diff --git a/.gitattributes b/.gitattributes
index 9d8d0a730244803524c8682102e8f51275d8e779..04cb5c5823dad426bef7ff42aa665948ad5d46ff 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3192,3 +3192,7 @@ dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mesh
 dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/sharpener_013.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mesh/stapler_033.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/stapler_033.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mesh/stapler_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mesh/stapler_003.obj filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003.obj filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/stapler_003.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8e14c538b07e779a30c3f132621c477700754306
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stapler_003_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd stapler_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9d960d0d0ec2358f7d462cbc50153c5378ca6db
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ad29198f91a49796e2661a911c84e586f77fd857ac2106482353762946365a3
+size 3220531
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mesh/stapler_003.glb b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mesh/stapler_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..96920e8e93abe0c29bddeb9c6d3f81150bbb1c8a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mesh/stapler_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:786330425683b47270bc5b29d60ad745ef294210288e2d57d1404c3e9a7ad22e
+size 31009012
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mesh/stapler_003.mtl b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mesh/stapler_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1c177a8977239c36a59400b393ab679079944be5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mesh/stapler_003.mtl
@@ -0,0 +1,6 @@
+newmtl stapler_003_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mesh/stapler_003.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mesh/stapler_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34b493638e33b995a65e230ca8a84c4b82beb498
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mesh/stapler_003.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bac55de6f48bdf11a355d420cebfb76cdfca90f945c87412c8fcabba420725f
+size 39648948
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mesh/stapler_003_collision.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mesh/stapler_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7905e3ec55c01338bd8e7cebaa41795bd94adcc8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mesh/stapler_003_collision.obj
@@ -0,0 +1,18273 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_0.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7132e68fee99ddd06dc3964da05ede97d4495efd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_0.obj
@@ -0,0 +1,211 @@
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diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_1.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..053061804f0129469a32b194694fb91639f3f4f1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_10.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62046d4bd14c798adb8a9438baab7cbab37ec136
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_11.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02d100cfc91ed00962bb0d8b7f180da0b165129d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_11.obj
@@ -0,0 +1,142 @@
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diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_12.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d272b62b277b96b98c8124b7e8f6a425d3c82594
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_12.obj
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diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_13.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0d4aec9302a62eb736cf405d8b0b6c57ca2deeb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_13.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_14.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..509fae7ee29b0a58a828fc504e385cdbf9f30095
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_14.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_15.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4ab9227213340cd5e627e8ef9a9b5ad7a615bc7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_15.obj
@@ -0,0 +1,772 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_16.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a4ceaeb57f13849ed5925fc1650a1a0571d42fd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_16.obj
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diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_17.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23d3237ca6d66d242fc55e10fcb09eb527f90ea1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_17.obj
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diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_18.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..169c5608503eb5f1c5eda30feeee52a7230d1c4d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_18.obj
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diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_19.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4784f607aec08e7afd63a7bb4c32ea8f691eee37
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_19.obj
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diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_2.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4155fcd333a8ce7db4eec1932cfdf24875f51e2a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_20.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4519244d646833a72bc0f6790809a30b3c65e519
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_20.obj
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diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_21.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..266a4bebb84c934fe817a979a1f44a2534bffa39
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_21.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_22.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2799fc31237949f80908a8b50f986703debfb99c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_22.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.00003113 0.01229924 0.00738397
+v 0.00848011 0.01229924 0.00738397
+v -0.00003113 0.01229923 0.01041750
+v -0.00003113 0.01528646 0.00738398
+v 0.00878655 0.01247997 0.00738397
+v 0.00768839 0.01229923 0.01166620
+v 0.00423213 0.01229923 0.01166620
+v -0.00003113 0.01721906 0.01166621
+v -0.00003113 0.01988384 0.01112843
+v 0.00484861 0.02278994 0.00738400
+v 0.00886114 0.01252413 0.00738397
+v 0.00812064 0.01374098 0.01166620
+v -0.00003113 0.02015699 0.01166622
+v -0.00003113 0.02012618 0.01160461
+v 0.00473178 0.02278993 0.01166623
+v 0.00885485 0.02278994 0.00738400
+v 0.00908042 0.01340109 0.00738397
+v 0.00852954 0.01594572 0.01166621
+v 0.00885485 0.02278993 0.01166623
+v 0.00885845 0.02278993 0.01036639
+v 0.00914961 0.01379542 0.00738397
+v 0.00853762 0.01599193 0.01166621
+v 0.00885575 0.02278993 0.01134934
+v 0.00885575 0.02236891 0.01166623
+v 0.00886204 0.01891753 0.01166622
+v 0.00872005 0.01710097 0.01166621
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+f 21 26 22
+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_23.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9568fa59b103929ed2df9eff4495d582441f0e2a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_23.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.00962209 -0.04256456 0.01678337
+v 0.00962209 -0.04265366 0.01710093
+v 0.00962209 -0.04273209 0.01576842
+v -0.00600118 -0.04428250 0.01704796
+v -0.00600118 -0.04428752 0.01717842
+v 0.00962209 -0.04275091 0.01717842
+v 0.00962209 -0.04313365 0.01530987
+v -0.00600118 -0.04481708 0.01569118
+v -0.00600118 -0.04741220 0.01717841
+v 0.00962209 -0.04790223 0.01717840
+v 0.00962209 -0.04361929 0.01497858
+v -0.00600118 -0.04654068 0.01522894
+v 0.00962209 -0.04453347 0.01467329
+v -0.00600118 -0.04861250 0.01717717
+v -0.00588648 -0.04862756 0.01717840
+v 0.00962209 -0.04790161 0.01716319
+v 0.00921989 -0.04803713 0.01717840
+v 0.00920766 -0.04804152 0.01716319
+v -0.00600118 -0.04665675 0.01523090
+v 0.00962209 -0.04666240 0.01555753
+v 0.00920766 -0.04665675 0.01544792
+v 0.00753002 -0.04665675 0.01527283
+v 0.00585238 -0.04665675 0.01523409
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+v 0.00192210 -0.04892936 0.01717840
+v 0.00106263 -0.04896512 0.01717840
+v 0.00082254 -0.04897328 0.01717840
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+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_24.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99e8883ef55fb496cfc6facbb7e8e5eb527a1565
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_24.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.01446821 0.03187445 -0.00247346
+v 0.01397283 0.03099678 -0.00247347
+v 0.00893078 0.02279088 -0.00484576
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+v -0.00007430 0.02279088 -0.00452064
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+v 0.00430724 0.02582140 -0.00247349
+v 0.00433002 0.02640385 -0.00247348
+v -0.00007430 0.02458980 -0.00382811
+f 1 2 3
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+f 10 13 12
+f 15 19 17
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+f 17 19 22
+f 17 22 18
+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_25.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cd933b3518c03e75247ea77dd2796a50b99d79b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_25.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.00819127 -0.03456210 0.03263356
+v 0.00754540 -0.03456210 0.03272775
+v 0.00819127 -0.03457838 0.03263356
+v 0.00819127 -0.03456208 0.02849702
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+v 0.00282963 -0.03945386 0.01717844
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diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_26.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dbc40bddf770f12a93008cc2d1d3405ca217c6c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_26.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_27.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93fb5114eda958c8f75e9a33b81d4cbf457ea5b7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_27.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_28.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..452a1b1f3521c80d5b94fa2c0fec67b1c6e7bcd9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_28.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_29.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..549013250c8f558a24a075756cbe2b8eb892d10e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_29.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_3.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19ffcaf931849888b705515fdd9b1a9f4b964241
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_3.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+v -0.00916014 0.03789888 -0.00484570
+v -0.00915530 0.03617282 -0.00976908
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+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_30.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4c5ce0463d1cd2bc751251698e26d96afefaa55
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_30.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v -0.00898063 -0.03461763 0.03252735
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diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_31.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84215d13793829cd98dc0cbd7d064074a6f742ac
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_31.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_32.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88e8b3e6d190d33e15af476a7e2ba937f269722f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_32.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_33.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7f494139ffd37a6c59d44670ecd2f8c4dfd037a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_33.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.01073136 0.02942246 0.01633038
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diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_34.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..115f8b7032dfcfa4b80856ad155ed6d9c25cab91
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_34.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_35.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f395f32cd01b9dbcce3fc6e29edb7ae0c339da3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_35.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_36.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13e3e6156a3d0b61957a68a6eec80b41131773b2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_36.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00199345 0.01629772 0.01206596
+v -0.00199345 0.01674929 0.01166829
+v 0.00187191 0.01646696 0.01185302
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+v -0.00199345 0.02030011 0.01193737
+v 0.00187191 0.02036582 0.01206597
+v 0.00082120 0.01868019 0.01470022
+v -0.00199345 0.01868258 0.01469993
+v 0.00187191 0.01954072 0.01456005
+v 0.00082120 0.01954311 0.01456064
+v -0.00199345 0.02036542 0.01206597
+v 0.00187191 0.02032678 0.01268102
+v -0.00085571 0.01954470 0.01456123
+v -0.00199345 0.01954550 0.01456153
+v 0.00187191 0.01999388 0.01402785
+v -0.00199345 0.02026028 0.01371186
+v 0.00187191 0.02026028 0.01371037
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 13
+f 1 13 18
+f 1 18 24
+f 1 24 26
+f 1 26 21
+f 1 21 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 11
+f 3 11 16
+f 3 16 22
+f 3 22 27
+f 3 27 25
+f 3 25 19
+f 3 19 14
+f 3 14 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 6 10 11
+f 6 11 7
+f 8 12 13
+f 8 13 9
+f 8 14 17
+f 8 17 12
+f 10 15 16
+f 10 16 11
+f 12 17 18
+f 12 18 13
+f 14 19 20
+f 14 20 17
+f 15 21 16
+f 16 21 22
+f 17 20 23
+f 17 23 24
+f 17 24 18
+f 19 25 20
+f 20 25 23
+f 21 26 22
+f 22 26 27
+f 23 25 24
+f 24 25 26
+f 25 27 26
+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_37.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23aa9d08b9166e0664ec3c74c8dfbc5ca39ec7e5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_37.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.00187191 0.01646766 0.01185301
+v 0.00189723 0.01635144 0.01166621
+v 0.00239947 0.01494356 0.01166620
+v 0.00187191 0.01696074 0.01380054
+v 0.00187191 0.01680966 0.01166621
+v 0.00285449 0.01409019 0.01166620
+v 0.00187191 0.01789047 0.01470007
+v 0.00313024 0.01437408 0.01316412
+v 0.00187191 0.02016169 0.01166622
+v 0.00457537 0.01155168 0.01166619
+v 0.00417646 0.01782572 0.01469948
+v 0.00585286 0.01785229 0.01469948
+v 0.00187191 0.01867909 0.01470007
+v 0.00474917 0.01243492 0.01322500
+v 0.00594455 0.01192191 0.01338060
+v 0.00585286 0.01374153 0.01407107
+v 0.00187191 0.02023806 0.01181560
+v 0.00482444 0.02778385 0.01166625
+v 0.00510840 0.01116153 0.01166619
+v 0.00544574 0.01128438 0.01247989
+v 0.00683339 0.01794526 0.01467127
+v 0.00585286 0.01869569 0.01469948
+v 0.00752995 0.02778384 0.01397668
+v 0.00585286 0.02778384 0.01377148
+v 0.00187191 0.01954075 0.01455990
+v 0.00656448 0.01113329 0.01295118
+v 0.00673623 0.01113329 0.01295118
+v 0.00709272 0.01201654 0.01326479
+v 0.00187191 0.02036424 0.01206595
+v 0.00482307 0.02778385 0.01206598
+v 0.00885192 0.02778385 0.01166625
+v 0.00553811 0.01090585 0.01166619
+v 0.00853169 0.01755344 0.01320066
+v 0.00861243 0.01891816 0.01332154
+v 0.00744784 0.01900781 0.01424719
+v 0.00683339 0.01849314 0.01467127
+v 0.00736573 0.01374153 0.01351663
+v 0.00860491 0.02778384 0.01329454
+v 0.00504750 0.02778384 0.01318526
+v 0.00491887 0.02778384 0.01308934
+v 0.00187191 0.01999233 0.01402803
+v 0.00592334 0.01086103 0.01166619
+v 0.00655216 0.01082450 0.01166619
+v 0.00685802 0.01092577 0.01166619
+v 0.00757374 0.01201655 0.01206592
+v 0.00810130 0.01374154 0.01206593
+v 0.00187191 0.02032604 0.01268097
+v 0.00187191 0.02025963 0.01371057
+v 0.00886218 0.01891817 0.01166622
+v 0.00885123 0.02778385 0.01183196
+v 0.00886081 0.01891817 0.01206595
+v 0.00866170 0.01706368 0.01219126
+v 0.00884987 0.02778385 0.01206598
+v 0.00761959 0.01201655 0.01166619
+v 0.00812046 0.01374154 0.01166620
+v 0.00852964 0.01594634 0.01166621
+v 0.00852690 0.01595298 0.01170838
+v 0.00872054 0.01710187 0.01166621
+v 0.00853785 0.01599283 0.01166621
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 13
+f 1 13 25
+f 1 25 41
+f 1 41 48
+f 1 48 47
+f 1 47 29
+f 1 29 17
+f 1 17 9
+f 1 9 5
+f 1 5 2
+f 2 5 9
+f 2 9 18
+f 2 18 31
+f 2 31 49
+f 2 49 58
+f 2 58 59
+f 2 59 56
+f 2 56 55
+f 2 55 54
+f 2 54 44
+f 2 44 43
+f 2 43 42
+f 2 42 32
+f 2 32 19
+f 2 19 10
+f 2 10 6
+f 2 6 3
+f 3 6 4
+f 4 6 8
+f 4 8 7
+f 6 10 8
+f 7 11 12
+f 7 12 22
+f 7 22 13
+f 7 8 14
+f 7 14 15
+f 7 15 16
+f 7 16 11
+f 8 10 14
+f 9 17 18
+f 10 19 20
+f 10 20 14
+f 11 16 12
+f 12 21 36
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+f 12 16 21
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+f 13 24 25
+f 14 20 26
+f 14 26 15
+f 15 26 27
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+f 15 28 16
+f 16 28 21
+f 17 29 18
+f 18 30 40
+f 18 40 39
+f 18 39 24
+f 18 24 23
+f 18 23 38
+f 18 38 53
+f 18 53 50
+f 18 50 31
+f 18 29 30
+f 19 32 20
+f 20 32 26
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 28 37
+f 21 37 33
+f 22 36 23
+f 23 36 38
+f 24 39 25
+f 25 39 40
+f 25 40 41
+f 26 32 42
+f 26 42 43
+f 26 43 27
+f 27 43 44
+f 27 44 45
+f 27 45 28
+f 28 45 46
+f 28 46 33
+f 28 33 37
+f 29 47 30
+f 30 47 48
+f 30 48 40
+f 31 50 51
+f 31 51 49
+f 33 52 51
+f 33 51 34
+f 33 46 52
+f 34 51 53
+f 34 53 38
+f 34 38 35
+f 35 38 36
+f 40 48 41
+f 44 54 45
+f 45 54 46
+f 46 54 55
+f 46 55 56
+f 46 56 57
+f 46 57 52
+f 49 51 58
+f 50 53 51
+f 51 52 58
+f 52 57 59
+f 52 59 58
+f 56 59 57
+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_38.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bffe86bc8c0e5d2a846380ecbc7eb23a7d3983d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_38.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.00492977 0.02278994 0.00739891
+v -0.00003113 0.01529365 0.00739889
+v -0.00493893 0.02278995 0.00655390
+v -0.00890851 0.02278994 0.00739891
+v -0.00003113 0.01229924 0.00739888
+v -0.00003113 0.01374204 0.00300343
+v -0.00498472 0.02278996 0.00300346
+v -0.00497556 0.02278996 0.00357010
+v -0.00495826 0.02278995 0.00485483
+v -0.00495317 0.02278995 0.00526873
+v -0.01042674 0.02278996 0.00316781
+v -0.01042674 0.02249011 0.00351675
+v -0.01042674 0.01884362 0.00513836
+v -0.01042674 0.01381288 0.00689850
+v -0.01042674 0.01229924 0.00692862
+v -0.00925652 0.01425033 0.00739888
+v -0.00003113 0.01229926 0.00300343
+v -0.00876096 0.01229924 0.00739888
+v -0.01042674 0.02278996 0.00300346
+v -0.00881489 0.01233108 0.00739888
+v -0.01042674 0.01229925 0.00523256
+v -0.00811276 0.01229926 0.00300343
+v -0.01042674 0.01754153 0.00300344
+v -0.01042674 0.01536863 0.00353910
+f 1 2 3
+f 1 3 10
+f 1 10 9
+f 1 9 8
+f 1 8 7
+f 1 7 19
+f 1 19 11
+f 1 11 4
+f 1 4 16
+f 1 16 20
+f 1 20 18
+f 1 18 5
+f 1 5 2
+f 2 5 17
+f 2 17 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 5 18 15
+f 5 15 21
+f 5 21 22
+f 5 22 17
+f 6 17 22
+f 6 22 23
+f 6 23 19
+f 6 19 7
+f 11 19 23
+f 11 23 24
+f 11 24 21
+f 11 21 15
+f 11 15 14
+f 11 14 13
+f 11 13 12
+f 15 18 20
+f 15 20 16
+f 21 24 22
+f 22 24 23
+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_39.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb455492016c73c026911777af2e5278c5b89d77
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_39.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.01064687 -0.04148886 0.02050581
+v 0.00819151 -0.04148887 0.02421008
+v 0.00819151 -0.03456208 0.02849731
+v 0.01064687 -0.03456208 0.02765435
+v 0.01064687 -0.04148889 0.02982346
+v 0.00819151 -0.04148889 0.03068423
+v 0.00819151 -0.03456210 0.03263374
+v 0.01064687 -0.03456210 0.03165424
+v 0.01064687 -0.04121358 0.03007991
+v 0.01038773 -0.04148889 0.02999680
+v 0.00917639 -0.04148889 0.03046577
+v 0.00819151 -0.04026018 0.03144170
+v 0.00819151 -0.03630346 0.03252214
+v 0.00920812 -0.03630346 0.03237491
+v 0.00920812 -0.03457838 0.03248533
+v 0.00920812 -0.03456210 0.03248533
+v 0.00922327 -0.03456210 0.03248295
+v 0.01064687 -0.03456482 0.03222769
+v 0.01064687 -0.04104541 0.03019151
+v 0.00940669 -0.04148889 0.03037910
+v 0.00920812 -0.04005200 0.03133960
+v 0.00819151 -0.03992045 0.03159486
+v 0.00819151 -0.03734977 0.03234285
+v 0.00920812 -0.03802855 0.03206621
+v 0.01064687 -0.03630346 0.03207572
+v 0.01064687 -0.03482317 0.03221226
+v 0.01064687 -0.03457838 0.03222769
+v 0.01064687 -0.03965395 0.03102854
+v 0.01064687 -0.03949866 0.03111995
+v 0.01012618 -0.03895755 0.03163405
+v 0.00920812 -0.03918946 0.03172666
+v 0.00819151 -0.03939763 0.03180858
+v 0.00819151 -0.03802855 0.03222056
+v 0.01064687 -0.03654894 0.03203179
+v 0.01064687 -0.03789700 0.03176584
+v 0.01064687 -0.03868156 0.03152601
+v 0.01064687 -0.03808348 0.03172072
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 18
+f 1 18 27
+f 1 27 26
+f 1 26 25
+f 1 25 34
+f 1 34 35
+f 1 35 37
+f 1 37 36
+f 1 36 29
+f 1 29 28
+f 1 28 19
+f 1 19 9
+f 1 9 5
+f 1 5 10
+f 1 10 20
+f 1 20 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 22
+f 2 22 32
+f 2 32 33
+f 2 33 23
+f 2 23 13
+f 2 13 7
+f 2 7 3
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+f 3 16 17
+f 3 17 8
+f 3 8 4
+f 5 9 10
+f 6 11 12
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 8 17 18
+f 9 19 20
+f 9 20 10
+f 11 20 19
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+f 11 21 12
+f 12 21 22
+f 13 23 14
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+f 14 24 25
+f 14 25 26
+f 14 26 15
+f 15 26 27
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+f 15 17 16
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+f 19 28 21
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+f 21 29 30
+f 21 30 31
+f 21 31 22
+f 22 31 32
+f 23 33 24
+f 24 34 25
+f 24 33 31
+f 24 31 30
+f 24 30 35
+f 24 35 34
+f 29 36 30
+f 30 36 37
+f 30 37 35
+f 31 33 32
+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_4.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5664520487fd0ae7c4816db5d3c579fa89fe58fe
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_4.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00367574 0.01401540 -0.00813398
+v 0.00248853 0.01502111 -0.00856047
+v 0.00248853 0.01452485 -0.00771085
+v -0.00367574 0.01401540 -0.00805928
+v -0.00367574 0.01537539 -0.00967517
+v -0.00367574 0.01547055 -0.00976915
+v 0.00248853 0.01588922 -0.00939710
+v 0.00248853 0.01452485 -0.00734748
+v -0.00367574 0.01410031 -0.00699422
+v -0.00349352 0.01559791 -0.00976915
+v -0.00367574 0.01715260 -0.00976915
+v 0.00248853 0.01673390 -0.00939710
+v 0.00248853 0.01546175 -0.00657397
+v -0.00367574 0.01444871 -0.00670700
+v -0.00350619 0.01703695 -0.00976915
+v -0.00367574 0.02582047 -0.00875707
+v 0.00248853 0.02582047 -0.00839273
+v 0.00248853 0.01546760 -0.00656915
+v 0.00248853 0.01731214 -0.00516868
+v 0.00248853 0.01773522 -0.00484818
+v -0.00367574 0.01713794 -0.00484578
+v -0.00367574 0.02739858 -0.00834935
+v -0.00367574 0.02758450 -0.00829297
+v 0.00248853 0.02730489 -0.00794020
+v 0.00146034 0.01774693 -0.00484577
+v 0.00248853 0.02784800 -0.00484574
+v -0.00367574 0.02845699 -0.00484574
+v -0.00367574 0.02845554 -0.00727176
+v 0.00248853 0.02731075 -0.00793297
+v 0.00248853 0.02794755 -0.00484574
+v -0.00367574 0.02892691 -0.00523947
+v -0.00367574 0.02890934 -0.00656814
+v 0.00248853 0.02816713 -0.00676767
+v 0.00248853 0.02844382 -0.00568044
+v -0.00367574 0.02897083 -0.00638308
+v 0.00248853 0.02844821 -0.00568912
+v 0.00248853 0.02817006 -0.00676237
+v 0.00248853 0.02844821 -0.00591803
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 21
+f 1 21 27
+f 1 27 31
+f 1 31 35
+f 1 35 32
+f 1 32 28
+f 1 28 23
+f 1 23 22
+f 1 22 16
+f 1 16 11
+f 1 11 6
+f 1 6 5
+f 1 5 2
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+f 2 6 7
+f 2 7 12
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+f 2 17 24
+f 2 24 29
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+f 2 13 8
+f 2 8 3
+f 4 8 9
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+f 6 11 15
+f 6 15 10
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+f 10 15 12
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+f 11 16 17
+f 11 17 12
+f 13 18 14
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+f 16 22 17
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+f 20 25 21
+f 20 26 25
+f 21 25 26
+f 21 26 30
+f 21 30 27
+f 23 28 24
+f 24 28 29
+f 27 30 31
+f 28 32 33
+f 28 33 29
+f 30 34 31
+f 31 34 36
+f 31 36 35
+f 32 35 37
+f 32 37 33
+f 35 36 38
+f 35 38 37
+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_40.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f7b80fb3ae43b11f72e6bc0f7912446a0373878
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_40.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.01263594 0.02278997 0.00003703
+v -0.01342278 0.02496432 -0.00067593
+v -0.01230513 0.02469841 -0.00077575
+v -0.01157703 0.02469841 -0.00077575
+v -0.01026433 0.02278997 0.00026648
+v -0.01429884 0.02278997 0.00053870
+v -0.01394753 0.02611418 -0.00088981
+v -0.01312966 0.02751039 -0.00157686
+v -0.01263816 0.02706219 -0.00157686
+v -0.01275784 0.02565174 -0.00105057
+v -0.01026433 0.02598701 -0.00115815
+v -0.01026433 0.02278996 0.00308336
+v -0.01492942 0.02278997 0.00085889
+v -0.01506573 0.02677138 -0.00062018
+v -0.01441354 0.02742590 -0.00114130
+v -0.01427390 0.02857933 -0.00157686
+v -0.01026433 0.02768559 -0.00157686
+v -0.01026433 0.02675004 -0.00138241
+v -0.01026433 0.02761620 0.00176892
+v -0.01043499 0.03187416 0.00526898
+v -0.01160141 0.02278993 0.01166623
+v -0.01514165 0.02278997 0.00096908
+v -0.01521701 0.02792124 -0.00082370
+v -0.01518542 0.02295983 0.00092889
+v -0.01457035 0.02933880 -0.00157685
+v -0.01026433 0.03187419 -0.00157684
+v -0.01026433 0.03187418 0.00058152
+v -0.01159808 0.03187414 0.01166627
+v -0.01565420 0.02278993 0.01166623
+v -0.01523252 0.02278997 0.00118556
+v -0.01530456 0.02927120 -0.00101555
+v -0.01517323 0.03099734 -0.00157685
+v -0.01527741 0.02409547 0.00075390
+v -0.01531730 0.03187419 -0.00157684
+v -0.01565199 0.03187414 0.01166627
+v -0.01564478 0.02278993 0.01036603
+v -0.01565476 0.02409543 0.01166624
+v -0.01592461 0.03187416 0.00526898
+v -0.01538712 0.02278996 0.00182335
+v -0.01554061 0.02927120 0.00017187
+v -0.01534168 0.03099733 -0.00132277
+v -0.01534889 0.03187419 -0.00152888
+v -0.01551568 0.02409546 0.00187132
+v -0.01565310 0.03059088 0.01166626
+v -0.01559380 0.02278996 0.00357077
+v -0.01565420 0.02886564 0.01166626
+v -0.01591131 0.03187416 0.00443416
+v -0.01560212 0.03187418 0.00017188
+v -0.01571682 0.03187418 0.00103652
+v -0.01557774 0.02582070 0.00187132
+v -0.01585646 0.03187417 0.00273469
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 21
+f 1 21 29
+f 1 29 36
+f 1 36 45
+f 1 45 39
+f 1 39 30
+f 1 30 22
+f 1 22 13
+f 1 13 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 6 7
+f 3 10 9
+f 3 9 4
+f 4 9 11
+f 4 11 5
+f 5 11 18
+f 5 18 17
+f 5 17 26
+f 5 26 27
+f 5 27 19
+f 5 19 12
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 25
+f 8 25 32
+f 8 32 34
+f 8 34 26
+f 8 26 17
+f 8 17 9
+f 9 17 18
+f 9 18 11
+f 12 19 20
+f 12 20 21
+f 13 22 14
+f 14 23 16
+f 14 16 15
+f 14 22 24
+f 14 24 23
+f 16 23 25
+f 19 27 20
+f 20 28 21
+f 20 27 26
+f 20 26 34
+f 20 34 42
+f 20 42 48
+f 20 48 49
+f 20 49 51
+f 20 51 47
+f 20 47 38
+f 20 38 35
+f 20 35 28
+f 21 28 35
+f 21 35 44
+f 21 44 46
+f 21 46 37
+f 21 37 29
+f 22 30 24
+f 23 31 32
+f 23 32 25
+f 23 24 33
+f 23 33 31
+f 24 30 33
+f 29 37 38
+f 29 38 36
+f 30 39 33
+f 31 40 41
+f 31 41 42
+f 31 42 34
+f 31 34 32
+f 31 33 43
+f 31 43 40
+f 33 39 43
+f 35 38 44
+f 36 38 45
+f 37 46 38
+f 38 46 44
+f 38 47 45
+f 39 45 43
+f 40 48 42
+f 40 42 41
+f 40 43 49
+f 40 49 48
+f 43 45 50
+f 43 50 49
+f 45 51 50
+f 45 47 51
+f 49 50 51
+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_41.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65c93d727272560a72d952edeffba24b2d891ccb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_41.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.00002571 0.01229928 -0.00190911
+v 0.00489821 0.01435923 -0.00484579
+v 0.00585185 0.01375747 -0.00484579
+v 0.00593308 0.01374926 -0.00484579
+v 0.00753571 0.01361268 -0.00484579
+v 0.00082149 0.01229928 -0.00190911
+v 0.00002571 0.01229927 -0.00052161
+v 0.00002571 0.01774694 -0.00484577
+v 0.00759110 0.01364144 -0.00484579
+v 0.00718398 0.01229927 -0.00115991
+v 0.00584908 0.01229928 -0.00175419
+v 0.00417629 0.01229928 -0.00190741
+v 0.00390026 0.01229928 -0.00190784
+v 0.00222286 0.01229928 -0.00190868
+v 0.00749509 0.01229927 -0.00052161
+v 0.00002571 0.01559353 -0.00052160
+v 0.00002571 0.02278999 -0.00484576
+v 0.00858258 0.01423703 -0.00484579
+v 0.00876907 0.01564796 -0.00052160
+v 0.00496745 0.02278997 -0.00052158
+v 0.00002571 0.02278999 -0.00452069
+v 0.00893154 0.02278999 -0.00484576
+v 0.00885861 0.01546108 -0.00484578
+v 0.00919649 0.01719241 -0.00152815
+v 0.00917803 0.01719240 -0.00052160
+v 0.00893985 0.01627128 -0.00052160
+v 0.00945683 0.02278997 -0.00052158
+v 0.00893154 0.02228682 -0.00484576
+v 0.00892877 0.01719242 -0.00484578
+v 0.00909771 0.01719241 -0.00322676
+v 0.00944483 0.02241824 -0.00052158
+v 0.00893062 0.02056164 -0.00484576
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 15
+f 1 15 7
+f 1 7 16
+f 1 16 21
+f 1 21 17
+f 1 17 8
+f 1 8 2
+f 2 8 17
+f 2 17 22
+f 2 22 28
+f 2 28 32
+f 2 32 29
+f 2 29 23
+f 2 23 18
+f 2 18 9
+f 2 9 5
+f 2 5 4
+f 2 4 3
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 7 15 19
+f 7 19 26
+f 7 26 25
+f 7 25 31
+f 7 31 27
+f 7 27 20
+f 7 20 16
+f 9 18 10
+f 10 18 15
+f 15 18 19
+f 16 20 21
+f 17 21 20
+f 17 20 27
+f 17 27 22
+f 18 23 24
+f 18 24 25
+f 18 25 26
+f 18 26 19
+f 22 27 28
+f 23 29 30
+f 23 30 24
+f 24 30 31
+f 24 31 25
+f 27 32 28
+f 27 31 30
+f 27 30 29
+f 27 29 32
+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_42.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8c88ffcde067bc4e979db5974a2caa3bc400dcf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_42.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.00927360 0.02278998 -0.00157688
+v -0.01026377 0.02598701 -0.00115815
+v -0.01026377 0.02675004 -0.00138241
+v -0.01026377 0.02768559 -0.00157686
+v -0.00505559 0.02278998 -0.00157688
+v -0.01026377 0.02278997 0.00026648
+v -0.01026377 0.03187419 -0.00157684
+v -0.00491958 0.02582072 -0.00157687
+v -0.00478411 0.02278993 0.01165068
+v -0.01026377 0.02278996 0.00308336
+v -0.00505940 0.03187419 -0.00157684
+v -0.01026377 0.03187418 0.00058152
+v -0.00471774 0.03187417 0.00357081
+v -0.00470740 0.03187416 0.00440564
+v -0.00470577 0.03187416 0.00610380
+v -0.00478411 0.02278993 0.01166623
+v -0.00892487 0.02278993 0.01166623
+v -0.00892269 0.03187414 0.01166627
+v -0.00979372 0.03187416 0.00526898
+v -0.01026377 0.02761620 0.00176892
+v -0.00489945 0.03187414 0.01166627
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 11
+f 1 11 8
+f 1 8 5
+f 1 5 9
+f 1 9 16
+f 1 16 17
+f 1 17 10
+f 1 10 6
+f 1 6 2
+f 2 6 10
+f 2 10 20
+f 2 20 12
+f 2 12 7
+f 2 7 4
+f 2 4 3
+f 5 8 9
+f 7 12 19
+f 7 19 18
+f 7 18 21
+f 7 21 15
+f 7 15 14
+f 7 14 13
+f 7 13 11
+f 8 11 13
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 12 20 19
+f 15 21 16
+f 16 21 18
+f 16 18 17
+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_43.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf59c1ac743599845e84f23e2648ea0914c87e58
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_43.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.01035983 0.02278996 0.00307935
+v 0.01035983 0.02247573 0.00351286
+v 0.01035983 0.02278996 0.00300346
+v 0.00885550 0.02278994 0.00738400
+v 0.01035983 0.01884054 0.00513669
+v 0.01035983 0.01779928 0.00300345
+v 0.00490905 0.02278996 0.00300346
+v 0.00914945 0.01379542 0.00738397
+v 0.01035983 0.01382315 0.00690629
+v 0.00485006 0.02278994 0.00738400
+v 0.01035983 0.01539123 0.00355829
+v 0.00869683 0.01368351 0.00300343
+v -0.00003113 0.01374204 0.00300343
+v -0.00003113 0.01528646 0.00738398
+v 0.00489888 0.02278996 0.00356989
+v 0.00908029 0.01340109 0.00738397
+v 0.01035983 0.01229924 0.00690629
+v 0.00485006 0.02278994 0.00738228
+v 0.01035983 0.01229925 0.00522157
+v 0.00807130 0.01229926 0.00300343
+v -0.00003113 0.01229926 0.00300343
+v -0.00003113 0.01229924 0.00738397
+v 0.00485311 0.02278994 0.00696807
+v 0.00487447 0.02278995 0.00526877
+v 0.00489278 0.02278996 0.00398410
+v 0.00886160 0.01252413 0.00738397
+v 0.00848018 0.01229924 0.00738397
+f 1 2 5
+f 1 5 9
+f 1 9 17
+f 1 17 19
+f 1 19 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 15
+f 1 15 25
+f 1 25 24
+f 1 24 23
+f 1 23 18
+f 1 18 10
+f 1 10 4
+f 1 4 2
+f 2 4 5
+f 3 6 12
+f 3 12 20
+f 3 20 21
+f 3 21 13
+f 3 13 7
+f 4 8 9
+f 4 9 5
+f 4 10 14
+f 4 14 22
+f 4 22 27
+f 4 27 26
+f 4 26 16
+f 4 16 8
+f 6 11 12
+f 7 13 14
+f 7 14 15
+f 8 16 17
+f 8 17 9
+f 10 18 14
+f 11 19 20
+f 11 20 12
+f 13 21 22
+f 13 22 14
+f 14 18 23
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 16 26 17
+f 17 26 27
+f 17 27 22
+f 17 22 21
+f 17 21 20
+f 17 20 19
+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_44.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..574926fb16967e3fb83d1a70b851a5300a531631
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_44.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.00199345 0.03291017 0.01696713
+v 0.00393655 0.04021478 0.01261741
+v 0.00393655 0.03236310 0.01696713
+v -0.00199345 0.04242528 0.01696717
+v -0.00199345 0.04261507 0.01167047
+v 0.00393655 0.04143791 0.01194235
+v 0.00393655 0.04215990 0.01696716
+v -0.00085574 0.04252016 0.01696717
+v -0.00199345 0.04286709 0.01671914
+v -0.00199345 0.04508206 0.01166632
+v -0.00143679 0.04264620 0.01166631
+v 0.00393655 0.04223850 0.01166631
+v 0.00393655 0.04250979 0.01677103
+v 0.00360569 0.04221327 0.01696717
+v 0.00082179 0.04251720 0.01696717
+v -0.00085574 0.04290711 0.01674560
+v -0.00085574 0.04376997 0.01619663
+v -0.00199345 0.04314433 0.01654220
+v -0.00199345 0.04746603 0.01166632
+v 0.00393655 0.04733556 0.01166632
+v 0.00393655 0.04267732 0.01667711
+v 0.00249294 0.04238080 0.01696717
+v 0.00249817 0.04284336 0.01670565
+v 0.00082179 0.04290415 0.01674457
+v 0.00200477 0.04242528 0.01696717
+v -0.00199345 0.04372846 0.01616913
+v 0.00082179 0.04376700 0.01619508
+v -0.00085574 0.04475143 0.01534671
+v -0.00199345 0.04472178 0.01531973
+v -0.00199345 0.04707907 0.01236577
+v -0.00085574 0.04710131 0.01240313
+v -0.00085574 0.04750754 0.01166632
+v 0.00367650 0.04735484 0.01166632
+v 0.00393655 0.04728219 0.01176284
+v 0.00393655 0.04274255 0.01664027
+v 0.00249817 0.04370622 0.01615357
+v 0.00249817 0.04470547 0.01530364
+v 0.00082179 0.04474846 0.01534515
+v -0.00085574 0.04561429 0.01455543
+v -0.00199345 0.04500050 0.01506497
+v -0.00199345 0.04649494 0.01325461
+v -0.00085574 0.04623845 0.01370603
+v 0.00082179 0.04623697 0.01370396
+v 0.00082179 0.04709982 0.01240002
+v 0.00059309 0.04750457 0.01166632
+v 0.00249817 0.04743934 0.01166632
+v 0.00249817 0.04706572 0.01234138
+v 0.00393655 0.04701088 0.01224643
+v 0.00393655 0.04360540 0.01608715
+v 0.00393655 0.04449198 0.01535865
+v 0.00393655 0.04463431 0.01523723
+v 0.00249817 0.04556833 0.01450303
+v 0.00082179 0.04561133 0.01455284
+v -0.00199345 0.04558464 0.01452274
+v -0.00199345 0.04621622 0.01367386
+v 0.00249817 0.04620287 0.01365414
+v 0.00217601 0.04745268 0.01166632
+v 0.00082179 0.04750309 0.01166632
+v 0.00393655 0.04614802 0.01357476
+v 0.00393655 0.04549717 0.01442416
+v 0.00393655 0.04605758 0.01369617
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 22
+f 1 22 25
+f 1 25 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 18
+f 1 18 26
+f 1 26 29
+f 1 29 40
+f 1 40 54
+f 1 54 55
+f 1 55 41
+f 1 41 30
+f 1 30 19
+f 1 19 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 12
+f 2 12 20
+f 2 20 34
+f 2 34 48
+f 2 48 59
+f 2 59 61
+f 2 61 60
+f 2 60 51
+f 2 51 50
+f 2 50 49
+f 2 49 35
+f 2 35 21
+f 2 21 13
+f 2 13 7
+f 2 7 3
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 7 13 14
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 10 19 32
+f 10 32 45
+f 10 45 58
+f 10 58 57
+f 10 57 46
+f 10 46 33
+f 10 33 20
+f 10 20 12
+f 10 12 11
+f 13 21 14
+f 14 21 23
+f 14 23 22
+f 15 23 24
+f 15 24 16
+f 15 25 23
+f 16 24 17
+f 17 26 18
+f 17 24 27
+f 17 27 38
+f 17 38 28
+f 17 28 29
+f 17 29 26
+f 19 30 31
+f 19 31 32
+f 20 33 34
+f 21 35 23
+f 22 23 25
+f 23 35 36
+f 23 36 27
+f 23 27 24
+f 27 36 37
+f 27 37 38
+f 28 38 39
+f 28 39 40
+f 28 40 29
+f 30 41 31
+f 31 41 42
+f 31 42 43
+f 31 43 44
+f 31 44 32
+f 32 44 45
+f 33 46 47
+f 33 47 34
+f 34 47 48
+f 35 49 36
+f 36 50 37
+f 36 49 50
+f 37 50 51
+f 37 51 52
+f 37 52 53
+f 37 53 38
+f 38 53 39
+f 39 54 40
+f 39 53 43
+f 39 43 42
+f 39 42 55
+f 39 55 54
+f 41 55 42
+f 43 53 56
+f 43 56 44
+f 44 56 47
+f 44 47 57
+f 44 57 58
+f 44 58 45
+f 46 57 47
+f 47 56 59
+f 47 59 48
+f 51 60 52
+f 52 60 61
+f 52 61 56
+f 52 56 53
+f 56 61 59
+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_45.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd74d70c7da4656a6acffcf496ef2cd5761bd63d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_45.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00410027 0.03977185 0.00375921
+v 0.00410027 0.03974151 0.00526578
+v 0.00410027 0.03975829 0.00355956
+v -0.00324322 0.03920787 0.00374336
+v -0.00324322 0.03920463 0.00503633
+v 0.00410027 0.03970021 0.00545402
+v 0.00410027 0.03954342 0.00319893
+v -0.00324322 0.03903235 0.00329652
+v -0.00324322 0.03823606 0.00630205
+v 0.00410027 0.03919624 0.00649917
+v 0.00410027 0.03851290 0.00186348
+v -0.00324322 0.03786762 0.00206440
+v -0.00324322 0.03779534 0.00670832
+v 0.00410027 0.03827477 0.00726798
+v 0.00410027 0.03797925 0.00146481
+v -0.00324322 0.03709909 0.00189897
+v -0.00324322 0.03691839 0.00687311
+v 0.00410027 0.03653703 0.00757600
+v 0.00410027 0.03617506 0.00112571
+v -0.00324322 0.03617505 0.00170375
+v -0.00324322 0.03617503 0.00700113
+v 0.00410027 0.03617503 0.00760072
+v 0.00410027 0.03578466 0.00117895
+v -0.00324322 0.03471349 0.00217150
+v -0.00324322 0.03543360 0.00680655
+v 0.00410027 0.03449601 0.00695106
+v -0.00324322 0.03477865 0.00660373
+v 0.00410027 0.03440117 0.00184382
+v -0.00324322 0.03431083 0.00282749
+v 0.00410027 0.03339776 0.00286044
+v 0.00410027 0.03444438 0.00690416
+v -0.00324322 0.03406303 0.00526830
+v 0.00410027 0.03322030 0.00526892
+v -0.00324322 0.03399916 0.00357031
+v 0.00410027 0.03318030 0.00357094
+f 1 2 6
+f 1 6 10
+f 1 10 14
+f 1 14 18
+f 1 18 22
+f 1 22 26
+f 1 26 31
+f 1 31 33
+f 1 33 35
+f 1 35 30
+f 1 30 28
+f 1 28 23
+f 1 23 19
+f 1 19 15
+f 1 15 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 8 12
+f 4 12 16
+f 4 16 20
+f 4 20 24
+f 4 24 29
+f 4 29 34
+f 4 34 32
+f 4 32 27
+f 4 27 25
+f 4 25 21
+f 4 21 17
+f 4 17 13
+f 4 13 9
+f 4 9 5
+f 5 9 10
+f 5 10 6
+f 7 11 8
+f 8 11 12
+f 9 13 10
+f 10 13 14
+f 11 15 12
+f 12 15 16
+f 13 17 14
+f 14 17 18
+f 15 19 20
+f 15 20 16
+f 17 21 18
+f 18 21 22
+f 19 23 20
+f 20 23 24
+f 21 25 22
+f 22 25 27
+f 22 27 26
+f 23 28 24
+f 24 28 30
+f 24 30 29
+f 26 27 31
+f 27 32 33
+f 27 33 31
+f 29 30 34
+f 30 35 34
+f 32 34 33
+f 33 34 35
+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_46.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3db159d0215154a04a4a51ff812d083a7e8a1170
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_46.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.00482517 0.03187447 -0.00484572
+v 0.00482789 0.03789916 -0.00484570
+v 0.00896290 0.03187447 -0.00484572
+v 0.00465918 0.03187444 0.00273467
+v 0.00410027 0.03317977 0.00356867
+v 0.00410027 0.03339750 0.00286074
+v 0.00410027 0.03440037 0.00184410
+v 0.00410027 0.03578400 0.00117981
+v 0.00410027 0.03617550 0.00112647
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+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_47.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46b7a91ca4607bd5ec415bf1897b98e4dffa44e1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_47.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.01543440 0.02278996 0.00300346
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+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_48.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0b11b0faedb3a59bd868998076d02605b02f534
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_48.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.00498594 0.02278996 0.00300346
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+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_49.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b36a9c04a4115c3fac1d803bfc4f5f34792f0a3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_49.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
+v 0.01541854 0.04283193 0.00211266
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+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_5.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3040d91d6870099c1b2bd3e2d3fe6c5351f07cd6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_5.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v 0.01560447 -0.00446130 0.01717856
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+v 0.01178072 -0.00446130 0.01717856
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+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_50.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95546de1bebd4b02bc0ac3c4671a70dc9cd641b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_50.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.00452762 0.02279087 -0.00247327
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+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_51.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2937dc3f49f1065d04f2fa26f1e79c3f40a3769
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_51.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
+v 0.01390099 0.04283190 0.01166631
+v 0.00966071 0.04283190 0.01166631
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+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_52.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f4c20dd8a4a2828ee37603d3a7e8383c61eaea2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_52.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00457342 0.04200916 0.01166630
+v -0.00442092 0.04108355 0.01166630
+v -0.00497777 0.04081669 0.00853480
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+v -0.01537551 0.04200917 0.00853480
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+v -0.01480479 0.04156570 0.01166630
+v -0.00490730 0.03187603 0.00853477
+v -0.01565163 0.03187602 0.01166627
+v -0.01557769 0.04121650 0.00853480
+v -0.01532468 0.04136530 0.01027742
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+v -0.01492956 0.04200916 0.01076633
+v -0.01520337 0.04200916 0.00983693
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+v -0.01622235 0.03617473 0.00853478
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+v -0.01605368 0.03444950 0.00853478
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+v -0.01615650 0.03789996 0.00853479
+v -0.01544830 0.03966983 0.01166630
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+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_53.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e977d840205e2199b8222cec293b4edeacc32960
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_53.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00925694 0.01425033 0.00739888
+v -0.00881533 0.01233108 0.00739888
+v -0.00811003 0.01374098 0.01166620
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+v -0.00869071 0.01668200 0.01166621
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+v -0.00876025 0.01229924 0.00739888
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+v -0.00801340 0.01333536 0.01166620
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+v -0.00492850 0.02278994 0.00739891
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+v -0.00003113 0.01988384 0.01112821
+v -0.00003113 0.01529365 0.00739889
+v -0.00003113 0.01229923 0.01041725
+v -0.00003113 0.01721906 0.01166621
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+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_54.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a77fafc04678f084d4173b14fd27b13851a0b5b5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_54.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.00786510 -0.03802841 0.01448906
+v -0.00753961 -0.03928220 0.01448906
+v -0.00736170 -0.03802842 0.01717844
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+v -0.00731679 -0.03478114 0.01448907
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+v -0.00581652 -0.03507306 0.01717845
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+v -0.00246600 -0.03631933 0.01717845
+v -0.00193636 -0.03630360 0.01448907
+v -0.00192353 -0.03642186 0.01448907
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+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_55.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..724017f3c17eaf4b348d76989f31c1ff99da8342
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_55.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.00189376 -0.03802889 0.01448906
+v 0.00239250 -0.03962047 0.01448905
+v 0.00216728 -0.03802890 0.01717844
+v 0.00192635 -0.03630382 0.01448907
+v 0.00248504 -0.03982553 0.01448905
+v 0.00282956 -0.03945396 0.01717844
+v 0.00247572 -0.03630383 0.01717845
+v 0.00251763 -0.03459389 0.01448907
+v 0.00416750 -0.04107168 0.01448905
+v 0.00417623 -0.04023771 0.01717843
+v 0.00313800 -0.03527168 0.01717845
+v 0.00416692 -0.03489941 0.01717845
+v 0.00417623 -0.03404272 0.01448907
+v 0.00550544 -0.04102764 0.01448905
+v 0.00419136 -0.04023634 0.01717843
+v 0.00417623 -0.03489666 0.01717845
+v 0.00573532 -0.03408813 0.01448907
+v 0.00635046 -0.04042762 0.01448905
+v 0.00586277 -0.04000858 0.01717843
+v 0.00585288 -0.04001546 0.01717843
+v 0.00586219 -0.03410120 0.01448907
+v 0.00579468 -0.03506594 0.01717845
+v 0.00738170 -0.03967690 0.01448905
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+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_56.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f650d170ef74bc087679425ae023d82f8eba230
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_56.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_57.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21850927a6ccc189d287359b6f67aeddb8ab34e9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_57.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_6.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7a3826c2d9f633558f0075b15789eeb4ecfe755
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_6.obj
@@ -0,0 +1,511 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_7.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adb914cbaba65f4d308b7492c44c5ea028b65d8f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_8.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fec31fe5d6a99599b3da335813ad81f0644cc786
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_9.obj b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcc853d02278ca0eb03d5015a24f08c0b8ba5fb5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/mesh/stapler_003_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/stapler_003.xml b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/stapler_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8360849e7c6f82dc7b00931f099dd7c7a25d376a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/mjcf/stapler_003.xml
@@ -0,0 +1,130 @@
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+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/stapler_003.urdf b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/stapler_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2a783ddb923b243ae5fd357c8b10658c34b419f6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/stapler_003.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_003">
+   <link name="stapler_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stapler_003.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stapler_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>83678aecae645db8957633636219513a</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>stapler</category>
+         <name>black stapler</name>
+         <color>black</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>compact black stapler with curved top and flat base</description>
+         <min_height>0.0574</min_height>
+         <max_height>0.0574</max_height>
+         <real_height>0.0574</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427234611</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>11</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/stapler_003.usd b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/stapler_003.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/stapler_003.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0650c6172cccf7995d736735201e48c6c2c41ed69a4ac75a0aeeb404ddc2e80a
+size 45713713
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/textures/material_0.png b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3220531
diff --git a/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/video.mp4 b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/83678aecae645db8957633636219513a/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 338760