diff --git a/.gitattributes b/.gitattributes
index 7c1fb366eef0a6c517d5d6e81ec9be19ccb14995..07b26e0a8aa027e15530aad4e5c3b6ca4b9446fb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3286,3 +3286,5 @@ dataset/desktop_supplies/office_stationery/eb6ac2ebca0953e8b987bb3791a8eb67/mark
 dataset/desktop_supplies/office_stationery/eb6ac2ebca0953e8b987bb3791a8eb67/mesh/marker_025.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/marker_013.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mesh/marker_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mesh/stapler_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/stapler_036.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..40f5235fd7b93fa3495949a4b7ad437814f69da9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stapler_036_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_036_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..576ae6b5f8a14176293dc992a7c81567821c78b5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca3ae404881410bce94f43557fc060feb3846f8a133a4ad46d8c1a81e22f063d
+size 10065149
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mesh/stapler_036.glb b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mesh/stapler_036.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f24f192ef5111326946eddcb566f226bcd5df189
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mesh/stapler_036.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3cbbe676b6795448b7115cf9f2151e527d28dd505e7ba0b7aeaa8dee8831eab
+size 13522476
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mesh/stapler_036.mtl b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mesh/stapler_036.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..36f52f7b6d4ab9bfbdf3605ee26159e301c42561
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mesh/stapler_036.mtl
@@ -0,0 +1,6 @@
+newmtl stapler_036_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/eef271590a9f5ce4ab6cebf7c38f524c/mesh/stapler_036.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mesh/stapler_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c59b728e9c898fac26251e04a887fe02233fe4a6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mesh/stapler_036.obj
@@ -0,0 +1,111096 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stapler_036_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mesh/stapler_036_collision.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mesh/stapler_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a39e91e82e01f48a63776002ce02e8e6072e127e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mesh/stapler_036_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mesh/stapler_036_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mesh/stapler_036_geometry_Looks_material_0.png
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 10065149
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:ca3ae404881410bce94f43557fc060feb3846f8a133a4ad46d8c1a81e22f063d
+size 10065149
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036.obj
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index 0000000000000000000000000000000000000000..b6d9c0351bcc340dd4d29d03b6ad8f7488a91691
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diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8330af1e2d2fd5aed43fef760ff74e915fd0df9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision.obj
@@ -0,0 +1,17383 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_0.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76bc00c81bf54f089cb5bb522bb800e8bb3ced4c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_1.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fd35d8eb9c18c106655e892f9c3cf7a89c85327
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_1.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.00194530 -0.01992724 -0.01896137
+v 0.00033437 -0.01995619 -0.01896137
+v 0.00516508 -0.02694053 -0.01727727
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+
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_10.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2771338aa4bf30d753a957fd38e6a4d3b8d7149d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_10.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00939629 0.01293151 -0.01679189
+v -0.00938345 0.01268042 -0.01679189
+v -0.00933683 0.01359582 -0.01449901
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+
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_11.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b40d756d417b397f1e6e3144317ba3c20ea34e96
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_11.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.00949518 0.03667343 -0.01449893
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diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_12.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6ccc8a9a8a61fa725d7397fe598908b217700bb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_12.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_13.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d34ad11010af6f0612c130a7d931bbcdb5891293
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_13.obj
@@ -0,0 +1,550 @@
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diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_14.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08fd61a934125d1bb0c4a3414924b4124d319c77
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_14.obj
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diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_15.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04623cc4a834b4845e5bfe2b8d0e76357aa6ab3d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_15.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.01265233 0.03898201 -0.01214418
+v -0.01264465 0.03919491 -0.01214418
+v -0.01184630 0.03976063 -0.01302466
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+v -0.00933611 0.01359805 -0.01449878
+v -0.00926191 0.01432495 -0.01214427
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+v -0.00911861 0.01261870 -0.01449878
+v -0.00786992 0.00868914 -0.01214429
+v 0.01341167 0.03976062 -0.01214417
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+
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_16.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..704f5f994ef06c2c7f4783c515d3b880c7b8698b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_16.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.01124372 0.01065635 -0.01896126
+v -0.00924607 0.01127990 -0.01679213
+v -0.00938224 0.01268062 -0.01679212
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+v -0.00002434 0.01103048 -0.01830262
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+
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_17.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00c168c0d00e3bd85d534c89ae7f84aebeca8fdd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_17.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00002324 0.00493143 -0.01898564
+v -0.00002324 0.00493143 -0.01798564
+v -0.00002324 0.02090203 -0.01898564
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+v 0.01109100 0.02090203 -0.01898564
+v 0.01109100 0.02090203 -0.01798564
+f 2 4 1
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+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_18.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c298174ae79da56cc0ce0697a2f2c36344eb4e58
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_18.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.00355688 -0.02417612 -0.01349381
+v 0.00355688 -0.02363850 -0.01350718
+v 0.00408073 -0.02417612 -0.01344699
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+v 0.00207906 -0.02363850 -0.01323073
+v 0.00154881 -0.02417612 -0.01296209
+v 0.00123963 -0.02198703 -0.01289185
+v 0.00516606 -0.01560763 -0.01354840
+v 0.00516606 -0.01703599 -0.01351496
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+v 0.00547845 -0.02417612 -0.01326417
+v 0.00192527 -0.01560763 -0.01333214
+v 0.00128688 -0.02417612 -0.01282386
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+v 0.00621215 -0.01868662 -0.01313931
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+v -0.00038397 -0.02363263 -0.01064570
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+
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_19.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd069c6844647bf957c94a412d651bfa00803b76
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_19.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.00003077 0.02509554 -0.01800990
+v 0.00471021 0.02450888 -0.01800990
+v 0.00509337 0.02450887 -0.01679208
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+f 31 32 35
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+f 34 35 38
+f 34 38 37
+f 35 36 38
+
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_2.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d0986ab04b57d2da8bb0991d4440b4dd4a2f691
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_2.obj
@@ -0,0 +1,601 @@
+# https://github.com/mikedh/trimesh
+v 0.00033384 -0.01583163 0.02704682
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diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_20.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82fd946b1c913a513f4fa0258d1bc8543e798892
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_20.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.00968489 0.02037017 -0.01800992
+v -0.00523029 0.02037017 -0.01800992
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+
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_21.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cf500ece0419f9bd3822da88a33d8249be37239
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_21.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00002324 0.02090410 -0.01898558
+v -0.00002324 0.02090410 -0.01798558
+v -0.00002324 0.04212449 -0.01898558
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+v 0.01108434 0.04212449 -0.01798558
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+
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_22.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd12e18329b1a2871a8f476ed9166a3303c8f895
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_22.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.00025301 -0.03354337 -0.01050308
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diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_23.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a54c44d389d14fb1f4cd530fa28dd079afeceff5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_23.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_24.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da95e16db9c2c4208a21eb6008064bbb1685629b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_24.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_25.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c00f21388d9f393a55f9d58be1957fcd039fbab
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_25.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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+f 1 2 7
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+
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_26.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81e2a4ed25f59eed4be6653457f3b35270b6b0b6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_26.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01121935 0.02024253 -0.01898558
+v -0.01121935 0.02024253 -0.01798558
+v -0.01121935 0.04209916 -0.01898558
+v -0.01121935 0.04209916 -0.01798558
+v -0.00002324 0.02024253 -0.01898558
+v -0.00002324 0.02024253 -0.01798558
+v -0.00002324 0.04209916 -0.01898558
+v -0.00002324 0.04209916 -0.01798558
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_27.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa780587ea46aa379c179d0e1d59fbb553a9236a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_27.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.00859660 -0.00748948 -0.00112910
+v 0.00836531 -0.01042920 -0.00112911
+v 0.00778709 -0.01560767 -0.00396541
+v 0.00773727 -0.01560766 -0.00472107
+v 0.00774439 -0.01439092 -0.00472106
+v 0.00774973 -0.01111821 -0.00472105
+v 0.00775506 -0.00748946 -0.00472104
+v -0.00957923 -0.00748948 -0.00112910
+v 0.00786359 -0.01538436 -0.00112913
+v 0.00784046 -0.01560768 -0.00112913
+v -0.00836051 -0.01560766 -0.00472107
+v -0.00853664 -0.00748946 -0.00472104
+v -0.00853308 -0.00845904 -0.00472104
+v -0.00853131 -0.00878170 -0.00472104
+v -0.00851174 -0.01140352 -0.00472105
+v -0.00842100 -0.01560767 -0.00396541
+v -0.00840321 -0.01560768 -0.00112913
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 8
+f 1 8 17
+f 1 17 10
+f 1 10 9
+f 1 9 2
+f 2 9 3
+f 3 9 10
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+f 3 17 16
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+f 3 11 4
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+f 4 7 6
+f 4 6 5
+f 8 12 13
+f 8 13 14
+f 8 14 15
+f 8 15 11
+f 8 11 16
+f 8 16 17
+
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_28.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f61ab36d617f6f6ca70c41c1a532cb3825f6f4ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_28.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00741935 -0.02417616 -0.00343373
+v 0.00741583 -0.02417616 -0.00396663
+v 0.00741300 -0.02417616 -0.00231652
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+v 0.00735868 -0.02528937 -0.01050251
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+v 0.00302942 -0.02417616 -0.00231652
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+
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_29.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa22ba8031560885407db07e042883a3f031f8d8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_29.obj
@@ -0,0 +1,457 @@
+# https://github.com/mikedh/trimesh
+v 0.01478163 -0.01293395 0.01564528
+v 0.01477871 -0.00748928 0.01564530
+v 0.01478017 -0.01293395 0.01728025
+v 0.01478017 -0.01293393 0.00995230
+v 0.01477724 -0.00748925 0.00747583
+v 0.01477724 -0.00748928 0.01600061
+v 0.01477871 -0.01208274 0.01728026
+v 0.01475093 -0.01293396 0.01812177
+v 0.01477724 -0.01293391 0.00505008
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+v 0.01477140 -0.00878129 0.01728027
+v 0.01477578 -0.01043202 0.01728026
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+
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_3.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e954a6586362cc32d1bb242a1ad5fda1904e0e26
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_3.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.00947254 -0.02858975 -0.00047436
+v -0.00817987 -0.03189166 -0.00231545
+v -0.00941362 -0.03011237 -0.00047436
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+
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_30.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f277a45dd36c2940374ab9957a46aeac1a1ee5bd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_30.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.00818118 -0.03189266 -0.00231545
+v -0.00818041 -0.03189264 -0.00701164
+v -0.00796139 -0.03331837 -0.00701164
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+
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_31.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e8415bd2efcc14d990d566b36abc1de802a1c32
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_31.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00038478 -0.03385489 -0.00396573
+v 0.00079377 -0.03465627 -0.00733460
+v 0.00085861 -0.03459020 -0.00231546
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diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_32.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58d2ce3e82945c97e7bfecf0c1b4a63d075b1619
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_32.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_33.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f97928ee479183d600855a6e763ef7988906a72d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_33.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_34.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e86abaa201dcf84024ab6e96cfa1d3ed4850f08e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_34.obj
@@ -0,0 +1,757 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_35.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17f39fc4d5751b54cf9dec70be75f45fe1060367
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_35.obj
@@ -0,0 +1,2365 @@
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diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_36.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50711f24baaa7d25d1387a60de978f5950f81866
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_36.obj
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diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_37.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f4eb569ee0a23a511f54e6878062a0564c9fb8b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_37.obj
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diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_4.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a5b0f42472b6ff22d153b6f10a0e5363c1e3a41
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_5.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e5f0f99cc2fbe8f721603acf1af060de53c0ec8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_5.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_6.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7854fab431732096db6d8c2b90f535bb3f18b797
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_6.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_7.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a458fc3f1b034656d5ab94da5570f17322759b5f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_7.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00125553 0.02661193 -0.01449896
+v -0.00125553 0.02832731 -0.01679184
+v 0.00491002 0.02528105 -0.01679185
+v 0.00479133 0.02528104 -0.01449897
+v -0.00125553 0.04116145 -0.01449891
+v -0.00125553 0.04026642 -0.01679179
+v 0.00964802 0.02528105 -0.01679185
+v 0.00962213 0.02528104 -0.01449897
+v 0.00033711 0.04118169 -0.01449891
+v 0.00033711 0.04028665 -0.01679179
+v 0.00964802 0.02753812 -0.01679184
+v 0.00976780 0.03579119 -0.01449893
+v 0.00064356 0.04117858 -0.01449891
+v 0.00194702 0.04116301 -0.01449891
+v 0.00194702 0.04025241 -0.01679179
+v 0.00964694 0.03083966 -0.01679183
+v 0.00964587 0.03388904 -0.01679182
+v 0.00964479 0.03413965 -0.01679181
+v 0.00974298 0.03747387 -0.01449892
+v 0.00355693 0.04107273 -0.01449891
+v 0.00352240 0.04015279 -0.01679179
+v 0.00957465 0.03579120 -0.01679181
+v 0.00934266 0.03696487 -0.01679180
+v 0.00930813 0.03839071 -0.01449892
+v 0.00518841 0.04087193 -0.01449891
+v 0.00493916 0.03990840 -0.01679179
+v 0.00927468 0.03709096 -0.01679180
+v 0.00880207 0.03776185 -0.01679180
+v 0.00801977 0.03860864 -0.01679180
+v 0.00839420 0.03937759 -0.01449892
+v 0.00674868 0.04045631 -0.01449891
+v 0.00543443 0.03980411 -0.01679179
+v 0.00778670 0.03877053 -0.01679180
+v 0.00746516 0.04004848 -0.01449891
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+
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_8.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d194b5fea667f695bcf83cd56e68cb4b76ac383
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_8.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.00879583 0.00868912 -0.00472133
+v 0.00720913 0.00868914 -0.01213630
+v 0.00044577 0.00868912 -0.00472133
+v 0.00773803 -0.01560766 -0.00472142
+v 0.00735755 -0.01560764 -0.01050202
+v 0.00680569 0.00868915 -0.01293307
+v 0.00716813 0.00442483 -0.01213631
+v 0.00044577 0.00868913 -0.00886946
+v 0.00044495 0.00861301 -0.00472133
+v 0.00055073 -0.01560766 -0.00472142
+v 0.00699757 -0.01560764 -0.01191607
+v 0.00706235 -0.00547843 -0.01213635
+v 0.00710007 -0.00217972 -0.01213634
+v 0.00713533 0.00112374 -0.01213633
+v 0.00651623 0.00868915 -0.01349337
+v 0.00042199 0.00531192 -0.00472134
+v 0.00043019 0.00696247 -0.00472133
+v 0.00043675 0.00772590 -0.00472133
+v 0.00045397 0.00868914 -0.01050193
+v 0.00041871 0.00366138 -0.00472135
+v 0.00044987 -0.01560765 -0.00723518
+v 0.00042445 0.00201083 -0.00472135
+v 0.00693935 -0.01560764 -0.01213639
+v 0.00569459 0.00868915 -0.01399290
+v 0.00645965 0.00277430 -0.01340887
+v 0.00624891 -0.01560763 -0.01317248
+v 0.00042363 0.00277427 -0.00560074
+v 0.00056549 0.00868914 -0.01213630
+v 0.00045643 0.00772592 -0.01050193
+v 0.00044823 -0.01560765 -0.00886955
+v 0.00634157 -0.01560763 -0.01303478
+v 0.00642521 -0.00052917 -0.01336330
+v 0.00516077 0.00868915 -0.01427210
+v 0.00531001 -0.01560763 -0.01350011
+v 0.00090415 0.00868915 -0.01323222
+v 0.00057451 0.00772592 -0.01213630
+v 0.00052449 -0.01560764 -0.01050202
+v 0.00045807 -0.01560765 -0.00908987
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+v 0.00516651 -0.01560763 -0.01354854
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+
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_9.obj b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e747ba75bfeb10df2d6675a13db4fcff50333744
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/mesh/stapler_036_collision_9.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.00128862 0.00868912 -0.00472133
+v -0.00996901 0.00868912 -0.00472133
+v -0.00127840 0.00772590 -0.00472133
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+v -0.00787518 0.00868914 -0.01213688
+v -0.00783428 0.00277429 -0.01213690
+v -0.00782150 0.00112374 -0.01213691
+v -0.00768259 -0.01560764 -0.01213697
+v -0.00810101 -0.01560764 -0.01050263
+v -0.00836093 -0.01560766 -0.00472142
+v -0.00126817 0.00607536 -0.00472134
+v -0.00126391 0.00442481 -0.00472134
+v -0.00129203 0.00868914 -0.00982077
+v -0.00731700 0.00868915 -0.01341269
+v -0.00709032 -0.01560763 -0.01310670
+v -0.00138237 -0.01560766 -0.00472142
+v -0.00126817 0.00277427 -0.00472135
+v -0.00129459 -0.01560765 -0.00723491
+v -0.00129289 -0.01560765 -0.00864803
+v -0.00129289 -0.01560765 -0.00886925
+v -0.00126902 0.00112372 -0.00560051
+v -0.00126817 0.00277427 -0.00560050
+v -0.00129629 0.00868914 -0.01050254
+v -0.00129118 -0.01043008 -0.00886923
+v -0.00611201 0.00868915 -0.01421175
+v -0.00610434 -0.01560763 -0.01348430
+v -0.00130056 -0.01560765 -0.00701369
+v -0.00136277 -0.01560764 -0.01050263
+v -0.00132783 0.00868914 -0.01213688
+v -0.00131249 0.00868914 -0.01145511
+v -0.00549332 0.00868915 -0.01431377
+v -0.00449456 -0.01560763 -0.01370742
+v -0.00449456 0.00868915 -0.01446157
+v -0.00155280 -0.01560764 -0.01191575
+v -0.00136617 0.00442483 -0.01213689
+v -0.00134998 0.00607538 -0.01213689
+v -0.00133550 0.00772592 -0.01213688
+v -0.00155536 0.00868915 -0.01289875
+v -0.00427725 -0.01560763 -0.01367977
+v -0.00411022 0.00868915 -0.01440436
+v -0.00288477 -0.01560763 -0.01349860
+v -0.00158433 -0.01560764 -0.01213697
+v -0.00138407 0.00277429 -0.01213690
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+v -0.00171557 0.00868915 -0.01343463
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+v -0.00185363 -0.01043006 -0.01318773
+v -0.00182124 -0.00712897 -0.01322968
+v -0.00180675 -0.00547842 -0.01325065
+v -0.00242970 0.00868915 -0.01389232
+v -0.00190817 -0.01560763 -0.01312291
+v -0.00188771 -0.01373352 -0.01314579
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+
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/stapler_036.xml b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/stapler_036.xml
new file mode 100644
index 0000000000000000000000000000000000000000..af55eb010a6fc42dab65ea8ee10011de1d26eaad
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/mjcf/stapler_036.xml
@@ -0,0 +1,90 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stapler_036">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/stapler_036.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stapler_036_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stapler_036_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stapler_036_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stapler_036_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stapler_036_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/stapler_036_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stapler_036_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/stapler_036_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/stapler_036_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/stapler_036_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/stapler_036_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/stapler_036_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/stapler_036_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/stapler_036_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/stapler_036_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/stapler_036_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/stapler_036_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/stapler_036_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/stapler_036_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/stapler_036_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/stapler_036_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/stapler_036_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/stapler_036_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/stapler_036_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/stapler_036_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/stapler_036_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/stapler_036_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/stapler_036_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/stapler_036_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/stapler_036_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/stapler_036_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/stapler_036_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/stapler_036_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/stapler_036_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/stapler_036_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/stapler_036_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/stapler_036_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/stapler_036_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stapler_036">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/stapler_036.urdf b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/stapler_036.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1b7d293e78557aabdb295607424d7572e757fc1f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/stapler_036.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_036">
+   <link name="stapler_036">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stapler_036.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_036_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1850" />
+         <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>eef271590a9f5ce4ab6cebf7c38f524c</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>stapler</category>
+         <name>cat stapler</name>
+         <color>pink,silver</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>pink cat-shaped desktop stapler with rounded body and metal jaws</description>
+         <min_height>0.0656</min_height>
+         <max_height>0.0656</max_height>
+         <real_height>0.0656</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611151321</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.021472 -0.048032 -0.029352</min>
+            <max>0.020501 0.051968 0.036264</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>16</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>Error when calling GPT api, check config in `embodied_gen/utils/gpt_config.yaml` or net connection.</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/stapler_036.usd b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/stapler_036.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/stapler_036.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd3905158fa248c74f0b371e14021a4dcd5b5cd9661525e8a227974d242e6afb
+size 4982177
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/textures/material_0.png b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10065149
diff --git a/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/video.mp4 b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/eef271590a9f5ce4ab6cebf7c38f524c/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ed05e0a74f9cf5d681b5bddff0dae589bcfc7eca7dcb95d3c8663a17ff61abf
+size 269621