diff --git a/.gitattributes b/.gitattributes
index 26e3577572da32af9ad1981186fb3fa42881ff48..b9050c2c3ce15e9724859e5345e3f36ec933b859 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3177,3 +3177,5 @@ dataset/desktop_supplies/office_stationery/7ac349fa10db5368b65e35cd095319d7/eras
 dataset/desktop_supplies/office_stationery/7ac349fa10db5368b65e35cd095319d7/mesh/eraser_031.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/811d12e6c84d53fbaa7e851aa3abcd04/marker_006.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/811d12e6c84d53fbaa7e851aa3abcd04/mesh/marker_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mesh/stapler_031.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/stapler_031.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f220d6783220a14432c2dcfe15dde54ac7faad15
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stapler_031_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd stapler_031_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..74f3df8561947af9438c356cb96a0795d9a3439c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb766985a82e7d8a751567dcdbbe763461e522a8fde2218445347bad6e0afe0c
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diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mesh/stapler_031.glb b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mesh/stapler_031.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2a33385ce56e41097a980dc045d55c875a273f27
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mesh/stapler_031.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b5ab3acdb60d07cc9ec2c1f52e886df5d32fc77b99a9cd1efc3d449b54d8c9e
+size 12470768
diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mesh/stapler_031.mtl b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mesh/stapler_031.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5689ae86f743f7f7fd0d386fc454e63d5a01816a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mesh/stapler_031.mtl
@@ -0,0 +1,6 @@
+newmtl stapler_031_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mesh/stapler_031.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mesh/stapler_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..273770ae452937ce26b2517d256832876a1d8390
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mesh/stapler_031.obj
@@ -0,0 +1,111436 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stapler_031_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mesh/stapler_031_collision.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mesh/stapler_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9471969a3d1c30d95fb52f8fa1e942a42807ee37
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mesh/stapler_031_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mesh/stapler_031_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mesh/stapler_031_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 8993350
diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 8993350
diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031.obj
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+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031.obj
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diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..624271a74b8727a43bf2307300a860b8768dec7d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision.obj
@@ -0,0 +1,16494 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_0.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62b6e9a6c01e9ca49799cc5fe086a4e3b179817b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_1.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a03892d745562621e033276e633123f170043f0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_10.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d98824465d7b1b530c86694a5b360197e2b11c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_11.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9282bfbc74238bf3e3902fdcceda65db5c5a1621
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_11.obj
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diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_12.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c60a2c51fd0c292c10889949ebe03aec1191b49
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_12.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_13.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24f7ebcde966461f869aa7ad1b19d3d534b1606b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_13.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00363847 -0.01307509 0.02307093
+v 0.00368445 -0.01355325 0.02307093
+v 0.00417782 -0.01307510 0.02373812
+v 0.01102661 -0.01307509 0.02307093
+v 0.00377422 -0.01409613 0.02307093
+v 0.00498867 -0.01307510 0.02467658
+v 0.01109376 -0.01307510 0.02478785
+v 0.01085437 -0.01350002 0.02307093
+v 0.00423109 -0.01553785 0.02307092
+v 0.00588710 -0.01307510 0.02563872
+v 0.01087773 -0.01307511 0.02657404
+v 0.01091714 -0.01339316 0.02480841
+v 0.01042012 -0.01436991 0.02307093
+v 0.00480621 -0.01656060 0.02307092
+v 0.00686581 -0.01307511 0.02660398
+v 0.01081204 -0.01307511 0.02676844
+v 0.01084269 -0.01311981 0.02657404
+v 0.00889549 -0.01648907 0.02307092
+v 0.00574843 -0.01735385 0.02307092
+v 0.00693003 -0.01446232 0.02571245
+v 0.00815981 -0.01307511 0.02735698
+v 0.01041136 -0.01307511 0.02745976
+v 0.00873054 -0.01623275 0.02395753
+v 0.00792261 -0.01714436 0.02307092
+v 0.00608196 -0.01742453 0.02307092
+v 0.00915020 -0.01307511 0.02757685
+v 0.00956913 -0.01307511 0.02763628
+v 0.00784087 -0.01716054 0.02307092
+f 1 2 3
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+f 1 15 21
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+f 1 27 22
+f 1 22 16
+f 1 16 11
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+
diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_14.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a1e2ad89ef1b7c10dcfb994bef6868fdd0a0d36
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_14.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.01101458 -0.01307466 0.02307093
+v -0.01086218 -0.01344966 0.02307093
+v -0.01107091 -0.01307467 0.02342119
+v -0.00371911 -0.01307466 0.02307093
+v -0.01039705 -0.01436231 0.02307093
+v -0.01107958 -0.01307467 0.02519118
+v -0.00394590 -0.01307467 0.02339101
+v -0.00370105 -0.01355328 0.02307093
+v -0.00973186 -0.01530385 0.02307092
+v -0.01085857 -0.01307468 0.02657405
+v -0.00889188 -0.01647853 0.02307092
+v -0.00481621 -0.01307467 0.02443870
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+v -0.00485955 -0.01355329 0.02435924
+v -0.01083185 -0.01310823 0.02657405
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+v -0.00783450 -0.01714997 0.02307092
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+v -0.00815013 -0.01307468 0.02733407
+v -0.00693385 -0.01446085 0.02571058
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+
diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_15.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faab745b9a0f04a09d565e443b3a7c0997fe4fa6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_15.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.00005282 0.02378462 -0.01645214
+v 0.00144433 0.01454318 -0.01645218
+v -0.00005282 0.02722750 -0.01335205
+v -0.00005282 0.03743639 -0.01645209
+v 0.00252107 0.01184661 -0.01645219
+v 0.00229097 0.01297376 -0.01335179
+v 0.00072003 0.02721828 -0.01335174
+v -0.00005282 0.03455554 -0.01335171
+v -0.00005282 0.03992104 -0.01335169
+v 0.00295119 0.03910409 -0.01645209
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+v 0.00298808 0.01157326 -0.01335180
+v 0.00260846 0.04065814 -0.01335169
+v 0.00424348 0.04104512 -0.01335169
+v 0.00435028 0.03939893 -0.01645209
+v 0.00423765 0.01026491 -0.01645219
+v 0.00419493 0.01070102 -0.01335180
+v 0.00435028 0.04106355 -0.01335169
+v 0.00615230 0.03916551 -0.01645209
+v 0.00609016 0.04094070 -0.01335169
+v 0.00550469 0.00980729 -0.01645219
+v 0.00540760 0.01043382 -0.01335180
+v 0.00616298 0.04092227 -0.01335169
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+v 0.00869415 0.03803529 -0.01645209
+v 0.00609016 0.00969058 -0.01645219
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+v 0.00972235 0.01297377 -0.01645218
+v 0.00959904 0.01473973 -0.01335179
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+
diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_16.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..394fb3915252a78653e077c42ed4ed33809ec4fb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_16.obj
@@ -0,0 +1,667 @@
+# https://github.com/mikedh/trimesh
+v 0.00065073 -0.02576316 0.05999169
+v -0.00087367 -0.02443378 0.05709879
+v 0.00087309 -0.02444365 0.05709879
+v 0.00074476 -0.02576316 0.05999169
+v -0.00074313 -0.02576316 0.06001128
+v -0.00186929 -0.02396103 0.05709879
+v -0.00088363 -0.02576316 0.06009775
+v -0.00181509 -0.02576316 0.06078957
+v -0.00244786 -0.02576317 0.06133128
+v 0.00232559 -0.02372527 0.05709879
+v 0.00274596 -0.02576317 0.06153360
+v 0.00243842 -0.02576317 0.06128396
+v 0.00082773 -0.02576316 0.06000148
+v -0.00231400 -0.02371540 0.05709879
+v -0.00283283 -0.02576317 0.06174898
+v -0.00360609 -0.02576317 0.06258928
+v 0.00294951 -0.02322166 0.05709879
+v 0.00409558 -0.02576317 0.06328272
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+v -0.00318462 -0.02299825 0.05709880
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+v -0.00375544 -0.02236504 0.05709880
+v -0.00421010 -0.02576317 0.06356500
+v 0.00395840 -0.02213298 0.05709880
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diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_17.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..488c5da1dc8f08bc6720f3e0f28975504e01ac69
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_17.obj
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diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_18.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d872c12864138de567e0c9f03e9001ec6ead6da
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_18.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_19.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6470605c17d02580d071b1b73087eaa4bc2769b4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_19.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_2.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3489a89297e24436fb3ffdf45c77212589ef59a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_20.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aab18fb21bcb804657b71561a5247770fcf36052
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_20.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_21.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35550088fc8379766bc1f611baffb2232e8b17c7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_21.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.00991639 0.03705755 -0.01335170
+v -0.00986522 0.03777077 -0.01335170
+v -0.00972331 0.03595698 -0.01645210
+v -0.00977930 0.03418929 -0.01645210
+v -0.00973779 0.01474164 -0.01645218
+v -0.00973296 0.01384089 -0.01645218
+v -0.00972234 0.01297396 -0.01645218
+v -0.00959781 0.01474163 -0.01335179
+v -0.00953409 0.03908962 -0.01335170
+v -0.00954760 0.03662716 -0.01645210
+v -0.00964415 0.01207628 -0.01645219
+v -0.00951188 0.01366565 -0.01335179
+v -0.00936997 0.03933248 -0.01335170
+v -0.00929081 0.03755558 -0.01645209
+v -0.00940666 0.01120012 -0.01645219
+v -0.00930625 0.01292168 -0.01335179
+v -0.00784173 0.04083271 -0.01335169
+v -0.00788614 0.03830262 -0.01645209
+v -0.00921261 0.01050227 -0.01645219
+v -0.00905235 0.01216235 -0.01335180
+v -0.00451108 0.04110017 -0.01335169
+v -0.00435275 0.03939705 -0.01645209
+v -0.00526120 0.03928330 -0.01645209
+v -0.00613489 0.03916341 -0.01645209
+v -0.00815645 0.00994583 -0.01645219
+v -0.00855806 0.01160283 -0.01335180
+v -0.00889885 0.01186414 -0.01335180
+v -0.00435275 0.04109710 -0.01335169
+v -0.00353891 0.03923104 -0.01645209
+v -0.00783208 0.00984438 -0.01645219
+v -0.00715050 0.01094495 -0.01335180
+v -0.00782435 0.01123393 -0.01335180
+v -0.00261115 0.04074048 -0.01335169
+v -0.00295484 0.03910193 -0.01645209
+v -0.00659442 0.00972448 -0.01645219
+v -0.00451494 0.01020098 -0.01335180
+v -0.00540987 0.01044077 -0.01335180
+v -0.00005379 0.03991966 -0.01335169
+v -0.00005379 0.03743569 -0.01645209
+v -0.00609145 0.00969374 -0.01645219
+v -0.00487697 0.01010261 -0.01645219
+v -0.00470126 0.01017025 -0.01645219
+v -0.00377061 0.01058527 -0.01645219
+v -0.00327439 0.01113555 -0.01335180
+v -0.00005379 0.03455512 -0.01335171
+v -0.00005379 0.02378606 -0.01645214
+v -0.00280713 0.01143069 -0.01645219
+v -0.00265460 0.01193178 -0.01335180
+v -0.00074888 0.02723535 -0.01335174
+v -0.00005379 0.02722920 -0.01335205
+v -0.00217093 0.01352731 -0.01335179
+v -0.00143336 0.01511363 -0.01645217
+v -0.00209370 0.01297396 -0.01645218
+v -0.00229064 0.01297395 -0.01335179
+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 12
+f 1 12 16
+f 1 16 20
+f 1 20 27
+f 1 27 26
+f 1 26 32
+f 1 32 31
+f 1 31 37
+f 1 37 36
+f 1 36 44
+f 1 44 48
+f 1 48 54
+f 1 54 51
+f 1 51 49
+f 1 49 45
+f 1 45 38
+f 1 38 33
+f 1 33 28
+f 1 28 21
+f 1 21 17
+f 1 17 13
+f 1 13 9
+f 1 9 2
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+f 3 14 18
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+f 3 43 42
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+f 3 5 4
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+f 25 32 26
+f 28 33 29
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+f 30 37 31
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+f 38 45 50
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+f 44 47 48
+f 45 49 50
+f 46 51 52
+f 46 50 51
+f 47 53 48
+f 48 53 54
+f 49 51 50
+f 51 54 52
+f 52 54 53
+
diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_22.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19166f49b271a33c71759c217db343122af3f03b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_22.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00935916 0.02507559 0.01546104
+v 0.00997924 0.02397214 0.01546104
+v 0.01220245 0.01993324 0.01340084
+v 0.01103186 0.02186674 0.01340085
+v 0.00948620 0.02354976 0.01340086
+v 0.00783769 0.02409166 0.01340086
+v 0.00062057 0.02416042 0.01340086
+v -0.00641205 0.02419317 0.01340086
+v -0.00935214 0.02506577 0.01546104
+v 0.01017283 0.02357922 0.01546104
+v 0.01359688 0.01699778 0.01340083
+v -0.00783975 0.02408839 0.01340086
+v -0.00820575 0.02397051 0.01340086
+v -0.00948220 0.02354812 0.01340086
+v -0.00949733 0.02495935 0.01546104
+v 0.01037549 0.02181107 0.01546103
+v 0.01262895 0.00835022 0.01523389
+v 0.01343959 0.00835023 0.01496525
+v 0.01404152 0.00835023 0.01460484
+v 0.01464648 0.00943567 0.01397539
+v 0.01449826 0.01120382 0.01383402
+v 0.01434702 0.01297197 0.01369245
+v 0.01417461 0.01474012 0.01353272
+v 0.01403850 0.01603840 0.01340083
+v -0.01112768 0.02159333 0.01340085
+v -0.01165097 0.02072399 0.01340085
+v -0.01360801 0.01701415 0.01340083
+v -0.01015370 0.02370200 0.01546104
+v 0.01178201 0.00835022 0.01546098
+v 0.01482191 0.00835023 0.01398185
+v 0.01544804 0.00835023 0.01340080
+v 0.01465253 0.01297197 0.01340082
+v 0.01455573 0.01350242 0.01340082
+v 0.01431678 0.01474012 0.01340082
+v -0.01401635 0.01616119 0.01340083
+v -0.01405567 0.01602203 0.01340083
+v -0.01403752 0.01604495 0.01341313
+v -0.01418574 0.01474012 0.01353716
+v -0.01435513 0.01297197 0.01369548
+v -0.01451241 0.01120382 0.01384552
+v -0.01465458 0.00943567 0.01398548
+v -0.01343862 0.00835023 0.01496807
+v -0.01037451 0.02205664 0.01546103
+v -0.01188690 0.00835022 0.01546098
+v -0.01545312 0.00835023 0.01340080
+v -0.01433093 0.01474012 0.01340082
+v -0.01466668 0.01297197 0.01340082
+v -0.01497521 0.01120382 0.01340081
+v -0.01517182 0.01005125 0.01340081
+v -0.01527466 0.00943567 0.01340080
+v -0.01482699 0.00835023 0.01398507
+v -0.01231642 0.00835022 0.01534864
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+
diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_23.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e1cc51ea7c1e3a1d5c6e9443cb28d30c8d67d6e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_23.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.00394182 0.01491676 0.01546132
+v 0.00417052 0.01598699 0.01546133
+v 0.01015125 0.01491676 0.01546132
+v 0.00513728 0.01491676 0.01663209
+v 0.00558289 0.01850843 0.01663211
+v 0.00594880 0.02073316 0.01663212
+v 0.00428279 0.01650767 0.01546133
+v 0.01024342 0.01491676 0.01663209
+v 0.01032589 0.02004508 0.01546134
+v 0.01079021 0.02181147 0.01621378
+v 0.01099465 0.02181147 0.01663212
+v 0.01087060 0.02004508 0.01663211
+v 0.00642074 0.02249494 0.01663212
+v 0.00468543 0.01827637 0.01546134
+v 0.01037579 0.02181147 0.01546135
+v 0.01102099 0.02359749 0.01663213
+v 0.00673260 0.02326037 0.01663213
+v 0.00618789 0.02268312 0.01546135
+v 0.00583307 0.02181147 0.01546135
+v 0.00562932 0.02124230 0.01546135
+v 0.00512064 0.01969411 0.01546134
+v 0.01017274 0.02358017 0.01546136
+v 0.01077566 0.02534772 0.01645940
+v 0.01081031 0.02358017 0.01626697
+v 0.01090110 0.02534772 0.01663213
+v 0.00738334 0.02462616 0.01663213
+v 0.00651638 0.02334466 0.01546136
+v 0.00998008 0.02397271 0.01546136
+v 0.01066755 0.02632905 0.01663214
+v 0.00849702 0.02637754 0.01663214
+v 0.00803478 0.02486629 0.01546136
+v 0.00935913 0.02507526 0.01546136
+v 0.01017204 0.02660729 0.01663214
+v 0.00855731 0.02639948 0.01663214
+v 0.00829050 0.02495173 0.01546136
+v 0.00957050 0.02664770 0.01657632
+v 0.00957050 0.02671119 0.01663214
+v 0.00892600 0.02652186 0.01663214
+f 1 2 7
+f 1 7 14
+f 1 14 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 27
+f 1 27 31
+f 1 31 35
+f 1 35 32
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+f 1 28 22
+f 1 22 15
+f 1 15 9
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+f 29 32 33
+f 30 34 31
+f 31 34 35
+f 32 35 36
+f 32 36 33
+f 33 36 37
+f 34 38 35
+f 35 38 36
+f 36 38 37
+
diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_24.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23fb6c70f7045ffa05b6f16bf4abc399a7087699
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_24.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00924678 -0.03653834 -0.00139941
+v -0.00909819 -0.03653833 -0.00410239
+v -0.00911269 -0.03719426 -0.00410240
+v -0.00911993 -0.03830690 -0.00410240
+v -0.00923047 -0.03831663 -0.00139942
+v -0.00798553 -0.01529855 -0.00139934
+v -0.00759592 -0.01532284 -0.00410232
+v -0.00898765 -0.03866401 -0.00410240
+v -0.00876113 -0.03926406 -0.00410240
+v -0.00892422 -0.03911588 -0.00139942
+v 0.00798673 -0.01529855 -0.00139934
+v -0.00759411 -0.01529854 -0.00410232
+v -0.00783150 -0.03966976 -0.00410241
+v -0.00861253 -0.03941712 -0.00139942
+v -0.00881187 -0.03930537 -0.00139942
+v 0.00926610 -0.03653834 -0.00139941
+v 0.00912657 -0.03653833 -0.00410239
+v 0.00760618 -0.01532284 -0.00410232
+v 0.00760436 -0.01529854 -0.00410232
+v -0.00782787 -0.03974994 -0.00139943
+v -0.00856723 -0.03943656 -0.00139942
+v -0.00609184 -0.04000501 -0.00410241
+v 0.00926248 -0.03681772 -0.00139942
+v 0.00913563 -0.03830690 -0.00410240
+v -0.00609184 -0.04005847 -0.00139943
+v -0.00435036 -0.04000987 -0.00410241
+v -0.00224465 -0.04011435 -0.00139943
+v 0.00923892 -0.03831906 -0.00139942
+v 0.00876595 -0.03927135 -0.00410240
+v 0.00434975 -0.04000987 -0.00410241
+v 0.00608941 -0.04000501 -0.00410241
+v 0.00608941 -0.04006090 -0.00139943
+v 0.00881669 -0.03931266 -0.00139942
+v 0.00782726 -0.03975723 -0.00139943
+v 0.00841802 -0.03942683 -0.00410240
+v 0.00634673 -0.04003661 -0.00139943
+v 0.00718576 -0.03980095 -0.00410241
+v 0.00782907 -0.03967705 -0.00410241
+f 1 2 3
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+f 1 5 10
+f 1 10 15
+f 1 15 14
+f 1 14 21
+f 1 21 20
+f 1 20 25
+f 1 25 27
+f 1 27 32
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+f 1 23 16
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+f 2 30 26
+f 2 26 22
+f 2 22 13
+f 2 13 9
+f 2 9 8
+f 2 8 4
+f 2 4 3
+f 4 8 5
+f 5 8 9
+f 5 9 10
+f 6 11 19
+f 6 19 12
+f 6 12 7
+f 9 13 14
+f 9 14 15
+f 9 15 10
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 13 20 21
+f 13 21 14
+f 13 22 20
+f 16 23 24
+f 16 24 17
+f 20 22 25
+f 22 26 27
+f 22 27 25
+f 23 28 24
+f 24 28 29
+f 26 30 27
+f 27 30 31
+f 27 31 32
+f 28 33 29
+f 29 33 34
+f 29 34 35
+f 31 36 32
+f 31 37 36
+f 34 36 37
+f 34 37 38
+f 34 38 35
+
diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_25.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9514d860582ffaeaf21cf0067d9f6e8680a410dd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_25.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.01024332 0.01491612 0.01663209
+v 0.01023769 0.01302637 0.01663209
+v 0.01178319 0.00835022 0.01546130
+v 0.01129573 0.01120283 0.01546131
+v 0.01076600 0.01306944 0.01546132
+v 0.01015034 0.01491612 0.01546132
+v 0.00513624 0.01491612 0.01663209
+v 0.01013625 0.01121826 0.01663208
+v 0.00992492 0.00835022 0.01663207
+v -0.00260680 0.00835022 0.01546130
+v 0.00394154 0.01491612 0.01546132
+v 0.00503762 0.01425599 0.01663209
+v -0.00260680 0.01234568 0.01546132
+v -0.00260680 0.01120283 0.01563311
+v -0.00260680 0.00943457 0.01588662
+v -0.00260680 0.00835279 0.01603459
+v 0.00418949 0.00835022 0.01663207
+v -0.00193759 0.00835022 0.01604548
+v 0.00459665 0.01120283 0.01663208
+v 0.00422612 0.00861375 0.01663207
+v 0.00434165 0.00943457 0.01663207
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 7
+f 1 7 12
+f 1 12 19
+f 1 19 21
+f 1 21 20
+f 1 20 17
+f 1 17 9
+f 1 9 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 17
+f 3 17 18
+f 3 18 10
+f 3 10 13
+f 3 13 11
+f 3 11 6
+f 3 6 5
+f 3 5 4
+f 7 11 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 12
+f 10 18 16
+f 10 16 15
+f 10 15 14
+f 10 14 13
+f 12 16 19
+f 16 18 17
+f 16 17 20
+f 16 20 21
+f 16 21 19
+
diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_26.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b64659716b654b0e72ff1aa8b7bc3f681a7db2c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_26.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.01200541 -0.01529613 -0.00025480
+v 0.01201583 -0.01529613 -0.00025480
+v -0.01133763 -0.01529613 -0.00051931
+v -0.00924494 -0.03653828 -0.00139941
+v -0.00924494 -0.03658052 -0.00139941
+v -0.00923319 -0.03799666 -0.00139942
+v -0.00922848 -0.03831716 -0.00139942
+v -0.00969875 -0.03835941 -0.00025488
+v 0.00970681 -0.03836686 -0.00025488
+v 0.00923890 -0.03831965 -0.00139942
+v 0.00926241 -0.03681903 -0.00139942
+v 0.00926476 -0.03653828 -0.00139941
+v 0.01131043 -0.01529613 -0.00053220
+v -0.01131177 -0.01529613 -0.00052906
+v -0.00798463 -0.01529861 -0.00139934
+v -0.00921202 -0.03836188 -0.00139942
+v -0.00961410 -0.03858052 -0.00025488
+v 0.00905549 -0.03953953 -0.00025489
+v 0.00881566 -0.03931343 -0.00139942
+v 0.00798564 -0.01529612 -0.00139934
+v -0.00798463 -0.01529612 -0.00139878
+v -0.00784355 -0.01529612 -0.00139934
+v -0.00892281 -0.03911716 -0.00139942
+v -0.00905213 -0.03953207 -0.00025489
+v 0.00781634 -0.04020288 -0.00025489
+v 0.00782575 -0.03975815 -0.00139943
+v -0.00881230 -0.03930349 -0.00139942
+v -0.00861243 -0.03941778 -0.00139942
+v -0.00804106 -0.04010102 -0.00025489
+v 0.00738605 -0.04028486 -0.00025489
+v 0.00643141 -0.04002150 -0.00139943
+v -0.00782709 -0.03974821 -0.00139943
+v -0.00781298 -0.04019542 -0.00025489
+v 0.00608811 -0.04040660 -0.00025489
+v 0.00608811 -0.04006125 -0.00139943
+v 0.00634676 -0.04003641 -0.00139943
+v -0.00609180 -0.04005877 -0.00139943
+v -0.00609180 -0.04040412 -0.00025489
+v 0.00086815 -0.04067492 -0.00025489
+v 0.00260814 -0.04008361 -0.00139943
+v -0.00224267 -0.04011343 -0.00139943
+v -0.00070019 -0.04067741 -0.00025489
+v -0.00086949 -0.04067492 -0.00025489
+f 1 2 13
+f 1 13 20
+f 1 20 22
+f 1 22 21
+f 1 21 14
+f 1 14 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 17
+f 1 17 24
+f 1 24 29
+f 1 29 33
+f 1 33 38
+f 1 38 43
+f 1 43 42
+f 1 42 39
+f 1 39 34
+f 1 34 30
+f 1 30 25
+f 1 25 18
+f 1 18 9
+f 1 9 2
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 3 14 4
+f 4 14 15
+f 4 15 22
+f 4 22 20
+f 4 20 12
+f 4 12 11
+f 4 11 10
+f 4 10 19
+f 4 19 26
+f 4 26 31
+f 4 31 36
+f 4 36 35
+f 4 35 40
+f 4 40 41
+f 4 41 37
+f 4 37 32
+f 4 32 28
+f 4 28 27
+f 4 27 23
+f 4 23 16
+f 4 16 7
+f 4 7 6
+f 4 6 5
+f 7 16 8
+f 8 16 17
+f 9 18 19
+f 9 19 10
+f 12 20 13
+f 14 21 15
+f 15 21 22
+f 16 23 17
+f 17 23 24
+f 18 25 19
+f 19 25 26
+f 23 27 24
+f 24 27 28
+f 24 28 29
+f 25 30 26
+f 26 30 31
+f 28 32 29
+f 29 32 33
+f 30 34 35
+f 30 35 36
+f 30 36 31
+f 32 37 33
+f 33 37 38
+f 34 39 35
+f 35 39 40
+f 37 41 42
+f 37 42 43
+f 37 43 38
+f 39 42 41
+f 39 41 40
+
diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_27.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8067958fe807a687ba3f5baa39d2d37d92fcf88
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_27.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.00005086 -0.02416114 0.01866606
+v 0.00854666 -0.02416114 0.01866606
+v -0.00005086 -0.02416114 0.01982720
+v -0.00005086 -0.01276816 0.01866610
+v 0.00889487 -0.01648839 0.02307092
+v 0.00792204 -0.01714397 0.02307092
+v 0.00435021 -0.02416114 0.01962239
+v 0.00983539 -0.01712168 0.01866609
+v 0.01163745 -0.01133610 0.02307094
+v 0.01155369 -0.01178163 0.02307094
+v 0.01085488 -0.01349694 0.02307093
+v 0.01041932 -0.01436892 0.02307093
+v 0.00086932 -0.02416114 0.01982892
+v 0.00608168 -0.01742402 0.02307092
+v 0.00574902 -0.01735400 0.02307092
+v 0.00480731 -0.01655841 0.02307092
+v 0.00423055 -0.01553686 0.02307092
+v 0.00377465 -0.01409523 0.02307093
+v 0.00368490 -0.01355104 0.02307093
+v -0.00005086 -0.02057458 0.02013981
+v -0.00005086 -0.01278408 0.01868507
+v 0.00567962 0.00834702 0.01866618
+v 0.00784067 -0.01715988 0.02307092
+v 0.00261036 -0.02416114 0.01980952
+v 0.00995265 -0.01532044 0.01866609
+v 0.01184447 -0.01010769 0.02307094
+v 0.00357841 -0.01245312 0.02307093
+v -0.00005086 -0.01961350 0.02009239
+v 0.00360354 -0.01178163 0.02307094
+v -0.00005086 -0.01350966 0.01948920
+v 0.00689775 0.00766598 0.02307101
+v 0.00688220 0.00834701 0.02241132
+v 0.01006992 0.00834702 0.01866618
+v 0.01005915 -0.01353512 0.01866610
+v 0.01217353 0.00766598 0.02307101
+v -0.00005086 -0.01885609 0.02005488
+v 0.00386678 -0.00992630 0.02307094
+v -0.00005086 -0.01453758 0.01964141
+v -0.00005086 -0.01532044 0.01975609
+v -0.00005086 -0.01708667 0.01992467
+v 0.00660698 0.00603341 0.02307100
+v 0.00709639 0.00834701 0.02307101
+v 0.01053061 0.00834702 0.01964062
+v 0.01073163 0.00589658 0.01994373
+v 0.01018719 0.00231002 0.01866616
+v 0.01104514 0.00834701 0.02076037
+v 0.01209336 0.00834701 0.02307101
+f 1 2 7
+f 1 7 24
+f 1 24 13
+f 1 13 3
+f 1 3 20
+f 1 20 28
+f 1 28 36
+f 1 36 40
+f 1 40 39
+f 1 39 38
+f 1 38 30
+f 1 30 21
+f 1 21 4
+f 1 4 22
+f 1 22 33
+f 1 33 45
+f 1 45 34
+f 1 34 25
+f 1 25 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 5
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 18
+f 3 18 19
+f 3 19 20
+f 4 21 22
+f 5 12 11
+f 5 11 10
+f 5 10 9
+f 5 9 26
+f 5 26 35
+f 5 35 47
+f 5 47 42
+f 5 42 31
+f 5 31 41
+f 5 41 37
+f 5 37 29
+f 5 29 27
+f 5 27 19
+f 5 19 18
+f 5 18 17
+f 5 17 16
+f 5 16 15
+f 5 15 14
+f 5 14 23
+f 5 23 6
+f 6 23 24
+f 6 24 7
+f 8 25 26
+f 8 26 9
+f 13 24 14
+f 14 24 23
+f 19 27 20
+f 20 27 29
+f 20 29 28
+f 21 30 22
+f 22 31 32
+f 22 32 42
+f 22 42 47
+f 22 47 46
+f 22 46 43
+f 22 43 33
+f 22 30 31
+f 25 34 26
+f 26 34 35
+f 28 29 36
+f 29 37 30
+f 29 30 38
+f 29 38 39
+f 29 39 40
+f 29 40 36
+f 30 37 41
+f 30 41 31
+f 31 42 32
+f 33 43 35
+f 33 35 44
+f 33 44 45
+f 34 45 35
+f 35 45 44
+f 35 43 46
+f 35 46 47
+
diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_28.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c20545f262592fccfdb86ae69c609aac80df8f33
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_28.obj
@@ -0,0 +1,556 @@
+# https://github.com/mikedh/trimesh
+v -0.01477713 0.04126054 -0.01031085
+v -0.01476845 0.04146397 -0.01031085
+v -0.01473085 0.04126054 -0.01051208
+v -0.01465854 0.03949372 -0.01051208
+v -0.01471060 0.03969339 -0.01031085
+v -0.01451103 0.04309140 -0.01031084
+v -0.01440401 0.04310270 -0.01060971
+v -0.01409452 0.04256022 -0.01158999
+v -0.01419286 0.04126054 -0.01169895
+v -0.01416105 0.03949372 -0.01166055
+v -0.01470193 0.03949372 -0.01031085
+v -0.01428542 0.03294257 -0.01031088
+v -0.01427674 0.04375442 -0.01031084
+v -0.01379661 0.04373935 -0.01126373
+v -0.01315160 0.04310270 -0.01199067
+v -0.01305326 0.04126055 -0.01246221
+v -0.01407427 0.03772314 -0.01155786
+v -0.00959685 0.01473949 -0.01335179
+v -0.00951008 0.01366584 -0.01335179
+v -0.01423914 0.03241893 -0.01031088
+v -0.01399329 0.03625394 -0.01146797
+v -0.01410609 0.04414998 -0.01031084
+v -0.01263676 0.04422156 -0.01167810
+v -0.01308218 0.04482431 -0.01052845
+v -0.01131204 0.04303113 -0.01272297
+v -0.01131204 0.04126055 -0.01298613
+v -0.00991501 0.03705636 -0.01335170
+v -0.00930472 0.01291993 -0.01335179
+v -0.01316028 0.02586401 -0.01031090
+v -0.01343795 0.02711849 -0.01031090
+v -0.01375322 0.02886647 -0.01031089
+v -0.01404246 0.03065211 -0.01031089
+v -0.01392098 0.03507480 -0.01139414
+v -0.01362306 0.04453800 -0.01031084
+v -0.01131204 0.04448149 -0.01190464
+v -0.01287104 0.04510308 -0.01031083
+v -0.01188762 0.04558528 -0.01031083
+v -0.01131204 0.04536678 -0.01092495
+v -0.01315160 0.04491472 -0.01031084
+v -0.00957082 0.04467362 -0.01203681
+v -0.00957082 0.04303113 -0.01289712
+v -0.00784116 0.04083109 -0.01335169
+v -0.00936835 0.03933174 -0.01335170
+v -0.00953321 0.03908688 -0.01335170
+v -0.00986295 0.03776836 -0.01335170
+v -0.00984849 0.01473948 -0.01031095
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+v -0.00905018 0.01216273 -0.01335180
+v -0.00957082 0.04555514 -0.01121103
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+v -0.01131204 0.04574350 -0.01031083
+v -0.00734367 0.04573220 -0.01145453
+v -0.00788744 0.04495616 -0.01200138
+v -0.00609127 0.04479795 -0.01228716
+v -0.00783249 0.04303113 -0.01295785
+v -0.00435004 0.04479795 -0.01239403
+v -0.00260882 0.04479795 -0.01246548
+v -0.00609127 0.04303113 -0.01298672
+v -0.00450913 0.04109856 -0.01335169
+v -0.00932786 0.01336069 -0.01031095
+v -0.00889689 0.01186512 -0.01335180
+v -0.00703419 0.00835408 -0.01031097
+v -0.01091289 0.04582638 -0.01031083
+v -0.00957082 0.04606748 -0.01032810
+v -0.00788744 0.04612022 -0.01066269
+v -0.00609127 0.04580001 -0.01153104
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+v -0.00435004 0.04587535 -0.01161201
+v -0.00087049 0.04479795 -0.01250239
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+v -0.00260882 0.04303113 -0.01300339
+v -0.00087049 0.04303113 -0.01300518
+v 0.00086784 0.04303113 -0.01300577
+v -0.00855848 0.01160141 -0.01335180
+v -0.00603053 0.00835409 -0.01232123
+v -0.00699948 0.00835408 -0.01147253
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+v -0.00435004 0.04656098 -0.01051206
+v -0.00609416 0.04649694 -0.01031083
+v -0.00435004 0.04665516 -0.01031083
+v -0.00260882 0.04667023 -0.01051206
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+v -0.00087049 0.04673428 -0.01051206
+v 0.00086784 0.04673428 -0.01051206
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+v -0.00782381 0.01123223 -0.01335180
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diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_29.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b65d68f9f3a457570b71294109a2887912a3a60d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_29.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_3.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6fa37eaeea3c0eb90c475e745de7cd0583e574a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_3.obj
@@ -0,0 +1,685 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_30.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a2516e7d0f52c73fef8c369cff788158a8a12cb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_30.obj
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diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_4.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc785713bcaa6b52272b1362e6b1ac59f4364d7f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_5.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c61fdce7d38c980888224a35f1eb1208e982c9e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_6.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a194a1c3e42449e11f5aabab92ca7fdaf6a671ea
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_6.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_7.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36b4272cc336e3de40560db9da16139a4e492844
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_7.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_8.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..231b99d238f9159900579b47796dfee69c198668
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_8.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_9.obj b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3816c000541870b7f4bf853d55e6db77a524326
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/mesh/stapler_031_collision_9.obj
@@ -0,0 +1,1963 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/stapler_031.xml b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/stapler_031.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e2d1a7ea67795a871dc53df21fc3fce78579665a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mjcf/stapler_031.xml
@@ -0,0 +1,76 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stapler_031">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/stapler_031.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stapler_031_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stapler_031_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stapler_031_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stapler_031_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stapler_031_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/stapler_031_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stapler_031_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/stapler_031_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/stapler_031_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/stapler_031_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/stapler_031_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/stapler_031_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/stapler_031_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/stapler_031_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/stapler_031_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/stapler_031_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/stapler_031_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/stapler_031_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/stapler_031_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/stapler_031_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/stapler_031_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/stapler_031_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/stapler_031_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/stapler_031_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/stapler_031_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/stapler_031_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/stapler_031_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/stapler_031_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/stapler_031_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/stapler_031_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/stapler_031_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stapler_031">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/stapler_031.urdf b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/stapler_031.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..92f96ae3be69b446fe5be9fd3dda6ad3ad526033
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/stapler_031.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_031">
+   <link name="stapler_031">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stapler_031.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stapler_031_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2250" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>80bec21b20db5e22a485c7ce2252fcf8</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>stapler</category>
+         <name>swan stapler</name>
+         <color>white</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>white swan-shaped stapler with raised wings and metal staple mechanism</description>
+         <min_height>0.1072</min_height>
+         <max_height>0.1072</max_height>
+         <real_height>0.1072</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611151133</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.023961 -0.050294 -0.032978</min>
+            <max>0.023959 0.049706 0.074254</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
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