d4d36d18d3a1ba7da67f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_16.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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+v -0.00855051 0.02419734 -0.00450047
+v 0.00008164 0.02419734 -0.00635770
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_17.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f660cf312c843fad9fa3184656f053bfd001e8d8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_17.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_18.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b6f6f144d466e6b3792fc1dda0109bb295a5c07
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_18.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.01504976 -0.00847191 0.01384318
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_19.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53b6afb5cc3e191b7c29cc38e16182f3c95adeb4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_19.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.00111570 0.06772494 -0.01835975
+v 0.00111570 0.06764261 -0.01835975
+v 0.00111570 0.06720027 -0.01881796
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+v -0.00108545 0.05888550 -0.02490541
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_2.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1106508baa68a5893246c298c35e7781163bfa84
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_2.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.01496001 0.02419729 0.00873706
+v 0.01199229 0.02419726 0.01622715
+v 0.01690212 0.02419729 0.00873706
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_20.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9084c38b133cdb7b1b01a1c337e3c6a867668d46
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_20.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.00242470 0.06700216 -0.00635754
+v 0.00242470 0.06370621 -0.01835796
+v 0.00242470 0.06914444 -0.00635754
+v -0.01308175 0.06565746 -0.00635755
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+v -0.01308175 0.06251415 -0.01835796
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diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_21.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c33279c0f3e44dcb4254930478c17ad49c0eb2b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_21.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_22.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7c1379a101d75b7227b8cfdb66769ff6ebe63d4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_22.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_23.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d7f8f4bc25f012106d5e7edbcf76ce8ddd87867
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_23.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_24.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48ba4c60eb5956a84cf00ed7f2acf7bded8b7e1d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_24.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_25.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbd9181e73be59b70c553e87d14910d80e653c9e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_25.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_26.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca09b9fea842f837974668b315a98b99fc433b8c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_26.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_27.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f146e018fc07a34ce7627eceded47f5b572e21be
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_27.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_28.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18f7d01eab0fe55f4e17dbe510bdb5cc03dc3ede
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_28.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_29.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5c48cc302137b8ad76617be811d2ae6e3c2fc80
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_29.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_3.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79a177d2a2e9a2e1e010da3298c26fa4767c52c9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_3.obj
@@ -0,0 +1,295 @@
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+f 74 89 77
+f 74 77 76
+f 77 89 90
+f 77 90 78
+f 80 91 81
+f 81 91 92
+f 81 92 89
+f 81 89 82
+f 83 88 93
+f 86 94 87
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+f 88 94 95
+f 88 95 96
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+f 88 97 98
+f 88 98 93
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+f 89 99 90
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_30.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..947b775282d3c02d4c17162ad211e8cc3954ce31
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_30.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.00112785 0.06772501 -0.01835975
+v 0.00111773 0.06720060 -0.01881796
+v 0.00111773 0.06772373 -0.01835975
+v 0.00236074 0.06771100 -0.01835975
+v 0.00334057 0.06592779 -0.01991382
+v 0.00112785 0.06593670 -0.01992087
+v 0.00111773 0.06594306 -0.01991446
+v 0.00111773 0.06764227 -0.01835975
+v 0.00334057 0.06769955 -0.01835975
+v 0.00334057 0.05886877 -0.02490541
+v 0.00555329 0.06590997 -0.01989972
+v 0.00555329 0.05883185 -0.02490541
+v 0.00111773 0.05886622 -0.02490349
+v 0.00112785 0.05886495 -0.02490541
+v 0.00111773 0.06370163 -0.01836298
+v 0.00112785 0.06370799 -0.01835977
+v 0.00512006 0.06764482 -0.01835975
+v 0.00776601 0.06588579 -0.01988370
+v 0.00997873 0.06469316 -0.02065336
+v 0.01570791 0.05837491 -0.02490542
+v 0.00111773 0.05884458 -0.02490541
+v 0.00111773 0.05971644 -0.02026951
+v 0.01401548 0.05472191 -0.01835980
+v 0.00709592 0.06750354 -0.01835975
+v 0.00997873 0.06583742 -0.01984012
+v 0.01807854 0.05825781 -0.02490542
+v 0.00111773 0.05633331 -0.02490542
+v 0.00111773 0.05803124 -0.02130705
+v 0.01304982 0.05472192 -0.02199277
+v 0.01655413 0.05472191 -0.01835980
+v 0.00111773 0.05683352 -0.02219207
+v 0.00932888 0.06728589 -0.01835975
+v 0.00997873 0.06690913 -0.01871286
+v 0.01218943 0.06568722 -0.01968824
+v 0.01882758 0.05807071 -0.02490542
+v 0.01788824 0.05472193 -0.02490543
+v 0.01786192 0.05472193 -0.02490415
+v 0.01476250 0.05472193 -0.02392429
+v 0.01304982 0.05472192 -0.02313797
+v 0.01295872 0.05472192 -0.02263170
+v 0.01295872 0.05472192 -0.02248430
+v 0.02046941 0.05472192 -0.02199213
+v 0.01669787 0.05574016 -0.01835980
+v 0.01185337 0.06691804 -0.01835975
+v 0.01218943 0.06671439 -0.01856098
+v 0.01320570 0.06653492 -0.01835976
+v 0.02079535 0.05747758 -0.02490542
+v 0.02179745 0.05472193 -0.02490543
+v 0.02093908 0.05472192 -0.02262529
+v 0.02045322 0.05574017 -0.02199790
+v 0.01677075 0.05857982 -0.01835978
+v 0.01677075 0.05803123 -0.01835979
+v 0.01219955 0.06683531 -0.01835975
+v 0.01403572 0.06619253 -0.01835976
+v 0.02148973 0.05629386 -0.02490542
+v 0.01501758 0.06549249 -0.01835976
+v 0.01582533 0.06457478 -0.01835976
+v 0.02176101 0.05574018 -0.02490543
+v 0.02149580 0.05472193 -0.02341033
+v 0.02145532 0.05574018 -0.02341033
+v 0.02025684 0.05711991 -0.02210106
+v 0.01634359 0.06273684 -0.01835977
+v 0.01671001 0.06087089 -0.01835978
+v 0.02064554 0.05738339 -0.02341032
+v 0.01588809 0.06444877 -0.01835976
+v 0.01615329 0.06349671 -0.01835977
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 23
+f 1 23 30
+f 1 30 43
+f 1 43 52
+f 1 52 51
+f 1 51 63
+f 1 63 62
+f 1 62 66
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+f 1 65 57
+f 1 57 56
+f 1 56 54
+f 1 54 46
+f 1 46 53
+f 1 53 44
+f 1 44 32
+f 1 32 24
+f 1 24 17
+f 1 17 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
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+f 2 22 15
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+f 22 28 23
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+f 23 40 39
+f 23 39 38
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+f 23 36 48
+f 23 48 59
+f 23 59 49
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+f 23 42 30
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+f 24 32 33
+f 24 33 25
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+f 26 34 35
+f 27 36 37
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+f 27 39 40
+f 27 40 41
+f 27 41 29
+f 30 42 43
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+f 32 45 33
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+f 34 46 47
+f 34 47 35
+f 42 49 50
+f 42 50 51
+f 42 51 52
+f 42 52 43
+f 44 53 45
+f 45 53 46
+f 46 54 47
+f 47 54 56
+f 47 56 57
+f 47 57 55
+f 48 58 59
+f 49 59 60
+f 49 60 50
+f 50 60 61
+f 50 61 62
+f 50 62 63
+f 50 63 51
+f 55 57 64
+f 55 64 60
+f 55 60 58
+f 57 65 64
+f 58 60 59
+f 60 64 65
+f 60 65 61
+f 61 65 66
+f 61 66 62
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_31.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7314e4bff47c7f0bd72182da97d7882d1b70b22e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_31.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.01308175 0.06663295 -0.01835795
+v -0.01346987 0.06653262 -0.01835795
+v -0.01308175 0.06759037 -0.01667800
+v -0.01308175 0.06251086 -0.01835796
+v -0.01380637 0.06641509 -0.01835795
+v -0.01390960 0.06645523 -0.01827219
+v -0.01308175 0.06825827 -0.01548912
+v -0.01308175 0.06565541 -0.00635755
+v -0.01376381 0.04888903 -0.01835801
+v -0.01398604 0.06632050 -0.01835795
+v -0.01503887 0.06555800 -0.01835795
+v -0.01538443 0.06597363 -0.01763428
+v -0.01453216 0.06687373 -0.01678725
+v -0.01316095 0.06828981 -0.01537282
+v -0.01308175 0.06829840 -0.01539866
+v -0.01308175 0.06871402 -0.00635754
+v -0.01504321 0.03943224 -0.00635765
+v -0.01426107 0.03943229 -0.01835805
+v -0.01589903 0.06449737 -0.01835795
+v -0.01567325 0.06630329 -0.01613056
+v -0.01611180 0.06508787 -0.01678726
+v -0.01423270 0.06775088 -0.01452815
+v -0.01341037 0.06842165 -0.01386909
+v -0.01308175 0.06847612 -0.01406646
+v -0.01308175 0.06831847 -0.01529410
+v -0.01308175 0.06869969 -0.00762278
+v -0.01362078 0.06854203 -0.00762278
+v -0.01363339 0.06855062 -0.00635754
+v -0.01699875 0.03943224 -0.00635765
+v -0.01710711 0.03943229 -0.01835805
+v -0.01639314 0.06275451 -0.01835796
+v -0.01582022 0.06649534 -0.01438836
+v -0.01649361 0.06490154 -0.01438836
+v -0.01682144 0.06261117 -0.01664395
+v -0.01462554 0.06772221 -0.01213394
+v -0.01351952 0.06848185 -0.01213394
+v -0.01308175 0.06859937 -0.01213394
+v -0.01308175 0.06865383 -0.00987836
+v -0.01357389 0.06851337 -0.00987836
+v -0.01468031 0.06775661 -0.00987836
+v -0.01472681 0.06778526 -0.00762278
+v -0.01473981 0.06778812 -0.00635754
+v -0.01699836 0.03970456 -0.00635764
+v -0.01696920 0.05803040 -0.00635758
+v -0.01696959 0.05803041 -0.00762282
+v -0.01686793 0.06032081 -0.01664396
+v -0.01687936 0.05803045 -0.01835798
+v -0.01680923 0.06032082 -0.01835797
+v -0.01587815 0.06657845 -0.01213395
+v -0.01654405 0.06490153 -0.01213395
+v -0.01676076 0.06361729 -0.00635756
+v -0.01661852 0.06490151 -0.00635755
+v -0.01660945 0.06490152 -0.00762279
+v -0.01657715 0.06490153 -0.00987837
+v -0.01687069 0.06261113 -0.00635756
+v -0.01590730 0.06661286 -0.00987837
+v -0.01592700 0.06663864 -0.00762279
+v -0.01593094 0.06664437 -0.00635755
+v -0.01631866 0.06566401 -0.00635755
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 25
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+f 1 38 26
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+f 1 16 8
+f 1 8 4
+f 1 4 9
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+f 1 30 47
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+f 34 55 51
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+f 41 57 42
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+f 44 55 45
+f 49 50 56
+f 50 54 56
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+f 52 57 53
+f 53 57 56
+f 53 56 54
+f 57 59 58
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_32.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c104b40d914ff07727fad02af82aa12a9bafd1a7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_32.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00242470 0.02329739 -0.00635770
+v -0.00599816 0.02237899 -0.00635771
+v -0.00599816 0.02942356 -0.01133725
+v -0.00599816 0.02996130 -0.01170605
+v 0.00242470 0.03151147 -0.01128038
+v 0.00242470 0.02993032 -0.00635768
+v -0.00599816 0.02899472 -0.00635768
+v -0.00599816 0.03061944 -0.01189018
+v 0.00242470 0.03183481 -0.01141685
+v 0.00242470 0.03100925 -0.00678605
+v 0.00112697 0.03102989 -0.00676709
+v 0.00112697 0.02996014 -0.00635768
+v -0.00553975 0.02965744 -0.00635768
+v -0.00599816 0.02968611 -0.00635930
+v -0.00599816 0.03255485 -0.01131666
+v -0.00530312 0.03280251 -0.01134266
+v -0.00108510 0.03409126 -0.01133940
+v 0.00242470 0.03348014 -0.01142064
+v 0.00242470 0.03266148 -0.00791355
+v 0.00112697 0.03274518 -0.00789459
+v -0.00108510 0.03096569 -0.00681258
+v -0.00108510 0.03272798 -0.00794008
+v -0.00099688 0.02986841 -0.00635768
+v -0.00599816 0.03057815 -0.00685753
+v -0.00599816 0.03298367 -0.01001856
+v -0.00442835 0.03398463 -0.01102098
+v -0.00329717 0.03403508 -0.01116502
+v -0.00108510 0.03409126 -0.01026117
+v 0.00112697 0.03408094 -0.01132261
+v 0.00242470 0.03404196 -0.01120726
+v 0.00242470 0.03381264 -0.00953658
+v 0.00112697 0.03389060 -0.00912987
+v -0.00108510 0.03387340 -0.00913367
+v -0.00329717 0.03260415 -0.00801265
+v -0.00599816 0.03198500 -0.00793629
+v -0.00599816 0.03291029 -0.00958478
+v -0.00442835 0.03398463 -0.01095978
+v -0.00329717 0.03403508 -0.01065596
+v 0.00112697 0.03408094 -0.01025792
+v 0.00242470 0.03404196 -0.01051841
+v 0.00242470 0.03400527 -0.01030234
+v -0.00329717 0.03374957 -0.00952792
+v -0.00550924 0.03230374 -0.00813396
+v -0.00599816 0.03222463 -0.00818541
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+f 31 41 32
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+f 33 42 43
+f 33 43 34
+f 33 38 42
+f 34 43 35
+f 35 43 44
+f 36 44 42
+f 36 42 37
+f 37 42 38
+f 42 44 43
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_33.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae2217814d00c4d7a0417fd8acc734d035cdfac0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_33.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.00550490 -0.04967518 -0.00635797
+v -0.00550490 -0.04572129 -0.00293747
+v -0.00006517 -0.04603826 -0.00216260
+v -0.00006517 -0.05234498 -0.00635798
+v -0.00550490 -0.05953487 -0.00635801
+v -0.00550490 -0.04586489 -0.00076370
+v -0.00108495 -0.04577955 -0.00085608
+v -0.00006517 -0.04579716 -0.00085608
+v -0.00006517 -0.04589738 -0.00146082
+v -0.00006517 -0.05955654 -0.00635801
+v -0.00550490 -0.05955112 -0.00635535
+v -0.00283323 -0.04602201 0.00043051
+v -0.00256324 -0.04600305 0.00043051
+v -0.00108495 -0.04591365 0.00043051
+v -0.00550490 -0.04625635 0.00012016
+v -0.00006517 -0.04592990 0.00043051
+v -0.00006517 -0.05955789 -0.00590079
+v -0.00550490 -0.05954977 -0.00536649
+v -0.00006517 -0.05955925 -0.00536649
+v -0.00550490 -0.04639722 0.00040393
+v -0.00550490 -0.04641077 0.00043051
+v -0.00006517 -0.05844990 0.00043047
+v -0.00006517 -0.05954030 -0.00311097
+v -0.00550490 -0.05952133 -0.00311097
+v -0.00550490 -0.05722540 0.00043047
+v -0.00027232 -0.05845126 0.00043047
+v -0.00006517 -0.05895108 -0.00085613
+v -0.00108495 -0.05894025 -0.00085613
+v -0.00329706 -0.05881834 -0.00085613
+v -0.00325339 -0.05826975 0.00043047
+v -0.00421300 -0.05813565 0.00043047
+v -0.00550490 -0.05844855 -0.00069862
+v -0.00550490 -0.05736221 0.00032813
+v -0.00508953 -0.05755184 0.00043047
+v -0.00108495 -0.05845261 0.00043047
+v -0.00203497 -0.05840114 0.00043047
+v -0.00473114 -0.05780785 0.00043047
+f 1 2 3
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+f 18 19 23
+f 18 23 24
+f 22 26 27
+f 23 27 24
+f 24 27 28
+f 24 28 29
+f 24 29 30
+f 24 30 31
+f 24 31 32
+f 25 33 34
+f 26 35 27
+f 27 35 28
+f 28 35 36
+f 28 36 29
+f 29 36 30
+f 31 37 32
+f 32 37 34
+f 32 34 33
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_34.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1cb5ed3d2bcc5c979236ca1e8126b852c215cd6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_34.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.00315241 0.00211271 -0.02797430
+v -0.01496162 0.00211271 -0.02789154
+v -0.00315241 0.00211272 -0.03030898
+v -0.00315241 0.01221367 -0.02788807
+v -0.01496162 0.00211272 -0.03042713
+v -0.00315241 0.01236599 -0.02788703
+v -0.00315241 0.02367125 -0.02781418
+v -0.01496162 0.00992405 -0.02785545
+v -0.00315241 0.04084575 -0.03130550
+v -0.01496162 0.04199294 -0.03074261
+v -0.01214688 0.04199294 -0.03114786
+v -0.00993438 0.04199294 -0.03125021
+v -0.00492217 0.04084575 -0.03130481
+v -0.00329806 0.04084575 -0.03130550
+v -0.00315241 0.02596087 -0.02780524
+v -0.01496162 0.01159009 -0.02784789
+v -0.00315241 0.04101235 -0.03130550
+v -0.01496162 0.04288308 -0.03074500
+v -0.01496162 0.04976620 -0.03073056
+v -0.01496162 0.05073250 -0.03072642
+v -0.01214688 0.04657216 -0.03109942
+v -0.00993438 0.04657216 -0.03122924
+v -0.00492217 0.04092191 -0.03130481
+v -0.00329806 0.04101711 -0.03130550
+v -0.01496162 0.02533729 -0.02780560
+v -0.00315241 0.02824572 -0.02780215
+v -0.00772304 0.04886654 -0.03116294
+v -0.00317090 0.05073250 -0.03106437
+v -0.00315241 0.05073250 -0.03106402
+v -0.01496162 0.05073249 -0.02826261
+v -0.01214688 0.05073250 -0.03100838
+v -0.01214688 0.04886654 -0.03106403
+v -0.00993438 0.04886654 -0.03117118
+v -0.00551055 0.02824572 -0.02780215
+v -0.00329806 0.03053534 -0.02780008
+v -0.00551055 0.03053534 -0.02780043
+v -0.00772304 0.03053534 -0.02780111
+v -0.01435937 0.02824572 -0.02780421
+v -0.01435937 0.03053534 -0.02780420
+v -0.01435937 0.03282971 -0.02780763
+v -0.01496162 0.03282971 -0.02781999
+v -0.00315241 0.03053534 -0.02780008
+v -0.00772304 0.05073250 -0.03110249
+v -0.00551055 0.05073250 -0.03109081
+v -0.00315241 0.05073250 -0.02878944
+v -0.01476511 0.05073249 -0.02826742
+v -0.01496162 0.04824771 -0.02810155
+v -0.01174114 0.05073250 -0.03102830
+v -0.00993438 0.05073250 -0.03108463
+v -0.00315241 0.03740894 -0.02779730
+v -0.00551055 0.03740894 -0.02779765
+v -0.00772304 0.03740894 -0.02779868
+v -0.00993438 0.03740894 -0.02780211
+v -0.01435937 0.03511932 -0.02782376
+v -0.01496162 0.03973187 -0.02786392
+v -0.00315241 0.03969855 -0.02785121
+v -0.01496162 0.04586290 -0.02800952
+v -0.01496162 0.04199293 -0.02788418
+f 1 2 5
+f 1 5 3
+f 1 3 9
+f 1 9 17
+f 1 17 29
+f 1 29 45
+f 1 45 56
+f 1 56 50
+f 1 50 42
+f 1 42 26
+f 1 26 15
+f 1 15 7
+f 1 7 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 16
+f 2 16 25
+f 2 25 41
+f 2 41 55
+f 2 55 58
+f 2 58 57
+f 2 57 47
+f 2 47 30
+f 2 30 20
+f 2 20 19
+f 2 19 18
+f 2 18 10
+f 2 10 5
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+f 5 10 11
+f 5 11 12
+f 5 12 13
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+f 5 14 9
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+f 17 24 22
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+f 17 27 28
+f 17 28 29
+f 20 30 46
+f 20 46 45
+f 20 45 29
+f 20 29 28
+f 20 28 44
+f 20 44 43
+f 20 43 49
+f 20 49 48
+f 20 48 31
+f 20 31 32
+f 20 32 21
+f 21 32 22
+f 22 32 33
+f 22 33 27
+f 22 24 23
+f 25 26 34
+f 25 34 35
+f 25 35 36
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 25 39 40
+f 25 40 41
+f 26 42 35
+f 26 35 34
+f 27 33 43
+f 27 43 44
+f 27 44 28
+f 30 47 46
+f 31 48 32
+f 32 48 33
+f 33 48 49
+f 33 49 43
+f 35 42 50
+f 35 50 51
+f 35 51 36
+f 36 51 37
+f 37 51 38
+f 38 51 52
+f 38 52 39
+f 39 52 53
+f 39 53 40
+f 40 53 54
+f 40 54 55
+f 40 55 41
+f 45 46 56
+f 46 47 56
+f 47 57 56
+f 50 56 58
+f 50 58 51
+f 51 58 52
+f 52 58 53
+f 53 58 55
+f 53 55 54
+f 56 57 58
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_35.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8f3a0bdb0fa5cf0b59660a28f9623f00e243aca
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_35.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.00807968 0.03368440 -0.01835807
+v 0.00765567 0.03301512 -0.01835807
+v 0.00242525 0.03404067 -0.01120833
+v 0.00273192 0.03403265 -0.01118131
+v 0.00273192 0.03403265 -0.01058100
+v 0.00341775 0.03375338 -0.00984912
+v 0.00807968 0.03193813 -0.00863909
+v 0.00807968 0.03021602 -0.01835808
+v 0.00242525 0.03347893 -0.01142098
+v 0.00749127 0.03228966 -0.01835807
+v 0.00242525 0.03404067 -0.01051873
+v 0.00242525 0.03400536 -0.01030376
+v 0.00242525 0.03381276 -0.00953780
+v 0.00807968 0.03186751 -0.00841706
+v 0.00783612 0.03036368 -0.01835808
+v 0.00807968 0.02750840 -0.01610838
+v 0.00242525 0.03285459 -0.01141980
+v 0.00242525 0.03183542 -0.01141745
+v 0.00783114 0.03037331 -0.01835808
+v 0.00242525 0.03266198 -0.00791425
+v 0.00334026 0.03260260 -0.00792718
+v 0.00555221 0.03222542 -0.00809047
+v 0.00807968 0.03109070 -0.00744905
+v 0.00242525 0.02329848 -0.00635770
+v 0.00646556 0.02914548 -0.01580292
+v 0.00807968 0.01764572 -0.00635773
+v 0.00242525 0.03151121 -0.01128118
+v 0.00242525 0.03100883 -0.00678647
+v 0.00334026 0.03099599 -0.00679940
+v 0.00807968 0.02987411 -0.00635768
+v 0.00807968 0.02997362 -0.00643874
+v 0.00807968 0.03001856 -0.00647633
+v 0.00807968 0.03095748 -0.00728928
+v 0.00242525 0.02993028 -0.00635768
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 14
+f 1 14 23
+f 1 23 33
+f 1 33 32
+f 1 32 31
+f 1 31 30
+f 1 30 26
+f 1 26 16
+f 1 16 8
+f 1 8 15
+f 1 15 19
+f 1 19 10
+f 1 10 2
+f 2 9 3
+f 2 10 9
+f 3 11 5
+f 3 5 4
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+f 21 31 32
+f 21 32 33
+f 21 33 22
+f 22 33 23
+f 24 27 25
+f 24 26 30
+f 24 30 34
+f 28 34 30
+f 28 30 29
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_36.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b04a0dc6cc54e963bea7cef91cc973aec0cf851b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_36.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.01441118 0.00210796 -0.03030352
+v 0.01441118 0.00210796 -0.03032294
+v 0.01441118 0.00211298 -0.02804994
+v 0.01440258 0.00210795 -0.02804994
+v -0.00315069 0.00210796 -0.03030913
+v -0.00315069 0.04084386 -0.03130581
+v -0.00201073 0.04084386 -0.03130543
+v 0.01218973 0.05344095 -0.03161052
+v 0.01440946 0.05344095 -0.03154142
+v 0.01441118 0.05258673 -0.03100101
+v 0.01349302 0.00210795 -0.02803388
+v 0.01441118 0.00992146 -0.02793562
+v -0.00315069 0.00210795 -0.02797450
+v -0.00315069 0.05344095 -0.03156607
+v 0.01441118 0.05344093 -0.02815320
+v 0.01218973 0.00210795 -0.02801222
+v 0.01441118 0.01221275 -0.02790425
+v 0.00997687 0.00210795 -0.02799915
+v 0.00997687 0.01221275 -0.02787064
+v -0.00315069 0.01221275 -0.02788819
+v -0.00315069 0.05344094 -0.02860885
+v 0.01441118 0.05344093 -0.02812743
+v 0.01128189 0.00210795 -0.02800587
+v 0.01218973 0.00992146 -0.02790575
+v 0.01218973 0.01221275 -0.02787624
+v 0.01441118 0.01450404 -0.02788594
+v 0.00997687 0.01450404 -0.02785307
+v -0.00315069 0.01236349 -0.02788706
+v -0.00315069 0.03969820 -0.02785148
+v -0.00315069 0.03741194 -0.02779734
+v 0.00555287 0.03741194 -0.02779696
+v 0.00776401 0.03741194 -0.02779696
+v 0.00997687 0.03741194 -0.02779883
+v 0.01441118 0.03742199 -0.02782535
+v 0.01218973 0.01450404 -0.02785980
+v 0.01441118 0.01679533 -0.02786950
+v 0.00997687 0.01908663 -0.02782430
+v 0.00776401 0.01908663 -0.02782654
+v -0.00315069 0.02366921 -0.02781419
+v -0.00315069 0.03053806 -0.02780035
+v 0.00997687 0.03053806 -0.02779624
+v 0.01218973 0.03512064 -0.02779548
+v 0.01440258 0.03512064 -0.02779772
+v 0.01441118 0.03513070 -0.02779809
+v 0.01441118 0.02596050 -0.02780821
+v 0.01218973 0.02137792 -0.02782167
+v 0.00997687 0.02137792 -0.02781196
+v 0.00776401 0.02137792 -0.02781308
+v -0.00315069 0.02596050 -0.02780559
+v -0.00315069 0.02839751 -0.02780186
+v 0.01218973 0.03053806 -0.02779662
+v 0.00997687 0.02824677 -0.02779812
+v 0.01440258 0.03053806 -0.02779811
+v 0.01441118 0.03512064 -0.02779809
+v 0.01441118 0.02824677 -0.02780111
+v 0.01440258 0.02824677 -0.02780074
+v 0.00997687 0.02366921 -0.02780598
+v 0.00555287 0.02366921 -0.02780710
+v 0.01218973 0.02596050 -0.02780298
+v -0.00315069 0.02611124 -0.02780522
+v 0.01218973 0.02824677 -0.02779850
+v 0.01441118 0.03053806 -0.02779849
+f 1 2 10
+f 1 10 15
+f 1 15 22
+f 1 22 34
+f 1 34 44
+f 1 44 54
+f 1 54 62
+f 1 62 55
+f 1 55 45
+f 1 45 36
+f 1 36 26
+f 1 26 17
+f 1 17 12
+f 1 12 3
+f 1 3 4
+f 1 4 11
+f 1 11 16
+f 1 16 23
+f 1 23 18
+f 1 18 13
+f 1 13 5
+f 1 5 2
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+f 2 6 7
+f 2 7 8
+f 2 8 9
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+f 3 12 11
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+f 18 23 24
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+f 22 30 31
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+f 22 33 34
+f 25 26 36
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+f 35 46 37
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+f 37 48 38
+f 38 48 39
+f 39 48 49
+f 40 50 41
+f 41 51 42
+f 41 50 52
+f 41 52 61
+f 41 61 51
+f 42 51 53
+f 42 53 43
+f 43 54 44
+f 43 53 62
+f 43 62 54
+f 45 55 56
+f 45 56 47
+f 45 47 46
+f 47 57 58
+f 47 58 48
+f 47 56 59
+f 47 59 57
+f 48 58 49
+f 49 58 60
+f 50 60 52
+f 51 61 53
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+f 52 58 57
+f 52 57 61
+f 53 61 56
+f 53 56 55
+f 53 55 62
+f 56 61 59
+f 57 59 61
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_37.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76ddec5f38f88fda0935057a608df6a81f4f54ca
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_37.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.00599816 0.02732753 -0.00635769
+v -0.00599816 0.02899544 -0.00635768
+v -0.01660396 0.02732753 -0.00635769
+v -0.00599816 0.02732754 -0.00826318
+v -0.00599816 0.02968725 -0.00636003
+v -0.00609679 0.02968843 -0.00635768
+v -0.01655187 0.02732753 -0.00648339
+v -0.01714921 0.03154707 -0.00635767
+v -0.01728553 0.03525965 -0.01835806
+v -0.01647541 0.03307051 -0.01835807
+v -0.00599816 0.02870642 -0.01042242
+v -0.00799630 0.02732757 -0.01498764
+v -0.00599816 0.02969673 -0.00636473
+v -0.01504246 0.03942938 -0.00635765
+v -0.01155374 0.02732757 -0.01603907
+v -0.01728885 0.03294371 -0.00635767
+v -0.01729328 0.03741206 -0.01835805
+v -0.01731988 0.03405960 -0.00635766
+v -0.01207239 0.03053666 -0.01835808
+v -0.00599816 0.02942429 -0.01133758
+v -0.00844514 0.02732757 -0.01601557
+v -0.00599816 0.02996209 -0.01170646
+v -0.00599816 0.03057926 -0.00685813
+v -0.01699849 0.03942938 -0.00635765
+v -0.00599816 0.03198656 -0.00793657
+v -0.00599816 0.03222585 -0.00818563
+v -0.00599816 0.03291174 -0.00958597
+v -0.00599816 0.03298519 -0.01001946
+v -0.01426005 0.03942943 -0.01835805
+v -0.00993571 0.02732757 -0.01653952
+v -0.01713702 0.03915342 -0.01835805
+v -0.01728774 0.03500964 -0.00635766
+v -0.00992131 0.02983774 -0.01835808
+v -0.00839970 0.02824919 -0.01610838
+v -0.00599816 0.03062073 -0.01189090
+v -0.00936386 0.02732757 -0.01637153
+v -0.00945585 0.03055798 -0.01835808
+v -0.01710710 0.03942943 -0.01835805
+v -0.00599816 0.03255636 -0.01131760
+v -0.01019504 0.03481305 -0.01835806
+v -0.00951569 0.03283122 -0.01835807
+f 1 2 6
+f 1 6 14
+f 1 14 24
+f 1 24 32
+f 1 32 18
+f 1 18 16
+f 1 16 8
+f 1 8 3
+f 1 3 7
+f 1 7 15
+f 1 15 30
+f 1 30 36
+f 1 36 21
+f 1 21 12
+f 1 12 4
+f 1 4 11
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+f 1 20 22
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+f 1 25 23
+f 1 23 13
+f 1 13 5
+f 1 5 2
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+f 3 10 7
+f 4 12 11
+f 5 13 14
+f 5 14 6
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+f 9 31 38
+f 9 38 29
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+f 9 40 41
+f 9 41 37
+f 9 37 33
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+f 9 19 10
+f 9 16 18
+f 9 18 17
+f 10 19 15
+f 11 12 20
+f 12 21 22
+f 12 22 20
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+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 38
+f 14 38 24
+f 15 19 30
+f 17 18 32
+f 17 32 24
+f 17 24 31
+f 19 33 30
+f 21 34 35
+f 21 35 22
+f 21 36 33
+f 21 33 37
+f 21 37 34
+f 24 38 31
+f 28 39 29
+f 29 39 40
+f 30 33 36
+f 34 37 35
+f 35 37 41
+f 35 41 39
+f 39 41 40
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_38.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b984df5e1d65dcbb5ff514162abf80b2f9ada75
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_38.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.02226703 0.02993423 -0.02490552
+v 0.02184551 0.05344469 -0.02490543
+v 0.02223875 0.02979518 -0.02413906
+v 0.02223875 0.02866729 -0.02413906
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+v 0.02179715 0.05472193 -0.02490543
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_39.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f241f7cc751b17dea15eb07d739465c589b3d27
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_39.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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+v -0.00855051 0.01552797 -0.00378202
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_4.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3f439ab321cd67be16c767760f713ab23547062
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_4.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_40.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba98d13f575050554fd0ac903c0971dd6e7d7a28
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_40.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.00004967 -0.05576950 -0.02183901
+v 0.00004967 -0.05576951 -0.01872791
+v 0.00066634 -0.05576950 -0.02185316
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_41.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35efe281615b095d8cd064273fb60f0f5ccdc80a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_41.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_42.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7bcf5da70d846356d73c6a427fd944aea8caec1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_42.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+v -0.01569234 -0.06921729 -0.02435303
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_43.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdcc1c2e4176d1226ee26c913c263d530650685e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_43.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.01474021 0.04811396 -0.01124221
+v 0.01485703 0.04811394 -0.00635761
+v 0.01681091 0.04811396 -0.01124221
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+v 0.01532670 0.02051141 -0.00640409
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_44.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9517b8bf68b2e5fe8827d497612b7ec48fafd3c9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_44.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.02185250 -0.06101461 -0.02513916
+v 0.02183049 -0.05576949 -0.02513914
+v 0.02172592 -0.05576949 -0.02469236
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+v 0.02141220 -0.05651708 -0.02341045
+v 0.02182437 -0.06322933 -0.02513917
+v 0.01909145 -0.05576949 -0.02513914
+v 0.02058786 -0.05576950 -0.02154788
+v 0.02058786 -0.05651709 -0.02154459
+v 0.02053710 -0.05880790 -0.02155837
+v 0.02135044 -0.05880789 -0.02341046
+v 0.02118288 -0.06338819 -0.02341047
+v 0.02181765 -0.06338819 -0.02513917
+v 0.02127767 -0.06109871 -0.02341046
+v 0.01560512 -0.05576950 -0.02180074
+v 0.01560512 -0.06658812 -0.02513918
+v 0.01933973 -0.05576950 -0.02042021
+v 0.01930732 -0.06109872 -0.02047697
+v 0.01932566 -0.05651710 -0.02041691
+v 0.02044660 -0.06109872 -0.02160464
+v 0.02035792 -0.06338820 -0.02170271
+v 0.02069610 -0.06586190 -0.02320996
+v 0.02156875 -0.06575243 -0.02513918
+v 0.02167332 -0.06510096 -0.02513918
+v 0.01560512 -0.05576951 -0.01951179
+v 0.01560512 -0.06940759 -0.02513919
+v 0.01897893 -0.05576951 -0.02020702
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+v 0.01815642 -0.06338821 -0.01980820
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+v 0.01560512 -0.06571908 -0.02002030
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+v 0.01560512 -0.06740247 -0.02145318
+v 0.01560512 -0.06634117 -0.02032550
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+f 1 45 55
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_45.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6c0523bc843d64b948a66127f9a1fd40a4207b5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_45.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.01569234 -0.05432426 -0.02176523
+v -0.01569234 -0.06664766 -0.02511595
+v -0.01569234 -0.05432427 -0.01949024
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+v -0.01569234 -0.06946198 -0.02511597
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+v -0.01435945 -0.06947236 -0.02511597
+v -0.01569234 -0.06936412 -0.02480990
+v -0.01569234 -0.06520790 -0.01975408
+v -0.00329875 -0.06338852 -0.01937438
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+v 0.00004967 -0.06338852 -0.01937566
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+v -0.01569234 -0.06896377 -0.02390452
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+v -0.01569234 -0.06700354 -0.02101676
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+f 29 30 35
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+f 30 32 36
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+f 33 40 34
+f 34 40 41
+f 34 41 39
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_46.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ff1754f8fed7e8e00ae27c8b3b7facc19b1b610
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_46.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v -0.01691372 -0.00847565 0.02121500
+v -0.01686887 -0.00847565 0.02169936
+v -0.01413128 -0.00847565 0.02121500
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+v -0.01684506 -0.00847565 0.02175359
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+v -0.01735726 -0.02159035 0.02121495
+v -0.01768893 -0.02444541 0.02258668
+v -0.01733344 -0.02444542 0.02399864
+v -0.01768893 -0.02444541 0.02287094
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_47.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..087a787ff1261730c4cd1aa4a04902d1ccdc3b0e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_47.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.01161314 -0.00847458 0.00314413
+v 0.01738575 -0.00847458 0.00314413
+v 0.01160576 -0.00847728 0.00314413
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diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_48.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab7ad236b4f51b375dc32ceca7ad1dae17257758
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_48.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00329806 0.05889683 -0.02490605
+v -0.00470601 0.05884571 -0.02490605
+v -0.00315241 0.05889603 -0.02490605
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_49.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d084b93d549859dabdffb22da30c9020cb6c7631
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_49.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_5.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bd4a0935ce8ba79cf9b02c37d18694d52a0f14d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_5.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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+v -0.00951773 -0.04587898 -0.01595477
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_50.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a48d6dc3f338bbd397117469932f171722cf68e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_50.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_51.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2daf649a948369ef49105f176a99777a99640786
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_51.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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+v -0.01749837 -0.04635146 0.02403189
+v -0.01516320 -0.04635145 0.02121596
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+v -0.01724714 -0.05422623 0.02395465
+v -0.01721861 -0.05422624 0.02621026
+v -0.01681408 -0.05651630 0.02846476
+v -0.01685666 -0.05422624 0.02846477
+v -0.01314824 -0.04635148 0.03055386
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+v -0.01668975 -0.05880637 0.02846475
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_52.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3bd8c8075ddbdd6ace0a5b66255f89f3fe2a774
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_52.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.01252355 0.03042785 -0.00635747
+v -0.00015507 0.02990457 -0.00635768
+v -0.01252355 0.02419734 -0.00635749
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+v -0.01252355 0.02419734 -0.00484461
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_53.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dea9df488cc65a154e346a5d160c057de5b45cb6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_53.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.01414407 -0.04407108 0.01384233
+v 0.01414407 -0.04506212 0.01422014
+v 0.01414407 -0.06482978 0.01384225
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_54.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82ed32767746169750dda079f1ebabf59b50653a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_54.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_55.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4749beff22e6629041db342b957920d8c08eec50
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_55.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_56.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a94b84510d1eed52082ed058dfb41c67f41e01a6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_56.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_57.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77e1f194eaefe53a03b4b1f4fa2093f4ce6c68ca
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_57.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.01348195 0.06515720 -0.00635755
+v 0.01254430 0.06515717 0.00220799
+v 0.01652570 0.06515720 -0.00635755
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_58.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfd02338aa33c72da8040ede14d4312cfb1744a4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_58.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+v 0.01615381 0.02419734 -0.00635770
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_59.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..839819406b799c89196227e1e16f978dd5c0b939
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_59.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+f 61 80 81
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+f 61 82 68
+f 61 68 83
+f 61 83 80
+f 62 81 64
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+f 65 80 66
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+f 66 83 67
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+f 68 82 69
+f 69 82 84
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+f 70 84 77
+f 70 77 71
+f 72 76 73
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+f 77 84 85
+f 77 85 78
+f 82 85 84
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_6.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ff42dca369f8882de573a8e2c95538f189780de
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_6.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.02233873 0.02825234 -0.02792157
+v 0.02216105 0.00210795 -0.02650784
+v 0.02217579 0.00210795 -0.02792166
+v 0.02216028 0.00210796 -0.02909174
+v 0.02225028 0.02825235 -0.02929194
+v 0.02225571 0.02993251 -0.02930592
+v 0.02204311 0.05344374 -0.03017621
+v 0.02229606 0.03008123 -0.02566608
+v 0.02214786 0.01754889 -0.02490694
+v 0.02211139 0.00210795 -0.02604467
+v 0.02226735 0.02994351 -0.02490689
+v 0.02225649 0.02834047 -0.02490690
+v 0.02126566 0.00210796 -0.03021985
+v 0.02095064 0.04657437 -0.03185662
+v 0.02097780 0.04886600 -0.03188606
+v 0.02203458 0.04886599 -0.03017623
+v 0.02205320 0.05115762 -0.03017622
+v 0.02097858 0.05115763 -0.03189341
+v 0.02096306 0.05344375 -0.03188825
+v 0.02085211 0.05573538 -0.03181388
+v 0.02186311 0.05573537 -0.03017621
+v 0.02192750 0.05573536 -0.02792147
+v 0.02191742 0.05573535 -0.02566599
+v 0.02199656 0.05344372 -0.02566599
+v 0.02193371 0.00210794 -0.02490699
+v 0.02202139 0.00210794 -0.02537974
+v 0.02184526 0.05344372 -0.02490680
+v 0.02015923 0.00210797 -0.03139729
+v 0.01882778 0.04886600 -0.03240593
+v 0.01882778 0.05115763 -0.03242875
+v 0.01882778 0.05344375 -0.03242506
+v 0.01882778 0.05573538 -0.03229399
+v 0.02047812 0.05718417 -0.03159590
+v 0.02081253 0.05742654 -0.03017620
+v 0.02087073 0.05751467 -0.02792146
+v 0.02087150 0.05752017 -0.02566598
+v 0.02079547 0.05747610 -0.02490679
+v 0.02148912 0.05629173 -0.02490679
+v 0.02176224 0.05573535 -0.02490680
+v 0.01891158 0.00210794 -0.02490699
+v 0.01907374 0.00210797 -0.03139729
+v 0.01441290 0.05573538 -0.03211652
+v 0.01661568 0.05573538 -0.03222035
+v 0.01441290 0.05731638 -0.03169310
+v 0.01661568 0.05732740 -0.03171814
+v 0.01882778 0.05733291 -0.03173581
+v 0.01882778 0.05796640 -0.03017620
+v 0.01882778 0.05814818 -0.02792146
+v 0.01882778 0.05815368 -0.02566598
+v 0.01882778 0.05806554 -0.02490679
+v 0.01441290 0.00211346 -0.02805052
+v 0.01570788 0.00210795 -0.02808219
+v 0.01441290 0.05526159 -0.02490680
+v 0.01861984 0.00210797 -0.03133249
+v 0.01796808 0.00210796 -0.03123823
+v 0.01441290 0.00210796 -0.03032294
+v 0.01441290 0.05794987 -0.03017620
+v 0.01661568 0.05796089 -0.03017620
+v 0.01441290 0.05814818 -0.02793177
+v 0.01441290 0.05838504 -0.02490974
+v 0.01570866 0.05837403 -0.02490679
+v 0.01807903 0.05825283 -0.02490679
+v 0.01441290 0.00210796 -0.03030379
+v 0.01441290 0.05528363 -0.02490680
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 10
+f 2 10 26
+f 2 26 25
+f 2 25 40
+f 2 40 52
+f 2 52 63
+f 2 63 56
+f 2 56 55
+f 2 55 54
+f 2 54 41
+f 2 41 28
+f 2 28 13
+f 2 13 4
+f 2 4 3
+f 2 8 11
+f 2 11 12
+f 2 12 9
+f 4 13 14
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+f 4 17 6
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+f 15 17 16
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+f 18 31 19
+f 19 31 20
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+f 21 33 34
+f 21 34 35
+f 21 35 22
+f 22 35 36
+f 22 36 23
+f 23 27 24
+f 23 36 37
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+f 23 38 39
+f 23 39 27
+f 28 41 29
+f 29 42 30
+f 29 41 42
+f 30 42 31
+f 31 42 43
+f 31 43 32
+f 32 43 44
+f 32 44 45
+f 32 45 46
+f 32 46 33
+f 33 46 47
+f 33 47 34
+f 34 47 48
+f 34 48 35
+f 35 48 36
+f 36 48 49
+f 36 49 37
+f 37 49 50
+f 40 51 52
+f 40 53 51
+f 41 54 42
+f 42 44 43
+f 42 54 55
+f 42 55 56
+f 42 56 63
+f 42 63 51
+f 42 51 53
+f 42 53 64
+f 42 64 60
+f 42 60 59
+f 42 59 57
+f 42 57 44
+f 44 57 45
+f 45 57 46
+f 46 57 58
+f 46 58 47
+f 47 58 59
+f 47 59 48
+f 48 59 60
+f 48 60 61
+f 48 61 62
+f 48 62 49
+f 49 62 50
+f 51 63 52
+f 57 59 58
+f 60 64 61
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_60.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..232bb3b32db3a50c2d338b36a04548d107f3a51a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_60.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.01655037 0.06507685 -0.00635755
+v -0.01361146 0.06507685 -0.00635755
+v -0.01661858 0.06490121 -0.00635755
+v -0.01662602 0.06490121 -0.00536651
+v -0.01655605 0.06507685 -0.00559121
+v -0.01254102 0.06507682 0.00220799
+v -0.01506583 0.03980672 -0.00635764
+v -0.01676070 0.06361730 -0.00635756
+v -0.01687920 0.06261045 -0.00536652
+v -0.01688751 0.06261044 -0.00311027
+v -0.01689887 0.06261042 0.00139972
+v -0.01662383 0.06490120 -0.00311026
+v -0.01655518 0.06507684 -0.00333496
+v -0.01655693 0.06507685 -0.00536651
+v -0.01623772 0.06507682 0.00220799
+v -0.01505927 0.03980669 0.00220790
+v -0.01699814 0.03980672 -0.00635764
+v -0.01687089 0.06261045 -0.00635756
+v -0.01696927 0.05802893 -0.00635758
+v -0.01693517 0.06031968 -0.00311028
+v -0.01693604 0.06031967 -0.00085570
+v -0.01691768 0.06031966 0.00139971
+v -0.01690937 0.06031966 0.00220797
+v -0.01689713 0.06178911 0.00220798
+v -0.01682323 0.06261042 0.00220798
+v -0.01657267 0.06408235 0.00220799
+v -0.01650795 0.06490118 0.00139973
+v -0.01659978 0.06490119 -0.00085568
+v -0.01655430 0.06507684 -0.00311026
+v -0.01642924 0.06507682 0.00139973
+v -0.01631686 0.06490118 0.00220799
+v -0.01698764 0.03980669 0.00220790
+v -0.01700207 0.03980672 -0.00541020
+v -0.01696884 0.05802893 -0.00536654
+v -0.01700819 0.03980671 -0.00311035
+v -0.01700776 0.03980670 -0.00085577
+v -0.01700207 0.04199602 0.00139964
+v -0.01695834 0.05802892 -0.00311029
+v -0.01699464 0.04199602 0.00220790
+v -0.01691331 0.05949834 0.00220797
+v -0.01644586 0.06507683 0.00116999
+v -0.01652851 0.06507683 -0.00085568
+v -0.01653244 0.06507683 -0.00108122
+v -0.01699857 0.03980669 0.00139964
+f 1 2 7
+f 1 7 17
+f 1 17 19
+f 1 19 18
+f 1 18 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 13
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+f 1 43 42
+f 1 42 41
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+f 1 15 6
+f 1 6 2
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+f 4 12 13
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+f 7 16 32
+f 7 32 44
+f 7 44 36
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+f 7 33 17
+f 8 18 9
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+f 10 20 11
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+f 11 27 28
+f 11 28 12
+f 12 28 29
+f 12 29 13
+f 15 30 31
+f 17 33 19
+f 19 34 21
+f 19 21 20
+f 19 33 35
+f 19 35 36
+f 19 36 37
+f 19 37 34
+f 21 34 38
+f 21 38 37
+f 21 37 22
+f 22 37 39
+f 22 39 40
+f 22 40 23
+f 26 31 27
+f 27 31 30
+f 27 30 41
+f 27 41 42
+f 27 42 28
+f 28 42 43
+f 28 43 29
+f 32 39 44
+f 34 37 38
+f 36 44 37
+f 37 44 39
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_61.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25b4cfe1a252bd9ff02a0cd82f8998f979fff3b9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_61.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.01746595 -0.03611394 0.00497472
+v 0.01743367 -0.03611393 0.00365497
+v 0.01128926 -0.03611394 0.00497472
+v 0.01744886 -0.05517310 0.00497465
+v 0.01644806 -0.03611393 0.00157186
+v 0.01744506 -0.05651452 0.00497464
+v 0.01727130 -0.05651451 0.00365489
+v 0.01113829 -0.03611394 0.00432154
+v 0.00776651 -0.04528560 0.00056224
+v 0.00776651 -0.04631567 0.00142840
+v 0.00776651 -0.04721771 0.00192174
+v 0.00776651 -0.06085593 0.00497377
+v 0.00776651 -0.06584041 0.00497461
+v 0.01458698 -0.03611392 0.00070829
+v 0.01617459 -0.05880452 0.00204827
+v 0.01738050 -0.05746602 0.00497464
+v 0.01711653 -0.05880452 0.00365488
+v 0.01090565 -0.03611393 0.00330029
+v 0.01090565 -0.03611393 0.00218401
+v 0.01033784 -0.04053681 0.00056226
+v 0.00776651 -0.05591508 0.00056220
+v 0.00776651 -0.06552323 0.00365442
+v 0.00906072 -0.06566291 0.00497461
+v 0.01423660 -0.03611392 0.00056271
+v 0.01579858 -0.06109743 0.00229580
+v 0.01440277 -0.06109743 0.00186380
+v 0.01440277 -0.05880452 0.00154844
+v 0.01196438 -0.05629917 0.00056220
+v 0.01261196 -0.05422449 0.00056221
+v 0.01282086 -0.05193157 0.00056222
+v 0.01727510 -0.05880453 0.00497463
+v 0.01658384 -0.06109744 0.00497463
+v 0.01640533 -0.06109743 0.00365488
+v 0.01236793 -0.03611392 0.00105346
+v 0.01208972 -0.04053681 0.00056226
+v 0.00835902 -0.05659888 0.00056220
+v 0.00776651 -0.06472595 0.00239774
+v 0.01018781 -0.06509840 0.00343108
+v 0.01005772 -0.06551160 0.00497461
+v 0.00959056 -0.06462701 0.00246081
+v 0.01106518 -0.06452517 0.00253079
+v 0.01280756 -0.04764544 0.00056223
+v 0.01280566 -0.04735446 0.00056224
+v 0.01279047 -0.04532342 0.00056224
+v 0.01278382 -0.04506154 0.00056224
+v 0.01270691 -0.04297522 0.00056225
+v 0.01268887 -0.04277153 0.00056225
+v 0.01281801 -0.04995000 0.00056223
+v 0.01550897 -0.06224389 0.00252691
+v 0.01155513 -0.05659306 0.00056220
+v 0.01440277 -0.06259016 0.00234375
+v 0.01219037 -0.06315466 0.00222149
+v 0.01628569 -0.06166194 0.00497462
+v 0.01568559 -0.06246213 0.00365487
+v 0.01002449 -0.05676765 0.00056220
+v 0.01219037 -0.06488308 0.00399873
+v 0.01219037 -0.06504313 0.00497461
+v 0.01219037 -0.06430112 0.00287121
+v 0.01346938 -0.06464158 0.00448559
+v 0.01578434 -0.06258435 0.00497462
+v 0.01387009 -0.06435641 0.00497461
+v 0.01349027 -0.06465321 0.00497461
+f 1 2 5
+f 1 5 14
+f 1 14 24
+f 1 24 34
+f 1 34 19
+f 1 19 18
+f 1 18 8
+f 1 8 3
+f 1 3 13
+f 1 13 23
+f 1 23 39
+f 1 39 57
+f 1 57 62
+f 1 62 61
+f 1 61 60
+f 1 60 53
+f 1 53 32
+f 1 32 31
+f 1 31 16
+f 1 16 6
+f 1 6 4
+f 1 4 2
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+f 2 6 7
+f 2 7 5
+f 3 8 9
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+f 3 11 12
+f 3 12 13
+f 5 7 15
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+f 36 55 37
+f 37 55 50
+f 37 50 40
+f 38 56 39
+f 38 41 56
+f 39 56 57
+f 40 50 52
+f 40 52 41
+f 41 52 51
+f 41 51 49
+f 41 49 58
+f 41 58 56
+f 49 54 59
+f 49 59 58
+f 53 60 54
+f 54 60 61
+f 54 61 59
+f 56 59 57
+f 56 58 59
+f 57 59 62
+f 59 61 62
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_62.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d5021010d2267ae515c38021bc19b02603699d1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_62.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.00776651 -0.05591634 0.00056177
+v 0.00776651 -0.05580456 0.00061631
+v 0.00321699 -0.05634550 0.00283793
+v 0.00239678 -0.05770104 0.00258459
+v 0.00456613 -0.05776141 0.00056177
+v 0.00776651 -0.04528406 0.00056181
+v 0.00776651 -0.05430383 0.00132924
+v 0.00112813 -0.05651510 0.00325992
+v 0.00446955 -0.05546922 0.00255918
+v 0.00776651 -0.05018969 0.00212107
+v 0.00502913 -0.04903716 0.00301004
+v 0.00112813 -0.05772288 0.00261741
+v 0.00112813 -0.05840899 0.00056177
+v 0.00325915 -0.05820855 0.00056177
+v -0.00006464 -0.04594319 0.00056181
+v -0.00006464 -0.04596760 0.00079927
+v 0.00334041 -0.04762510 0.00308418
+v 0.00776651 -0.04631324 0.00142828
+v -0.00006464 -0.05651510 0.00326627
+v -0.00006464 -0.05717038 0.00291947
+v 0.00502913 -0.04790391 0.00301004
+v 0.00776651 -0.04964362 0.00216660
+v -0.00006464 -0.05772673 0.00262324
+v -0.00006464 -0.05840128 0.00056177
+v -0.00006464 -0.04739125 0.00181611
+v 0.00187629 -0.04792832 0.00278687
+v -0.00006464 -0.05470600 0.00316992
+v -0.00006464 -0.05568250 0.00322445
+v 0.00776651 -0.04721522 0.00192147
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 13
+f 1 13 24
+f 1 24 15
+f 1 15 6
+f 1 6 18
+f 1 18 29
+f 1 29 22
+f 1 22 10
+f 1 10 7
+f 1 7 2
+f 2 7 3
+f 3 8 4
+f 3 7 9
+f 3 9 10
+f 3 10 11
+f 3 11 8
+f 4 12 13
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+f 17 26 27
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+f 18 21 29
+f 21 22 29
+f 25 27 26
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_63.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de18edfe21a1d14b2d09bc56223b955ecdc66b2a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_63.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00599816 0.02237582 -0.00635870
+v -0.00599816 0.02359752 -0.00697166
+v -0.00599816 0.02732444 -0.00635868
+v -0.00860821 -0.00426631 -0.00635880
+v -0.00829883 -0.00426630 -0.00762261
+v -0.00820435 -0.00426629 -0.00987812
+v -0.00599816 0.02732445 -0.00826336
+v -0.00853035 -0.00426629 -0.01198213
+v -0.01660449 0.02732444 -0.00635868
+v -0.01251810 -0.00426631 -0.00635880
+v -0.00799671 0.02732448 -0.01498703
+v -0.00876498 -0.00112700 -0.01332665
+v -0.00899131 -0.00426628 -0.01289111
+v -0.00884077 -0.00265489 -0.01325390
+v -0.01659723 0.02717289 -0.00635868
+v -0.01655258 0.02732444 -0.00648327
+v -0.01263127 -0.00382403 -0.00635879
+v -0.01269772 -0.00426629 -0.00987812
+v -0.00844521 0.02732448 -0.01601562
+v -0.00863728 0.02137376 -0.01570866
+v -0.00917507 -0.00426628 -0.01311039
+v -0.00938998 -0.00426628 -0.01317417
+v -0.01028077 -0.00426628 -0.01337650
+v -0.00873695 0.01967577 -0.01560501
+v -0.01204780 -0.00426629 -0.01213263
+v -0.01218899 -0.00426629 -0.01169508
+v -0.01155257 0.02732448 -0.01603954
+v -0.00936403 0.02732448 -0.01637144
+v -0.00993504 0.02732448 -0.01653888
+v -0.01123592 -0.00426628 -0.01337650
+v -0.00993504 0.02137376 -0.01597677
+v -0.01147574 0.00075966 -0.01356785
+v -0.01139373 -0.00426628 -0.01314527
+v -0.01136050 0.02137376 -0.01578341
+v -0.01122242 0.01949638 -0.01566182
+v -0.01137088 -0.00153217 -0.01347616
+f 1 2 7
+f 1 7 3
+f 1 3 9
+f 1 9 15
+f 1 15 17
+f 1 17 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 7 11
+f 3 11 19
+f 3 19 28
+f 3 28 29
+f 3 29 27
+f 3 27 16
+f 3 16 9
+f 4 10 18
+f 4 18 26
+f 4 26 25
+f 4 25 33
+f 4 33 30
+f 4 30 23
+f 4 23 22
+f 4 22 21
+f 4 21 13
+f 4 13 8
+f 4 8 6
+f 4 6 5
+f 7 8 12
+f 7 12 11
+f 8 13 14
+f 8 14 12
+f 9 16 15
+f 10 17 18
+f 11 12 19
+f 12 14 20
+f 12 20 19
+f 13 21 14
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 20
+f 15 18 17
+f 15 16 25
+f 15 25 26
+f 15 26 18
+f 16 27 25
+f 19 20 28
+f 20 24 29
+f 20 29 28
+f 23 30 31
+f 23 31 24
+f 24 31 29
+f 25 32 33
+f 25 27 34
+f 25 34 32
+f 27 29 34
+f 29 31 35
+f 29 35 34
+f 30 33 36
+f 30 36 34
+f 30 34 35
+f 30 35 31
+f 32 36 33
+f 32 34 36
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_64.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6c38771177f7ff43d02954134e65c24cceda300
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_64.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.01397907 0.04811225 -0.01835848
+v 0.01399671 0.04811225 -0.01815786
+v 0.01621996 0.04811225 -0.01835848
+v 0.01299237 0.03701455 -0.01835852
+v 0.01299237 0.03661563 -0.01438860
+v 0.01299237 0.03642576 -0.01258997
+v 0.01299237 0.03637350 -0.01213509
+v 0.01299237 0.03592060 -0.01124344
+v 0.01474012 0.04811222 -0.01124339
+v 0.01635781 0.04811224 -0.01738463
+v 0.01672090 0.04254163 -0.01835850
+v 0.01299237 0.03196301 -0.01835854
+v 0.01299237 0.03031862 -0.01124346
+v 0.01681116 0.04811222 -0.01124339
+v 0.01667454 0.04811224 -0.01512973
+v 0.01711107 0.03795692 -0.01835852
+v 0.01641115 0.03311616 -0.01835854
+v 0.01341946 0.03059036 -0.01124346
+v 0.01680337 0.04811222 -0.01213364
+v 0.01694409 0.03741342 -0.01124343
+v 0.01718328 0.03536148 -0.01835853
+v 0.01714225 0.03729151 -0.01835852
+v 0.01675701 0.04811223 -0.01438855
+v 0.01657362 0.03340705 -0.01835854
+v 0.01587452 0.03351851 -0.01124345
+v 0.01679106 0.04811223 -0.01287483
+v 0.01655392 0.03500261 -0.01124344
+v 0.01714922 0.03512283 -0.01835853
+f 1 2 9
+f 1 9 14
+f 1 14 19
+f 1 19 26
+f 1 26 23
+f 1 23 15
+f 1 15 10
+f 1 10 3
+f 1 3 11
+f 1 11 16
+f 1 16 22
+f 1 22 21
+f 1 21 28
+f 1 28 24
+f 1 24 17
+f 1 17 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 9
+f 3 10 11
+f 4 12 13
+f 4 13 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 8 13 18
+f 8 18 25
+f 8 25 27
+f 8 27 20
+f 8 20 14
+f 8 14 9
+f 10 15 11
+f 11 15 16
+f 12 17 13
+f 13 17 18
+f 14 20 21
+f 14 21 22
+f 14 22 19
+f 15 23 16
+f 16 23 22
+f 17 24 25
+f 17 25 18
+f 19 22 26
+f 20 27 28
+f 20 28 21
+f 22 23 26
+f 24 28 27
+f 24 27 25
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_65.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a62c6e2d4705a18c95108cbf22038cb79b5c0dce
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_65.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.00776571 -0.04735413 -0.01708700
+v 0.00723970 -0.04735413 -0.01696097
+v 0.00723970 -0.04700493 -0.01681289
+v 0.00776571 -0.04560031 -0.01625733
+v 0.00927847 -0.04580125 -0.01600212
+v 0.00948268 -0.04735413 -0.01626048
+v 0.00923290 -0.04964248 -0.01596538
+v 0.00776571 -0.04964248 -0.01654090
+v 0.00723970 -0.04961907 -0.01643587
+v 0.00723970 -0.04566859 -0.01617961
+v 0.00997831 -0.03929125 -0.01247546
+v 0.01199008 -0.03929126 -0.01189363
+v 0.01199626 -0.04048128 -0.01189049
+v 0.01190738 -0.05422311 -0.01180863
+v 0.00938142 -0.05608617 -0.01367173
+v 0.00788216 -0.05671630 -0.01381771
+v 0.00723970 -0.05776781 -0.01340287
+v 0.00723970 -0.04553593 -0.01581308
+v 0.00821464 -0.03929126 -0.00987826
+v 0.00837385 -0.03929126 -0.01076360
+v 0.00853081 -0.03929126 -0.01158802
+v 0.01285757 -0.03929126 -0.00987826
+v 0.01287332 -0.04048128 -0.00987827
+v 0.01287782 -0.04277159 -0.00987828
+v 0.01283113 -0.05193281 -0.00987831
+v 0.01276024 -0.05422311 -0.00987832
+v 0.01158165 -0.05589109 -0.01148517
+v 0.00869733 -0.05761369 -0.01319703
+v 0.00723970 -0.05779317 -0.01338922
+v 0.00723970 -0.04503262 -0.01438794
+v 0.00814094 -0.03929128 -0.00635793
+v 0.00723970 -0.04485704 -0.01385231
+v 0.00723970 -0.04384651 -0.00987828
+v 0.00723970 -0.04356169 -0.00863797
+v 0.00723970 -0.04333735 -0.00762346
+v 0.01254365 -0.03929128 -0.00635793
+v 0.01293520 -0.04506191 -0.00635796
+v 0.01294420 -0.04506190 -0.00762347
+v 0.01298696 -0.04964251 -0.00762348
+v 0.01296896 -0.05193282 -0.00762349
+v 0.01282719 -0.05422312 -0.00762350
+v 0.01191357 -0.05623055 -0.00762351
+v 0.01185450 -0.05617592 -0.00987833
+v 0.01071641 -0.05732107 -0.00987833
+v 0.00935948 -0.05803313 -0.01169416
+v 0.00788216 -0.05832965 -0.01232009
+v 0.00723970 -0.05780878 -0.01336296
+v 0.00723970 -0.04332565 -0.00635795
+v 0.01298246 -0.04964252 -0.00635797
+v 0.01296783 -0.05193283 -0.00635798
+v 0.01284744 -0.05422313 -0.00635799
+v 0.01193326 -0.05624812 -0.00635800
+v 0.01141231 -0.05675144 -0.00635800
+v 0.01072766 -0.05737570 -0.00762351
+v 0.00961039 -0.05821846 -0.00987833
+v 0.00776571 -0.05913146 -0.00987834
+v 0.00723970 -0.05836867 -0.01230329
+v 0.00723970 -0.05921535 -0.00987834
+v 0.00723970 -0.05921928 -0.00635801
+v 0.01073497 -0.05739327 -0.00635800
+v 0.01024891 -0.05776199 -0.00635800
+v 0.00962951 -0.05821653 -0.00635800
+v 0.00881378 -0.05862036 -0.00635801
+v 0.00776571 -0.05913344 -0.00635801
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 17
+f 2 17 29
+f 2 29 47
+f 2 47 57
+f 2 57 58
+f 2 58 59
+f 2 59 48
+f 2 48 35
+f 2 35 34
+f 2 34 33
+f 2 33 32
+f 2 32 30
+f 2 30 18
+f 2 18 10
+f 2 10 3
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 6
+f 6 12 13
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+f 8 16 17
+f 8 17 9
+f 10 18 19
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+f 10 20 21
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+f 11 31 36
+f 11 36 22
+f 11 22 12
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+f 17 28 29
+f 18 30 19
+f 19 30 32
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+f 19 33 34
+f 19 34 35
+f 19 35 31
+f 22 36 37
+f 22 37 38
+f 22 38 23
+f 23 38 39
+f 23 39 24
+f 24 39 25
+f 25 39 40
+f 25 40 26
+f 26 41 42
+f 26 42 43
+f 26 43 27
+f 26 40 41
+f 27 43 44
+f 27 44 45
+f 27 45 28
+f 28 45 46
+f 28 46 29
+f 29 46 47
+f 31 35 48
+f 31 48 59
+f 31 59 64
+f 31 64 63
+f 31 63 62
+f 31 62 61
+f 31 61 60
+f 31 60 53
+f 31 53 52
+f 31 52 51
+f 31 51 50
+f 31 50 49
+f 31 49 37
+f 31 37 36
+f 37 49 38
+f 38 49 39
+f 39 49 50
+f 39 50 40
+f 40 50 51
+f 40 51 41
+f 41 51 52
+f 41 52 42
+f 42 52 53
+f 42 53 44
+f 42 44 43
+f 44 53 54
+f 44 54 55
+f 44 55 45
+f 45 55 56
+f 45 56 46
+f 46 57 47
+f 46 56 58
+f 46 58 57
+f 53 60 54
+f 54 60 55
+f 55 60 61
+f 55 61 62
+f 55 62 63
+f 55 63 56
+f 56 63 64
+f 56 64 59
+f 56 59 58
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_66.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9df06335df4000dd249f74b8c9010e540affcb84
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_66.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.01733464 -0.00847187 0.00311787
+v -0.01735400 -0.00847187 0.00365536
+v -0.01151818 -0.00847187 0.00311787
+v -0.01727527 -0.02847871 0.00311780
+v -0.01739077 -0.03589537 0.00365526
+v -0.01738819 -0.03360625 0.00365527
+v -0.01735529 -0.00847187 0.00372044
+v -0.01745917 -0.03611455 0.00591124
+v -0.01095357 -0.00847187 0.00341076
+v -0.01131686 -0.03611454 0.00311777
+v -0.01724817 -0.03076784 0.00311779
+v -0.01738884 -0.03611454 0.00365526
+v -0.01739787 -0.03611454 0.00386941
+v -0.01737529 -0.00847188 0.00591134
+v -0.01754564 -0.03611457 0.01042111
+v -0.01095357 -0.00847188 0.00667454
+v -0.01095357 -0.02437940 0.00596482
+v -0.01117425 -0.03611454 0.00344005
+v -0.01714299 -0.03611454 0.00311777
+v -0.01721268 -0.03305967 0.00311778
+v -0.01740755 -0.01757157 0.00816625
+v -0.01737142 -0.00847188 0.00597538
+v -0.01754435 -0.03589540 0.01042111
+v -0.01752370 -0.03360628 0.01042112
+v -0.01747918 -0.02902261 0.01042113
+v -0.01710105 -0.03611458 0.01384236
+v -0.01710040 -0.03589541 0.01384236
+v -0.01488197 -0.00847191 0.01384246
+v -0.01095357 -0.00891023 0.00685615
+v -0.01095357 -0.03611456 0.00790163
+v -0.01736238 -0.01527974 0.00816625
+v -0.01683649 -0.00847191 0.01384246
+v -0.01708169 -0.03360629 0.01384237
+v -0.01692295 -0.01527976 0.01384243
+v -0.01689456 -0.01299063 0.01384244
+v -0.01720752 -0.01527975 0.01042118
+v -0.01456772 -0.03611458 0.01384236
+v -0.01095357 -0.01299061 0.00799199
+v -0.01095357 -0.01175405 0.00769701
+v -0.01095357 -0.01069878 0.00744297
+v -0.01095357 -0.01004127 0.00725401
+v -0.01095357 -0.00945410 0.00707765
+v -0.01456643 -0.03468320 0.01384236
+v -0.01095357 -0.03611457 0.01145095
+f 1 2 7
+f 1 7 14
+f 1 14 22
+f 1 22 32
+f 1 32 28
+f 1 28 16
+f 1 16 9
+f 1 9 3
+f 1 3 10
+f 1 10 19
+f 1 19 20
+f 1 20 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 10
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 6
+f 6 13 8
+f 7 8 15
+f 7 15 14
+f 8 13 12
+f 8 12 19
+f 8 19 10
+f 8 10 18
+f 8 18 30
+f 8 30 44
+f 8 44 37
+f 8 37 26
+f 8 26 15
+f 9 16 29
+f 9 29 42
+f 9 42 41
+f 9 41 40
+f 9 40 39
+f 9 39 38
+f 9 38 44
+f 9 44 30
+f 9 30 17
+f 9 17 18
+f 9 18 10
+f 11 20 12
+f 12 20 19
+f 14 21 22
+f 14 15 23
+f 14 23 24
+f 14 24 25
+f 14 25 21
+f 15 26 27
+f 15 27 23
+f 16 28 29
+f 17 30 18
+f 21 31 22
+f 21 25 31
+f 22 31 32
+f 23 27 33
+f 23 33 34
+f 23 34 24
+f 24 34 25
+f 25 34 35
+f 25 35 32
+f 25 32 36
+f 25 36 31
+f 26 37 43
+f 26 43 28
+f 26 28 32
+f 26 32 35
+f 26 35 34
+f 26 34 33
+f 26 33 27
+f 28 38 39
+f 28 39 40
+f 28 40 41
+f 28 41 42
+f 28 42 29
+f 28 43 44
+f 28 44 38
+f 31 36 32
+f 37 44 43
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_67.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..344aad49b71097c6f9508e19fef61b2ce82ce8e8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_67.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.01414407 -0.06127295 0.01748401
+v 0.01414407 -0.06341503 0.02121480
+v 0.01414407 -0.06846562 0.01748399
+v -0.01246579 -0.06430554 0.01748400
+v -0.01246579 -0.06538771 0.02121479
+v 0.01414407 -0.06775304 0.02121478
+v 0.01400341 -0.06859394 0.01748399
+v 0.01414407 -0.06842714 0.01922940
+v 0.01337828 -0.06915341 0.01847886
+v -0.01246579 -0.06901910 0.01748399
+v -0.01246579 -0.06832278 0.02121478
+v 0.01218792 -0.06845452 0.02121478
+v 0.01337828 -0.06915341 0.01807383
+v 0.01391485 -0.06863671 0.01748399
+v 0.01218792 -0.06923041 0.01883569
+v 0.00112566 -0.06999519 0.01944305
+v -0.01226262 -0.06907984 0.01748399
+v -0.01246579 -0.06917737 0.01795586
+v -0.01246579 -0.06917737 0.01862130
+v -0.01214541 -0.06841774 0.02121478
+v 0.00958320 -0.06880098 0.02121478
+v 0.00901797 -0.06912861 0.02060923
+v 0.01218792 -0.06923040 0.01758698
+v 0.01294329 -0.06910550 0.01748399
+v 0.00984367 -0.06929115 0.01953546
+v 0.00111524 -0.06956575 0.02121477
+v -0.00108315 -0.07001229 0.01944305
+v 0.00112566 -0.06994641 0.01748398
+v -0.01214541 -0.06911406 0.01748399
+v -0.01214541 -0.06919534 0.01785980
+v -0.00108315 -0.06996181 0.01748398
+v -0.01214541 -0.06919534 0.01870896
+v -0.00874103 -0.06907472 0.02053509
+v -0.00726676 -0.06917054 0.02074217
+v -0.00762100 -0.06893015 0.02121478
+v 0.00776510 -0.06897293 0.02121478
+v 0.00390490 -0.06932024 0.02121478
+v 0.01184410 -0.06924237 0.01748399
+v 0.01210717 -0.06922185 0.01748399
+v 0.01218792 -0.06921072 0.01748399
+v 0.00055783 -0.06957004 0.02121477
+v -0.00079402 -0.06996010 0.01748398
+v -0.00108836 -0.06958029 0.02121477
+v -0.00993400 -0.06928858 0.01918813
+v -0.01093682 -0.06922612 0.01748399
+v -0.00389364 -0.06932366 0.02121478
+f 1 2 6
+f 1 6 8
+f 1 8 3
+f 1 3 7
+f 1 7 14
+f 1 14 24
+f 1 24 40
+f 1 40 39
+f 1 39 38
+f 1 38 28
+f 1 28 42
+f 1 42 31
+f 1 31 45
+f 1 45 29
+f 1 29 17
+f 1 17 10
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_68.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..202ee5c06a60ad6e74bc5a5bc2b6416a33ebe4ad
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_68.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.01294697 0.00210793 -0.02072395
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+v 0.01294697 0.00210793 -0.02283409
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+v 0.00111571 0.02366632 -0.01981811
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_69.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..101d102fcef65fee9620248449057a07c9c6f3ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_69.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.00111571 0.00210793 -0.02090240
+v -0.01322247 0.00210793 -0.02062152
+v 0.00111571 0.00210793 -0.02287302
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+v -0.00945407 0.03055413 -0.01835969
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+v -0.01322247 0.00645424 -0.02277568
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+v -0.00772215 0.00210793 -0.02289347
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+v -0.01214599 0.00305086 -0.02288058
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_7.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d352ad21e065651cd3c250890d261f037a2e7ed
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_7.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v -0.00108569 0.06930653 0.00220800
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+v -0.00329750 0.06928886 0.00220800
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_70.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddb0984d1b7c1221f261f5021aa4c7b17aaefcfa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_70.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.01616010 0.02419734 -0.00635770
+v -0.01660229 0.02419734 -0.00573121
+v -0.01410756 0.02419734 -0.00635770
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+v -0.01588863 0.00076034 -0.00462165
+v -0.01598614 0.00304999 -0.00473394
+v -0.01680573 0.02419734 -0.00536625
+v -0.01410756 0.02419733 -0.00370400
+v -0.01410756 0.01393545 -0.00635774
+v -0.01441046 0.01515703 -0.00635773
+v -0.01410756 0.00268544 -0.00557910
+v -0.01410756 0.00040218 -0.00541363
+v -0.01574512 -0.00153252 -0.00447538
+v -0.01615945 -0.00847185 -0.00279394
+v -0.01656212 -0.00153253 -0.00311012
+v -0.01673511 0.00076033 -0.00311011
+v -0.01686080 0.00304998 -0.00311010
+v -0.01716693 0.01221181 -0.00311007
+v -0.01720905 0.01450146 -0.00311006
+v -0.01713357 0.02419733 -0.00363308
+v -0.01696025 0.00533964 -0.00311009
+v -0.01704804 0.00763249 -0.00311008
+v -0.01712093 0.00991895 -0.00311007
+v -0.01493558 0.02419729 0.00873706
+v -0.01410756 0.01266588 0.00166246
+v -0.01424945 0.01450147 -0.00635774
+v -0.01410756 -0.00188428 -0.00516393
+v -0.01559708 -0.00338727 -0.00434536
+v -0.01540822 -0.00491264 -0.00422716
+v -0.01435992 -0.00847185 -0.00356227
+v -0.01618407 -0.00847185 -0.00274370
+v -0.01703606 -0.00847186 -0.00085538
+v -0.01710409 -0.00611505 -0.00085537
+v -0.01714976 -0.00382219 -0.00085536
+v -0.01719447 -0.00153254 -0.00085536
+v -0.01732696 0.00533963 -0.00085533
+v -0.01735968 0.00763248 -0.00085532
+v -0.01739046 0.00991894 -0.00085531
+v -0.01740860 0.01221180 -0.00085531
+v -0.01718637 0.02366648 -0.00311002
+v -0.01716402 0.02419733 -0.00311002
+v -0.01703833 -0.00840471 -0.00085538
+v -0.01688575 0.02419729 0.00873706
+v -0.01438454 -0.00780674 0.00873694
+v -0.01410756 -0.00847189 0.00788291
+v -0.01410756 0.00567538 0.00435012
+v -0.01410756 0.00769323 0.00362760
+v -0.01410756 -0.00397247 -0.00491718
+v -0.01430938 -0.00847185 -0.00354306
+v -0.01704416 -0.00847186 -0.00079037
+v -0.01727351 -0.00847187 0.00139938
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+v -0.01739920 -0.00382220 0.00365415
+v -0.01690680 0.02419729 0.00816525
+v -0.01697289 0.02419730 0.00591049
+v -0.01736065 0.01450145 -0.00085530
+v -0.01741702 -0.00153255 0.00365415
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+v -0.01737491 0.00304996 0.00365417
+v -0.01740212 0.00076031 0.00365416
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+v -0.01716790 -0.00153257 0.00873696
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+v -0.01735547 -0.00847187 0.00371915
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+v -0.01718702 -0.00847189 0.00823014
+v -0.01712514 -0.00847189 0.00873694
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_71.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80a4665e25f8f1f431205bab7a94b7440012d728
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_71.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.01398979 -0.00631011 -0.00397782
+v 0.01255734 -0.00595834 -0.00397782
+v 0.00997831 -0.00847184 -0.00569503
+v 0.01160360 -0.00847184 -0.00598064
+v 0.01165166 -0.00847184 -0.00598950
+v 0.01167014 -0.00847184 -0.00603679
+v 0.01179398 -0.00847184 -0.00635782
+v 0.01398979 -0.00627812 -0.00427462
+v 0.01398979 0.02419733 -0.00397771
+v 0.01234909 -0.00504056 -0.00397782
+v 0.00863273 -0.00847184 -0.00619987
+v 0.00900425 -0.00847184 -0.00635782
+v 0.01229672 -0.00696566 -0.00635782
+v 0.01398979 -0.00490305 -0.00466484
+v 0.01398979 0.02419734 -0.00635770
+v 0.01394543 0.02419733 -0.00397771
+v 0.00769625 0.01630824 -0.00397774
+v 0.00859885 -0.00847184 -0.00635269
+v 0.00859823 -0.00840469 -0.00635782
+v 0.01257212 -0.00465042 -0.00635781
+v 0.01398979 -0.00382217 -0.00486355
+v 0.00769625 0.02419734 -0.00635770
+v 0.01398979 0.01879937 -0.00635772
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+v 0.00769625 0.02322838 -0.00402127
+v 0.00769933 0.02310047 -0.00397772
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+v 0.01398979 0.00076034 -0.00537001
+v 0.01398979 -0.00153252 -0.00512540
+v 0.00769625 0.02316442 -0.00400054
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_72.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e355503f30c9c16d9d9dccb06dd9d9a4a2219d8b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_72.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.00897968 -0.06041763 0.00501336
+v -0.00897968 -0.06045462 0.00483651
+v -0.00897968 -0.06563833 0.00501334
+v -0.00006477 -0.06175638 0.00501335
+v 0.00776487 -0.06085914 0.00497493
+v 0.00776487 -0.06085857 0.00497385
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+v -0.00772064 -0.06582665 0.00501334
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+v 0.00776487 -0.06584031 0.00497491
+v 0.00776487 -0.06129267 0.00365386
+v -0.00897968 -0.06086198 0.00339934
+v -0.00897968 -0.06488787 0.00283111
+v -0.00550913 -0.06572537 0.00365466
+v -0.00550913 -0.06603659 0.00501334
+v -0.00033363 -0.06622890 0.00501334
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+v 0.00334020 -0.06613901 0.00497491
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+v 0.00684682 -0.06591712 0.00497491
+v 0.00776487 -0.06552453 0.00365466
+v 0.00776487 -0.06210968 0.00244085
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+v -0.00897968 -0.06464891 0.00244622
+v -0.00329598 -0.06585452 0.00365466
+v -0.00772064 -0.06472515 0.00239703
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+v -0.00108446 -0.06593986 0.00365466
+v 0.00112705 -0.06593759 0.00365466
+v -0.00006477 -0.06622036 0.00497491
+v 0.00334020 -0.06584144 0.00365466
+v 0.00555172 -0.06570944 0.00365466
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+v 0.00776487 -0.06211082 0.00244059
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+v 0.00555172 -0.06481960 0.00234650
+v 0.00776487 -0.06338869 0.00231130
+v -0.00772064 -0.06338812 0.00230001
+v 0.00112705 -0.06372095 0.00228738
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_73.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc844b2bc34556bb9d2afee3a2befc4be9cdff9a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_73.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.01410702 0.02419733 -0.00378060
+v -0.01410702 0.02419733 -0.00370523
+v -0.01405915 0.02419733 -0.00378060
+v -0.01410702 -0.00651477 -0.00378071
+v -0.00855051 0.02217949 -0.00378061
+v -0.01410702 0.01266588 0.00166370
+v -0.01253172 -0.00602870 -0.00378071
+v -0.01410702 -0.00847185 -0.00344958
+v -0.00855051 0.01597886 -0.00104247
+v -0.00855051 0.01552797 -0.00378063
+v -0.01410702 0.00769323 0.00362880
+v -0.00855051 0.00709843 0.00277698
+v -0.00855051 0.01207749 0.00065658
+v -0.01205467 -0.00382218 -0.00378070
+v -0.00855051 -0.00847187 0.00402839
+v -0.01259972 -0.00847185 -0.00274963
+v -0.01410702 -0.00847189 0.00788213
+v -0.01410702 0.00567538 0.00435044
+v -0.00855051 0.00645247 0.00298936
+v -0.00855051 -0.00847188 0.00663866
+v -0.00855051 0.00533962 0.00334676
+f 1 2 3
+f 1 3 5
+f 1 5 10
+f 1 10 14
+f 1 14 7
+f 1 7 4
+f 1 4 8
+f 1 8 17
+f 1 17 18
+f 1 18 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 4 7 8
+f 5 6 9
+f 5 9 13
+f 5 13 12
+f 5 12 19
+f 5 19 21
+f 5 21 20
+f 5 20 15
+f 5 15 10
+f 6 11 12
+f 6 12 13
+f 6 13 9
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 15
+f 8 15 20
+f 8 20 17
+f 10 15 14
+f 11 18 12
+f 12 18 19
+f 17 20 21
+f 17 21 18
+f 18 21 19
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_74.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cf105ac6f74064860a5cecef33240c1e633ecee
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_74.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.01298252 -0.04964204 -0.00635729
+v 0.01297889 -0.04964204 -0.00536633
+v 0.01296655 -0.05193220 -0.00536634
+v 0.01296728 -0.05193220 -0.00635730
+v 0.01293461 -0.04506174 -0.00635728
+v 0.01280611 -0.04735420 0.00056181
+v 0.01280756 -0.04764705 0.00056180
+v 0.01281845 -0.04994864 0.00056180
+v 0.01282063 -0.05193222 0.00056179
+v 0.01292807 -0.04506174 -0.00536632
+v 0.01279086 -0.04532258 0.00056181
+v 0.01286346 -0.05422464 -0.00536635
+v 0.01284749 -0.05422464 -0.00635731
+v 0.01249974 -0.03611619 -0.00635724
+v 0.01261081 -0.05422466 0.00056178
+v 0.01278868 -0.05422465 -0.00311147
+v 0.01270665 -0.04297523 0.00056182
+v 0.01278433 -0.04506176 0.00056181
+v 0.01196323 -0.05629975 0.00056177
+v 0.01194798 -0.05626312 -0.00536636
+v 0.01193346 -0.05624711 -0.00635732
+v 0.00816555 -0.03611619 -0.00635724
+v 0.01221224 -0.03611620 -0.00136859
+v 0.01268922 -0.04277161 0.00056182
+v 0.01155449 -0.05659489 0.00056177
+v 0.00967271 -0.05823527 -0.00311148
+v 0.01077840 -0.05740478 -0.00311148
+v 0.01074065 -0.05740935 -0.00536636
+v 0.01141220 -0.05675044 -0.00635732
+v 0.00816192 -0.03611619 -0.00626377
+v 0.00610300 -0.04522646 -0.00635728
+v 0.00556576 -0.04549416 -0.00294210
+v 0.01203873 -0.03611621 -0.00096624
+v 0.01208882 -0.04053636 0.00056183
+v 0.01002337 -0.05676876 0.00056177
+v 0.00556576 -0.05842975 -0.00070893
+v 0.00776553 -0.05840001 -0.00106996
+v 0.00942515 -0.05804996 -0.00140863
+v 0.00962915 -0.05821696 -0.00635732
+v 0.01024915 -0.05776167 -0.00635732
+v 0.00776553 -0.05913898 -0.00311149
+v 0.00776553 -0.05913440 -0.00536637
+v 0.00776553 -0.05913211 -0.00635733
+v 0.00881386 -0.05861963 -0.00635733
+v 0.01073484 -0.05739333 -0.00635732
+v 0.00813143 -0.03611619 -0.00536628
+v 0.00570080 -0.04735418 -0.00635728
+v 0.00556576 -0.04549416 -0.00287098
+v 0.00562021 -0.04847066 -0.00635729
+v 0.00556576 -0.04969466 -0.00635729
+v 0.01165032 -0.03611621 -0.00091748
+v 0.01033700 -0.04053636 0.00056183
+v 0.00556576 -0.05677334 0.00056177
+v 0.00556576 -0.05946157 -0.00309930
+v 0.00556576 -0.05946615 -0.00311149
+v 0.00556576 -0.05948444 -0.00535350
+v 0.00556576 -0.05948673 -0.00635191
+v 0.00679342 -0.05928997 -0.00635733
+v 0.00556576 -0.04564745 -0.00106856
+v 0.00814812 -0.03611619 -0.00515360
+v 0.00556576 -0.05569345 -0.00635731
+v 0.00979758 -0.03611620 -0.00155418
+v 0.00957253 -0.03611620 -0.00163546
+v 0.00880515 -0.03611620 -0.00191859
+v 0.00556576 -0.04660607 0.00056181
+v 0.00556576 -0.04565660 -0.00104418
+v 0.00847918 -0.03611620 -0.00292648
+v 0.00854742 -0.03611620 -0.00269686
+v 0.00556576 -0.04626975 0.00007412
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 21
+f 1 21 29
+f 1 29 45
+f 1 45 40
+f 1 40 39
+f 1 39 44
+f 1 44 43
+f 1 43 58
+f 1 58 61
+f 1 61 50
+f 1 50 49
+f 1 49 47
+f 1 47 31
+f 1 31 22
+f 1 22 14
+f 1 14 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 5 10
+f 2 10 11
+f 2 11 6
+f 3 9 12
+f 3 12 4
+f 4 12 13
+f 5 14 10
+f 6 11 18
+f 6 18 17
+f 6 17 24
+f 6 24 34
+f 6 34 52
+f 6 52 65
+f 6 65 53
+f 6 53 35
+f 6 35 25
+f 6 25 19
+f 6 19 15
+f 6 15 9
+f 6 9 8
+f 6 8 7
+f 9 15 16
+f 9 16 12
+f 10 14 17
+f 10 17 18
+f 10 18 11
+f 12 16 19
+f 12 19 20
+f 12 20 13
+f 13 20 21
+f 14 22 30
+f 14 30 46
+f 14 46 60
+f 14 60 67
+f 14 67 68
+f 14 68 64
+f 14 64 63
+f 14 63 62
+f 14 62 51
+f 14 51 33
+f 14 33 23
+f 14 23 24
+f 14 24 17
+f 15 19 16
+f 19 25 26
+f 19 26 27
+f 19 27 20
+f 20 27 28
+f 20 28 29
+f 20 29 21
+f 22 31 32
+f 22 32 30
+f 23 33 24
+f 24 33 34
+f 25 35 36
+f 25 36 37
+f 25 37 38
+f 25 38 26
+f 26 39 40
+f 26 40 28
+f 26 28 27
+f 26 38 41
+f 26 41 42
+f 26 42 43
+f 26 43 44
+f 26 44 39
+f 28 40 45
+f 28 45 29
+f 30 32 46
+f 31 47 32
+f 32 48 46
+f 32 47 49
+f 32 49 50
+f 32 50 61
+f 32 61 57
+f 32 57 56
+f 32 56 55
+f 32 55 54
+f 32 54 36
+f 32 36 53
+f 32 53 65
+f 32 65 69
+f 32 69 66
+f 32 66 59
+f 32 59 48
+f 33 51 34
+f 34 51 52
+f 35 53 36
+f 36 54 37
+f 37 54 55
+f 37 55 41
+f 37 41 38
+f 41 55 56
+f 41 56 57
+f 41 57 58
+f 41 58 42
+f 42 58 43
+f 46 48 59
+f 46 59 60
+f 51 62 52
+f 52 62 63
+f 52 63 64
+f 52 64 65
+f 57 61 58
+f 59 66 60
+f 60 66 67
+f 64 68 65
+f 65 68 67
+f 65 67 69
+f 66 69 67
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_75.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3084c8f5b4a12176491a76ed1c0514082c8666ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_75.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.00003713 -0.04635147 0.02844339
+v -0.01314824 -0.04635280 0.02799593
+v 0.00003713 -0.04635148 0.03080742
+v 0.01359421 -0.04635147 0.02785005
+v -0.01314824 -0.04735390 0.02805537
+v -0.01314824 -0.04635281 0.03055348
+v 0.01359421 -0.05995147 0.02842271
+v -0.01214566 -0.04635281 0.03076420
+v -0.01117973 -0.04635281 0.03078925
+v -0.00993370 -0.04635281 0.03079760
+v -0.00896777 -0.04635281 0.03080300
+v -0.00675319 -0.04635281 0.03080545
+v 0.00555263 -0.05880662 0.03286785
+v 0.00555263 -0.04635148 0.03080742
+v 0.01359421 -0.04635148 0.03039385
+v -0.01314824 -0.04964497 0.02825674
+v -0.01314824 -0.05462252 0.03197393
+v 0.01359421 -0.05995149 0.03217136
+v 0.00003713 -0.05995148 0.03017621
+v -0.01314824 -0.05948288 0.02940556
+v -0.01314824 -0.05427639 0.02875133
+v -0.01314824 -0.05193604 0.02848660
+v -0.01214566 -0.05651422 0.03238651
+v -0.00993370 -0.05880529 0.03281087
+v -0.00771912 -0.05880529 0.03284526
+v 0.00334067 -0.05880662 0.03286490
+v 0.00776197 -0.05880662 0.03285410
+v 0.00997655 -0.04635148 0.03079711
+v 0.00776197 -0.04635148 0.03080644
+v 0.00223338 -0.05995149 0.03274899
+v 0.00444534 -0.05995149 0.03273867
+v 0.01352877 -0.05485682 0.03192825
+v 0.01359421 -0.05493136 0.03191008
+v 0.01218851 -0.04635148 0.03074357
+v -0.01314824 -0.05651422 0.03222639
+v -0.01214566 -0.05880529 0.03271657
+v 0.01359421 -0.05880662 0.03229956
+v 0.01218851 -0.05880662 0.03263798
+v 0.01218327 -0.05995149 0.03245183
+v 0.00003713 -0.05995149 0.03273720
+v -0.01314824 -0.05948289 0.03242088
+v -0.00993370 -0.05948289 0.03270380
+v -0.00771912 -0.05948289 0.03274555
+v 0.00112871 -0.05995149 0.03274653
+v 0.00665992 -0.05995149 0.03272394
+v 0.00776197 -0.05995149 0.03270675
+v 0.00887188 -0.05995149 0.03267433
+v 0.00997655 -0.05880662 0.03278926
+v 0.01359421 -0.05521359 0.03195576
+v 0.01218851 -0.05651555 0.03231922
+v -0.01314824 -0.05880529 0.03248228
+v -0.01278700 -0.05948289 0.03250438
+v -0.01209592 -0.05948289 0.03258837
+v 0.01359421 -0.05684170 0.03213945
+v 0.01108383 -0.05995149 0.03255841
+v 0.00005284 -0.05995149 0.03273769
+v 0.00997655 -0.05995149 0.03263405
+f 1 2 6
+f 1 6 3
+f 1 3 14
+f 1 14 29
+f 1 29 28
+f 1 28 34
+f 1 34 15
+f 1 15 4
+f 1 4 2
+f 2 5 16
+f 2 16 22
+f 2 22 21
+f 2 21 20
+f 2 20 41
+f 2 41 51
+f 2 51 35
+f 2 35 17
+f 2 17 6
+f 2 4 7
+f 2 7 5
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 4 15 33
+f 4 33 49
+f 4 49 54
+f 4 54 37
+f 4 37 18
+f 4 18 7
+f 5 7 16
+f 6 17 8
+f 7 18 39
+f 7 39 55
+f 7 55 57
+f 7 57 47
+f 7 47 46
+f 7 46 45
+f 7 45 31
+f 7 31 30
+f 7 30 44
+f 7 44 56
+f 7 56 40
+f 7 40 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 16
+f 8 23 24
+f 8 24 9
+f 8 17 23
+f 9 24 25
+f 9 25 10
+f 10 25 11
+f 11 25 26
+f 11 26 13
+f 11 13 12
+f 13 27 28
+f 13 28 29
+f 13 29 14
+f 13 26 30
+f 13 30 31
+f 13 31 27
+f 15 32 33
+f 15 34 32
+f 17 35 36
+f 17 36 23
+f 18 37 38
+f 18 38 39
+f 19 40 41
+f 19 41 20
+f 23 36 24
+f 24 42 43
+f 24 43 25
+f 24 36 42
+f 25 43 44
+f 25 44 30
+f 25 30 26
+f 27 31 45
+f 27 45 46
+f 27 46 47
+f 27 47 48
+f 27 48 34
+f 27 34 28
+f 32 38 49
+f 32 49 33
+f 32 34 50
+f 32 50 38
+f 34 48 50
+f 35 51 36
+f 36 51 41
+f 36 41 52
+f 36 52 53
+f 36 53 42
+f 37 54 38
+f 38 54 49
+f 38 50 48
+f 38 48 55
+f 38 55 39
+f 40 56 42
+f 40 42 53
+f 40 53 52
+f 40 52 41
+f 42 56 43
+f 43 56 44
+f 47 57 48
+f 48 57 55
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_76.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8498c43a2b6f0cdbddee137c95621c8768097f33
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_76.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.01394543 0.02419733 -0.00397771
+v 0.01398979 0.02419733 -0.00390008
+v 0.01398979 0.02419733 -0.00397771
+v 0.00769933 0.02310047 -0.00397772
+v 0.01398979 0.01450145 0.00046634
+v 0.01398979 -0.00631011 -0.00397782
+v 0.00769625 0.02149515 -0.00397772
+v 0.00769625 0.02137363 -0.00337726
+v 0.00769625 0.01679111 -0.00127681
+v 0.00769625 0.01450145 -0.00030992
+v 0.01398979 0.00744060 0.00341611
+v 0.01398979 -0.00847185 -0.00337965
+v 0.01255734 -0.00595834 -0.00397782
+v 0.00769625 0.01630824 -0.00397774
+v 0.00769625 0.00708244 0.00276428
+v 0.01398979 0.00730629 0.00346406
+v 0.01398979 -0.00847189 0.00768434
+v 0.01264852 -0.00847185 -0.00274609
+v 0.01234909 -0.00504056 -0.00397782
+v 0.00769625 -0.00846868 0.00409870
+v 0.00769625 0.00702488 0.00278369
+v 0.00769625 0.00533962 0.00333162
+v 0.00769625 -0.00847188 0.00662954
+v 0.00776587 -0.00847188 0.00409870
+v 0.00769625 -0.00847188 0.00426195
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 19
+f 1 19 14
+f 1 14 7
+f 1 7 4
+f 1 4 2
+f 2 4 5
+f 2 5 11
+f 2 11 16
+f 2 16 17
+f 2 17 12
+f 2 12 6
+f 2 6 3
+f 4 7 8
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 6 12 13
+f 7 14 20
+f 7 20 25
+f 7 25 23
+f 7 23 22
+f 7 22 21
+f 7 21 15
+f 7 15 10
+f 7 10 9
+f 7 9 8
+f 10 15 11
+f 11 15 16
+f 12 17 23
+f 12 23 25
+f 12 25 24
+f 12 24 18
+f 12 18 13
+f 13 18 20
+f 13 20 19
+f 14 19 20
+f 15 21 16
+f 16 21 22
+f 16 22 17
+f 17 22 23
+f 18 24 20
+f 20 24 25
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_77.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0c75a54db8cedf00a7f4e242e9424d1e0a8f37a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_77.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.01699820 0.03980424 -0.00635764
+v -0.01700223 0.03980424 -0.00536660
+v -0.01506632 0.03980424 -0.00635764
+v -0.01728730 0.03501034 -0.00635766
+v -0.01767983 0.03399748 -0.00425904
+v -0.01700778 0.03980423 -0.00321012
+v -0.01505976 0.03980421 0.00220790
+v -0.01252597 0.03042879 -0.00635768
+v -0.01731959 0.03406012 -0.00635766
+v -0.01767983 0.03395929 -0.00425904
+v -0.01767983 0.03399748 -0.00422048
+v -0.01700778 0.03980422 -0.00085577
+v -0.01698760 0.03980421 0.00220790
+v -0.01502848 0.03594068 0.00220788
+v -0.01252597 0.02419734 -0.00484347
+v -0.01252597 0.02595877 -0.00516961
+v -0.01252597 0.02824878 -0.00564417
+v -0.01252597 0.02998882 -0.00614387
+v -0.01252597 0.03006673 -0.00618160
+v -0.01252597 0.02419734 -0.00635770
+v -0.01728931 0.03294185 -0.00635767
+v -0.01767983 0.03395929 -0.00422048
+v -0.01713341 0.02419733 -0.00363360
+v -0.01716368 0.02419733 -0.00311041
+v -0.01699012 0.02419731 0.00220784
+v -0.01698811 0.03980421 0.00217184
+v -0.01699870 0.03980421 0.00139964
+v -0.01501587 0.03365067 0.00220787
+v -0.01506178 0.02419731 0.00220784
+v -0.01501435 0.03282877 0.00220787
+v -0.01501385 0.03136066 0.00220787
+v -0.01501486 0.03054029 0.00220786
+v -0.01502495 0.02824875 0.00220785
+v -0.01616016 0.02419734 -0.00635770
+v -0.01714956 0.03154707 -0.00635767
+v -0.01680546 0.02419734 -0.00536666
+v -0.01695783 0.02595877 -0.00536665
+v -0.01633170 0.02510937 -0.00635770
+v -0.01660213 0.02419734 -0.00573138
+v -0.01659759 0.02717481 -0.00635769
+f 1 2 6
+f 1 6 12
+f 1 12 27
+f 1 27 26
+f 1 26 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 20
+f 1 20 34
+f 1 34 38
+f 1 38 40
+f 1 40 35
+f 1 35 21
+f 1 21 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 5
+f 5 9 10
+f 5 10 22
+f 5 22 11
+f 5 11 12
+f 5 12 6
+f 7 13 25
+f 7 25 29
+f 7 29 33
+f 7 33 32
+f 7 32 31
+f 7 31 30
+f 7 30 28
+f 7 28 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 8
+f 8 19 18
+f 8 18 17
+f 8 17 16
+f 8 16 15
+f 8 15 20
+f 9 21 10
+f 10 21 23
+f 10 23 24
+f 10 24 22
+f 11 22 25
+f 11 25 13
+f 11 13 26
+f 11 26 27
+f 11 27 12
+f 14 28 15
+f 15 29 25
+f 15 25 24
+f 15 24 23
+f 15 23 36
+f 15 36 39
+f 15 39 34
+f 15 34 20
+f 15 28 30
+f 15 30 31
+f 15 31 32
+f 15 32 33
+f 15 33 29
+f 21 35 36
+f 21 36 37
+f 21 37 23
+f 22 24 25
+f 23 37 36
+f 34 39 38
+f 35 40 39
+f 35 39 36
+f 38 39 40
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_78.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75237cbd29b2d619748230971c6b1f9031142ee1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_78.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.00550490 -0.05954947 -0.00536649
+v -0.00550490 -0.05954947 -0.00635535
+v -0.00550490 -0.05952195 -0.00311097
+v -0.00551031 -0.05954947 -0.00536649
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_79.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c9b3ecb9038aca07982b6282b04cd1414a3bd8e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_79.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_8.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cff7668044e0e72960419e2fbb4ba1431becbe4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_8.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_80.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1022909378659778db22f371efbd3e13889775b4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_80.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.00556576 -0.04969680 -0.00635729
+v -0.00006464 -0.04603777 -0.00216248
+v 0.00556576 -0.04549355 -0.00294210
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+v -0.00006464 -0.04594386 0.00056181
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+v 0.00556576 -0.05677317 0.00056177
+v 0.00456655 -0.05776079 0.00056177
+v 0.00470268 -0.05774975 0.00048658
+v 0.00473465 -0.05762128 0.00056177
+f 1 2 3
+f 1 3 8
+f 1 8 12
+f 1 12 20
+f 1 20 31
+f 1 31 39
+f 1 39 42
+f 1 42 41
+f 1 41 35
+f 1 35 24
+f 1 24 14
+f 1 14 9
+f 1 9 4
+f 1 4 10
+f 1 10 17
+f 1 17 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 6 3
+f 2 5 11
+f 2 11 19
+f 2 19 27
+f 2 27 38
+f 2 38 32
+f 2 32 22
+f 2 22 13
+f 2 13 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 7 12 8
+f 7 13 12
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 11 18 19
+f 12 13 21
+f 12 21 20
+f 13 22 34
+f 13 34 40
+f 13 40 43
+f 13 43 45
+f 13 45 42
+f 13 42 39
+f 13 39 30
+f 13 30 29
+f 13 29 28
+f 13 28 21
+f 14 23 15
+f 14 24 23
+f 15 23 16
+f 16 25 18
+f 16 18 17
+f 16 23 26
+f 16 26 25
+f 18 25 27
+f 18 27 19
+f 20 21 28
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 22 32 33
+f 22 33 34
+f 23 24 35
+f 23 35 36
+f 23 36 33
+f 23 33 26
+f 25 37 38
+f 25 38 27
+f 25 26 37
+f 26 33 37
+f 30 39 31
+f 32 38 37
+f 32 37 33
+f 33 36 34
+f 34 36 40
+f 35 41 36
+f 36 41 40
+f 40 41 43
+f 41 44 43
+f 41 42 45
+f 41 45 44
+f 43 44 45
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_81.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccd75211ba561e10c7d27912495d282d5692cd08
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_81.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.00006464 -0.05845076 0.00043113
+v -0.00006464 -0.05772738 0.00262347
+v -0.00108496 -0.05773033 0.00262820
+v -0.00108496 -0.05845223 0.00043113
+v -0.00006464 -0.04592976 0.00043117
+v -0.00006464 -0.05716967 0.00291959
+v -0.00006464 -0.05651581 0.00326602
+v -0.00108496 -0.05651581 0.00327158
+v -0.00243695 -0.05770963 0.00259901
+v -0.00203545 -0.05840046 0.00043113
+v -0.00898132 -0.04334095 0.00043118
+v -0.00006464 -0.04596675 0.00079930
+v -0.00006464 -0.05568295 0.00322433
+v -0.00550926 -0.04798751 0.00295020
+v -0.00322423 -0.05648770 0.00289067
+v -0.00550926 -0.04924050 0.00295020
+v -0.00421400 -0.05813566 0.00043113
+v -0.00325478 -0.05826880 0.00043113
+v -0.00898132 -0.05633533 0.00099166
+v -0.00898132 -0.04346669 0.00054601
+v -0.00898132 -0.05654687 0.00043113
+v -0.00329755 -0.04804077 0.00289515
+v -0.00006464 -0.04739134 0.00181609
+v -0.00006464 -0.05470512 0.00316983
+v -0.00898132 -0.04737212 0.00205576
+v -0.00681499 -0.04836030 0.00263379
+v -0.00898132 -0.04963400 0.00212109
+v -0.00898132 -0.04511467 0.00153805
+v -0.00898132 -0.05157487 0.00205518
+v -0.00898132 -0.05370953 0.00179938
+v -0.00898132 -0.05422434 0.00168566
+v -0.00898132 -0.05653059 0.00047618
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 18
+f 1 18 17
+f 1 17 21
+f 1 21 11
+f 1 11 5
+f 1 5 12
+f 1 12 23
+f 1 23 24
+f 1 24 13
+f 1 13 7
+f 1 7 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 5 11 12
+f 7 13 14
+f 7 14 8
+f 8 15 9
+f 8 14 16
+f 8 16 15
+f 9 17 18
+f 9 18 10
+f 9 15 19
+f 9 19 17
+f 11 20 12
+f 11 21 32
+f 11 32 19
+f 11 19 31
+f 11 31 30
+f 11 30 29
+f 11 29 27
+f 11 27 25
+f 11 25 28
+f 11 28 20
+f 12 20 22
+f 12 22 23
+f 13 24 22
+f 13 22 14
+f 14 25 26
+f 14 26 27
+f 14 27 16
+f 14 22 28
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+f 15 16 29
+f 15 29 30
+f 15 30 31
+f 15 31 19
+f 16 27 29
+f 17 19 32
+f 17 32 21
+f 20 28 22
+f 22 24 23
+f 25 27 26
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_82.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a72589eb9bf0832c73af22c32c94cee5cdf056b9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_82.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.00898132 -0.06563619 0.00501334
+v -0.01000840 -0.06549747 0.00501334
+v -0.00898132 -0.06528360 0.00353856
+v -0.00898132 -0.06041680 0.00501336
+v -0.01093202 -0.06536453 0.00501334
+v -0.01214780 -0.06491368 0.00391892
+v -0.01013833 -0.06507841 0.00343226
+v -0.01101147 -0.06452063 0.00253249
+v -0.00898132 -0.06488767 0.00283032
+v -0.00898132 -0.04737121 0.00205622
+v -0.01036179 -0.04613717 0.00501341
+v -0.01214780 -0.06510732 0.00501334
+v -0.01295556 -0.06492814 0.00501334
+v -0.01352744 -0.06468826 0.00437777
+v -0.01214780 -0.06432989 0.00279085
+v -0.01435920 -0.06270281 0.00227998
+v -0.01214780 -0.06318544 0.00222795
+v -0.00953665 -0.06461312 0.00246790
+v -0.00898132 -0.06464780 0.00244593
+v -0.00898132 -0.04511698 0.00153816
+v -0.01140294 -0.03611455 0.00501345
+v -0.01357627 -0.06471428 0.00501334
+v -0.01516530 -0.06346578 0.00501335
+v -0.01579264 -0.06263922 0.00365474
+v -0.01555677 -0.06235022 0.00244728
+v -0.01435920 -0.06109595 0.00180275
+v -0.01199303 -0.05652102 0.00043113
+v -0.00995874 -0.05697476 0.00043113
+v -0.00898132 -0.05654704 0.00043113
+v -0.00898132 -0.04346677 0.00054601
+v -0.01117534 -0.03611454 0.00344896
+v -0.01743215 -0.03611455 0.00501345
+v -0.00898132 -0.04334249 0.00043118
+v -0.01590437 -0.06277507 0.00501335
+v -0.01678826 -0.06109596 0.00501336
+v -0.01658715 -0.06109595 0.00365475
+v -0.01585554 -0.06109595 0.00223379
+v -0.01227856 -0.05587655 0.00043113
+v -0.01117452 -0.03611454 0.00343954
+v -0.01739739 -0.03611454 0.00386834
+v -0.01743464 -0.03727924 0.00501344
+v -0.00941251 -0.04274715 0.00043118
+v -0.01217511 -0.03611454 0.00147047
+v -0.01206586 -0.03611454 0.00155031
+v -0.01196075 -0.03611454 0.00166334
+v -0.01103879 -0.03701334 0.00252362
+v -0.01701917 -0.06018560 0.00501336
+v -0.01716732 -0.05880416 0.00365475
+v -0.01616838 -0.05880416 0.00205393
+v -0.01285458 -0.05422345 0.00043114
+v -0.01738912 -0.03611454 0.00365484
+v -0.01743629 -0.05651526 0.00501337
+v -0.00997116 -0.04231076 0.00043118
+v -0.01422264 -0.03611453 0.00048414
+v -0.01385021 -0.03611453 0.00062139
+v -0.01734029 -0.05880417 0.00501336
+v -0.01724428 -0.05651525 0.00365476
+v -0.01315584 -0.05193166 0.00043115
+v -0.01640177 -0.03611454 0.00151263
+v -0.01649529 -0.03611454 0.00170595
+v -0.01183082 -0.04248705 0.00043118
+v -0.01233236 -0.04259976 0.00043118
+v -0.01337681 -0.04471526 0.00043118
+v -0.01339750 -0.04506206 0.00043117
+f 1 2 3
+f 1 3 9
+f 1 9 19
+f 1 19 29
+f 1 29 33
+f 1 33 30
+f 1 30 20
+f 1 20 10
+f 1 10 4
+f 1 4 11
+f 1 11 21
+f 1 21 32
+f 1 32 41
+f 1 41 52
+f 1 52 56
+f 1 56 47
+f 1 47 35
+f 1 35 34
+f 1 34 23
+f 1 23 22
+f 1 22 13
+f 1 13 12
+f 1 12 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
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+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 8
+f 6 8 7
+f 8 15 16
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+f 8 17 18
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+f 9 18 19
+f 10 20 11
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+f 14 25 15
+f 15 25 16
+f 16 25 26
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+f 17 19 18
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+f 17 27 28
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+f 19 28 29
+f 20 30 21
+f 21 31 39
+f 21 39 45
+f 21 45 44
+f 21 44 43
+f 21 43 55
+f 21 55 54
+f 21 54 59
+f 21 59 60
+f 21 60 51
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+f 21 30 33
+f 21 33 31
+f 23 34 24
+f 24 35 36
+f 24 36 25
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+f 26 37 27
+f 27 38 50
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+f 27 63 62
+f 27 62 61
+f 27 61 53
+f 27 53 42
+f 27 42 33
+f 27 33 29
+f 27 29 28
+f 27 37 38
+f 31 33 39
+f 32 40 41
+f 33 42 43
+f 33 43 44
+f 33 44 45
+f 33 45 46
+f 33 46 39
+f 35 47 36
+f 36 47 48
+f 36 48 37
+f 37 48 49
+f 37 49 38
+f 38 49 50
+f 39 46 45
+f 40 51 52
+f 40 52 41
+f 42 53 54
+f 42 54 55
+f 42 55 43
+f 47 56 48
+f 48 56 52
+f 48 52 57
+f 48 57 49
+f 49 58 50
+f 49 57 59
+f 49 59 58
+f 51 60 57
+f 51 57 52
+f 53 61 54
+f 54 61 62
+f 54 62 63
+f 54 63 64
+f 54 64 58
+f 54 58 59
+f 57 60 59
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_83.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9f41ca60636c4c85b2ba5cf65f82b5509cdc6cb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_83.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.01128955 -0.03611631 0.00497602
+v 0.00954332 -0.03611632 0.00859286
+v 0.01746625 -0.03611631 0.00497602
+v 0.01032641 -0.04508419 0.00497598
+v 0.00954332 -0.03611633 0.01148234
+v 0.01013378 -0.04735394 0.00497598
+v 0.00954332 -0.05935526 0.00497593
+v 0.01749298 -0.03611631 0.00591083
+v 0.01757475 -0.05422467 0.00591076
+v 0.01744896 -0.05517277 0.00497595
+v 0.00954332 -0.03658919 0.01164118
+v 0.01466410 -0.03611634 0.01384236
+v 0.00954332 -0.06026789 0.00497593
+v 0.01751107 -0.03611632 0.00795317
+v 0.01756139 -0.05422469 0.01042074
+v 0.01756846 -0.05651571 0.00591075
+v 0.01751264 -0.03611632 0.00816669
+v 0.01751736 -0.03818984 0.01042080
+v 0.01744502 -0.05651571 0.00497594
+v 0.00954332 -0.04608433 0.01383537
+v 0.01719107 -0.03611634 0.01384236
+v 0.00954332 -0.04611743 0.01384232
+v 0.01682940 -0.06026789 0.00497593
+v 0.00954332 -0.06026792 0.01384227
+v 0.01753859 -0.04964264 0.01267662
+v 0.01754645 -0.05422470 0.01267660
+v 0.01753780 -0.05651574 0.01267659
+v 0.01755195 -0.05651573 0.01042073
+v 0.01738763 -0.05880673 0.00591074
+v 0.01738134 -0.05746380 0.00497594
+v 0.01750557 -0.03611633 0.01042081
+v 0.01739706 -0.04616945 0.01384232
+v 0.01695598 -0.06026789 0.00591074
+v 0.01727520 -0.05880673 0.00497593
+v 0.01686478 -0.06026792 0.01384227
+v 0.01752522 -0.04735397 0.01267663
+v 0.01749692 -0.05422470 0.01384229
+v 0.01750085 -0.05651574 0.01384228
+v 0.01733495 -0.05880676 0.01267658
+v 0.01736876 -0.05880675 0.01042072
+v 0.01737819 -0.05880674 0.00816660
+v 0.01741593 -0.04735397 0.01384232
+v 0.01695205 -0.06026789 0.00672837
+v 0.01690802 -0.06026791 0.01123835
+v 0.01729171 -0.05880676 0.01384227
+v 0.01740257 -0.05762224 0.01384228
+v 0.01692060 -0.06026791 0.01042072
+v 0.01693476 -0.06026790 0.00898336
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+f 1 5 12
+f 1 12 21
+f 1 21 31
+f 1 31 17
+f 1 17 14
+f 1 14 8
+f 1 8 3
+f 1 3 10
+f 1 10 19
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+f 1 30 34
+f 1 34 23
+f 1 23 13
+f 1 13 7
+f 1 7 6
+f 1 6 4
+f 1 4 2
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+f 2 6 7
+f 2 7 13
+f 2 13 24
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+f 2 22 20
+f 2 20 11
+f 2 11 5
+f 3 8 9
+f 3 9 10
+f 5 11 12
+f 8 14 9
+f 9 15 16
+f 9 16 10
+f 9 14 17
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+f 11 20 12
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+f 13 35 24
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+f 15 26 27
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+f 16 28 29
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+f 16 30 19
+f 17 31 18
+f 18 31 25
+f 21 32 31
+f 23 34 33
+f 25 36 37
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+f 25 38 26
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+f 26 38 27
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+f 27 39 40
+f 27 40 28
+f 28 40 41
+f 28 41 29
+f 29 41 33
+f 29 33 34
+f 29 34 30
+f 31 32 36
+f 32 42 36
+f 33 41 40
+f 33 40 43
+f 35 44 39
+f 35 39 45
+f 36 42 37
+f 38 46 39
+f 39 46 45
+f 39 44 47
+f 39 47 40
+f 40 47 48
+f 40 48 43
+
diff --git a/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_9.obj b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59eedf4697824e5846580b8622fee4605559d1c5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fdb83e0401f2541792b09528ca4b18b0/mjcf/mesh/stapler_19_collision_9.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.01185817 -0.00847184 -0.00635782
+v -0.01615898 -0.00847185 -0.00279516
+v -0.00856367 -0.00847184 -0.00635782
+v -0.01253433 -0.02343503 -0.00635788
+v -0.01618363 -0.00847185 -0.00274415
+v -0.01262501 -0.02572686 -0.00635788
+v -0.01269280 -0.02801599 -0.00635789
+v -0.01274122 -0.03030782 -0.00635790
+v -0.01276323 -0.03259965 -0.00635791
+v -0.01277996 -0.03488877 -0.00635792
+v -0.01278348 -0.03611451 -0.00635792
+v -0.00852757 -0.01069873 -0.00635783
+v -0.00859096 -0.00847184 -0.00622703
+v -0.00857424 -0.03611452 -0.00297613
+v -0.00839815 -0.02673343 -0.00536635
+v -0.01703587 -0.00847186 -0.00085661
+v -0.01682369 -0.01299058 -0.00085663
+v -0.01695047 -0.01069875 -0.00085662
+v -0.00834357 -0.03611451 -0.00635792
+v -0.01649530 -0.03611454 0.00170513
+v -0.01682545 -0.02902258 0.00139907
+v -0.01697424 -0.02673346 0.00139908
+v -0.00848179 -0.01527969 -0.00635785
+v -0.01151833 -0.00847187 0.00311787
+v -0.00865611 -0.03611452 -0.00260512
+v -0.00834357 -0.03611451 -0.00536638
+v -0.00834357 -0.03589534 -0.00536638
+v -0.00835061 -0.03360622 -0.00536637
+v -0.00838143 -0.02902255 -0.00536636
+v -0.00837174 -0.02673343 -0.00635789
+v -0.01704379 -0.00847186 -0.00079169
+v -0.01714240 -0.03611454 0.00311777
+v -0.01721283 -0.03305967 0.00311778
+v -0.01724805 -0.03076784 0.00311779
+v -0.00834181 -0.03360622 -0.00635791
+v -0.01733521 -0.00847187 0.00311787
+v -0.01131760 -0.03611454 0.00311777
+v -0.00834885 -0.03131439 -0.00635791
+v -0.00836030 -0.02902255 -0.00635790
+v -0.01727270 -0.00847187 0.00139915
+v -0.01727534 -0.02847871 0.00311780
+v -0.01727622 -0.00847187 0.00146315
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+f 1 24 13
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+f 31 34 41
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