diff --git a/.gitattributes b/.gitattributes
index 201f481e2bf8ad9f7070f7ba82aaf81faa60f371..a579c33657a72ff21dd6897e674c4490f3eaeb76 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3275,3 +3275,4 @@ dataset/desktop_supplies/office_stationery/e10c9ac27c785067aadb50379cfaea97/e10c
 dataset/desktop_supplies/office_stationery/df57dbad1d945dbb8ca344a6cae408c6/eraser_046.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/df57dbad1d945dbb8ca344a6cae408c6/mesh/eraser_046.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/e576f860571b5d3b9766d6a19c81d309.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/e5847c4a01df5ad5a1e869538e8e9447.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/e5847c4a01df5ad5a1e869538e8e9447.urdf b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/e5847c4a01df5ad5a1e869538e8e9447.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..94646fb5d0c84afc00ba8e2be4ff6d61c3febae5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/e5847c4a01df5ad5a1e869538e8e9447.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_18">
+   <link name="stapler_18">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/stapler_18.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_18_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>0.216019</scale>
+         <version>v0.1.5</version>
+         <category>stapler</category>
+         <description>compact blue stapler with metallic internal mechanism</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20251014153319</generate_time>
+         <gs_model>mesh/stapler_18_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.684275388717651</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/e5847c4a01df5ad5a1e869538e8e9447.usd b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/e5847c4a01df5ad5a1e869538e8e9447.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9c944e6f1bf0afeb36b5b09def5f56c3b499e15e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/e5847c4a01df5ad5a1e869538e8e9447.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1b03e2acac598373272c353d9e6015bbbd62a78c839f32dee712582113033a6
+size 464371
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/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/e5847c4a01df5ad5a1e869538e8e9447/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..838c68a786df789481cb55334db67e74668d7902
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:024dd81a89cc06d9702342b374006aaa54f30a7d52733b07bfade6f330447dda
+size 1605514
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mesh/stapler_18.glb b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mesh/stapler_18.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5b785e1f9b66c5caed13c47b355a2a79e05636f2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mesh/stapler_18.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29fb7847f8c7ed3105fc06c6fc7ff8d750ff53080c57f3029d8f88e6e1ba4565
+size 1935500
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mesh/stapler_18.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mesh/stapler_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eef67bf9136d717359e80fa847b2f56b93e4768
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mesh/stapler_18.obj
@@ -0,0 +1,30332 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mesh/stapler_18_collision.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mesh/stapler_18_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb654c5b4df2137f3f5cac73ee56264b91bff9f7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mesh/stapler_18_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a642f9b764ba5088cbbaad031665e5372da1b4df
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision.obj
@@ -0,0 +1,21572 @@
+# https://github.com/mikedh/trimesh
+
+o stapler_18_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_0.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e50dbdb322e2cf14948ab1580a5e083c428019c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_0.obj
@@ -0,0 +1,217 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_1.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45e1de897de2e191baacc412ab15c1c5dcd4ea87
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_1.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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+v -0.00244442 0.02660691 -0.03539674
+v 0.00172239 0.02660694 -0.04334994
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_10.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db843c62c50e01cf4797e7995bdd3009f2b6cbc1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_10.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.03021859 -0.02996421 -0.05764328
+v 0.03021859 -0.03034742 -0.06046224
+v 0.02310487 -0.02997134 -0.05764328
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+v 0.03378360 -0.03342026 -0.06155246
+v 0.03021859 -0.03342026 -0.06154338
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+v 0.06939298 -0.03341848 -0.06160437
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_11.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14325c9612c291f83540ec27ebc04630d1f3f1f3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_11.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v -0.00245195 0.04769165 -0.04823237
+v -0.00245195 0.04763385 -0.04707017
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_12.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1eac816f513181572f5266d5495cdb38d803de3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_12.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_13.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e62d957d0dfed351527dff510909c4b46fb29c59
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_13.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_14.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efc78d5938979fcb7415df7167b8fd5e7d55166a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_14.obj
@@ -0,0 +1,544 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_15.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..149711e6bf1621eec5e72e34c12af5078704522d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_15.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_16.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c9bd5bb8a6ccd7cec4f6649fb50b37a1d798565
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_16.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_17.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fea976261d9b348d8d6aa9ac48fe079e990dd5c0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_17.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_18.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33191487913ff467b73dd00173919dabb2bfb437
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_18.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_19.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5b7c313e1e70096273c4c8abff24e07560a5ee0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_19.obj
@@ -0,0 +1,673 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_2.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e6f5bac307b1553b9b7c99ff26581dd77f25820
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_20.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74a8b42c2512da0b65a21fe13f11b11ff40cee0f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_20.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_21.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b99d0bcc67b5fc47dd0b4a01b8cac484b84d857
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_21.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_22.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8cc491e5d2ba9fa8f80b99b418a7b99bb8e1221
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_22.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_23.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7c4ea383113cd67e0e87886570321d29a0b2c54
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_23.obj
@@ -0,0 +1,232 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_24.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19b98ba78bdbfae92f62510ef8a8eadc0b27a92c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_24.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.00954608 -0.00534393 0.00917041
+v -0.00954608 -0.00534391 0.00299349
+v -0.00954608 0.00600258 0.00914499
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+v -0.01965127 0.00600261 -0.00093530
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+v -0.04368116 -0.00534388 -0.00498161
+v -0.04103456 -0.00534388 -0.00447370
+f 1 2 6
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+f 17 19 18
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_25.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c5a73056f7f57b63bcd9f60d9f4637cfb790dcd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_25.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_26.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1daf7ef232233f26f46b7f040aa1cd42ddcc2712
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_26.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.05526930 -0.03418125 -0.04399825
+v -0.05882963 -0.03421479 -0.04399825
+v -0.05432737 -0.03418393 -0.04399825
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_27.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e454b3f68ccf3c45a64778402cfab7959b527824
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_27.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_28.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8b889209400e699e4b0f34d38ad3dccd12e3d74
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_28.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_29.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de2d5d55e29d90f1c9553b438b1dc33b8578541d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_29.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_3.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a380d8c9e7e1b1c58b6dae9a2e5909d43329e03e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_3.obj
@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_30.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb080b82cb15e3bfe4ee721b7af374d003028a34
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_30.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_31.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cdb6342c28924084533e4db639fd4eec259f67b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_31.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_32.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9cb1fe170e2615b063ae33604fb8b9ed25d164e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_32.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v -0.04368116 0.01672492 -0.00865322
+v -0.04368116 0.00866410 -0.00865325
+v -0.04368116 0.01678167 -0.00829939
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_33.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67789fa0f64ded40c82837c598599286a6de5f75
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_33.obj
@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
+v 0.09101603 0.00685482 -0.04236821
+v 0.05796428 0.00685482 -0.04236821
+v 0.07296309 -0.02417273 -0.04338085
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_34.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..026bca8b4f4dde0e1e26d171b16f435eb3c4272d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_34.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_35.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..551ebc160444c3144828105bc230938fb27deaed
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_35.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+v -0.06477036 0.03290059 0.01282771
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_36.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..960405bdc23b6f8032d9e0b68e501198ccfb87c7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_36.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.08008334 0.01217504 0.02309201
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_37.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcc6997d8a4f5c8b08b6567d3b97e34ab484d65c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_37.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.09073182 0.02914122 -0.05746619
+v -0.09120263 0.02701444 -0.05759491
+v -0.09123743 0.02701445 -0.05951645
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_38.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d06ce899609d9165070d01dbc8d5b80d8c681e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_38.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
+v 0.07745094 -0.02978544 -0.04001021
+v 0.05983520 -0.02978713 -0.04085812
+v 0.07745094 -0.02978547 -0.03294332
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+v 0.06940021 -0.02978716 -0.03314439
+v 0.07296188 -0.02978716 -0.03300567
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_39.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f2b05b49711f8135d3d056b10176dbdabbde68e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_39.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.05155126 0.02147566 0.05596827
+v 0.05155126 -0.00001297 0.05785575
+v 0.05155126 0.02147564 0.06292234
+v 0.08270958 0.02147569 0.05011242
+v 0.05155126 -0.00001299 0.06268838
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+v 0.08270958 0.02147565 0.05857780
+v 0.05155126 0.01918711 0.06309774
+v 0.05159091 -0.00001299 0.06268838
+v 0.08270958 -0.00001298 0.05944587
+v 0.05515361 0.01918711 0.06299097
+v 0.05515361 0.02147564 0.06279905
+v 0.08270958 0.01918712 0.05905445
+v 0.07883881 0.02147565 0.06012724
+v 0.05346072 -0.00001299 0.06267694
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+v 0.08032428 0.01918712 0.05995690
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+v 0.08270958 0.00398985 0.05943444
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+v 0.07295792 0.01217428 0.06170334
+v 0.07652062 -0.00001298 0.06116945
+v 0.07785358 -0.00001298 0.06088854
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_4.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b09a4c1b7bdf5b5a4ae9130fa2d822860d6de5b9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_4.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.09073182 -0.00005245 -0.03271764
+v -0.10793305 -0.00005245 -0.03271764
+v -0.09073182 -0.00005241 -0.04311994
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+v -0.10733845 -0.00005239 -0.04781560
+v -0.10793979 0.00165396 -0.03271763
+v -0.10735530 0.00165402 -0.04781559
+v -0.09999104 -0.00005239 -0.04781560
+v -0.09073182 0.04003900 -0.04781545
+v -0.09073182 0.04316892 -0.03757277
+v -0.09114955 0.03365381 -0.03271752
+v -0.10793305 0.00490913 -0.03271762
+v -0.10735024 0.00215945 -0.04781559
+v -0.10785051 0.02244157 -0.03271756
+v -0.10784883 0.02269661 -0.03271756
+v -0.09073182 0.04731907 -0.04781543
+v -0.09073182 0.04324775 -0.03761859
+v -0.09089184 0.04315501 -0.03757721
+v -0.10157607 0.03320866 -0.03271752
+v -0.09801522 0.03366308 -0.03271752
+v -0.10731487 0.00516422 -0.04781558
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+v -0.10633623 0.02973098 -0.04781549
+v -0.10672027 0.02228861 -0.04781552
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_40.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14d185accd06616aa3b9aa1830b7bcae74b1264d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_40.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.02312119 0.00913216 0.00265907
+v 0.02312119 0.01713490 0.00265910
+v 0.02309242 0.00912920 0.00265907
+v 0.02310521 0.00779889 -0.00622405
+v 0.02312119 0.00779890 -0.00724938
+v 0.02312119 0.01775322 0.00265452
+v 0.02309242 0.01775322 0.00265911
+v 0.00075677 0.00778505 0.00265907
+v 0.02312119 0.00779895 -0.02082695
+v 0.02312119 0.01774534 0.00227059
+v -0.00539872 0.01785973 0.00227059
+v -0.00183653 0.01782817 0.00265911
+v -0.00954608 0.00778505 0.00265907
+v -0.00184612 0.00778505 0.00198548
+v 0.02312119 0.00933441 -0.02082695
+v -0.00539872 0.00778505 0.00169811
+v -0.00954608 0.00778505 0.00140385
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+v -0.00536354 0.01783310 0.00265911
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+v -0.00183653 0.01565473 -0.01534853
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_41.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ec09712d1570211322cecca13655799b77d2b27
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_41.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v 0.09903018 0.02660697 -0.05059373
+v 0.09157876 0.01921499 -0.04100884
+v 0.09157876 0.02660693 -0.04048533
+v 0.10644209 0.02660697 -0.05059373
+v 0.09934471 0.00685388 -0.05059380
+v 0.09157876 0.00685384 -0.04119908
+v 0.09157876 0.02660690 -0.03286870
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+v 0.10645577 0.02649676 -0.05059373
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+v 0.10412340 0.02660694 -0.04353199
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+v 0.10337127 0.02620282 -0.04149565
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_42.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5f4c73df8e981f593f5beccf7f7b5b2c04f6725
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_42.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.09073435 -0.04762790 -0.05310111
+v -0.09073435 -0.04733665 -0.05044127
+v -0.09077510 -0.04762580 -0.05310111
+v -0.09073435 -0.03993161 -0.05310109
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_43.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dad0d56577d69afc970c877ce3c416f809f3f3f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_43.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_44.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eda1f4659ede38aec4bcff589ab7583405729d56
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_44.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_45.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37c700d5b0b393d63d885dd3a4e8c99c6b346567
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_45.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+v -0.04426420 -0.02990929 -0.00865662
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+f 1 46 26
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+f 1 10 3
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_46.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7943f3e0bf508ee9d24ac743c9bc8e9722e199b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_46.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.06122754 0.00615283 -0.02175633
+v -0.05910249 0.00615287 -0.03271762
+v -0.05898942 -0.00011230 -0.03271764
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+v -0.05014758 -0.00011235 -0.02015008
+v -0.04994233 -0.00011234 -0.02072240
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_47.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4780fc7defce916064cd981cf0e3253e2631f1e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_47.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v 0.05484492 0.04581335 -0.04135964
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_48.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df7d76dce23fc58b113c7b0cb0018ce7a3ca01c3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_48.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v 0.08990767 -0.02978538 -0.05740218
+v 0.09035813 -0.02978537 -0.06061619
+v 0.08089567 -0.03035499 -0.06052961
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_49.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b09a737f328706aa0f37aa89b3841e6e6d5ff60
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_49.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_5.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a7ee3719007e5554cffd3ca44db2fb6fcb1cd9c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_5.obj
@@ -0,0 +1,613 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_50.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80a35f64d45da0e09b9f420997b7f41cf2e6d58d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_50.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
+v 0.10850450 -0.00185402 -0.05764286
+v 0.10795833 -0.00536159 -0.05411916
+v 0.10850086 -0.00536158 -0.05764287
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_51.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27ac9df96c81e2bdaaeb051fcdaec6336e93f56d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_51.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.07340467 -0.00011298 -0.00865682
+v -0.07291023 -0.00011298 -0.00909391
+v -0.07180220 -0.00613853 -0.01124495
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+v -0.07345432 -0.00083564 -0.00865682
+v -0.05477675 -0.00011298 -0.00865682
+v -0.06931808 -0.00520938 -0.01182567
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+v -0.05342846 -0.00613854 -0.00865684
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+v -0.05537842 -0.00011297 -0.01182565
+v -0.05484228 -0.00613853 -0.01182567
+f 1 2 3
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_52.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f700f4720d8cd5f561bf021aa0db4bf2dfc3887c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_52.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
+v 0.10500774 -0.00185407 -0.04338065
+v 0.10383465 0.00165348 -0.04048876
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_53.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0963af7690b913239c8002f803a59550acebbf7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_53.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_54.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba2a43efc9098292cd40e739c397e4cf3001105c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_54.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_55.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c7edc60617728fdc7b910b04e2d238978db9a10
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_55.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.09073182 0.03988546 -0.05268586
+v -0.09073182 0.04772811 -0.05268583
+v -0.09073182 0.04004157 -0.04781693
+v -0.09923933 0.02701441 -0.04781698
+v -0.09985181 0.02701442 -0.05268591
+v -0.09089173 0.04772203 -0.05268583
+v -0.09073182 0.04755779 -0.05059548
+v -0.09073182 0.04731853 -0.04781691
+v -0.10646113 0.02701441 -0.04781698
+v -0.10706881 0.02701442 -0.05268591
+v -0.09445306 0.04696574 -0.05268584
+v -0.09089173 0.04754766 -0.05059548
+v -0.09089173 0.04730839 -0.04781691
+v -0.10633639 0.02973136 -0.04781697
+v -0.10682573 0.02701441 -0.04986206
+v -0.10700004 0.02701442 -0.05156829
+v -0.10695686 0.02871556 -0.05197196
+v -0.10690889 0.03058498 -0.05268590
+v -0.09536937 0.04659064 -0.05268584
+v -0.09641202 0.04559915 -0.04817483
+v -0.09445306 0.04670216 -0.05059548
+v -0.09464495 0.04626622 -0.04781691
+v -0.10627242 0.03045318 -0.04781697
+v -0.10645953 0.03321880 -0.05059553
+v -0.10677936 0.02981450 -0.05071660
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+v -0.09693815 0.04593168 -0.05268584
+v -0.09670307 0.04578164 -0.05059548
+v -0.09683420 0.04521188 -0.04781691
+v -0.09587791 0.04576744 -0.04781691
+v -0.09871961 0.04469486 -0.05268585
+v -0.09848453 0.04452454 -0.05059549
+v -0.09792482 0.04439477 -0.04781692
+v -0.10598617 0.03321879 -0.04781696
+v -0.10660825 0.03306876 -0.05268589
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+v -0.10553521 0.03672447 -0.05268588
+v -0.10596859 0.03529706 -0.05268588
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+v -0.10258637 0.04113039 -0.05268586
+v -0.10321324 0.04041668 -0.05268586
+f 1 2 7
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_56.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6312af6dd9cb745b87cdaf22a0a9fddd7303489
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_56.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.05529087 0.00964565 0.00265908
+v 0.05529087 0.01787357 0.00265911
+v 0.05197818 0.00946362 0.00265907
+v 0.05529087 0.00829831 -0.01281142
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+v 0.05158771 0.00945799 0.00265907
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+v 0.05529087 0.01787922 -0.00139431
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+v 0.02312434 0.00913052 0.00265907
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+v 0.05528143 0.00829833 -0.01983771
+v 0.05529087 0.00852352 -0.01986406
+v 0.05529087 0.01788393 -0.00830464
+v 0.04802624 0.01785574 0.00226906
+v 0.04802624 0.01785387 0.00265911
+v 0.02312434 0.01713607 0.00265910
+v 0.02312434 0.00829828 -0.00520795
+v 0.02656614 0.00829827 -0.00385066
+v 0.04758224 0.00829835 -0.02397810
+v 0.05529087 0.00894951 -0.01987197
+v 0.05529087 0.01786705 -0.01182569
+v 0.05158771 0.01787267 -0.00830464
+v 0.05158771 0.01787079 -0.00477832
+v 0.04802624 0.01785669 -0.00125463
+v 0.02312434 0.01775441 0.00265384
+v 0.02626385 0.01776098 0.00265911
+v 0.02312434 0.00829835 -0.02426537
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+v 0.04690837 0.00829835 -0.02426537
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_57.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1761537d8e87c80323ef41374dc390520124155e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_57.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v -0.09073435 -0.04812940 -0.05764449
+v -0.09073435 -0.04811868 -0.05749085
+v -0.09089073 -0.04812940 -0.05764449
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+v -0.09342276 -0.04707862 -0.05310111
+v -0.09445255 -0.04697354 -0.05412128
+v -0.09453573 -0.04680199 -0.05310111
+v -0.09670509 -0.04596136 -0.05310111
+v -0.09684317 -0.04603856 -0.05412128
+v -0.09727571 -0.04631518 -0.05764448
+v -0.09705611 -0.04619937 -0.06012731
+v -0.09815244 -0.04411924 -0.06082790
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+v -0.09073435 -0.02977707 -0.05769359
+v -0.09145470 -0.02622369 -0.05787619
+v -0.09949165 -0.02622370 -0.05310104
+v -0.09781472 -0.04525368 -0.05310111
+v -0.09862325 -0.04490628 -0.05412127
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_58.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..972cf37620cfabb420744c3532d3a38512c8689a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_58.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v 0.07258943 0.00699013 -0.00971279
+v 0.07258943 -0.00255940 -0.01029334
+v 0.07258943 0.00699016 -0.01919892
+v 0.06583596 0.00699013 -0.01150211
+v 0.07258943 -0.00255937 -0.01913359
+v 0.05529257 -0.00255939 -0.01489542
+v 0.05529257 0.00699016 -0.01967991
+v 0.05529257 0.00699014 -0.01440073
+v 0.05529257 -0.00255937 -0.01951897
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 9
+f 2 9 5
+f 3 5 7
+f 4 8 6
+f 5 9 7
+f 6 8 7
+f 6 7 9
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_59.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e7613fdfdc48aa94f2906bdcbd043365e731563
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_59.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.05484335 -0.00613853 -0.01182567
+v -0.05209967 -0.00613851 -0.01574183
+v -0.05238177 -0.00011295 -0.01601518
+v -0.05537829 -0.00011297 -0.01182565
+v -0.07022924 -0.00613853 -0.01182567
+v -0.04923898 -0.00613850 -0.01985572
+v -0.05055335 -0.00011294 -0.01904221
+v -0.06200657 -0.00011297 -0.01182565
+v -0.06869545 -0.00613852 -0.01396224
+v -0.06931816 -0.00520938 -0.01182567
+v -0.05803003 -0.00011292 -0.02538291
+v -0.04888166 -0.00613849 -0.02245941
+v -0.04969661 -0.00011293 -0.02232005
+v -0.04985960 -0.00011293 -0.02125177
+v -0.04994318 -0.00011293 -0.02072227
+v -0.05014797 -0.00011294 -0.02014898
+v -0.06200657 -0.00011297 -0.01182698
+v -0.05943007 -0.00613848 -0.02538293
+v -0.06156149 -0.00011296 -0.01373662
+v -0.06106625 -0.00011295 -0.01561308
+v -0.04943749 -0.00011292 -0.02538291
+v -0.04913868 -0.00613848 -0.02538293
+v -0.04953153 -0.00011292 -0.02424827
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 10
+f 1 10 5
+f 1 5 9
+f 1 9 18
+f 1 18 22
+f 1 22 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 16
+f 3 16 15
+f 3 15 14
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+f 3 13 23
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+f 3 21 11
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+f 3 17 8
+f 3 8 4
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+f 10 19 20
+f 10 20 11
+f 11 21 22
+f 11 22 18
+f 12 22 21
+f 12 21 23
+f 12 23 13
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_6.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ad996d8f1cd86c27d0ed21024dc75ba29f9602b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_6.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.02656614 0.00829827 -0.00384859
+v 0.02312434 0.00829828 -0.00520758
+v 0.02312434 -0.00078462 -0.01276398
+v 0.02764939 0.00829827 -0.00387257
+v 0.02312434 0.00829835 -0.02426338
+v 0.03086761 0.00829827 -0.00397450
+v 0.02312434 -0.00078461 -0.01724664
+v 0.04942438 -0.00078462 -0.01419291
+v 0.02312434 0.00198164 -0.02426340
+v 0.04690837 0.00829835 -0.02426338
+v 0.03418346 0.00829828 -0.00442016
+v 0.05158771 -0.00078462 -0.01436278
+v 0.03737020 -0.00078458 -0.02426341
+v 0.04717918 0.00829835 -0.02414946
+v 0.04744998 0.00817387 -0.02426338
+v 0.05267095 -0.00078462 -0.01451068
+v 0.05529087 -0.00078462 -0.01489839
+v 0.05529087 0.00829831 -0.01281191
+v 0.04825612 -0.00078458 -0.02426341
+v 0.04758224 0.00829835 -0.02397959
+v 0.04811756 0.00516045 -0.02426339
+v 0.05528143 0.00829833 -0.01983867
+v 0.05529087 -0.00078460 -0.01949296
+v 0.05529087 0.00829833 -0.01849568
+v 0.05529087 0.00516043 -0.01945697
+v 0.05529087 0.00502172 -0.01945897
+f 1 2 3
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+f 1 18 24
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+f 1 22 20
+f 1 20 14
+f 1 14 10
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+f 1 5 2
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+f 22 26 23
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_60.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bd2826be44530e081136d69d35f3dfcb9a04603
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_60.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v 0.06223802 -0.00001297 0.05730091
+v 0.06223802 -0.02212147 0.05484481
+v 0.06223802 -0.00001299 0.06254160
+v 0.08814151 -0.00001294 0.04864502
+v 0.08814151 -0.02212143 0.04430092
+v 0.06223802 -0.02212150 0.06214141
+v 0.06223802 -0.00185464 0.06254516
+v 0.06414496 -0.00001299 0.06247194
+v 0.08814151 -0.00001297 0.05681149
+v 0.08814151 -0.02212147 0.05553071
+v 0.06227605 -0.02212150 0.06213962
+v 0.06223802 -0.01942502 0.06242364
+v 0.06223802 -0.00536266 0.06254693
+v 0.06227605 -0.00536266 0.06254693
+v 0.06583890 -0.00001299 0.06240584
+v 0.08757349 -0.00001297 0.05713837
+v 0.08814151 -0.00113614 0.05681328
+v 0.08814151 -0.01938821 0.05628985
+v 0.08809333 -0.01938821 0.05632736
+v 0.08737569 -0.02212148 0.05608622
+v 0.06306216 -0.02212150 0.06209140
+v 0.06227605 -0.01938823 0.06242542
+v 0.06223802 -0.01938823 0.06242721
+v 0.06223802 -0.00539728 0.06254693
+v 0.06223802 -0.00890530 0.06254514
+v 0.06583890 -0.00185464 0.06240405
+v 0.06939920 -0.00185464 0.06216291
+v 0.06770780 -0.00001299 0.06227902
+v 0.08672652 -0.00001297 0.05761706
+v 0.08672652 -0.00185462 0.05761348
+v 0.08814151 -0.00185462 0.05681148
+v 0.08814151 -0.01871085 0.05635951
+v 0.08631064 -0.01938821 0.05740265
+v 0.08588970 -0.02199812 0.05716686
+v 0.08814151 -0.01588020 0.05662388
+v 0.08603170 -0.02212148 0.05703290
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+v 0.06227605 -0.01237436 0.06253797
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+v 0.06939920 -0.00536266 0.06214504
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+v 0.07785365 -0.00001298 0.06088758
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+v 0.08085354 -0.00001298 0.06013738
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+v 0.07743017 -0.02212149 0.06029091
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+f 98 101 107
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_61.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d93a921fcf821a37af1e8259b2e3095e7675889
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_61.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.07279014 0.00736345 0.00265907
+v 0.06940431 0.00735823 0.01182854
+v 0.06940431 0.00736342 0.01186059
+v 0.08817610 0.00736345 0.00265907
+v 0.06940431 -0.00937827 0.00265901
+v 0.06940431 0.00736338 0.02106410
+v 0.08916430 0.00736342 0.01048056
+v 0.08931004 -0.01008668 0.00693929
+v 0.08820605 -0.01240123 0.00265899
+v 0.06940431 -0.00950023 0.00265901
+v 0.07652334 0.00736338 0.02261037
+v 0.06940431 0.00165998 0.02108612
+v 0.08930205 0.00736341 0.01292415
+v 0.08979915 -0.01237272 0.01284595
+v 0.08957556 -0.01261402 0.00906841
+v 0.08931004 -0.01160464 0.00693929
+v 0.08811022 -0.01552019 0.00265898
+v 0.06979160 -0.01786590 0.00265897
+v 0.06940431 -0.01786330 0.00266498
+v 0.08008285 0.00736338 0.02307706
+v 0.06940431 -0.01236756 0.02112010
+v 0.07652334 -0.00886716 0.02260230
+v 0.08008285 -0.00886716 0.02312106
+v 0.08914035 0.00736340 0.01497917
+v 0.08925414 -0.01224559 0.01668560
+v 0.08900858 -0.01418133 0.01815775
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+v 0.08364636 -0.00185599 0.02283667
+v 0.08695233 0.00736339 0.01989238
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+v 0.08667284 -0.01862100 0.00579758
+v 0.08364636 -0.01908807 0.00932076
+v 0.08008285 -0.01774141 0.01858436
+f 1 2 3
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+f 1 20 35
+f 1 35 60
+f 1 60 43
+f 1 43 24
+f 1 24 13
+f 1 13 7
+f 1 7 4
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+f 44 60 54
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+f 44 46 45
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+f 48 50 49
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+f 50 69 70
+f 50 70 51
+f 51 70 71
+f 51 71 72
+f 51 72 52
+f 52 72 53
+f 53 72 73
+f 53 73 74
+f 53 74 56
+f 54 60 61
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+f 58 74 75
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+f 59 71 62
+f 62 76 68
+f 62 68 65
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_62.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..490795cabc3c981499bb00502aa37df5c98773a1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_62.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.02312434 -0.00144850 -0.01276204
+v 0.02312434 -0.01174424 -0.01276207
+v 0.02312434 -0.00161832 -0.01185181
+v 0.03831173 -0.00277972 -0.01276204
+v 0.02312434 -0.01208546 -0.01248734
+v 0.04090017 -0.01670548 -0.01276209
+v 0.03378039 -0.00329556 -0.00965096
+v 0.03378039 -0.00261152 -0.01182615
+v 0.02312434 -0.00877428 0.00265298
+v 0.03734186 -0.00912831 0.00265901
+v 0.05158771 -0.00948555 0.00265901
+v 0.05514917 -0.00974026 0.00265900
+v 0.05529087 -0.00975628 0.00265900
+v 0.04084034 -0.00311613 -0.01276204
+v 0.02312434 -0.01437305 -0.01034084
+v 0.04465687 -0.01739753 -0.01276209
+v 0.02312434 -0.01531821 -0.00830151
+v 0.02312434 -0.00910428 0.00265901
+v 0.02626700 -0.00886880 0.00265901
+v 0.05529087 -0.01781249 0.00265897
+v 0.05529087 -0.00844903 -0.01276206
+v 0.04822148 -0.00563600 -0.01276205
+v 0.04354844 -0.00379376 -0.01276204
+v 0.04088127 -0.00312574 -0.01276204
+v 0.04662181 -0.01762500 -0.01276209
+v 0.02312434 -0.01717170 -0.00125365
+v 0.02312434 -0.01646042 -0.00475116
+v 0.02312434 -0.01645401 -0.00477833
+v 0.02312434 -0.01532783 -0.00827434
+v 0.02312434 -0.01758341 0.00265898
+v 0.05529087 -0.01781409 0.00227103
+v 0.05514917 -0.01781249 0.00265897
+v 0.05529087 -0.01774515 -0.01276210
+v 0.04664070 -0.01762661 -0.01276209
+v 0.04663441 -0.01762821 -0.01274700
+v 0.02312434 -0.01717491 -0.00122949
+v 0.02312434 -0.01754657 0.00202952
+v 0.05039110 -0.01769389 -0.01276209
+v 0.05158771 -0.01773074 -0.01182621
+v 0.05514917 -0.01777239 -0.01182621
+v 0.05529087 -0.01777400 -0.01182621
+v 0.04446478 -0.01777565 0.00227103
+v 0.04446478 -0.01777405 0.00265897
+v 0.04802624 -0.01778846 0.00227103
+v 0.05197818 -0.01780128 0.00265897
+v 0.05369750 -0.01773234 -0.01276210
+v 0.02312434 -0.01754497 0.00201443
+v 0.05158771 -0.01770831 -0.01276210
+v 0.04485525 -0.01777565 0.00265897
+f 1 2 5
+f 1 5 15
+f 1 15 17
+f 1 17 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 36
+f 1 36 47
+f 1 47 37
+f 1 37 30
+f 1 30 18
+f 1 18 9
+f 1 9 3
+f 1 3 4
+f 1 4 14
+f 1 14 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 33
+f 1 33 46
+f 1 46 48
+f 1 48 38
+f 1 38 34
+f 1 34 25
+f 1 25 16
+f 1 16 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 4
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 7
+f 4 8 7
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+f 5 6 15
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+f 13 21 22
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+f 20 32 31
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+f 30 40 41
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+f 35 47 36
+f 38 48 39
+f 39 48 40
+f 40 48 46
+f 40 46 41
+f 41 44 42
+f 42 44 45
+f 42 45 49
+f 42 49 43
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_63.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7baad48a1729e3316b41da4f6c813a8371c9fd46
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_63.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.07353283 0.00578850 -0.00865649
+v -0.07334613 0.00615278 -0.00896683
+v -0.07340515 -0.00011239 -0.00865651
+v -0.07346899 0.00615278 -0.00865649
+v -0.06854976 0.00615281 -0.01646623
+v -0.07311848 -0.00011239 -0.00891043
+v -0.06122754 -0.00011239 -0.00865651
+v -0.06780779 0.00615281 -0.01746521
+v -0.06122754 0.00615278 -0.00865649
+v -0.07291009 -0.00011239 -0.00909381
+v -0.06122754 -0.00011236 -0.01500305
+v -0.06578782 0.00615282 -0.01903357
+v -0.06122754 0.00615283 -0.02175737
+v -0.06122754 0.00601178 -0.02167786
+f 1 2 3
+f 1 3 7
+f 1 7 9
+f 1 9 4
+f 1 4 2
+f 2 4 9
+f 2 9 13
+f 2 13 12
+f 2 12 8
+f 2 8 5
+f 2 5 3
+f 3 6 10
+f 3 10 11
+f 3 11 7
+f 3 5 8
+f 3 8 6
+f 6 8 10
+f 7 11 14
+f 7 14 13
+f 7 13 9
+f 8 12 10
+f 10 12 14
+f 10 14 11
+f 12 13 14
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_64.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3732e37f2dfdf9f8d1eb5f3c0c0f1947b7e1882
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_64.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.10487759 -0.00185469 0.01989385
+v 0.10410446 -0.00185468 0.01698157
+v 0.10410446 0.00165286 0.01698567
+v 0.10487417 0.00165285 0.01989387
+v 0.10460432 -0.00185471 0.02341728
+v 0.10485595 -0.00536222 0.01989384
+v 0.10408738 -0.01237440 0.01699050
+v 0.10409307 -0.00886686 0.01697829
+v 0.10409877 -0.00536221 0.01697993
+v 0.10145602 -0.00886686 0.01575846
+v 0.10145602 -0.00536221 0.01576010
+v 0.10243865 0.00736340 0.01623521
+v 0.10409763 0.00515751 0.01699301
+v 0.10409080 0.00736340 0.01699873
+v 0.10484457 0.00515750 0.01989388
+v 0.10459862 0.00165283 0.02341730
+v 0.10453031 0.00165283 0.02408222
+v 0.10453486 -0.00119525 0.02408221
+v 0.10453486 -0.00185471 0.02408220
+v 0.10450981 -0.00536224 0.02408219
+v 0.10457813 -0.00536224 0.02341727
+v 0.10480130 -0.01237441 0.01989381
+v 0.10145602 -0.01237440 0.01577392
+v 0.10403159 -0.01588193 0.01704590
+v 0.10145602 -0.01588193 0.01579754
+v 0.09786821 -0.02205611 0.01584234
+v 0.10145602 0.00736340 0.01578704
+v 0.10482066 0.00736339 0.01989389
+v 0.10455536 0.00515748 0.02341731
+v 0.10452347 0.00231229 0.02408222
+v 0.10448476 -0.00820455 0.02408218
+v 0.10454625 -0.00886689 0.02341726
+v 0.10448931 -0.01237443 0.02341724
+v 0.10466580 -0.01588194 0.01989380
+v 0.10379589 -0.01938658 0.01730908
+v 0.10145602 -0.01938658 0.01593606
+v 0.10159038 -0.02205611 0.01655615
+v 0.09492145 -0.02205611 0.01704506
+v 0.09865386 0.00736340 0.01691968
+v 0.09970026 0.00736340 0.01649596
+v 0.10452120 0.00736337 0.02341732
+v 0.10448818 0.00515748 0.02408223
+v 0.10447906 0.00581982 0.02408223
+v 0.10447793 -0.00886689 0.02408218
+v 0.10443238 -0.01171208 0.02408217
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+v 0.10427411 -0.01521962 0.02408215
+v 0.10431169 -0.01588196 0.02341723
+v 0.10387560 -0.01938661 0.02341722
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+v 0.10348732 -0.02171919 0.01772954
+v 0.10295673 -0.02205611 0.01744923
+v 0.09360178 -0.02205612 0.01989378
+v 0.09762340 0.00736339 0.01989389
+v 0.10447906 0.00736337 0.02383452
+v 0.10445402 0.00736337 0.02408224
+v 0.10423882 -0.01588196 0.02408215
+v 0.10380387 -0.01940965 0.02408214
+v 0.10337460 -0.02147731 0.02408213
+v 0.10340648 -0.02154930 0.02341721
+v 0.10355109 -0.02187470 0.01989378
+v 0.10346683 -0.02205612 0.01989378
+v 0.09327727 -0.02205614 0.02341721
+v 0.09756761 0.00736337 0.02408224
+v 0.09324539 -0.02205614 0.02408213
+v 0.10311158 -0.02205614 0.02408213
+v 0.10317648 -0.02205614 0.02341721
+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 10
+f 2 10 11
+f 2 11 3
+f 3 12 13
+f 3 13 4
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+f 26 40 27
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+f 28 41 29
+f 29 42 30
+f 29 41 43
+f 29 43 42
+f 31 44 32
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+f 32 45 33
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+f 33 48 34
+f 33 45 46
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+f 34 50 35
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+f 35 51 52
+f 35 52 37
+f 35 37 36
+f 38 53 39
+f 39 53 54
+f 41 55 43
+f 43 55 56
+f 47 57 48
+f 48 57 58
+f 48 58 49
+f 49 58 59
+f 49 59 50
+f 50 59 60
+f 50 60 61
+f 50 61 51
+f 51 61 62
+f 51 62 52
+f 53 63 54
+f 54 63 65
+f 54 65 64
+f 59 66 67
+f 59 67 60
+f 60 67 61
+f 61 67 62
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_65.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64b566e3ee5a3b392e6b0987103206aa6b780a1b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_65.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
+v -0.10815955 0.02430538 -0.02867504
+v -0.10803178 0.02430537 -0.02754566
+v -0.10501782 0.02511847 -0.00865494
+v -0.10107268 0.02430538 -0.02867504
+v -0.10833844 0.02268755 -0.02867505
+v -0.10782574 0.02430537 -0.02592066
+v -0.10802539 0.02268754 -0.02592067
+v -0.09712116 0.02511847 -0.00865494
+v -0.10704630 0.02430534 -0.01979844
+v -0.10500025 0.02511847 -0.00854119
+v -0.09220810 0.02511839 0.01282767
+v -0.10082511 0.01597355 -0.02867507
+v -0.10834963 0.02192121 -0.02867505
+v -0.10807491 0.01918366 -0.02592068
+v -0.10770914 0.01567550 -0.02239442
+v -0.10765803 0.01918364 -0.02239441
+v -0.10756379 0.02268752 -0.02239440
+v -0.10539636 0.02269173 -0.00829745
+v -0.10346851 0.02485448 0.00113167
+v -0.10711658 0.02268751 -0.01935157
+v -0.10595858 0.02268748 -0.01182778
+v -0.10354358 0.02511844 0.00028667
+v -0.10073407 0.00516814 -0.02867511
+v -0.10074845 0.00866351 -0.02867510
+v -0.10077240 0.01217165 -0.02867509
+v -0.10117650 0.02511839 0.01282767
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_66.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53814c6f78d7007378f791ebb0d0c67c67816d66
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_66.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_67.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dbf962ae55b0ca0c3c24b9730735344b7b8400e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_67.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_68.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..844629dcb38ccef5ef6b6bb94d5c32eda53802dc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_68.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.06940431 -0.01236683 0.02112045
+v 0.06939658 -0.01237419 0.02111865
+v 0.06940431 -0.01587454 0.01977595
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+v 0.06940431 -0.00535627 0.01825982
+v 0.05870860 -0.00535628 0.02073195
+v 0.05870860 -0.00536119 0.02073376
+v 0.05870860 -0.00886892 0.02074459
+v 0.05870860 -0.01237419 0.02072289
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_69.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1b18cfcb6f7a7407952209b0e169ac12a50c552
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_69.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.04386714 0.01693289 -0.00865787
+v -0.04741628 0.01693294 -0.02239996
+v -0.04391260 0.02532865 -0.00865784
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+v -0.06926743 0.02532869 -0.01862684
+v -0.06886892 0.01693292 -0.01616437
+f 1 2 3
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+f 16 18 17
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_7.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4b58cdf568c66a9fbb01e3bf49222626bc3ff57
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_7.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
+v -0.00244586 -0.02978543 -0.04326848
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+v 0.05983520 -0.04470185 -0.03853084
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+f 75 103 84
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+f 77 104 78
+f 78 104 96
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+f 84 105 106
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+f 84 107 85
+f 85 107 108
+f 85 108 109
+f 85 109 86
+f 88 110 111
+f 88 111 90
+f 88 89 110
+f 89 112 110
+f 90 111 113
+f 90 113 114
+f 90 114 91
+f 91 114 93
+f 93 114 115
+f 93 115 97
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+f 93 116 94
+f 94 116 95
+f 95 116 97
+f 97 115 105
+f 97 105 102
+f 97 101 100
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+f 106 115 114
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+f 106 113 107
+f 107 113 111
+f 107 111 110
+f 107 110 117
+f 107 117 108
+f 110 112 118
+f 110 118 117
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_70.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f59426bcfdee0c268250f17657e63e1298788580
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_70.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.04307723 0.02606993 -0.00865783
+v -0.04463906 0.02911307 -0.00865782
+v -0.04391222 0.02532866 -0.00865784
+v -0.04946300 0.02532871 -0.02313103
+v -0.04946733 0.02547563 -0.02313103
+v -0.04948896 0.02620363 -0.02313102
+v -0.04968797 0.02824318 -0.02313102
+v -0.04974421 0.02877527 -0.02313101
+v -0.05025473 0.03052844 -0.02313101
+v -0.04503709 0.02973316 -0.00865782
+v -0.07119018 0.02532866 -0.00865784
+v -0.06313442 0.02532871 -0.02313103
+v -0.05203288 0.03242356 -0.02313100
+v -0.05160024 0.03211388 -0.00865781
+v -0.08727574 0.02684857 -0.00865783
+v -0.08727574 0.02687016 -0.01182734
+v -0.08727574 0.02699056 -0.02313102
+v -0.07072293 0.02532867 -0.01215464
+v -0.06926926 0.02532870 -0.01862684
+v -0.05527336 0.03342881 -0.02313100
+v -0.05527336 0.03341220 -0.02239990
+v -0.05527336 0.03281697 -0.00865781
+v -0.08727574 0.03341215 -0.00865781
+v -0.06934714 0.02532870 -0.01840014
+v -0.07024703 0.02532869 -0.01537374
+v -0.07025135 0.02532869 -0.01535248
+v -0.08727574 0.03380816 -0.02313100
+v -0.05883398 0.03348774 -0.02313100
+v -0.05883398 0.03347031 -0.02239990
+v -0.05883398 0.03309423 -0.00865781
+v -0.06595524 0.03319218 -0.00865781
+v -0.06559615 0.03318803 -0.00865781
+v -0.06203985 0.03314652 -0.00865781
+f 1 2 10
+f 1 10 14
+f 1 14 22
+f 1 22 30
+f 1 30 33
+f 1 33 32
+f 1 32 31
+f 1 31 23
+f 1 23 15
+f 1 15 11
+f 1 11 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 10
+f 3 11 18
+f 3 18 26
+f 3 26 25
+f 3 25 24
+f 3 24 19
+f 3 19 12
+f 3 12 4
+f 4 12 17
+f 4 17 27
+f 4 27 28
+f 4 28 20
+f 4 20 13
+f 4 13 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 9 13 10
+f 10 13 14
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 12 19 17
+f 13 20 14
+f 14 20 21
+f 14 21 22
+f 15 23 27
+f 15 27 17
+f 15 17 16
+f 17 19 24
+f 17 24 25
+f 17 25 26
+f 17 26 18
+f 20 28 21
+f 21 28 29
+f 21 29 30
+f 21 30 22
+f 23 31 27
+f 27 31 29
+f 27 29 28
+f 29 31 32
+f 29 32 33
+f 29 33 30
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_71.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a8089115fc5d202376e9f5f766fe0fb4f994152
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_71.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.00264924 0.00516231 -0.03271646
+v 0.00488961 0.00894224 -0.03271645
+v 0.00315422 0.00366626 -0.03271647
+v 0.00945452 -0.00002901 -0.02263081
+v 0.01255457 0.00779716 -0.01197197
+v 0.00884533 0.01011276 -0.03271644
+v 0.00512006 0.00155587 -0.03271647
+v 0.00808385 -0.00002899 -0.02600739
+v 0.01465868 -0.00002904 -0.01439941
+v 0.01644015 -0.00002904 -0.01233508
+v 0.01627583 0.00779715 -0.00865244
+v 0.01596723 0.00944123 -0.02082578
+v 0.00961483 0.01014235 -0.03271644
+v 0.00533047 0.00142626 -0.03271647
+v 0.00823013 -0.00002897 -0.03271648
+v 0.01970453 -0.00002905 -0.01085166
+v 0.02309114 0.00779714 -0.00622763
+v 0.02310917 0.00779714 -0.00622503
+v 0.01755233 0.00946674 -0.02082578
+v 0.01596723 0.01035053 -0.03271644
+v 0.01335814 0.01027195 -0.03271644
+v 0.02312119 -0.00002897 -0.03271648
+v 0.02298092 -0.00002905 -0.01185530
+v 0.02312119 0.00311409 -0.00973131
+v 0.02312119 0.00738895 -0.00704454
+v 0.02312119 0.00779715 -0.00724942
+v 0.02312119 0.00933203 -0.02082578
+v 0.02157618 0.00943714 -0.02082578
+v 0.02312119 0.01037604 -0.03271644
+v 0.01953019 0.01039645 -0.03271644
+v 0.01706137 0.01036482 -0.03271644
+v 0.02312119 -0.00002904 -0.01276558
+v 0.02312119 0.00309470 -0.00974687
+f 1 2 6
+f 1 6 13
+f 1 13 21
+f 1 21 20
+f 1 20 31
+f 1 31 30
+f 1 30 29
+f 1 29 22
+f 1 22 15
+f 1 15 14
+f 1 14 7
+f 1 7 3
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+f 22 26 25
+f 22 25 24
+f 22 24 33
+f 22 33 32
+f 23 32 33
+f 23 33 24
+f 27 29 28
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_72.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92883dfab87e858026060318f5d137197c0918f5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_72.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.06476643 -0.01762138 -0.00369390
+v -0.06536605 -0.01762138 -0.00376018
+v -0.06476643 -0.01762136 -0.00865657
+v -0.06476643 -0.00890691 -0.00187763
+v -0.06581372 -0.01762138 -0.00381047
+v -0.07039241 -0.01762136 -0.00865657
+v -0.06476643 0.02511847 -0.00865642
+v -0.06618083 -0.00893201 -0.00235074
+v -0.06476643 -0.00535920 -0.00142585
+v -0.06595750 -0.00535920 -0.00176944
+v -0.06945322 -0.01762137 -0.00541872
+v -0.06812856 -0.00781080 -0.00288251
+v -0.06939713 -0.00893201 -0.00357883
+v -0.07044748 -0.01762136 -0.00848211
+v -0.07334154 -0.00886505 -0.00830152
+v -0.07319061 -0.00886505 -0.00865654
+v -0.07065857 0.02511847 -0.00865642
+v -0.06476643 0.02511844 -0.00087340
+v -0.06476643 -0.00185334 -0.00116909
+v -0.06595750 -0.00185333 -0.00147612
+v -0.06901472 -0.00185333 -0.00254880
+v -0.07036998 -0.00535920 -0.00333275
+v -0.07146111 -0.01476815 -0.00630246
+v -0.07049235 -0.01762136 -0.00833812
+v -0.07338437 -0.00554327 -0.00517337
+v -0.07507920 -0.00449737 -0.00619044
+v -0.07507920 -0.00449736 -0.00697666
+v -0.07404619 -0.00554326 -0.00821161
+v -0.07371375 -0.00550979 -0.00865653
+v -0.07070445 0.02511847 -0.00831740
+v -0.07353223 0.00578598 -0.00865649
+v -0.07497825 0.00396191 -0.00680522
+v -0.06606968 0.02511844 -0.00135869
+v -0.06902492 0.00165672 -0.00251907
+v -0.06595750 0.00165672 -0.00141591
+v -0.06476643 0.00165671 -0.00111803
+v -0.07079419 -0.00185333 -0.00319332
+v -0.07308048 -0.00185332 -0.00439932
+v -0.07518321 -0.00185332 -0.00598320
+v -0.07518321 -0.00185331 -0.00717016
+v -0.07070649 0.02511847 -0.00830140
+v -0.07510877 0.00165674 -0.00704139
+v -0.07497825 0.00396191 -0.00632678
+v -0.06960414 0.02511846 -0.00449141
+v -0.07510877 0.00165673 -0.00608603
+v -0.07308048 0.00165673 -0.00451206
+v -0.07080541 0.00165672 -0.00320397
+v -0.06966737 0.02511846 -0.00456607
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+f 38 46 39
+f 39 46 45
+f 39 45 42
+f 39 42 40
+f 41 43 48
+f 43 45 44
+f 43 44 48
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_73.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58d9017108495730394c645441dfda4a9321e9c4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_73.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.05484019 0.04713956 -0.04823238
+v 0.05484019 0.04697067 -0.04707123
+v 0.05632518 0.04711882 -0.04823238
+v 0.05484019 0.04059926 -0.04823240
+v 0.05484019 0.04691734 -0.04676378
+v 0.05515144 0.04696475 -0.04707123
+v 0.05988765 0.04704772 -0.04823238
+v 0.05484019 0.03629286 -0.04135968
+v 0.07296377 0.03597143 -0.04823242
+v 0.05484019 0.04633811 -0.04354740
+v 0.05871391 0.04688772 -0.04707123
+v 0.06227637 0.04673958 -0.04707123
+v 0.06227637 0.04694698 -0.04823238
+v 0.06940130 0.03306641 -0.04135969
+v 0.05484019 0.04581221 -0.04135964
+v 0.07652248 0.03568108 -0.04823242
+v 0.07296377 0.03258496 -0.04135969
+v 0.05511019 0.04580629 -0.04135964
+v 0.05871391 0.04571444 -0.04135964
+v 0.05515144 0.04632923 -0.04354740
+v 0.05871391 0.04622701 -0.04354740
+v 0.06345011 0.04679440 -0.04823238
+v 0.06127888 0.04559741 -0.04144912
+v 0.06238887 0.04591592 -0.04332136
+v 0.09314982 0.04212212 -0.04820145
+v 0.09314982 0.03528555 -0.04823242
+v 0.09314982 0.03200722 -0.04136440
+v 0.09312358 0.03201315 -0.04135969
+v 0.06034514 0.04562704 -0.04135964
+v 0.09314982 0.04212805 -0.04823240
+v 0.06116638 0.04557223 -0.04135964
+v 0.06135763 0.04555001 -0.04135964
+v 0.06365261 0.04543150 -0.04199606
+v 0.09314982 0.04207176 -0.04796734
+v 0.09314982 0.03207833 -0.04135969
+v 0.09211859 0.04057849 -0.04135966
+v 0.09314982 0.04070442 -0.04237685
+v 0.09314982 0.04081404 -0.04282086
+v 0.09314982 0.04099329 -0.04354742
+v 0.09314982 0.04153549 -0.04576949
+v 0.09314982 0.04039628 -0.04135966
+f 1 2 3
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+f 1 13 22
+f 1 22 30
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+f 1 26 16
+f 1 16 9
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+f 1 4 8
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+f 25 26 30
+f 27 35 28
+f 32 36 33
+f 33 36 37
+f 33 37 38
+f 33 38 39
+f 33 39 40
+f 33 40 34
+f 36 41 37
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_74.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e03ba103e909b9f26afcba655552cc2f3f987b5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_74.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.06652373 0.03368414 -0.03271658
+v -0.06652373 0.03368250 -0.03241161
+v -0.06265305 0.03367267 -0.03271658
+v -0.06652373 0.02536759 -0.03271661
+v -0.06652373 0.03368086 -0.03219671
+v -0.06652373 0.03365954 -0.02944819
+v -0.06595500 0.03365626 -0.02944819
+v -0.06239353 0.03358738 -0.02592456
+v -0.05908974 0.03364315 -0.03271658
+v -0.06652373 0.02630874 -0.02313102
+v -0.05992903 0.01693298 -0.03271664
+v -0.06059162 0.01693294 -0.02313106
+v -0.06652373 0.03361198 -0.02592456
+v -0.06595500 0.03360870 -0.02592456
+v -0.06652373 0.03360049 -0.02548071
+v -0.06595500 0.03353489 -0.02313100
+v -0.06239353 0.03351193 -0.02313100
+v -0.05883206 0.03348734 -0.02313100
+v -0.05883206 0.03355295 -0.02592456
+v -0.05527243 0.03349064 -0.02592456
+v -0.05883206 0.03363823 -0.03271658
+v -0.06652373 0.03353817 -0.02313100
+v -0.04872373 0.01693298 -0.03271664
+v -0.04772063 0.01693294 -0.02313106
+v -0.05527243 0.03342831 -0.02313100
+v -0.05527243 0.03353329 -0.03271658
+v -0.05553010 0.03354149 -0.03271658
+v -0.05203305 0.03242317 -0.02313100
+v -0.05201832 0.03245763 -0.02592456
+v -0.05153978 0.03238222 -0.03271658
+v -0.05185267 0.03248060 -0.03271658
+v -0.04868508 0.01918920 -0.03271663
+v -0.04866852 0.02269652 -0.03271662
+v -0.04877527 0.02620220 -0.03271660
+v -0.04879367 0.02638748 -0.03271660
+v -0.04974156 0.02877484 -0.02313101
+v -0.05025139 0.03052768 -0.02313101
+v -0.05001396 0.03109670 -0.03271659
+v -0.04939737 0.02958818 -0.03271659
+v -0.04944707 0.02975870 -0.03271659
+f 1 2 3
+f 1 3 9
+f 1 9 21
+f 1 21 27
+f 1 27 26
+f 1 26 31
+f 1 31 30
+f 1 30 38
+f 1 38 40
+f 1 40 39
+f 1 39 35
+f 1 35 34
+f 1 34 33
+f 1 33 32
+f 1 32 23
+f 1 23 11
+f 1 11 4
+f 1 4 10
+f 1 10 22
+f 1 22 15
+f 1 15 13
+f 1 13 6
+f 1 6 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 4 11 12
+f 4 12 10
+f 6 13 14
+f 6 14 7
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 19 20
+f 9 20 21
+f 10 12 24
+f 10 24 36
+f 10 36 37
+f 10 37 28
+f 10 28 25
+f 10 25 18
+f 10 18 17
+f 10 17 16
+f 10 16 22
+f 11 23 24
+f 11 24 12
+f 13 15 14
+f 15 22 16
+f 18 25 19
+f 19 25 20
+f 20 26 27
+f 20 27 21
+f 20 25 28
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 20 31 26
+f 23 32 24
+f 24 32 33
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 28 30 29
+f 28 37 38
+f 28 38 30
+f 35 39 36
+f 36 39 37
+f 37 39 40
+f 37 40 38
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_75.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd3c590a0dfb5d2fc41ce8575bc0023b699ceca5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_75.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.06940431 -0.00535183 0.02108709
+v 0.06940431 0.00165811 0.02108712
+v 0.06938113 -0.00535453 0.02108709
+v 0.06940431 -0.00535452 0.01825681
+v 0.06940431 0.00736262 0.02106402
+v 0.06938113 0.00165136 0.02108712
+v 0.06227126 -0.00535453 0.02093296
+v -0.00954608 -0.00599234 0.00266037
+v -0.00945334 -0.00599234 0.00266037
+v 0.06938113 -0.00535450 0.01231494
+v 0.06940431 -0.00185088 0.01233229
+v 0.06940431 0.00736266 0.01185644
+v 0.00075550 0.00778479 0.00266042
+v -0.00953835 0.00778479 0.00266042
+v 0.06227126 0.00736262 0.02086365
+v 0.06227126 -0.00185091 0.02091563
+v 0.05870088 -0.00535453 0.02073258
+v -0.00954608 -0.00535448 0.00917446
+v -0.00954608 0.00515910 0.00253132
+v -0.00953835 0.00778479 0.00140423
+v -0.00952289 -0.00599234 0.00264303
+v 0.05514594 -0.00535452 0.02025669
+v 0.03021506 -0.00535451 0.01683877
+v 0.00528417 -0.00535449 0.01214539
+v 0.06940431 0.00735591 0.01182561
+v -0.00184115 0.00778479 0.00198801
+v 0.06938113 0.00736266 0.01182561
+v -0.00954608 0.00736267 0.00920726
+v 0.03021506 0.00736264 0.01670781
+v 0.05870088 0.00736262 0.02055731
+v 0.05870088 -0.00185091 0.02068635
+v 0.03021506 0.00165138 0.01682724
+v -0.00954608 0.00736269 0.00266235
+v -0.00539608 0.00778479 0.00170093
+v 0.03021506 -0.00185089 0.01683686
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 11
+f 1 11 25
+f 1 25 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 7
+f 5 7 6
+f 7 16 17
+f 7 17 8
+f 8 18 28
+f 8 28 33
+f 8 33 19
+f 8 19 20
+f 8 20 21
+f 8 21 9
+f 8 17 22
+f 8 22 23
+f 8 23 24
+f 8 24 18
+f 9 21 10
+f 10 25 11
+f 10 21 26
+f 10 26 25
+f 12 25 27
+f 12 27 13
+f 13 26 34
+f 13 34 20
+f 13 20 14
+f 13 27 26
+f 14 20 33
+f 14 33 28
+f 14 28 29
+f 14 29 30
+f 14 30 15
+f 15 30 31
+f 15 31 17
+f 15 17 16
+f 17 31 32
+f 17 32 22
+f 18 24 28
+f 19 33 20
+f 20 34 21
+f 21 34 26
+f 22 35 23
+f 22 32 35
+f 23 35 24
+f 24 32 28
+f 24 35 32
+f 25 26 27
+f 28 32 29
+f 29 32 30
+f 30 32 31
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_76.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ef27a421a26560cfe1eb41f0b830c8d959273b4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_76.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.06476721 -0.02596244 0.00209938
+v -0.06476721 -0.01762138 -0.00369292
+v -0.06536648 -0.01762138 -0.00375925
+v -0.06581300 -0.01762138 -0.00380980
+v -0.06945249 -0.01762137 -0.00541872
+v -0.06528736 -0.02596244 0.00181508
+v -0.06476721 -0.02596240 -0.00865556
+v -0.06476721 -0.01762136 -0.00865552
+v -0.07263842 -0.02596241 -0.00542402
+v -0.07155425 -0.02596242 -0.00278846
+v -0.06772205 -0.02596243 0.00048203
+v -0.07049280 -0.01762136 -0.00833753
+v -0.07269796 -0.02596240 -0.00865556
+v -0.07039253 -0.01762136 -0.00865552
+v -0.07276925 -0.02596240 -0.00830176
+v -0.07044736 -0.01762136 -0.00848178
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 10
+f 1 10 9
+f 1 9 15
+f 1 15 13
+f 1 13 7
+f 1 7 8
+f 1 8 2
+f 2 8 14
+f 2 14 16
+f 2 16 12
+f 2 12 5
+f 2 5 4
+f 2 4 3
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 5 12 9
+f 7 13 14
+f 7 14 8
+f 9 12 15
+f 12 16 13
+f 12 13 15
+f 13 16 14
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_77.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84e5936859e976c10788bb888080c7e90987b001
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_77.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.08820785 -0.01240134 0.00265899
+v 0.08811155 -0.01551884 0.00265898
+v 0.08804887 -0.01588135 -0.00633921
+v 0.08815588 -0.01237417 -0.00633920
+v 0.08815282 -0.00340750 -0.00633916
+v 0.08815129 0.00065416 -0.00633915
+v 0.08815129 0.00065416 -0.00578161
+v 0.08814671 0.00065413 0.00227061
+v 0.08810085 0.00065413 0.00265904
+v 0.08806569 -0.01588138 0.00265898
+v 0.08744353 -0.01711439 -0.00633921
+v 0.07923618 0.00065416 -0.00633915
+v 0.07419009 0.00065413 0.00265904
+v 0.08684735 -0.01833776 0.00265897
+v 0.08668378 -0.01865956 -0.00633922
+v 0.07449124 0.00065414 0.00104983
+v 0.07319341 -0.00701937 -0.00633918
+v 0.07259112 -0.00743817 0.00265901
+v 0.07420997 0.00065413 0.00242211
+v 0.07259112 -0.00790732 -0.00633918
+v 0.08667920 -0.01863827 0.00265897
+v 0.08667920 -0.01864215 0.00227054
+v 0.08668225 -0.01864989 -0.00125352
+v 0.08364635 -0.01914622 0.00227054
+v 0.08533704 -0.01887864 -0.00633922
+v 0.07421914 0.00065413 0.00232610
+v 0.07259112 -0.01788216 0.00265897
+v 0.07259112 -0.01789182 -0.00633922
+v 0.08364635 -0.01914428 0.00265897
+v 0.08364635 -0.01915200 -0.00633922
+v 0.07259112 -0.01788410 0.00227054
+v 0.07259112 -0.01789182 -0.00477757
+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 13
+f 1 13 18
+f 1 18 27
+f 1 27 29
+f 1 29 21
+f 1 21 14
+f 1 14 10
+f 1 10 2
+f 2 10 3
+f 3 10 11
+f 3 11 15
+f 3 15 25
+f 3 25 30
+f 3 30 28
+f 3 28 20
+f 3 20 17
+f 3 17 12
+f 3 12 6
+f 3 6 5
+f 3 5 4
+f 6 12 16
+f 6 16 26
+f 6 26 19
+f 6 19 13
+f 6 13 9
+f 6 9 8
+f 6 8 7
+f 10 14 15
+f 10 15 11
+f 12 17 16
+f 13 19 20
+f 13 20 18
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 16 17 20
+f 16 20 26
+f 18 20 28
+f 18 28 32
+f 18 32 31
+f 18 31 27
+f 19 26 20
+f 21 29 22
+f 22 29 24
+f 22 24 23
+f 24 30 25
+f 24 29 27
+f 24 27 31
+f 24 31 32
+f 24 32 30
+f 28 30 32
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_78.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54e77395b5712b87e9d5d03f7a909a30b8dff497
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_78.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.02312119 -0.01758441 0.00265669
+v 0.02312119 -0.01754583 0.00201342
+v 0.02312119 -0.00910368 0.00265672
+v 0.01952703 -0.01757420 0.00265669
+v 0.02312119 -0.01717251 -0.00125330
+v -0.00896411 -0.01745165 0.00226982
+v -0.00954608 -0.01632937 -0.01535036
+v -0.00896411 -0.01632142 -0.01535036
+v 0.02312119 -0.00877462 0.00265215
+v 0.02306364 -0.00877122 0.00265672
+v -0.00857079 -0.01745165 0.00265669
+v 0.02312119 -0.01645990 -0.00475124
+v -0.00539872 -0.01621249 -0.01535036
+v -0.00183653 -0.01598896 -0.01535036
+v -0.00954608 -0.01744712 0.00226982
+v -0.00954608 -0.01741080 0.00169522
+v -0.00954608 -0.01623746 -0.01592496
+v 0.02312119 -0.00788385 -0.00540593
+v -0.00945015 -0.00599234 0.00265673
+v 0.02264155 -0.00873491 0.00265672
+v -0.00954608 -0.01744371 0.00265669
+v 0.02312119 -0.01645309 -0.00478100
+v -0.00954608 -0.01529338 -0.01907952
+v -0.00539872 -0.01518672 -0.01838359
+v 0.00172247 -0.01566217 -0.01535036
+v 0.02312119 -0.00788379 -0.02072544
+v -0.00953009 -0.00599234 0.00263842
+v -0.00954608 -0.00599234 0.00265673
+v 0.02312119 -0.01532746 -0.00827665
+v 0.01065353 -0.01413373 -0.01711993
+v -0.00954608 -0.01509367 -0.01943892
+v 0.00884045 -0.01427443 -0.01727330
+v 0.00528466 -0.01452747 -0.01750910
+v 0.02312119 -0.00899807 -0.02072544
+v 0.01203491 -0.00788379 -0.02072544
+v -0.00954608 -0.00881653 -0.01535033
+v 0.02312119 -0.01531838 -0.00830412
+v 0.02312119 -0.01437203 -0.01034153
+v -0.00954608 -0.01475667 -0.01999062
+v -0.00954608 -0.01377174 -0.02064534
+v -0.00954608 -0.01237493 -0.02070714
+v 0.01944709 -0.00923862 -0.02072544
+v 0.01226195 -0.00839554 -0.02072544
+v -0.00954608 -0.01003405 -0.01966783
+v -0.00954608 -0.00972542 -0.01901769
+v 0.01428926 -0.00894814 -0.02072544
+v 0.01596484 -0.00933848 -0.02072544
+f 1 2 5
+f 1 5 12
+f 1 12 22
+f 1 22 29
+f 1 29 37
+f 1 37 38
+f 1 38 34
+f 1 34 26
+f 1 26 18
+f 1 18 9
+f 1 9 3
+f 1 3 10
+f 1 10 20
+f 1 20 19
+f 1 19 28
+f 1 28 21
+f 1 21 11
+f 1 11 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 10
+f 4 11 6
+f 5 8 13
+f 5 13 14
+f 5 14 12
+f 6 11 15
+f 6 15 16
+f 6 16 7
+f 7 16 15
+f 7 15 21
+f 7 21 28
+f 7 28 36
+f 7 36 45
+f 7 45 44
+f 7 44 41
+f 7 41 40
+f 7 40 39
+f 7 39 31
+f 7 31 23
+f 7 23 17
+f 7 17 8
+f 8 17 13
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 11 21 15
+f 12 14 22
+f 13 17 23
+f 13 23 14
+f 14 23 24
+f 14 24 25
+f 14 25 22
+f 18 26 19
+f 19 27 28
+f 19 26 27
+f 22 25 30
+f 22 30 29
+f 23 31 32
+f 23 32 33
+f 23 33 24
+f 24 33 25
+f 25 33 32
+f 25 32 30
+f 26 34 42
+f 26 42 47
+f 26 47 46
+f 26 46 43
+f 26 43 35
+f 26 35 27
+f 27 35 36
+f 27 36 28
+f 29 30 37
+f 30 34 38
+f 30 38 37
+f 30 32 39
+f 30 39 34
+f 31 39 32
+f 34 39 40
+f 34 40 41
+f 34 41 42
+f 35 43 41
+f 35 41 44
+f 35 44 45
+f 35 45 36
+f 41 43 46
+f 41 46 47
+f 41 47 42
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_79.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c46e82d98848de5aa423401188485f77b5f7b11
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_79.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v -0.04383038 -0.01237451 -0.02383523
+v -0.04102146 -0.01237451 -0.02367886
+v -0.02677213 -0.01527139 -0.02170598
+v -0.03033614 -0.01534722 -0.02185902
+v -0.04383038 -0.01302853 -0.02352915
+v -0.04383038 -0.00967551 -0.02213847
+v -0.04102146 -0.00968262 -0.02206527
+v -0.02677213 -0.00974541 -0.02157621
+v -0.02321818 -0.00978806 -0.02145644
+v -0.02677213 -0.01237452 -0.02265083
+v -0.01609352 -0.01485789 -0.02120027
+v -0.01965753 -0.01501547 -0.02136663
+v -0.02321818 -0.01515528 -0.02153631
+v -0.01965753 -0.00989707 -0.02130007
+v -0.01609352 -0.01005228 -0.02112374
+v -0.01609352 -0.01605694 -0.01887473
+v -0.01965753 -0.01622162 -0.01887473
+v -0.03389679 -0.01539343 -0.02198212
+v -0.04102146 -0.01546452 -0.02224828
+v -0.02321818 -0.01634011 -0.01887473
+v -0.04383038 -0.01548347 -0.02233145
+v -0.04383038 -0.00872885 -0.01887470
+v -0.03745745 -0.00874188 -0.01887470
+v -0.02677213 -0.00878098 -0.01887470
+v -0.02321818 -0.00881890 -0.01887470
+v -0.03745745 -0.00969091 -0.02192554
+v -0.01965753 -0.00893619 -0.01887470
+v -0.01253287 -0.01025962 -0.02092080
+v -0.02321818 -0.01237452 -0.02235806
+v -0.01253287 -0.01462211 -0.02099733
+v -0.01253287 -0.01580931 -0.01887473
+v -0.01609352 -0.00911747 -0.01887470
+v -0.01253287 -0.00933548 -0.01887470
+v -0.00954943 -0.01623704 -0.01592371
+v -0.00954943 -0.01632945 -0.01534815
+v -0.03745745 -0.01543371 -0.02210854
+v -0.02677213 -0.01643134 -0.01887473
+v -0.03033614 -0.01651546 -0.01887473
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+v -0.02677213 -0.01583191 0.00579473
+v -0.00954943 -0.01290899 0.00997341
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_8.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3704443e954f67ef8344a8b9f2df250dc080a9e6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_8.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.00955148 0.02387019 0.01282768
+v -0.00955148 0.02372261 0.00931990
+v -0.00955148 0.03114626 0.01282770
+v -0.03035641 0.02395900 0.01282768
+v -0.06090166 0.02040170 -0.00249680
+v -0.05984762 0.02040170 -0.00249680
+v -0.04814519 0.02040171 -0.00462081
+v -0.04684792 0.02040171 -0.00495939
+v -0.04528580 0.02040171 -0.00553351
+v -0.00955148 0.02370510 0.00874368
+v -0.00955148 0.03108251 0.00227071
+v -0.05883143 0.03309388 -0.00865639
+v -0.05526935 0.03270354 0.01282771
+v -0.03390227 0.02404030 0.01282768
+v -0.06209081 0.02040170 -0.00262087
+v -0.04477770 0.02040172 -0.00703083
+v -0.00955148 0.02362380 0.00579529
+v -0.00955148 0.02950898 -0.00150836
+v -0.01252979 0.03013689 -0.00125179
+v -0.03856163 0.03156286 -0.00666066
+v -0.02787538 0.03149030 -0.00307297
+v -0.05526935 0.03281620 -0.00865639
+v -0.06203136 0.03314642 -0.00865639
+v -0.06237729 0.03287741 0.01282771
+v -0.05881522 0.03281862 0.01282771
+v -0.06476643 0.02602286 0.01282769
+v -0.06476643 0.02040170 -0.00325177
+v -0.04468581 0.02040172 -0.00826739
+v -0.00955148 0.02359004 0.00227069
+v -0.00955148 0.02361129 0.00521907
+v -0.00955148 0.02858337 -0.00262715
+v -0.00990283 0.02821187 -0.00313608
+v -0.04503175 0.02973290 -0.00865640
+v -0.05159917 0.03211448 -0.00865639
+v -0.06239351 0.03292246 0.00931993
+v -0.06476643 0.03317894 -0.00865639
+v -0.06476643 0.03294622 0.00931993
+v -0.06476643 0.03289992 0.01282771
+v -0.06476643 0.02040172 -0.00865644
+v -0.04475067 0.02040172 -0.00850292
+v -0.00955148 0.02365884 0.00175546
+v -0.04479391 0.02040172 -0.00865644
+v -0.00955148 0.02703610 -0.00289634
+v -0.00990283 0.02742385 -0.00313608
+v -0.04307503 0.02607047 -0.00865641
+v -0.04463175 0.02911249 -0.00865640
+v -0.00955148 0.02401783 -0.00058096
+v -0.00955148 0.02599290 -0.00244840
+v -0.01252979 0.02500850 -0.00266081
+v -0.01455137 0.02455820 -0.00292368
+v -0.00955148 0.02418294 -0.00086907
+f 1 2 10
+f 1 10 17
+f 1 17 30
+f 1 30 29
+f 1 29 41
+f 1 41 47
+f 1 47 51
+f 1 51 48
+f 1 48 43
+f 1 43 31
+f 1 31 18
+f 1 18 11
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+f 1 14 4
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+f 49 51 50
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_80.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0276add9bf189716ab10a299bae33957168995d2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_80.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.02312377 0.01037677 -0.03271760
+v 0.02665689 0.01029373 -0.03271760
+v 0.02312377 0.00631987 -0.03271762
+v 0.02312377 0.00920436 -0.02426537
+v 0.04103674 0.00941851 -0.02426537
+v 0.04441008 0.00967531 -0.03271760
+v 0.02317273 -0.00078435 -0.03271764
+v 0.02312377 -0.00078435 -0.03271681
+v 0.02312377 0.00198104 -0.02426539
+v 0.04446420 0.00913443 -0.02426537
+v 0.04446420 0.00966548 -0.03271760
+v 0.04944818 -0.00078435 -0.03271764
+v 0.03736704 -0.00078438 -0.02426540
+v 0.04744840 0.00817402 -0.02426537
+v 0.04760045 0.00884492 -0.03271761
+v 0.04940437 0.00165438 -0.03271763
+v 0.04825759 -0.00078438 -0.02426540
+v 0.04811843 0.00515948 -0.02426538
+v 0.04918275 0.00515951 -0.03271762
+v 0.04907451 0.00558781 -0.03271762
+v 0.04794577 0.00866026 -0.03271761
+v 0.04936829 0.00233180 -0.03271763
+f 1 2 6
+f 1 6 11
+f 1 11 15
+f 1 15 21
+f 1 21 20
+f 1 20 19
+f 1 19 22
+f 1 22 16
+f 1 16 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 13
+f 4 13 17
+f 4 17 18
+f 4 18 14
+f 4 14 10
+f 4 10 5
+f 5 10 6
+f 6 10 11
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+f 7 17 13
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+f 10 15 11
+f 12 16 17
+f 14 18 19
+f 14 19 20
+f 14 20 21
+f 14 21 15
+f 16 22 18
+f 16 18 17
+f 18 22 19
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_81.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea0c9bf11881be3e1a5213780ba7225835735619
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_81.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.00233923 -0.00535921 -0.03271766
+v 0.00945506 -0.00003072 -0.02262966
+v 0.00808397 -0.00003070 -0.02600658
+v 0.00494918 -0.00167249 -0.03271765
+v 0.00295154 -0.00703042 -0.03271767
+v 0.01242711 -0.00788317 -0.01184387
+v 0.01465869 -0.00003075 -0.01439992
+v 0.00823044 -0.00003068 -0.03271764
+v 0.00527466 -0.00896815 -0.03271767
+v 0.01243728 -0.00788317 -0.01182783
+v 0.00549640 -0.00903739 -0.03271767
+v 0.00884682 -0.00967097 -0.03271768
+v 0.01401790 -0.00788317 -0.00987868
+v 0.01643866 -0.00003075 -0.01233581
+v 0.02191895 -0.00003068 -0.03271764
+v 0.01596875 -0.00933619 -0.02072867
+v 0.00902380 -0.00968614 -0.03271768
+v 0.01598095 -0.00788318 -0.00846962
+v 0.01610098 -0.00788318 -0.00839743
+v 0.01970364 -0.00003076 -0.01085189
+v 0.02312119 -0.00003068 -0.03271496
+v 0.02312119 -0.00971839 -0.03271768
+v 0.01255527 -0.00970796 -0.03271768
+v 0.01596875 -0.00971365 -0.03271768
+v 0.02309272 -0.00971934 -0.03271768
+v 0.01945140 -0.00923660 -0.02072867
+v 0.02311916 -0.00788319 -0.00540553
+v 0.02298083 -0.00003076 -0.01185721
+v 0.02311916 -0.00003075 -0.01276627
+v 0.02312119 -0.00175031 -0.02072865
+v 0.02312119 -0.00899569 -0.02072867
+v 0.02311916 -0.00324988 -0.00973962
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 22
+f 1 22 25
+f 1 25 24
+f 1 24 23
+f 1 23 17
+f 1 17 12
+f 1 12 11
+f 1 11 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
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+f 2 21 15
+f 2 15 8
+f 2 8 3
+f 3 8 4
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+f 21 31 22
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+f 22 31 26
+f 26 31 27
+f 27 30 32
+f 27 32 28
+f 27 31 30
+f 28 32 29
+f 29 32 30
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_82.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a6f49b4d45a149f70c3dc215349d63ee7ce0914
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_82.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.04368451 -0.01690115 -0.00818685
+v -0.04487315 -0.02071220 -0.00825446
+v -0.04368451 -0.01689310 -0.00830175
+v -0.04368451 -0.01680458 -0.00389631
+v -0.04511872 -0.02071220 -0.00865659
+v -0.04368451 -0.01683676 -0.00865657
+v -0.04368451 -0.01684078 -0.00863517
+v -0.04368451 -0.01612045 -0.00125372
+v -0.04552938 -0.02071221 -0.00573240
+v -0.06476437 -0.02071220 -0.00865659
+v -0.04368451 0.01672222 -0.00865645
+v -0.04368451 -0.01575021 -0.00041341
+v -0.04814811 -0.02071221 -0.00515567
+v -0.04368451 -0.01488097 0.00149702
+v -0.06476437 -0.02071222 -0.00374201
+v -0.06476437 0.02040047 -0.00865644
+v -0.04479680 0.02040047 -0.00865644
+v -0.04468949 0.02040047 -0.00826670
+v -0.04368451 0.01677856 -0.00831289
+v -0.05883147 -0.02071222 -0.00366654
+v -0.04368451 -0.01431756 0.00177862
+v -0.06239327 -0.02071222 -0.00335339
+v -0.04368451 -0.01243819 0.00264710
+v -0.06239327 -0.00886457 -0.00108472
+v -0.06476437 -0.00890883 -0.00187773
+v -0.06476437 0.02040045 -0.00325299
+v -0.04478235 0.02040047 -0.00703101
+v -0.04368451 0.01584488 -0.00125360
+v -0.04368451 0.01658538 -0.00482549
+v -0.04368451 0.01677856 -0.00830163
+v -0.04368451 -0.00886458 0.00284987
+v -0.04458631 -0.00886458 0.00268091
+v -0.06239327 -0.00535937 -0.00074003
+v -0.06476437 -0.00535936 -0.00142602
+v -0.06476437 0.00516027 -0.00139106
+v -0.06239327 0.00516026 -0.00078167
+v -0.06239327 0.00866546 -0.00121646
+v -0.06209404 0.02040045 -0.00262219
+v -0.04529206 0.02040046 -0.00553400
+v -0.04368451 0.01471002 0.00133829
+v -0.06239327 -0.00185014 -0.00055641
+v -0.04368451 0.00955080 0.00232503
+v -0.06239327 0.00165103 -0.00052598
+v -0.06476437 -0.00185014 -0.00116919
+v -0.06476437 0.00282212 -0.00120409
+v -0.06476437 0.00165103 -0.00111848
+v -0.04368451 0.01217065 0.00223154
+v -0.06090540 0.02040045 -0.00249716
+v -0.04685216 0.02040046 -0.00495952
+v -0.04814811 0.02040046 -0.00462047
+v -0.05984883 0.02040045 -0.00249716
+f 1 2 3
+f 1 3 7
+f 1 7 6
+f 1 6 11
+f 1 11 19
+f 1 19 30
+f 1 30 29
+f 1 29 28
+f 1 28 40
+f 1 40 47
+f 1 47 42
+f 1 42 31
+f 1 31 23
+f 1 23 21
+f 1 21 14
+f 1 14 12
+f 1 12 8
+f 1 8 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 2 4 8
+f 2 8 9
+f 2 9 13
+f 2 13 20
+f 2 20 22
+f 2 22 15
+f 2 15 10
+f 2 10 5
+f 5 10 16
+f 5 16 17
+f 5 17 11
+f 5 11 6
+f 8 12 9
+f 9 12 14
+f 9 14 13
+f 10 15 25
+f 10 25 34
+f 10 34 44
+f 10 44 46
+f 10 46 45
+f 10 45 35
+f 10 35 26
+f 10 26 16
+f 11 17 18
+f 11 18 19
+f 13 14 20
+f 14 21 22
+f 14 22 20
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 16 26 38
+f 16 38 48
+f 16 48 51
+f 16 51 50
+f 16 50 49
+f 16 49 39
+f 16 39 27
+f 16 27 18
+f 16 18 17
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 19
+f 21 23 22
+f 23 31 32
+f 23 32 33
+f 23 33 24
+f 24 33 34
+f 24 34 25
+f 26 35 36
+f 26 36 37
+f 26 37 38
+f 27 39 40
+f 27 40 28
+f 31 41 32
+f 31 42 43
+f 31 43 41
+f 32 41 33
+f 33 41 44
+f 33 44 34
+f 35 45 36
+f 36 45 46
+f 36 46 43
+f 36 43 47
+f 36 47 37
+f 37 47 38
+f 38 40 48
+f 38 47 40
+f 39 49 40
+f 40 49 50
+f 40 50 51
+f 40 51 48
+f 41 43 46
+f 41 46 44
+f 42 47 43
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_83.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..093a28f701aac144dc46ae2696189e46f1e7d717
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_83.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.10858398 -0.00011410 -0.02944921
+v -0.10845137 -0.01837973 -0.02944928
+v -0.10842312 -0.00011411 -0.02767475
+v -0.10793184 -0.00011409 -0.03271764
+v -0.10792749 -0.00185410 -0.03271765
+v -0.10788402 -0.01837972 -0.03271771
+v -0.10831009 -0.00185412 -0.02656843
+v -0.10813400 -0.01837974 -0.02656849
+v -0.10831225 -0.00153580 -0.02656843
+v -0.10831443 -0.00121391 -0.02656842
+v -0.10832095 -0.00011411 -0.02656842
+v -0.08947202 -0.00011409 -0.03271764
+v -0.08637872 -0.01837972 -0.03271771
+v -0.10156481 -0.01837974 -0.02656849
+v -0.10120614 -0.00011411 -0.02656842
+v -0.09177188 -0.00011410 -0.03051822
+v -0.08727649 -0.01837972 -0.03206041
+v -0.10123874 -0.00536096 -0.02656844
+v -0.09068282 -0.01837973 -0.03055079
+v -0.10120396 -0.00105117 -0.02656842
+v -0.08986982 -0.01837973 -0.03086560
+v -0.08911986 -0.01764117 -0.03121651
+v -0.08732866 -0.01837972 -0.03202430
+v -0.10120396 -0.00185412 -0.02656843
+f 1 2 3
+f 1 3 11
+f 1 11 15
+f 1 15 16
+f 1 16 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 13
+f 2 13 17
+f 2 17 23
+f 2 23 21
+f 2 21 19
+f 2 19 14
+f 2 14 8
+f 2 8 7
+f 3 7 9
+f 3 9 10
+f 3 10 11
+f 4 12 13
+f 4 13 6
+f 4 6 5
+f 7 8 14
+f 7 14 18
+f 7 18 24
+f 7 24 20
+f 7 20 15
+f 7 15 11
+f 7 11 10
+f 7 10 9
+f 12 16 13
+f 13 16 17
+f 14 19 18
+f 15 20 19
+f 15 19 21
+f 15 21 16
+f 16 21 22
+f 16 22 23
+f 16 23 17
+f 18 19 24
+f 19 20 24
+f 21 23 22
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_84.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75fb5d3ea80702bc63c399fb31f818c46211d3dc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_84.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.06476643 -0.03316663 0.01282747
+v -0.06476643 -0.02628902 0.01282749
+v -0.06595843 -0.03317115 0.01282747
+v -0.06595843 -0.03326367 0.00931969
+v -0.06476643 -0.03322757 0.01049736
+v -0.06476643 -0.02623860 0.01166664
+v -0.08020284 -0.02649894 0.01282749
+v -0.06597609 -0.03317115 0.01282747
+v -0.06951898 -0.03326141 0.00931969
+v -0.06595843 -0.03335169 0.00579508
+v -0.06476643 -0.03331408 0.00697275
+v -0.06476643 -0.02596244 0.00210016
+v -0.08731511 -0.02660202 0.01282749
+v -0.06953664 -0.03315911 0.01282747
+v -0.08731511 -0.03321401 0.00933020
+v -0.08731511 -0.03332912 0.00579508
+v -0.06951898 -0.03342993 0.00227048
+v -0.06595843 -0.03343369 0.00227048
+v -0.06476643 -0.03339682 0.00344815
+v -0.06476643 -0.03334191 0.00579508
+v -0.06476643 -0.02596240 -0.00865661
+v -0.06528738 -0.02596244 0.00181625
+v -0.08731511 -0.02660202 0.01281487
+v -0.08731511 -0.03305152 0.01282747
+v -0.06772215 -0.02596243 0.00048296
+v -0.07155642 -0.02596242 -0.00278718
+v -0.07264026 -0.02596241 -0.00542222
+v -0.07277049 -0.02596240 -0.00830121
+v -0.07309940 -0.03313804 0.01282747
+v -0.08731511 -0.03364131 -0.00830123
+v -0.06595843 -0.03350290 -0.00125202
+v -0.06476643 -0.03342316 0.00227048
+v -0.08731511 -0.03364884 -0.00865453
+v -0.06476643 -0.03361799 -0.00865663
+v -0.07269986 -0.02596240 -0.00865661
+v -0.08731511 -0.02678176 -0.00831172
+v -0.07276166 -0.02596240 -0.00834747
+v -0.06595843 -0.03362777 -0.00865663
+v -0.06476643 -0.03349237 -0.00125202
+v -0.08731511 -0.03343215 -0.00865663
+v -0.08412320 -0.03363379 -0.00865663
+v -0.08731511 -0.02678627 -0.00865661
+f 1 2 7
+f 1 7 13
+f 1 13 24
+f 1 24 29
+f 1 29 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 20
+f 1 20 19
+f 1 19 32
+f 1 32 39
+f 1 39 34
+f 1 34 21
+f 1 21 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 6 12 13
+f 6 13 7
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 9 16 10
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 10 16 17
+f 12 21 35
+f 12 35 37
+f 12 37 28
+f 12 28 27
+f 12 27 26
+f 12 26 25
+f 12 25 22
+f 12 22 13
+f 13 23 36
+f 13 36 42
+f 13 42 40
+f 13 40 33
+f 13 33 30
+f 13 30 16
+f 13 16 15
+f 13 15 24
+f 13 22 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 23
+f 14 29 15
+f 15 29 24
+f 16 30 17
+f 17 30 18
+f 18 31 39
+f 18 39 32
+f 18 32 19
+f 18 30 33
+f 18 33 31
+f 21 34 38
+f 21 38 41
+f 21 41 40
+f 21 40 42
+f 21 42 35
+f 23 28 36
+f 28 37 36
+f 31 38 34
+f 31 34 39
+f 31 33 38
+f 33 40 41
+f 33 41 38
+f 35 42 36
+f 35 36 37
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_85.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c53f4455efc8f51c8b005d98b06b1910cfc10b08
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_85.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.06323412 -0.02109962 -0.02108239
+v -0.04912942 -0.02109962 -0.02108239
+v -0.06135639 -0.02109958 -0.03271772
+v -0.08036922 -0.02349098 -0.03271773
+v -0.08036922 -0.02662332 -0.02108241
+v -0.04979871 -0.02867981 -0.02108242
+v -0.04874829 -0.02640381 -0.03271774
+v -0.04906745 -0.02109962 -0.02240026
+v -0.04873590 -0.02109958 -0.03271772
+v -0.08036922 -0.03386728 -0.03271776
+v -0.08036922 -0.03387239 -0.02108243
+v -0.05035336 -0.03028972 -0.02108242
+v -0.04938350 -0.02978222 -0.03271775
+v -0.04871421 -0.02264226 -0.03271772
+v -0.08036922 -0.03400811 -0.02944870
+v -0.08020190 -0.03387743 -0.03271776
+v -0.08036922 -0.03389903 -0.02240030
+v -0.05883415 -0.03395105 -0.02240030
+v -0.05883415 -0.03391933 -0.02108243
+v -0.05036575 -0.03056629 -0.02240029
+v -0.05216292 -0.03251874 -0.02108243
+v -0.04967787 -0.03031886 -0.03271775
+v -0.08036922 -0.03397006 -0.02592564
+v -0.07664164 -0.03400429 -0.03271776
+v -0.08020190 -0.03400938 -0.02944870
+v -0.06239750 -0.03400685 -0.02592564
+v -0.05883415 -0.03400939 -0.02592564
+v -0.05527079 -0.03368209 -0.02240030
+v -0.05527079 -0.03365164 -0.02108243
+v -0.05022012 -0.03103438 -0.03205027
+v -0.05411812 -0.03323807 -0.02108243
+v -0.05159589 -0.03250982 -0.03271776
+v -0.05103195 -0.03194654 -0.03271776
+v -0.07664164 -0.03403094 -0.02944871
+v -0.06239750 -0.03403601 -0.03271777
+v -0.06239750 -0.03405885 -0.02944871
+v -0.05883415 -0.03400050 -0.02944870
+v -0.05527079 -0.03373409 -0.02592564
+v -0.05527079 -0.03369220 -0.03271776
+v -0.06213723 -0.03403093 -0.03271777
+v -0.05883415 -0.03395989 -0.03271776
+f 1 2 8
+f 1 8 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 19
+f 1 19 29
+f 1 29 31
+f 1 31 21
+f 1 21 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 14
+f 3 14 7
+f 3 7 13
+f 3 13 22
+f 3 22 33
+f 3 33 32
+f 3 32 39
+f 3 39 41
+f 3 41 40
+f 3 40 35
+f 3 35 24
+f 3 24 16
+f 3 16 10
+f 3 10 4
+f 4 10 15
+f 4 15 23
+f 4 23 17
+f 4 17 11
+f 4 11 5
+f 6 12 13
+f 6 13 7
+f 7 14 8
+f 8 14 9
+f 10 16 15
+f 11 17 18
+f 11 18 19
+f 12 20 13
+f 12 21 20
+f 13 20 22
+f 15 16 24
+f 15 24 25
+f 15 25 23
+f 17 23 18
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 19
+f 18 23 26
+f 20 21 30
+f 20 30 22
+f 21 31 32
+f 21 32 33
+f 21 33 30
+f 22 30 33
+f 23 25 34
+f 23 34 26
+f 24 34 25
+f 24 35 34
+f 26 36 27
+f 26 34 36
+f 27 36 37
+f 27 37 38
+f 27 38 28
+f 28 38 32
+f 28 32 31
+f 28 31 29
+f 32 38 39
+f 34 35 36
+f 35 40 37
+f 35 37 36
+f 37 40 41
+f 37 41 39
+f 37 39 38
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_86.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6f1cdfbd0321f8eb308d803a4322990e970b8dd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_86.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.09157876 0.00685381 -0.03278132
+v 0.09076912 0.00685381 -0.03278320
+v 0.09157876 0.00685384 -0.04119768
+v 0.09157876 0.00726566 -0.03278226
+v 0.09076912 0.02620279 -0.03280004
+v 0.09076912 0.02269534 -0.03279255
+v 0.08720840 0.02620279 -0.03277092
+v 0.08720840 0.00866941 -0.03287902
+v 0.08720840 0.00685381 -0.03300491
+v 0.08720840 0.02269534 -0.03277564
+v 0.08364600 0.02620279 -0.03278783
+v 0.07452466 0.02620279 -0.03295974
+v 0.09104290 0.00685385 -0.04231748
+v 0.09157876 0.01921499 -0.04100694
+v 0.09157876 0.01918789 -0.03281322
+v 0.09076912 0.02660690 -0.03280192
+v 0.09157876 0.02269534 -0.03282825
+v 0.08720840 0.02660690 -0.03277280
+v 0.08405666 0.02660690 -0.03278689
+v 0.07452466 0.00691764 -0.03709425
+v 0.07452466 0.00685383 -0.03711116
+v 0.08364600 0.02660690 -0.03278971
+v 0.07452466 0.02660690 -0.03296350
+v 0.09101452 0.00685385 -0.04236821
+v 0.09157876 0.02660693 -0.04048364
+v 0.09080084 0.01380108 -0.04236819
+v 0.09070736 0.01568242 -0.04236818
+v 0.09157876 0.02620279 -0.03285265
+v 0.09157876 0.02629367 -0.03285641
+v 0.09157876 0.02660690 -0.03286956
+v 0.07452466 0.00685385 -0.04236821
+v 0.07452466 0.02660693 -0.04097778
+v 0.08012367 0.02477974 -0.04236815
+v 0.08011699 0.02660693 -0.04097591
+v 0.09000456 0.01859820 -0.04236817
+v 0.08780936 0.02118721 -0.04236816
+v 0.08685449 0.02221393 -0.04236816
+v 0.08364600 0.02359448 -0.04236815
+v 0.07452466 0.02451098 -0.04236815
+v 0.07949265 0.02660693 -0.04097778
+f 1 2 9
+f 1 9 21
+f 1 21 31
+f 1 31 24
+f 1 24 13
+f 1 13 3
+f 1 3 14
+f 1 14 25
+f 1 25 30
+f 1 30 29
+f 1 29 28
+f 1 28 17
+f 1 17 15
+f 1 15 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 7 10
+f 2 10 11
+f 2 11 12
+f 2 12 8
+f 3 13 14
+f 4 15 5
+f 5 16 18
+f 5 18 7
+f 5 7 6
+f 5 15 17
+f 5 17 16
+f 7 18 19
+f 7 19 11
+f 7 11 10
+f 8 12 9
+f 9 20 21
+f 9 12 20
+f 11 19 22
+f 11 22 12
+f 12 22 23
+f 12 23 32
+f 12 32 39
+f 12 39 31
+f 12 31 21
+f 12 21 20
+f 13 24 14
+f 14 24 26
+f 14 26 27
+f 14 27 25
+f 16 17 28
+f 16 28 29
+f 16 29 30
+f 16 30 25
+f 16 25 34
+f 16 34 40
+f 16 40 32
+f 16 32 23
+f 16 23 22
+f 16 22 19
+f 16 19 18
+f 24 31 39
+f 24 39 33
+f 24 33 38
+f 24 38 37
+f 24 37 36
+f 24 36 35
+f 24 35 27
+f 24 27 26
+f 25 33 34
+f 25 27 35
+f 25 35 36
+f 25 36 37
+f 25 37 38
+f 25 38 33
+f 32 40 33
+f 32 33 39
+f 33 40 34
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_87.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c3dee444df86c9da0757bb09ec5fd94bf4317fa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_87.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.08727778 0.02684876 -0.00865641
+v -0.08727778 0.02550164 -0.02867504
+v -0.08727778 0.03341190 -0.00865639
+v -0.09750421 0.02431281 -0.00865642
+v -0.08732889 0.02549588 -0.02867504
+v -0.08727778 0.03396987 -0.02867501
+v -0.08727778 0.03393049 -0.02592383
+v -0.08732889 0.03341286 -0.00865639
+v -0.10516483 0.02431281 -0.00865642
+v -0.09797239 0.02431282 -0.01182695
+v -0.10107181 0.02431289 -0.02867504
+v -0.08727778 0.03393145 -0.02597673
+v -0.09089240 0.03404093 -0.02867500
+v -0.08732889 0.03393145 -0.02592383
+v -0.09445386 0.03404476 -0.02592382
+v -0.09089240 0.03346663 -0.00865639
+v -0.10482136 0.02620349 -0.00865641
+v -0.10702121 0.02489858 -0.01996491
+v -0.10538155 0.02431282 -0.00992816
+v -0.10816202 0.02431289 -0.02867504
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+v -0.10705188 0.02820851 -0.02592385
+v -0.10723996 0.02855228 -0.02867503
+v -0.10157475 0.03334091 -0.02592383
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+v -0.10353130 0.03161343 -0.01959452
+v -0.10408126 0.03206957 -0.02592383
+f 1 2 6
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+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 22
+f 1 22 37
+f 1 37 47
+f 1 47 49
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+f 40 52 42
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+f 43 45 44
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+f 47 50 49
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_88.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c93d789621b1d2fb4eee1b3ca72d8b1175d6f8ad
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_88.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.06999614 -0.02110092 -0.00865659
+v -0.06935807 -0.02110091 -0.01182722
+v -0.08036558 -0.02662407 -0.02108127
+v -0.08036558 -0.02656385 -0.01887509
+v -0.08036558 -0.02656134 -0.01871212
+v -0.08036558 -0.02653248 -0.01535056
+v -0.08036558 -0.02653248 -0.01518759
+v -0.08036558 -0.02657518 -0.00865661
+v -0.04506427 -0.02110092 -0.00865659
+v -0.06883304 -0.02110090 -0.01326719
+v -0.08036558 -0.03387163 -0.02108129
+v -0.06832988 -0.02110090 -0.01456123
+v -0.06714856 -0.02110089 -0.01632228
+v -0.06470933 -0.02110088 -0.01936885
+v -0.06323267 -0.02110087 -0.02108125
+v -0.08036558 -0.03362696 -0.00865663
+v -0.04312091 -0.02639948 -0.00865661
+v -0.04569869 -0.02110091 -0.01069615
+v -0.08036558 -0.03383148 -0.01903808
+v -0.05883550 -0.03392058 -0.02108129
+v -0.04912965 -0.02110087 -0.02108125
+v -0.07700025 -0.03362822 -0.00865663
+v -0.04312456 -0.02797951 -0.00865661
+v -0.05527329 -0.03365201 -0.02108129
+v -0.05883550 -0.03386788 -0.01887511
+v -0.06595629 -0.03362696 -0.00865663
+v -0.07307707 -0.03362822 -0.00865663
+v -0.04980052 -0.02867975 -0.02108128
+v -0.04426578 -0.02990969 -0.00865662
+v -0.05035473 -0.03028990 -0.02108128
+v -0.05009950 -0.02955698 -0.02108128
+v -0.05206838 -0.03280369 -0.00865663
+v -0.05527329 -0.03359931 -0.01887511
+v -0.05411748 -0.03323786 -0.02108129
+v -0.04866660 -0.03214607 -0.00865663
+v -0.05883550 -0.03377878 -0.01535058
+v -0.06239407 -0.03360186 -0.00865663
+v -0.05216318 -0.03251875 -0.02108129
+v -0.05527329 -0.03329564 -0.00865663
+v -0.05563060 -0.03333204 -0.00865663
+v -0.05883550 -0.03365581 -0.01182726
+v -0.05883550 -0.03353284 -0.00865663
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+f 3 24 20
+f 3 20 11
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+f 17 23 21
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+f 20 33 25
+f 20 25 26
+f 20 26 27
+f 20 27 22
+f 21 23 28
+f 23 29 30
+f 23 30 31
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+f 24 34 35
+f 24 35 32
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+f 25 36 26
+f 26 36 37
+f 29 35 38
+f 29 38 30
+f 32 39 33
+f 33 39 40
+f 33 40 36
+f 34 38 35
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+f 36 41 37
+f 37 41 42
+f 40 42 41
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_89.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90045f04c9d13f253cf3943237d3eeb36f858094
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_89.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.10571834 0.02660696 -0.04823245
+v 0.10536645 0.02660695 -0.04707130
+v 0.09842823 0.02660696 -0.04823245
+v 0.10535906 0.02962450 -0.04823244
+v 0.10412375 0.02660694 -0.04353401
+v 0.10498625 0.02971110 -0.04707129
+v 0.09424611 0.02660693 -0.04135971
+v 0.09314983 0.03528278 -0.04823242
+v 0.10452855 0.03335769 -0.04823243
+v 0.10371894 0.02946494 -0.04343713
+v 0.10326370 0.02813242 -0.04172904
+v 0.10398840 0.02660694 -0.04316602
+v 0.10352700 0.03241867 -0.04453907
+v 0.10307299 0.03047078 -0.04218919
+v 0.10325385 0.02660693 -0.04135971
+v 0.09417844 0.02689714 -0.04135971
+v 0.09314983 0.04212923 -0.04823240
+v 0.09314983 0.03200690 -0.04136440
+v 0.10382476 0.03527518 -0.04823242
+v 0.10316649 0.03475553 -0.04550243
+v 0.10403638 0.03343972 -0.04683514
+v 0.10310498 0.02783917 -0.04135971
+v 0.10311482 0.02777535 -0.04135971
+v 0.10334859 0.02660693 -0.04154404
+v 0.10300285 0.02848643 -0.04135971
+v 0.10274570 0.03343971 -0.04343712
+v 0.10271617 0.03001952 -0.04135970
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+v 0.10232737 0.03148271 -0.04135969
+v 0.09315598 0.03200235 -0.04135969
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+v 0.09837533 0.03847046 -0.04135967
+v 0.09792500 0.04099879 -0.04823240
+v 0.09579026 0.03966016 -0.04135966
+v 0.10087180 0.03931225 -0.04823241
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+f 1 24 15
+f 1 15 7
+f 1 7 3
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+f 1 8 17
+f 1 17 32
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_9.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f75566269a690eba05da73f0b450883a733d8f47
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_9.obj
@@ -0,0 +1,571 @@
+# https://github.com/mikedh/trimesh
+v -0.10143242 0.02384859 0.01283172
+v -0.09622948 0.02384859 0.01283172
+v -0.10166516 0.02269327 0.01283171
+v -0.10143074 0.02384859 0.01284385
+v -0.09341130 0.02384859 0.01284385
+v -0.09393244 0.02269327 0.01283171
+v -0.09798179 0.02269318 0.03751010
+v -0.09971385 0.02384855 0.02467152
+v -0.10192995 0.01920432 0.01283170
+v -0.09798853 0.01918581 0.04103615
+v -0.08534632 0.02384849 0.04191364
+v -0.09378739 -0.02317408 0.01283154
+v -0.09743535 0.02269317 0.04103616
+v -0.09709467 0.02384849 0.04103617
+v -0.10192826 0.01918591 0.01285191
+v -0.09825163 0.01567844 0.04103614
+v -0.10226051 0.01218958 0.01283167
+v -0.09773218 0.01567843 0.04455816
+v -0.09736115 0.01918580 0.04455817
+v -0.08534632 0.02384845 0.05249991
+v -0.08534632 0.00453953 0.04588848
+v -0.08589275 -0.02317419 0.04300929
+v -0.09446538 -0.02317408 0.01283154
+v -0.09668822 0.02265634 0.04455818
+v -0.09653643 0.02384848 0.04391929
+v -0.09811334 0.00866829 0.04455813
+v -0.09794637 0.01217106 0.04455814
+v -0.10239712 0.00868221 0.01283166
+v -0.10239543 0.00866840 0.01285187
+v -0.09722622 0.00866827 0.04808419
+v -0.09681977 0.01567841 0.04768389
+v -0.09660389 0.01918579 0.04711375
+v -0.09637959 0.02146880 0.04661639
+v -0.08719644 0.02384845 0.05205511
+v -0.08534632 0.02290026 0.05291639
+v -0.08534632 0.00453950 0.05413752
+v -0.08589275 -0.02317422 0.05262104
+v -0.10157746 -0.02317408 0.01283558
+v -0.10163987 -0.02289331 0.01283155
+v -0.09603385 0.02380244 0.04573488
+v -0.09602035 0.02384847 0.04571467
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+v -0.08534632 0.00488471 0.05413752
+v -0.08589275 -0.00185385 0.05412536
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+v -0.08589275 -0.00886859 0.05399190
+v -0.08589275 -0.01237136 0.05387865
+v -0.08589275 -0.01577286 0.05372094
+v -0.08589275 -0.01863123 0.05349853
+v -0.08589275 -0.02047697 0.05328421
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+v -0.08589275 -0.00044078 0.05412537
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diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_90.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff7ad6b7e8180134d7d3306c1d74b55a82a365c9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_90.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.08727573 0.03398085 -0.02944819
+v -0.08046268 0.03379258 -0.03271658
+v -0.08727573 0.03397586 -0.02950074
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+v -0.08727573 0.01695897 -0.03271664
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+v -0.06652576 0.02630965 -0.02313102
+v -0.06652576 0.02536995 -0.03271661
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_91.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7bbdc38196a111a20edc7a39f2c653b515ca028
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_91.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.05529257 -0.01221158 -0.02025496
+v 0.05529257 -0.00255937 -0.01951733
+v 0.06939728 -0.01374248 -0.02075820
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+v 0.07258943 -0.01788497 -0.01182655
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+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_92.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de2722e4922c4c3cab97b57ae6effecca2d77798
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_92.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.04301926 0.00872224 -0.00865648
+v -0.04301926 0.00876976 -0.01887587
+v -0.04301926 0.01658044 -0.00865645
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+v -0.07043810 0.01693290 -0.00957264
+v -0.07295078 0.00905041 -0.00865648
+v -0.06976150 0.01693291 -0.01308430
+v -0.06824435 0.01693292 -0.01763934
+v -0.05935313 0.00875187 -0.03271761
+f 1 2 9
+f 1 9 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 25
+f 1 25 19
+f 1 19 10
+f 1 10 3
+f 1 3 11
+f 1 11 20
+f 1 20 31
+f 1 31 21
+f 1 21 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 24
+f 4 24 18
+f 4 18 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 8 18 29
+f 8 29 34
+f 8 34 26
+f 8 26 13
+f 10 19 13
+f 10 13 11
+f 11 13 26
+f 11 26 33
+f 11 33 23
+f 11 23 22
+f 11 22 32
+f 11 32 30
+f 11 30 20
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 13 19 25
+f 13 25 14
+f 18 24 27
+f 18 27 28
+f 18 28 29
+f 20 30 31
+f 21 31 22
+f 22 31 32
+f 23 33 24
+f 24 33 28
+f 24 28 27
+f 26 34 28
+f 26 28 33
+f 28 34 29
+f 30 32 31
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_93.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1167ef8815b7dd579f06113b56aaa329dedcf8d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_93.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.04748744 -0.01237477 -0.02538368
+v -0.04785535 -0.01486875 -0.02538368
+v -0.04873372 -0.02109958 -0.03271772
+v -0.04865769 -0.00185439 -0.03271765
+v -0.04865769 -0.00159965 -0.03271765
+v -0.04867263 -0.00011435 -0.03271764
+v -0.04943832 -0.00011438 -0.02538363
+v -0.04921839 -0.02109961 -0.02538371
+v -0.06135537 -0.02109958 -0.03271772
+v -0.05898907 -0.00011435 -0.03271764
+v -0.05802788 -0.00011438 -0.02538363
+v -0.06063720 -0.02109961 -0.02538371
+v -0.06080419 -0.01237477 -0.02538368
+v -0.06074445 -0.01054228 -0.02538367
+v -0.06044713 -0.00900563 -0.02538366
+v -0.06036432 -0.00857832 -0.02538366
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 11
+f 1 11 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 8
+f 1 8 2
+f 2 8 3
+f 3 8 12
+f 3 12 9
+f 3 9 10
+f 3 10 6
+f 3 6 5
+f 3 5 4
+f 6 10 11
+f 6 11 7
+f 9 12 13
+f 9 13 14
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 10 16 11
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_94.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1530a1d89d77c63535d7c658e7980d9bbb420836
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_94.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.09612789 -0.02713096 -0.02745660
+v -0.08903834 -0.02641936 -0.02745660
+v -0.09612789 -0.03406769 -0.02745663
+v -0.09612789 -0.02655841 -0.02087955
+v -0.08732920 -0.02625482 -0.02745660
+v -0.09599986 -0.03407098 -0.02745663
+v -0.09445114 -0.03378062 -0.01535146
+v -0.09445114 -0.03366629 -0.01182738
+v -0.09445114 -0.03355688 -0.00865663
+v -0.09612789 -0.03370329 -0.01700953
+v -0.09612789 -0.02566751 -0.00865660
+v -0.08376746 -0.02608453 -0.02745660
+v -0.09517922 -0.03407016 -0.02745663
+v -0.09445114 -0.03405617 -0.02592371
+v -0.09088940 -0.03366712 -0.00865663
+v -0.09124727 -0.03365972 -0.00865663
+v -0.09481056 -0.03351328 -0.00865663
+v -0.09612789 -0.03356756 -0.01348545
+v -0.09612789 -0.03330761 -0.00865663
+v -0.08036922 -0.02657409 -0.00865661
+v -0.08036922 -0.02628444 -0.02745660
+v -0.09445114 -0.03406933 -0.02745663
+v -0.08036922 -0.03398542 -0.02745662
+v -0.08036922 -0.03396979 -0.02592370
+v -0.08036922 -0.03362763 -0.00865663
+v -0.09612789 -0.03339810 -0.00996137
+f 1 2 5
+f 1 5 12
+f 1 12 21
+f 1 21 23
+f 1 23 22
+f 1 22 13
+f 1 13 6
+f 1 6 3
+f 1 3 10
+f 1 10 18
+f 1 18 26
+f 1 26 19
+f 1 19 11
+f 1 11 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 5
+f 5 11 12
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 16
+f 7 16 8
+f 8 16 9
+f 9 16 15
+f 9 15 25
+f 9 25 20
+f 9 20 11
+f 9 11 19
+f 9 19 17
+f 9 17 18
+f 9 18 10
+f 11 20 12
+f 12 20 21
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 17 19 26
+f 17 26 18
+f 20 25 24
+f 20 24 23
+f 20 23 21
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_95.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..640b301a51c9a30f50b8b28e893b5d42efad8e66
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_95.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.08036922 -0.03400785 -0.02944963
+v -0.09445114 -0.03406937 -0.02745715
+v -0.09445114 -0.03408627 -0.02944964
+v -0.08036922 -0.03386638 -0.03271776
+v -0.08036922 -0.03398480 -0.02745714
+v -0.09599986 -0.03407090 -0.02745715
+v -0.09612789 -0.03407244 -0.02758280
+v -0.09612789 -0.03408934 -0.02944964
+v -0.09612789 -0.03383103 -0.03110687
+v -0.09612789 -0.03357886 -0.03271776
+v -0.08036922 -0.02349239 -0.03271773
+v -0.08036922 -0.02628311 -0.02745712
+v -0.09612789 -0.03406783 -0.02745715
+v -0.09612789 -0.02708109 -0.03271774
+v -0.08052348 -0.02333095 -0.03271773
+v -0.08242852 -0.02142897 -0.03271772
+v -0.08439373 -0.01988679 -0.03271771
+v -0.08637745 -0.01838305 -0.03271771
+v -0.08727521 -0.01838305 -0.03206006
+v -0.08732920 -0.01838305 -0.03202453
+v -0.08986823 -0.01838306 -0.03086529
+v -0.09068270 -0.01838306 -0.03055114
+v -0.08376746 -0.02608476 -0.02745712
+v -0.09612789 -0.02713031 -0.02745712
+v -0.09612789 -0.02702419 -0.03131593
+v -0.09449742 -0.01838305 -0.03271771
+v -0.09346237 -0.01838306 -0.03069174
+v -0.08903834 -0.02641841 -0.02745712
+v -0.08732920 -0.02625389 -0.02745712
+v -0.09386652 -0.01838305 -0.03138800
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 12
+f 1 12 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 5 12
+f 2 12 23
+f 2 23 29
+f 2 29 28
+f 2 28 24
+f 2 24 13
+f 2 13 6
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 14
+f 4 14 26
+f 4 26 18
+f 4 18 17
+f 4 17 16
+f 4 16 15
+f 4 15 11
+f 6 13 7
+f 7 13 24
+f 7 24 25
+f 7 25 14
+f 7 14 10
+f 7 10 9
+f 7 9 8
+f 11 15 12
+f 12 15 16
+f 12 16 17
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 14 25 26
+f 18 26 30
+f 18 30 27
+f 18 27 22
+f 18 22 21
+f 18 21 20
+f 18 20 19
+f 22 27 24
+f 22 24 28
+f 22 28 29
+f 22 29 23
+f 24 27 30
+f 24 30 26
+f 24 26 25
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_96.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5488e03a2b7611e280a4b59d971e47e80ca63c97
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_96.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.08810040 0.00065413 0.00265904
+v 0.07418915 0.00065413 0.00265904
+v 0.08814627 0.00065413 0.00227053
+v 0.08817380 0.00555436 0.00265906
+v 0.07259112 0.00767609 0.00265907
+v 0.07259112 0.00065418 -0.01075583
+v 0.08820897 0.00909184 0.00265907
+v 0.08815545 0.00065418 -0.01182312
+v 0.07259112 0.01792513 0.00265911
+v 0.07259112 0.00065421 -0.01914682
+v 0.08814627 0.00065420 -0.01535100
+v 0.08814780 0.00165355 -0.01535099
+v 0.08821356 0.01220914 0.00265908
+v 0.08364580 0.01986138 0.00265911
+v 0.08364580 0.01999015 -0.01535093
+v 0.07259112 0.01792702 0.00230856
+v 0.07259112 0.01217326 -0.01952859
+v 0.08364580 0.00065421 -0.01994394
+v 0.08678222 0.00065421 -0.01868016
+v 0.08678375 0.00165356 -0.01868015
+v 0.08678068 0.00866985 -0.01870245
+v 0.08814780 0.00516075 -0.01535098
+v 0.08814322 0.01217133 -0.01182308
+v 0.08813863 0.01568041 -0.00830411
+v 0.08817533 0.01568037 0.00265910
+v 0.08814322 0.00866984 -0.01535097
+v 0.08678833 0.01879388 0.00265911
+v 0.08678833 0.01879578 0.00227060
+v 0.08678833 0.01879957 -0.00125505
+v 0.08678528 0.01880338 -0.00477846
+v 0.08677763 0.01880717 -0.00830410
+v 0.08674551 0.01881477 -0.01535093
+v 0.08630051 0.01835675 -0.01819779
+v 0.08364580 0.01870501 -0.01856621
+v 0.07259112 0.01745202 -0.01712604
+v 0.07259112 0.01767347 -0.01563674
+v 0.07259112 0.01795168 -0.01182528
+v 0.07259112 0.01795168 -0.01145910
+v 0.07259112 0.01794788 -0.00830410
+v 0.07259112 0.01793649 -0.00088886
+v 0.07259112 0.01253287 -0.01941694
+v 0.08364580 0.01568045 -0.02012921
+v 0.08364580 0.01217136 -0.02015155
+v 0.08453886 0.00065421 -0.01958669
+v 0.08676540 0.01217136 -0.01872701
+v 0.08812181 0.01217135 -0.01535096
+v 0.08811569 0.01568042 -0.01182306
+v 0.08674704 0.01568045 -0.01874038
+v 0.08808357 0.01568044 -0.01535094
+v 0.07259112 0.01600600 -0.01825139
+f 1 2 6
+f 1 6 10
+f 1 10 18
+f 1 18 44
+f 1 44 19
+f 1 19 11
+f 1 11 8
+f 1 8 3
+f 1 3 4
+f 1 4 7
+f 1 7 13
+f 1 13 25
+f 1 25 27
+f 1 27 14
+f 1 14 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 3 8 7
+f 5 9 16
+f 5 16 40
+f 5 40 39
+f 5 39 38
+f 5 38 37
+f 5 37 36
+f 5 36 35
+f 5 35 50
+f 5 50 41
+f 5 41 17
+f 5 17 10
+f 5 10 6
+f 7 8 11
+f 7 11 12
+f 7 12 13
+f 9 14 15
+f 9 15 16
+f 10 17 18
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 23 24
+f 13 24 25
+f 13 22 26
+f 13 26 23
+f 14 27 15
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 32
+f 15 32 33
+f 15 33 34
+f 15 34 35
+f 15 35 36
+f 15 36 37
+f 15 37 38
+f 15 38 39
+f 15 39 40
+f 15 40 16
+f 17 41 42
+f 17 42 43
+f 17 43 18
+f 18 43 44
+f 19 44 43
+f 19 43 45
+f 19 45 21
+f 19 21 20
+f 21 45 26
+f 21 26 22
+f 23 26 46
+f 23 46 24
+f 24 31 25
+f 24 46 47
+f 24 47 32
+f 24 32 31
+f 25 31 30
+f 25 30 29
+f 25 29 28
+f 25 28 27
+f 26 45 48
+f 26 48 46
+f 32 49 33
+f 32 47 49
+f 33 49 48
+f 33 48 42
+f 33 42 34
+f 34 50 35
+f 34 42 50
+f 41 50 42
+f 42 48 43
+f 43 48 45
+f 46 48 49
+f 46 49 47
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_97.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9982e5d91a7f1ce7f2257de38fe2228b437d9e6b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_97.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.05529257 0.01217471 -0.01991761
+v 0.07258943 0.01253422 -0.01941816
+v 0.07258943 0.01217471 -0.01953088
+v 0.05529257 0.00894979 -0.01987343
+v 0.05529257 0.01569904 -0.01853417
+v 0.06939728 0.01564753 -0.01845241
+v 0.07258943 0.01600597 -0.01825130
+v 0.05529257 0.00852266 -0.01986459
+v 0.07258943 0.00699123 -0.01919940
+v 0.05529257 0.01621846 -0.01795738
+v 0.07258943 0.01745261 -0.01712645
+v 0.05529257 0.00699123 -0.01967895
+v 0.07258943 0.00699120 -0.00971214
+v 0.05529257 0.01752774 -0.01572314
+v 0.05612066 0.01722510 -0.01664247
+v 0.05529257 0.01759642 -0.01550435
+v 0.05529257 0.01762862 -0.01537397
+v 0.07258943 0.01767584 -0.01563916
+v 0.05529257 0.00699121 -0.01439942
+v 0.06583596 0.00699120 -0.01149998
+v 0.07258943 0.00767584 0.00265907
+v 0.07258943 0.01768657 -0.01549330
+v 0.05529257 0.01786684 -0.01182480
+v 0.05871333 0.01788509 -0.01182480
+v 0.06227634 0.01790333 -0.01182480
+v 0.07258943 0.01795377 -0.01182480
+v 0.05529257 0.00964513 0.00265908
+v 0.07258943 0.01792689 0.00265911
+v 0.05529257 0.01788293 -0.00844139
+v 0.05529257 0.01788293 -0.00830437
+v 0.05529257 0.01788185 -0.00477953
+v 0.05529257 0.01787538 0.00227017
+v 0.07258943 0.01794839 -0.00793753
+v 0.05529257 0.01787323 0.00265911
+v 0.07256741 0.01792796 0.00265911
+v 0.07258943 0.01792796 0.00263701
+v 0.05529257 0.01787431 0.00264364
+v 0.07258943 0.01792904 0.00230994
+v 0.07258943 0.01793656 -0.00088783
+v 0.07258943 0.01794302 -0.00441268
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 19
+f 1 19 27
+f 1 27 34
+f 1 34 37
+f 1 37 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 23
+f 1 23 17
+f 1 17 16
+f 1 16 14
+f 1 14 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 11
+f 2 11 18
+f 2 18 22
+f 2 22 26
+f 2 26 33
+f 2 33 40
+f 2 40 39
+f 2 39 38
+f 2 38 36
+f 2 36 28
+f 2 28 21
+f 2 21 13
+f 2 13 9
+f 2 9 3
+f 3 8 4
+f 3 9 8
+f 5 10 11
+f 5 11 7
+f 5 7 6
+f 8 9 12
+f 9 13 20
+f 9 20 19
+f 9 19 12
+f 10 14 15
+f 10 15 11
+f 11 15 14
+f 11 14 16
+f 11 16 17
+f 11 17 18
+f 13 21 20
+f 17 22 18
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 17 26 22
+f 19 20 21
+f 19 21 27
+f 21 28 35
+f 21 35 34
+f 21 34 27
+f 23 29 24
+f 24 29 25
+f 25 29 26
+f 26 29 30
+f 26 30 31
+f 26 31 32
+f 26 32 33
+f 28 36 35
+f 32 37 38
+f 32 38 39
+f 32 39 40
+f 32 40 33
+f 34 35 37
+f 35 36 38
+f 35 38 37
+
diff --git a/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_98.obj b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..499229fd955b88004acad786ab9559ec218c301a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/mjcf/mesh/stapler_18_collision_98.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.08816126 -0.01237449 -0.01182776
+v 0.08815516 -0.01237451 -0.00633920
+v 0.08810791 -0.01392794 -0.00633920
+v 0.08804847 -0.01588089 -0.00633921
+v 0.08805000 -0.01588087 -0.01182777
+v 0.08803324 -0.01588085 -0.01535111
+v 0.08814145 -0.01237447 -0.01535110
+v 0.08814602 -0.00536172 -0.01535107
+v 0.08814754 -0.00185534 -0.01535106
+v 0.08814754 0.00065420 -0.01535105
+v 0.08815669 0.00065418 -0.01182771
+v 0.08815364 0.00065417 -0.00830293
+v 0.08815211 0.00009950 -0.00633915
+v 0.08744341 -0.01711432 -0.00633921
+v 0.08668441 -0.01866387 -0.00830300
+v 0.08668289 -0.01866774 -0.01182778
+v 0.08667679 -0.01866772 -0.01535112
+v 0.08647713 -0.01559381 -0.01911239
+v 0.08625614 -0.01832250 -0.01809611
+v 0.08651829 -0.01260331 -0.01917975
+v 0.08677586 -0.00886808 -0.01871531
+v 0.08678347 0.00065421 -0.01868231
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