diff --git a/.gitattributes b/.gitattributes
index e3b1716123819bab051c02fa7d25bfb53018e1b9..ddfa08b95f4f922a2dba06e61ef64f9fbadf33f8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3090,7 +3090,4 @@ dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/eras
 dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mesh/eraser_049.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/15d2a626556d5a758148c82b1da2e475/ballpoint_pen_022.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/15d2a626556d5a758148c82b1da2e475/mesh/ballpoint_pen_022.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/1740bc6dc16f509587e292c20c6b74b4/mesh/pen_holder_032.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/1740bc6dc16f509587e292c20c6b74b4/pen_holder_032.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/181e2f0b9f5a54a5885c677a3e38b6dc/mesh/stapler_006.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/181e2f0b9f5a54a5885c677a3e38b6dc/stapler_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/1ad9e289b3f35c4e94bea6fdcc794af3.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/1ad9e289b3f35c4e94bea6fdcc794af3.urdf b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/1ad9e289b3f35c4e94bea6fdcc794af3.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bf09f12c495013fb38b329e3eeb0c04cea9b7939
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/1ad9e289b3f35c4e94bea6fdcc794af3.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_17">
+   <link name="stapler_17">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/stapler_17.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/stapler_17_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.156373</scale>
+         <version>v0.1.5</version>
+         <category>stapler</category>
+         <description>metallic stapler with curved top and compact design</description>
+         <min_height>0.08</min_height>
+         <max_height>0.12</max_height>
+         <real_height>0.1</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <generate_time>20251014152954</generate_time>
+         <gs_model>mesh/stapler_17_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.990255355834961</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>NO: {"summary":"Top handle and inner metal mechanism are mixed across colors; base also contains unrelated fragments.","merge_groups":[{"colors":["Cyan","Pink"],"target_part":"top handle/upper arm","reason":"Pink mostly traces upper arm edges and strip"},{"colors":["Lime Green","Cyan"],"target_part":"base/main body","reason":"Cyan patches on underside belong to base surface"}]}</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/1ad9e289b3f35c4e94bea6fdcc794af3.usd b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/1ad9e289b3f35c4e94bea6fdcc794af3.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7dafc990694614d0288c0b9121ef6139ad98f265
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/1ad9e289b3f35c4e94bea6fdcc794af3.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a75a1fe1db98129177507a56fd8494108d837bb79d31ddde925ddc9f0a6afa2
+size 326031
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9d4800b1e221c2bc42773b21f02a4cb89566c1d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:678c8c6ec02acd1737da84e055beb3c3e3c2750c7950440ac6c87ffb2f2556fb
+size 1910478
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mesh/stapler_17.glb b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mesh/stapler_17.glb
new file mode 100644
index 0000000000000000000000000000000000000000..52754093f9ba0e8da9f997ca545137a647bec063
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mesh/stapler_17.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b14154283532753dde2e236565e863eb0959c4834bd4471fee4f6bd024d7b713
+size 2146448
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mesh/stapler_17.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mesh/stapler_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b456a329a6168adf4203217cb54a129e07357b03
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mesh/stapler_17.obj
@@ -0,0 +1,21726 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v 0.01524273 -0.00717297 -0.03765377
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diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mesh/stapler_17_collision.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mesh/stapler_17_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cae5606ab4111688955a6bfea2f1e2cc521b749
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mesh/stapler_17_collision.obj
@@ -0,0 +1,19668 @@
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diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17.obj
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index 0000000000000000000000000000000000000000..f0110710279a0aad3bddb6b4ce0a2ebf838d3088
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diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d35dbd0da5c7076ac463d8e79e7ffeee6572ad9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision.obj
@@ -0,0 +1,19668 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_0.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..950b531f8f2353cd971f0f05103b0d2c6f6d9fc2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_1.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f684cb933b1f34812a59aec1a77339475ce31ed2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_10.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b3268ec512b4dc3ac1e8d95df791fc42add2206
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_10.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_11.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22ef07ca5273be521a21fabace505ba520b694ed
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_11.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_12.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96ed71286f350e08522b5d88227175c08236b381
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_12.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_13.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2165c16af816f1a1a62802f2979129abaac9cd08
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_13.obj
@@ -0,0 +1,769 @@
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diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_14.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77f70f08d9f0e0f2acf0bfca51440a32f1dc1bd4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_14.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_15.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c17189997caf7b4c8242d66fbf22a4a703fc0535
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_15.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+v 0.00971599 -0.00663331 -0.01291192
+v 0.01485271 -0.00663335 -0.00325214
+v 0.01437628 -0.04523673 -0.00835022
+v 0.00906127 -0.04523673 -0.00835022
+v 0.00942072 -0.01125091 -0.01089675
+v 0.00948659 -0.00663332 -0.01089673
+v 0.00958653 -0.00663335 -0.00325214
+v 0.01432859 -0.04476064 -0.00325228
+v 0.01432631 -0.04523675 -0.00325344
+v 0.01436890 -0.04523674 -0.00580125
+v 0.01437061 -0.04523674 -0.00626816
+v 0.00905219 -0.04523674 -0.00580125
+v 0.00948999 -0.00663333 -0.00835007
+v 0.00917768 -0.03445228 -0.00580121
+v 0.00952633 -0.00663334 -0.00580110
+v 0.00919585 -0.03445229 -0.00325340
+v 0.00919642 -0.03445229 -0.00325225
+v 0.01009929 -0.04523675 -0.00325229
+v 0.00905786 -0.04523674 -0.00533435
+v 0.00949681 -0.00663333 -0.00781745
+v 0.00908455 -0.04523675 -0.00325344
+v 0.00915269 -0.04476064 -0.00325228
+f 1 2 7
+f 1 7 11
+f 1 11 23
+f 1 23 26
+f 1 26 31
+f 1 31 38
+f 1 38 45
+f 1 45 40
+f 1 40 32
+f 1 32 27
+f 1 27 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 5 6
+f 3 8 9
+f 3 9 4
+f 4 9 5
+f 5 9 22
+f 5 22 28
+f 5 28 36
+f 5 36 35
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+f 5 37 29
+f 5 29 24
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+f 5 12 10
+f 5 10 6
+f 6 10 7
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+f 7 12 13
+f 7 13 11
+f 8 14 15
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+f 8 20 21
+f 8 21 22
+f 8 22 9
+f 11 13 23
+f 13 24 25
+f 13 25 26
+f 13 26 23
+f 14 27 15
+f 15 27 16
+f 16 27 17
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+f 18 28 19
+f 19 28 20
+f 20 28 21
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+f 25 30 26
+f 25 29 30
+f 26 30 31
+f 27 32 42
+f 27 42 47
+f 27 47 43
+f 27 43 33
+f 27 33 34
+f 27 34 35
+f 27 35 36
+f 27 36 28
+f 29 37 30
+f 30 38 31
+f 30 37 39
+f 30 39 38
+f 32 40 41
+f 32 41 42
+f 33 43 34
+f 37 44 41
+f 37 41 39
+f 38 39 41
+f 38 41 45
+f 40 45 41
+f 41 44 46
+f 41 46 42
+f 42 46 47
+f 43 47 46
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_16.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab9553026d33480cab666207013df73aa44cb5ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_16.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.01673914 0.01521500 -0.00345806
+v -0.01914564 0.01554000 -0.00172582
+v -0.02114711 0.01511336 -0.00325312
+v -0.01673914 0.01522705 -0.00549169
+v -0.01673914 0.01649895 -0.00221407
+v -0.01747571 0.01600677 -0.00214701
+v -0.02114711 0.01551593 -0.00170246
+v -0.01673914 0.01765182 -0.00191720
+v -0.01844337 0.01696304 -0.00158869
+v -0.02114711 0.01710747 -0.00135511
+v -0.02114711 0.01541697 -0.00529805
+v -0.02260391 0.01569515 -0.00186370
+v -0.02290360 0.01556675 -0.00325312
+v -0.02286767 0.01560689 -0.00497406
+v -0.01673914 0.01572057 -0.00584960
+v -0.01673914 0.01821889 -0.00186596
+v -0.01681508 0.01772538 -0.00187876
+v -0.01673914 0.01937043 -0.00180040
+v -0.01864343 0.01968607 -0.00144175
+v -0.02284481 0.01710748 -0.00176801
+v -0.02114711 0.01968606 -0.00135208
+v -0.02298934 0.01968607 -0.00173862
+v -0.02090050 0.01736428 -0.00663773
+v -0.02424200 0.01968607 -0.00278068
+v -0.02500306 0.01807045 -0.00423564
+v -0.02500306 0.01807045 -0.00477287
+v -0.02368263 0.01717035 -0.00541635
+v -0.01673914 0.01954298 -0.00830290
+v -0.01673914 0.01968607 -0.00178759
+v -0.01673914 0.02210148 -0.00182902
+v -0.01673914 0.02678252 -0.00191565
+v -0.01864343 0.02226198 -0.00158264
+v -0.02114711 0.02484056 -0.00161804
+v -0.02285461 0.02484056 -0.00178908
+v -0.02295995 0.02226198 -0.00176197
+v -0.02421178 0.02226198 -0.00274450
+v -0.02157010 0.01890502 -0.00701672
+v -0.02506186 0.01968607 -0.00405480
+v -0.02508146 0.02226198 -0.00401863
+v -0.02506186 0.01968608 -0.00491377
+v -0.02347277 0.01973289 -0.00632955
+v -0.02251817 0.02062363 -0.00713049
+v -0.02090050 0.01973290 -0.00744168
+v -0.01673914 0.02016489 -0.00851011
+v -0.01673914 0.02715165 -0.00195483
+v -0.02114711 0.02649096 -0.00182900
+v -0.02265617 0.02639333 -0.00186216
+v -0.02410644 0.02484056 -0.00286052
+v -0.02505287 0.02484057 -0.00413465
+v -0.02508146 0.02226199 -0.00494691
+v -0.02383533 0.02226199 -0.00622029
+v -0.02258268 0.02226200 -0.00716138
+v -0.02114711 0.02226200 -0.00796232
+v -0.01673914 0.02226735 -0.00904959
+v -0.01673914 0.02804908 -0.00325308
+v -0.02114711 0.02752346 -0.00325308
+v -0.02355524 0.02674908 -0.00339774
+v -0.02497857 0.02625291 -0.00434336
+v -0.02505287 0.02484057 -0.00488888
+v -0.02347767 0.02478707 -0.00629562
+v -0.02252552 0.02389233 -0.00713424
+v -0.02107035 0.02478708 -0.00744166
+v -0.01673914 0.02484058 -0.00874894
+v -0.01673914 0.02877532 -0.00580057
+v -0.02365242 0.02670496 -0.00524677
+v -0.02497857 0.02625291 -0.00472009
+v -0.02185428 0.02561094 -0.00699259
+v -0.01673914 0.02702194 -0.00792990
+v -0.01673914 0.02851318 -0.00638000
+f 1 2 3
+f 1 3 4
+f 1 4 15
+f 1 15 28
+f 1 28 44
+f 1 44 54
+f 1 54 63
+f 1 63 68
+f 1 68 69
+f 1 69 64
+f 1 64 55
+f 1 55 45
+f 1 45 31
+f 1 31 30
+f 1 30 29
+f 1 29 18
+f 1 18 16
+f 1 16 8
+f 1 8 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 5
+f 2 5 8
+f 2 8 9
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+f 2 10 7
+f 3 11 4
+f 3 7 12
+f 3 12 13
+f 3 13 14
+f 3 14 11
+f 4 11 15
+f 7 10 12
+f 8 16 17
+f 8 17 9
+f 9 17 16
+f 9 16 18
+f 9 18 19
+f 9 19 10
+f 10 20 12
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+f 10 21 22
+f 10 22 20
+f 11 14 23
+f 11 23 15
+f 12 20 24
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+f 12 25 13
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+f 14 27 23
+f 14 26 27
+f 15 23 28
+f 18 29 19
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+f 19 31 32
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+f 19 33 21
+f 20 22 24
+f 21 33 34
+f 21 34 35
+f 21 35 22
+f 22 35 36
+f 22 36 24
+f 23 27 37
+f 23 37 28
+f 24 38 25
+f 24 36 39
+f 24 39 38
+f 25 38 40
+f 25 40 26
+f 26 40 41
+f 26 41 27
+f 27 41 42
+f 27 42 37
+f 28 37 43
+f 28 43 44
+f 31 45 33
+f 31 33 32
+f 33 45 46
+f 33 46 47
+f 33 47 34
+f 34 47 48
+f 34 48 36
+f 34 36 35
+f 36 48 49
+f 36 49 39
+f 37 42 43
+f 38 39 50
+f 38 50 40
+f 39 49 59
+f 39 59 50
+f 40 50 51
+f 40 51 41
+f 41 51 42
+f 42 51 52
+f 42 52 53
+f 42 53 43
+f 43 53 54
+f 43 54 44
+f 45 55 47
+f 45 47 46
+f 47 55 56
+f 47 56 57
+f 47 57 58
+f 47 58 48
+f 48 58 49
+f 49 58 66
+f 49 66 59
+f 50 59 51
+f 51 59 60
+f 51 60 61
+f 51 61 52
+f 52 61 53
+f 53 61 62
+f 53 62 63
+f 53 63 54
+f 55 64 56
+f 56 64 65
+f 56 65 57
+f 57 65 66
+f 57 66 58
+f 59 66 60
+f 60 66 67
+f 60 67 61
+f 61 67 62
+f 62 67 63
+f 63 67 68
+f 64 69 65
+f 65 67 66
+f 65 69 68
+f 65 68 67
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_17.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f95619f64e77a4feb4a8312e2def2a0740cfd74
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_17.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.01143320 -0.07569916 -0.04903050
+v 0.01143320 -0.07754234 -0.04846056
+v 0.01141754 -0.07754234 -0.04846056
+v 0.00381222 -0.07753773 -0.04845662
+v 0.00381222 -0.07569916 -0.04888998
+v 0.01143320 -0.05477687 -0.04657338
+v 0.01143320 -0.07754694 -0.04844874
+v 0.00381222 -0.07821280 -0.04657084
+v 0.00381222 -0.06538893 -0.04711841
+v 0.01141754 -0.05477687 -0.04656944
+v 0.01143320 -0.05477691 -0.03561456
+v 0.01143320 -0.07819437 -0.04657084
+v 0.00390324 -0.07821280 -0.04657084
+v 0.00381222 -0.07831188 -0.04402320
+v 0.00381222 -0.06326237 -0.04609671
+v 0.00963222 -0.05477687 -0.04560422
+v 0.01114672 -0.05477687 -0.04644600
+v 0.00491415 -0.05477691 -0.03561456
+v 0.01143320 -0.07717145 -0.03561464
+v 0.01143320 -0.07824045 -0.04402320
+v 0.00891302 -0.07828192 -0.04402320
+v 0.00640850 -0.07830496 -0.04402320
+v 0.00381222 -0.07822894 -0.04147555
+v 0.00390324 -0.07822894 -0.04147555
+v 0.00381222 -0.05477689 -0.04175649
+v 0.00381222 -0.05477691 -0.03630137
+v 0.00381222 -0.05845404 -0.03561457
+v 0.01142873 -0.07782577 -0.03561465
+v 0.01143320 -0.07788797 -0.03636450
+v 0.01143320 -0.07813678 -0.04146110
+v 0.00891302 -0.07818747 -0.04147555
+v 0.00640850 -0.07821512 -0.04147555
+v 0.00381222 -0.07810915 -0.03902114
+v 0.00390324 -0.07810454 -0.03892790
+v 0.00381222 -0.07789719 -0.03561465
+v 0.00891302 -0.07785803 -0.03561465
+v 0.01143320 -0.07789028 -0.03637894
+v 0.01143320 -0.07802160 -0.03891214
+v 0.00891302 -0.07805846 -0.03892790
+v 0.00381222 -0.07810454 -0.03892790
+v 0.00891302 -0.07792023 -0.03637894
+v 0.00640850 -0.07794097 -0.03637894
+v 0.00390324 -0.07796170 -0.03637894
+v 0.00381222 -0.07790180 -0.03564354
+v 0.00390324 -0.07789719 -0.03561465
+v 0.00640850 -0.07788107 -0.03561465
+v 0.00381222 -0.07796170 -0.03637894
+v 0.00465452 -0.07789489 -0.03561465
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 19
+f 1 19 29
+f 1 29 37
+f 1 37 38
+f 1 38 30
+f 1 30 20
+f 1 20 12
+f 1 12 7
+f 1 7 2
+f 2 7 3
+f 3 7 4
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+f 4 40 47
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+f 4 44 35
+f 4 35 27
+f 4 27 26
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+f 5 9 6
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+f 6 17 16
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+f 6 18 11
+f 6 9 10
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+f 14 24 23
+f 15 25 16
+f 18 26 27
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+f 28 36 37
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+f 37 39 38
+f 41 46 42
+f 42 46 43
+f 43 46 48
+f 43 48 44
+f 43 44 47
+f 44 48 45
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_18.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b3f24e79119529d81f30de82f6272f4b64e7b82
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_18.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.00817046 0.01501319 0.00120386
+v -0.00582940 0.01501319 0.00101372
+v 0.00817046 0.01501320 -0.00392178
+v 0.00817046 0.02984553 -0.00004302
+v -0.00582940 0.01710797 0.00078441
+v -0.00582940 0.01501321 -0.00480394
+v 0.00528386 0.01501321 -0.00459176
+v 0.00272896 0.03101040 -0.00710190
+v 0.00817046 0.02741879 -0.00423511
+v 0.00817046 0.03181217 -0.00032863
+v -0.00582940 0.02999695 -0.00069097
+v -0.00157626 0.01501321 -0.00485698
+v -0.00582940 0.02484255 -0.00541105
+v -0.00361168 0.02999697 -0.00641804
+v -0.00114725 0.02999504 -0.00693787
+v -0.00110613 0.02741879 -0.00669388
+v -0.00110613 0.02484255 -0.00639930
+v 0.00139669 0.02484255 -0.00648253
+v 0.00390224 0.01501321 -0.00475089
+v 0.00139669 0.02741879 -0.00678365
+v 0.00139669 0.03075607 -0.00713291
+v 0.00272896 0.03142197 -0.00710189
+v 0.00817046 0.03008240 -0.00416165
+v 0.00817046 0.03257514 -0.00044451
+v -0.00582940 0.03030952 -0.00074810
+v -0.00110613 0.01501321 -0.00485780
+v -0.00582940 0.02741879 -0.00550979
+v -0.00582940 0.02999697 -0.00559383
+v -0.00582940 0.03242373 -0.00498259
+v -0.00033993 0.03148410 -0.00712474
+v -0.00033993 0.03085509 -0.00712475
+v 0.00343211 0.01501321 -0.00477782
+v 0.00139669 0.01501321 -0.00484392
+v 0.00092792 0.01501321 -0.00485698
+v 0.00139669 0.03153846 -0.00713290
+v 0.00817046 0.03257516 -0.00409065
+v 0.00139669 0.03282754 -0.00628094
+v 0.00550043 0.03402345 -0.00487406
+v 0.00817046 0.03269163 -0.00406045
+v 0.00817046 0.03473205 -0.00140337
+v -0.00582940 0.03263338 -0.00132340
+v -0.00582940 0.03250333 -0.00495730
+v -0.00361168 0.03257516 -0.00560280
+v -0.00492340 0.03387784 -0.00454845
+v -0.00114725 0.03243538 -0.00626135
+v 0.00139669 0.03400597 -0.00500708
+v 0.00390224 0.03405451 -0.00503073
+v 0.00817046 0.03484659 -0.00324031
+v 0.00817046 0.03483300 -0.00288206
+v -0.00582940 0.03398849 -0.00342474
+v -0.00582940 0.03385842 -0.00224636
+v -0.00582940 0.03260234 -0.00490833
+v -0.00582940 0.03357110 -0.00432567
+v -0.00110613 0.03396326 -0.00481530
+f 1 2 6
+f 1 6 12
+f 1 12 26
+f 1 26 34
+f 1 34 33
+f 1 33 32
+f 1 32 19
+f 1 19 7
+f 1 7 3
+f 1 3 9
+f 1 9 23
+f 1 23 36
+f 1 36 39
+f 1 39 48
+f 1 48 49
+f 1 49 40
+f 1 40 24
+f 1 24 10
+f 1 10 4
+f 1 4 2
+f 2 5 11
+f 2 11 25
+f 2 25 41
+f 2 41 51
+f 2 51 50
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+f 2 28 27
+f 2 27 13
+f 2 13 6
+f 2 4 5
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 5
+f 6 13 14
+f 6 14 15
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+f 6 17 18
+f 6 18 12
+f 7 19 18
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+f 8 20 21
+f 8 21 35
+f 8 35 22
+f 8 22 9
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+f 10 24 11
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+f 13 27 14
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+f 17 20 18
+f 18 19 32
+f 18 32 33
+f 18 33 34
+f 18 34 26
+f 20 31 21
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+f 22 36 23
+f 22 35 37
+f 22 37 38
+f 22 38 39
+f 22 39 36
+f 24 40 41
+f 24 41 25
+f 29 42 30
+f 30 42 43
+f 30 43 44
+f 30 44 45
+f 30 45 37
+f 30 37 35
+f 37 44 46
+f 37 46 47
+f 37 47 38
+f 37 45 44
+f 38 47 48
+f 38 48 39
+f 40 49 50
+f 40 50 51
+f 40 51 41
+f 42 52 43
+f 43 52 44
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+f 44 53 50
+f 44 50 48
+f 44 48 54
+f 44 54 46
+f 46 54 48
+f 46 48 47
+f 48 50 49
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_19.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e0a7c819914a2ba5dadf3b330c291f3248055b8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_19.obj
@@ -0,0 +1,613 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_2.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c788097c67daa0b43994083f9c4ac3e12b1fc00
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_2.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_20.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6704fc6069710bcae1673c253fc316198d7e245f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_20.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_21.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40e3048201431832f6b045d47dc2d6ce4e71eb57
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_21.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v -0.00993160 0.05830133 -0.01805729
+v -0.01112786 0.05826554 -0.01805729
+v -0.00993160 0.07685061 -0.00394501
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+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_22.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d599d81935d34d06ecbc94b14314c9f79c908ca7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_22.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.01642806 -0.07569754 -0.04924875
+v 0.01687560 -0.07569754 -0.04923435
+v 0.01642806 -0.07758272 -0.04849692
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+v 0.01392344 -0.07569754 -0.04921563
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+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_23.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7c299bc368244afbee34f4bd188ccdb11743126
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_23.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
+v 0.01077707 0.01501305 0.03901683
+v 0.01176148 0.01501305 0.03854666
+v 0.01270770 0.03638398 0.04645891
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+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_24.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70f5f4f93331407083a726cdfb554e0256e144e7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_24.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.00633237 -0.05242037 -0.01794893
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+v 0.00826705 -0.05249829 -0.01758209
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+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_25.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61f307de2b3a07b8b77eef3c18a9fa4e876b0c0b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_25.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.01112114 -0.00663329 -0.01504973
+v -0.01269152 -0.00867516 -0.01488112
+v -0.01282174 -0.00663329 -0.01497350
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+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_26.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e03bfd358df876ae0992e814766a1e3172e6b95
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_26.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.00002836 0.06407590 -0.03460563
+v 0.00002836 0.06093213 -0.03402212
+v 0.00002836 0.06407588 -0.03040293
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+v 0.00390410 0.05980107 -0.02712255
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+v 0.01388890 0.05323772 -0.03451078
+v 0.00002836 0.05698625 -0.03263423
+v 0.00002836 0.05835601 -0.03333305
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+v 0.02048867 0.05967058 -0.03076921
+v 0.01927287 0.06407588 -0.03117979
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+v 0.01893237 0.06407588 -0.03111594
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+v 0.01265707 0.05962177 -0.02712255
+v 0.01697747 0.06407588 -0.03086763
+v 0.01199609 0.06407588 -0.03056433
+v 0.00939824 0.06407588 -0.03050048
+v 0.01642666 0.06407588 -0.03081353
+v 0.01447176 0.06407588 -0.03067252
+f 1 2 6
+f 1 6 14
+f 1 14 13
+f 1 13 26
+f 1 26 25
+f 1 25 30
+f 1 30 17
+f 1 17 8
+f 1 8 3
+f 1 3 7
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+f 35 44 43
+f 41 43 45
+f 41 45 46
+f 41 46 42
+f 43 44 47
+f 43 47 48
+f 43 48 45
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_27.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc196f48a6de132d9631f63ccf9232da0a031de2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_27.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.01646037 0.04332090 -0.01805734
+v 0.01646597 0.04337721 -0.01805734
+v 0.01155691 0.04332090 -0.01805734
+v 0.01833728 0.04332093 -0.02836548
+v 0.01667109 0.04546541 -0.01805733
+v 0.00896486 0.05323765 -0.01805730
+v 0.00881381 0.05323765 -0.01854163
+v 0.01108419 0.04332092 -0.02364529
+v 0.01130144 0.04332093 -0.02836548
+v 0.01829532 0.04546544 -0.02836547
+v 0.01673543 0.05111063 -0.01805731
+v 0.01674382 0.05062037 -0.01805731
+v 0.01673170 0.04804386 -0.01805732
+v 0.01668601 0.04595566 -0.01805733
+v 0.01667389 0.05323765 -0.01805730
+v 0.00902919 0.05323766 -0.02109041
+v 0.01093128 0.04332093 -0.02618499
+v 0.01131822 0.05323768 -0.02836544
+v 0.00963991 0.05323767 -0.02363718
+v 0.01820954 0.04804389 -0.02836546
+v 0.01668135 0.05319882 -0.01805730
+v 0.01794754 0.05323768 -0.02836544
+v 0.01809766 0.05070777 -0.02836545
+v 0.01795220 0.05319885 -0.02836544
+f 1 2 5
+f 1 5 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 21
+f 1 21 15
+f 1 15 6
+f 1 6 3
+f 1 3 8
+f 1 8 17
+f 1 17 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 9 18
+f 4 18 22
+f 4 22 24
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+f 4 23 20
+f 4 20 10
+f 4 10 11
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+f 6 18 19
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+f 7 17 8
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+f 10 20 21
+f 10 21 11
+f 15 21 22
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+f 21 23 24
+f 21 24 22
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_28.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..385d91efa9b87d3be2b7c286f2b532b7ac615bda
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_28.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.00992962 0.06242619 -0.00269572
+v -0.00992962 0.06242622 -0.00962466
+v -0.00992962 0.06187886 -0.00285511
+v 0.01025139 0.06244812 -0.00286413
+v 0.00085835 0.06244812 -0.00362650
+v -0.00611629 0.05837282 -0.01805729
+v -0.00659246 0.05836901 -0.01805729
+v -0.00909780 0.05832896 -0.01805729
+v -0.00992962 0.05830322 -0.01805729
+v 0.00085835 0.06244815 -0.00959910
+v -0.00611629 0.06242622 -0.00963518
+v 0.00640645 0.05844052 -0.01805579
+v 0.00390308 0.05843480 -0.01805579
+v -0.00992962 0.05960662 -0.00377537
+v 0.01025139 0.06085669 -0.00349268
+v 0.01025139 0.06244815 -0.00954196
+v 0.00085835 0.05841192 -0.01805729
+v -0.00992962 0.05270700 -0.01805731
+v 0.00111323 0.06244815 -0.00959759
+v 0.00891178 0.05842718 -0.01805579
+v -0.00992962 0.05618158 -0.00622336
+v 0.01025139 0.05629410 -0.00631208
+v 0.01025139 0.06052200 -0.00366259
+v 0.01025139 0.05838522 -0.01805579
+v 0.00085835 0.05341260 -0.01805730
+v -0.00992962 0.05277373 -0.01599126
+v 0.01025139 0.05275658 -0.01805581
+v -0.00992962 0.05372151 -0.01043667
+v 0.01025139 0.05590221 -0.00682032
+v -0.00992962 0.05303689 -0.01344403
+v 0.01025139 0.05279852 -0.01677167
+v 0.01025139 0.05283762 -0.01599276
+v 0.01025139 0.05294059 -0.01427106
+v -0.00992962 0.05358993 -0.01084417
+v 0.01025139 0.05356609 -0.01095995
+v 0.01025139 0.05303785 -0.01344253
+v 0.01025139 0.05341257 -0.01158548
+f 1 2 9
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+f 1 21 14
+f 1 14 3
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+f 21 28 29
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+f 26 27 31
+f 26 31 32
+f 26 32 33
+f 26 33 30
+f 28 34 35
+f 28 35 29
+f 30 33 36
+f 30 36 37
+f 30 37 34
+f 34 37 35
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_29.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2617840736f5801ae77fbd2b50810c0380b2503
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_29.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.00640645 0.07883631 -0.00070545
+v 0.00640645 0.07840582 0.00179276
+v 0.00891178 0.07829820 0.00179276
+v 0.00891178 0.07869977 -0.00070545
+v 0.00891178 0.07827412 -0.00286356
+v 0.00640645 0.07835122 -0.00296649
+v 0.00390308 0.07883149 -0.00070545
+v -0.00361293 0.07842509 0.00179053
+v -0.00356156 0.07842509 0.00179053
+v -0.00105622 0.07842348 0.00179053
+v 0.00395248 0.07841224 0.00179276
+v 0.00896118 0.07829016 0.00179276
+v 0.01025139 0.07808134 0.00175808
+v 0.01025139 0.07846526 -0.00070545
+v 0.01025139 0.07835443 -0.00171906
+v 0.01025139 0.07815686 -0.00272148
+v 0.00891178 0.07700677 -0.00413561
+v 0.00640645 0.07708708 -0.00423854
+v 0.01025139 0.07753041 -0.00340394
+v 0.00390308 0.07710636 -0.00425085
+v 0.00390308 0.07834159 -0.00297879
+v 0.00139775 0.07882506 -0.00070545
+v 0.00085835 0.07882346 -0.00070545
+v -0.00110561 0.07881703 -0.00070545
+v -0.00361293 0.07880740 -0.00070545
+v -0.00611629 0.07839778 0.00179053
+v 0.00085835 0.07841866 0.00179276
+v 0.01025139 0.07807492 0.00179276
+v 0.01025139 0.07694251 -0.00399353
+v 0.01025139 0.07625020 -0.00445558
+v 0.00640645 0.07579884 -0.00474311
+v 0.01025139 0.07565267 -0.00473751
+v 0.00891178 0.07571852 -0.00474311
+v 0.00139775 0.07833194 -0.00295866
+v 0.00390308 0.07581811 -0.00474087
+v 0.00139775 0.07579241 -0.00473975
+v 0.00085835 0.07578599 -0.00473975
+v -0.00110561 0.07576350 -0.00473863
+v -0.00361293 0.07573459 -0.00473639
+v -0.00611629 0.07570085 -0.00473192
+v 0.00139775 0.07708226 -0.00423071
+v -0.00611629 0.07829822 -0.00288482
+v -0.00361293 0.07830945 -0.00291167
+v -0.00110561 0.07832070 -0.00293628
+v -0.00611629 0.07877848 -0.00070545
+v -0.00857026 0.07831104 0.00179053
+v -0.00862163 0.07830783 0.00179053
+v -0.00992962 0.07811668 0.00179053
+v 0.00085835 0.07125944 0.00179273
+v 0.01025139 0.07012380 0.00179273
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+v -0.00110561 0.06242652 -0.00962212
+v -0.00361293 0.06242652 -0.00963666
+v -0.00380458 0.06242652 -0.00963666
+v -0.00631585 0.06242652 -0.00963330
+v -0.00992962 0.06242652 -0.00962212
+v -0.00862163 0.07564785 -0.00471737
+v -0.00361293 0.07702444 -0.00418372
+v -0.00110561 0.07705335 -0.00420833
+v 0.00085835 0.07707584 -0.00422623
+v -0.00611629 0.07699070 -0.00415687
+v -0.00862163 0.07693930 -0.00409422
+v -0.00862163 0.07823396 -0.00282217
+v -0.00862163 0.07865641 -0.00070545
+v -0.00992962 0.07811829 0.00178270
+v -0.00992962 0.07046433 0.00179050
+v 0.01025139 0.06370992 -0.00156585
+v -0.00992962 0.06464637 -0.00118322
+v 0.01025139 0.06244898 -0.00286474
+v 0.00085835 0.06242652 -0.00960757
+v -0.00992962 0.07556272 -0.00469388
+v -0.00992962 0.06242649 -0.00269692
+v -0.00992962 0.07685255 -0.00394207
+v -0.00992962 0.07811670 -0.00267001
+v -0.00992962 0.07843955 -0.00070545
+v -0.00992962 0.07828696 0.00057330
+v 0.00085835 0.06242649 -0.00363781
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+f 64 74 75
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+f 64 76 65
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+f 67 72 69
+f 69 72 77
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_3.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..715b04b7598f5b91ce00cc93457495f5604fb012
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_3.obj
@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
+v 0.02644856 0.02006090 -0.04928272
+v 0.02855347 0.02006090 -0.04878232
+v 0.02482213 0.02006090 -0.04842180
+v 0.02631185 0.06309749 -0.04856348
+v 0.02644856 0.02484274 -0.04920784
+v 0.02657220 0.06093197 -0.04868367
+v 0.02895355 0.05577516 -0.04915848
+v 0.02895355 0.05319676 -0.04915059
+v 0.02895355 0.04803995 -0.04912894
+v 0.02895355 0.04031317 -0.04909548
+v 0.02895355 0.03773476 -0.04908367
+v 0.02895355 0.03515636 -0.04905610
+v 0.02895355 0.03257796 -0.04900489
+v 0.02895355 0.02999955 -0.04894580
+v 0.02895355 0.02742115 -0.04888080
+v 0.02895254 0.02006090 -0.04868185
+v 0.02048968 0.02006084 -0.03322479
+v 0.02048968 0.06309744 -0.03569311
+v 0.02490958 0.02742115 -0.04831342
+v 0.02488043 0.02484274 -0.04835283
+v 0.02607261 0.06309749 -0.04813401
+v 0.02679737 0.06309749 -0.04862653
+v 0.02895355 0.05835357 -0.04911118
+v 0.02494979 0.02999955 -0.04826022
+v 0.03049453 0.05577516 -0.04831332
+v 0.03048649 0.05319676 -0.04830347
+v 0.03047744 0.05061836 -0.04829363
+v 0.03046136 0.04546155 -0.04827198
+v 0.03044427 0.04031317 -0.04825033
+v 0.03043623 0.03773476 -0.04823852
+v 0.03041814 0.03515636 -0.04821292
+v 0.03007033 0.02006089 -0.04656404
+v 0.03038295 0.03257796 -0.04816170
+v 0.03034274 0.02999955 -0.04809670
+v 0.03030153 0.02742115 -0.04802776
+v 0.03026032 0.02484274 -0.04795291
+v 0.03022815 0.02284153 -0.04788988
+v 0.02048968 0.02006083 -0.02915860
+v 0.02048968 0.06309742 -0.03124670
+v 0.02528855 0.06309748 -0.04656979
+v 0.02895355 0.06309749 -0.04885702
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+v 0.03075589 0.05319675 -0.04656982
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+v 0.03045332 0.04288314 -0.04826017
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diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_30.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..994e2f3cf68ce6e4fd9ef45c2a3fb228e942114e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_30.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_31.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fc7482c29742b39cb2e39b7709fcc9851f6112f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_31.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.02048774 0.02005662 -0.02915697
+v 0.01832484 0.03772872 -0.02836550
+v 0.01757379 0.03505890 -0.02836551
+v 0.01645604 0.03345766 -0.02836552
+v 0.01893258 0.02005662 -0.02909856
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+v 0.01839930 0.04030759 -0.02836549
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+v 0.01392366 0.05323772 -0.03452770
+v 0.02048774 0.05323772 -0.03475696
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+v 0.01794792 0.05323769 -0.02836544
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+v 0.01098085 0.03200907 -0.02836552
+v 0.01141920 0.02005662 -0.02907093
+v 0.01098085 0.03746565 -0.03349705
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+v 0.01388923 0.05323772 -0.03451074
+v 0.02048774 0.05323770 -0.03019006
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+v 0.01098085 0.04281176 -0.02836548
+v 0.01098085 0.04170422 -0.03014175
+v 0.01133824 0.05323769 -0.02853880
+v 0.01187524 0.05323770 -0.03128233
+v 0.01098085 0.04273057 -0.02865001
+v 0.01098085 0.04277604 -0.02851497
+f 1 2 3
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+f 1 33 24
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+f 1 12 6
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+f 29 37 30
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+f 34 40 38
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+f 38 44 39
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_32.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d029da47bf6c4c35f3bb3a92083f29651db90fc3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_32.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.01119487 0.02005662 -0.02925078
+v -0.01327208 0.02005662 -0.02921488
+v -0.01119487 0.02005663 -0.03328538
+v -0.01119487 0.03209528 -0.02841293
+v -0.01363271 0.02005662 -0.02920947
+v -0.02172105 0.02005663 -0.03376490
+v -0.01363271 0.03515523 -0.03459181
+v -0.01119487 0.03515523 -0.03441368
+v -0.01153386 0.03209204 -0.02841293
+v -0.01119487 0.04294759 -0.02841289
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+v -0.01351628 0.03210825 -0.02841293
+v -0.02172105 0.02005662 -0.02937405
+v -0.02172105 0.05317110 -0.03533201
+v -0.01363271 0.03772892 -0.03469272
+v -0.01119487 0.03522330 -0.03441639
+v -0.01119487 0.04286657 -0.02873460
+v -0.01120106 0.05317107 -0.02841285
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+v -0.01411389 0.03214391 -0.02841293
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+v -0.01725546 0.03396883 -0.02841293
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+v -0.01781598 0.05216298 -0.02841286
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+v -0.01363271 0.05317110 -0.03436756
+v -0.01363271 0.05062010 -0.03444072
+v -0.01207686 0.05317109 -0.03314370
+v -0.01119487 0.03762519 -0.03350069
+v -0.01119487 0.04095412 -0.03109089
+v -0.01775931 0.05317107 -0.02841285
+v -0.01119487 0.04016971 -0.03172822
+v -0.01828170 0.02005662 -0.02925484
+v -0.01566767 0.03291861 -0.02841293
+v -0.02078651 0.02005662 -0.02933070
+v -0.02172105 0.03680509 -0.02976680
+v -0.02172105 0.05260707 -0.03060456
+v -0.02172105 0.04768982 -0.03031063
+v -0.02172105 0.04524902 -0.03016773
+v -0.02172105 0.03991362 -0.02986839
+v -0.02172105 0.03772890 -0.02979254
+v -0.01864233 0.02005662 -0.02926568
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+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_33.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..135396f26d4b308b32cd2a33832761e9339a7e38
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_33.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.00139863 0.06025248 0.04834122
+v 0.00390392 0.06025248 0.04833411
+v 0.00139863 0.06093316 0.04805834
+v 0.00014495 0.06093316 0.04803877
+v 0.00014495 0.06025248 0.04831632
+v 0.00640714 0.06025248 0.04825049
+v 0.00390392 0.06093316 0.04803700
+v 0.00139863 0.06304493 0.04696241
+v 0.00014495 0.06303075 0.04695351
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+v 0.00891243 0.06025248 0.04806724
+v 0.00640714 0.06093316 0.04794626
+v 0.00390392 0.06297402 0.04693216
+v 0.00139863 0.06433301 0.04606396
+v 0.00014495 0.06367479 0.04650517
+v 0.01070354 0.06025251 0.04012342
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+v 0.00640714 0.06689974 0.04335079
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+v 0.00640714 0.06794795 0.04207693
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+v 0.00014495 0.07183351 0.03242159
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+v 0.00891243 0.07180397 0.03242159
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+v 0.00891243 0.06919941 0.04017860
+v 0.01070354 0.06966265 0.03923567
+v 0.01033457 0.06998290 0.03884070
+v 0.00640714 0.06923722 0.04022485
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+v 0.00390392 0.07055368 0.03751880
+v 0.00640714 0.07053950 0.03751880
+v 0.01070354 0.07031733 0.03757752
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+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_34.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5886f3f0c80488b044fe88f1675a7f1983832fa3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_34.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.02048867 0.07062157 -0.03977804
+v 0.02048867 0.07202816 -0.04752164
+v 0.02048867 0.07668244 -0.03977802
+v 0.00002836 0.07297987 -0.03977803
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+v 0.00139839 0.07824011 -0.03977801
+v 0.00139839 0.07839587 -0.04147486
+v 0.00390410 0.07856801 -0.04656998
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+v 0.00390410 0.07823465 -0.03977801
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+v 0.01594995 0.07780318 -0.03977801
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diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_35.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..355ce20f87c7492c9e5b7541eecf78ce0fa4d2c8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_35.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_36.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96fb01a311f4f2a21e57233fac7d2913a2c51f98
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_36.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.01143320 -0.07767448 -0.03382087
+v 0.00891195 -0.07771782 -0.03383054
+v 0.01141803 -0.07767688 -0.03383054
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+v 0.01143320 -0.07717113 -0.03561464
+v 0.01143320 -0.07620783 -0.03082549
+v 0.01141803 -0.07620783 -0.03082480
+v 0.00390357 -0.07774913 -0.03383054
+v 0.00214982 -0.07790806 -0.03561465
+v 0.00465464 -0.07789602 -0.03561465
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+v -0.00110607 -0.07624155 -0.03077925
+v 0.00390357 -0.07729878 -0.03205677
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+v 0.01143320 -0.05330974 -0.02911585
+v 0.01143320 -0.07312039 -0.02903310
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+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_37.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f5d574acf54839d9014c5831a15818379d54c18
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_37.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.01097978 0.02005662 -0.02908891
+v -0.01119378 0.02005886 -0.02925100
+v 0.00927162 0.02005662 -0.02915712
+v 0.01097978 0.02005663 -0.03306084
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+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_38.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d776232b9011b844d46c4c7e975598adea94c6ba
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_38.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.01088937 0.06464384 0.02982565
+v 0.00014387 0.06703731 0.02982566
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+f 26 37 27
+f 27 37 33
+f 29 30 34
+f 29 34 39
+f 30 40 34
+f 31 41 42
+f 31 42 43
+f 31 43 32
+f 32 43 38
+f 33 37 42
+f 33 42 44
+f 33 44 36
+f 34 40 45
+f 34 45 35
+f 34 36 46
+f 34 46 47
+f 34 47 48
+f 34 48 49
+f 34 49 39
+f 36 44 46
+f 37 38 43
+f 37 43 42
+f 39 49 44
+f 39 44 50
+f 41 50 42
+f 42 50 44
+f 44 49 48
+f 44 48 47
+f 44 47 46
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_39.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48b91b9eca1882c9442a2e7c25dce68abbe0d0b4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_39.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.00110693 -0.02697255 0.03331620
+v -0.00361175 -0.02697255 0.03328957
+v 0.00139790 -0.02697255 0.03327181
+v 0.00616575 -0.00663547 0.03491997
+v -0.00361175 -0.00663547 0.03489925
+v -0.00611657 -0.00663547 0.03489334
+v -0.00385897 -0.02697255 0.03328365
+v -0.00771129 -0.00663547 0.03485783
+v 0.00616032 -0.02697255 0.03315346
+v 0.00616575 -0.02696658 0.03315346
+v 0.00616575 -0.00663536 0.00505052
+v -0.00611657 -0.02697255 0.03322447
+v -0.00771129 -0.02697255 0.03310612
+v -0.00636380 -0.02697255 0.03320672
+v -0.00771129 -0.00663536 0.00469546
+v 0.00616575 -0.02697255 0.03267117
+v 0.00616575 -0.02697245 0.00632569
+v -0.00771129 -0.02697245 0.00599726
+f 1 2 7
+f 1 7 12
+f 1 12 14
+f 1 14 13
+f 1 13 18
+f 1 18 17
+f 1 17 16
+f 1 16 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 4
+f 4 9 10
+f 4 10 16
+f 4 16 17
+f 4 17 11
+f 4 11 15
+f 4 15 8
+f 4 8 6
+f 4 6 5
+f 7 8 12
+f 8 13 14
+f 8 14 12
+f 8 15 18
+f 8 18 13
+f 9 16 10
+f 11 17 15
+f 15 17 18
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_4.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89664a891919c55c22ccb68ce545d24a908f0d62
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_4.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.02394417 -0.03444596 -0.04969261
+v 0.02394417 -0.03960491 -0.04969115
+v 0.02143956 -0.03960491 -0.04934398
+v 0.02394417 -0.03187290 -0.04969112
+v 0.02644777 0.00421409 -0.04960493
+v 0.02394417 -0.04476386 -0.04968819
+v 0.01982307 -0.03960491 -0.04842117
+v 0.02143956 -0.03702543 -0.04933359
+v 0.02394417 -0.02929342 -0.04968221
+v 0.02394417 -0.04549535 -0.04968672
+v 0.02143956 -0.04549535 -0.04931284
+v 0.02644777 0.01194610 -0.04949215
+v 0.02890817 0.01968452 -0.04870432
+v 0.02644777 0.00163461 -0.04958565
+v 0.02394417 -0.02671395 -0.04966291
+v 0.01982307 -0.03960492 -0.04714971
+v 0.01983412 -0.03702543 -0.04840929
+v 0.01984116 -0.04549535 -0.04839152
+v 0.01980700 -0.04549535 -0.04786483
+v 0.02143956 -0.03444596 -0.04928610
+v 0.02456203 -0.04549535 -0.04942708
+v 0.02644777 -0.00093844 -0.04955302
+v 0.02644777 -0.00351792 -0.04951446
+v 0.02644777 -0.00609740 -0.04946403
+v 0.02644777 0.01452557 -0.04943280
+v 0.02855353 0.02005669 -0.04878296
+v 0.02895238 0.02005669 -0.04868207
+v 0.02854650 0.00421409 -0.04871624
+v 0.01983412 -0.03702544 -0.04718531
+v 0.01980700 -0.04549536 -0.04695537
+v 0.02034650 -0.04549540 -0.03453747
+v 0.01988235 -0.03444596 -0.04836032
+v 0.02143956 -0.03187290 -0.04915553
+v 0.02482224 0.02005669 -0.04842243
+v 0.02644777 0.02005669 -0.04928145
+v 0.02612327 -0.04549535 -0.04876687
+v 0.02848320 0.00163461 -0.04869696
+v 0.03006956 0.02005668 -0.04656494
+v 0.01988235 -0.03444597 -0.04726689
+v 0.02698426 -0.04549540 -0.03453747
+v 0.02036257 -0.04476391 -0.03453746
+v 0.01997879 -0.03187290 -0.04823124
+v 0.02261200 -0.00093844 -0.04800412
+v 0.02267629 0.00052454 -0.04787802
+v 0.02455400 0.02005668 -0.04683199
+v 0.02703851 -0.04549536 -0.04657112
+v 0.02840183 -0.00093844 -0.04866582
+v 0.02831945 -0.00351792 -0.04862726
+v 0.02823807 -0.00609740 -0.04857534
+v 0.02815569 -0.00867687 -0.04851007
+v 0.02806527 -0.01125635 -0.04842106
+v 0.03005348 0.01968451 -0.04657088
+v 0.02990781 0.02005667 -0.04402202
+v 0.02076745 -0.03187295 -0.03453742
+v 0.02137627 -0.01382304 -0.03453735
+v 0.01997879 -0.03187291 -0.04744344
+v 0.02043189 -0.04218443 -0.03453745
+v 0.02700937 -0.04549540 -0.03638012
+v 0.02922866 0.01710500 -0.03637989
+v 0.02897749 0.01452552 -0.03453725
+v 0.02337955 0.02005664 -0.03453723
+v 0.02009332 -0.03015967 -0.04803539
+v 0.02451984 0.02005668 -0.04657088
+v 0.02932008 0.02005664 -0.03637988
+v 0.02930903 0.01968447 -0.03637988
+v 0.02149080 -0.01125640 -0.03453734
+v 0.02905284 0.01710500 -0.03453724
+v 0.02911614 0.02005664 -0.03453723
+v 0.02911212 0.01979997 -0.03453723
+v 0.02911011 0.01968447 -0.03453723
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 3 6 10
+f 3 10 11
+f 3 11 7
+f 4 9 5
+f 5 12 13
+f 5 13 14
+f 5 14 10
+f 5 10 6
+f 5 9 15
+f 5 15 12
+f 7 16 29
+f 7 29 17
+f 7 17 8
+f 7 11 18
+f 7 18 19
+f 7 19 30
+f 7 30 16
+f 8 17 20
+f 8 20 12
+f 8 12 15
+f 8 15 9
+f 10 21 36
+f 10 36 46
+f 10 46 58
+f 10 58 40
+f 10 40 31
+f 10 31 30
+f 10 30 19
+f 10 19 18
+f 10 18 11
+f 10 14 22
+f 10 22 23
+f 10 23 24
+f 10 24 21
+f 12 25 13
+f 12 20 25
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+f 13 28 14
+f 14 28 22
+f 16 30 31
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+f 17 29 39
+f 17 39 32
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+f 20 32 33
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+f 20 34 35
+f 20 35 25
+f 21 24 36
+f 22 28 23
+f 23 28 37
+f 23 37 24
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+f 25 35 26
+f 26 35 34
+f 26 34 45
+f 26 45 63
+f 26 63 61
+f 26 61 68
+f 26 68 64
+f 26 64 53
+f 26 53 38
+f 26 38 27
+f 27 38 28
+f 28 38 37
+f 29 31 39
+f 31 40 60
+f 31 60 67
+f 31 67 70
+f 31 70 69
+f 31 69 68
+f 31 68 61
+f 31 61 66
+f 31 66 55
+f 31 55 54
+f 31 54 57
+f 31 57 41
+f 31 41 39
+f 32 39 56
+f 32 56 42
+f 32 42 34
+f 32 34 33
+f 34 43 44
+f 34 44 45
+f 34 42 43
+f 36 37 47
+f 36 47 48
+f 36 48 49
+f 36 49 50
+f 36 50 51
+f 36 51 46
+f 37 38 52
+f 37 52 47
+f 38 53 40
+f 38 40 52
+f 39 54 55
+f 39 55 56
+f 39 41 57
+f 39 57 54
+f 40 58 52
+f 40 53 59
+f 40 59 60
+f 42 56 61
+f 42 61 62
+f 42 62 44
+f 42 44 43
+f 44 61 63
+f 44 63 45
+f 44 62 61
+f 46 51 52
+f 46 52 58
+f 47 52 48
+f 48 52 49
+f 49 52 50
+f 50 52 51
+f 53 64 65
+f 53 65 59
+f 55 66 56
+f 56 66 61
+f 59 65 60
+f 60 65 64
+f 60 64 67
+f 64 68 69
+f 64 69 70
+f 64 70 67
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_40.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f31a15c15730105b9cadbd3038eef895ebdc6db
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_40.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.01070354 0.06536091 0.03016563
+v 0.01070354 0.07209137 0.03016565
+v 0.00014495 0.06694124 0.03016564
+v 0.01070354 0.06571125 0.02732445
+v 0.01040589 0.07212206 0.03016565
+v 0.01070354 0.07233942 0.02914084
+v 0.01019194 0.07253760 0.02861870
+v 0.00014495 0.07230106 0.03016566
+v 0.00014495 0.07128469 0.00179274
+v 0.01070354 0.06924023 0.00179273
+v 0.00891243 0.07227549 0.03016566
+v 0.01070354 0.07521629 0.01565149
+v 0.01044413 0.07517153 0.01613197
+v 0.00891243 0.07624429 0.01203822
+v 0.00599476 0.07232280 0.03016566
+v 0.00139863 0.07589011 0.01458501
+v 0.00014495 0.07588499 0.01458501
+v 0.00014495 0.07842175 0.00179277
+v 0.01070354 0.07799981 0.00179277
+v 0.00640714 0.07232408 0.03016566
+v 0.00640714 0.07583385 0.01458501
+v 0.00390392 0.07588499 0.01458501
+v 0.01070354 0.07768400 0.00376187
+v 0.01050304 0.07777862 0.00356746
+v 0.00891243 0.07678258 0.00948866
+v 0.00640714 0.07638493 0.01203822
+v 0.00139863 0.07643608 0.01203822
+v 0.00014495 0.07643735 0.01203822
+v 0.00395353 0.07841280 0.00179277
+v 0.00014495 0.07841280 0.00184553
+v 0.00139863 0.07841024 0.00184553
+v 0.00971342 0.07816602 0.00179277
+v 0.01070354 0.07780803 0.00313420
+v 0.00390392 0.07642840 0.01203822
+v 0.01070354 0.07775049 0.00343137
+v 0.00896307 0.07829133 0.00179277
+v 0.00891243 0.07829133 0.00184553
+v 0.00891243 0.07786684 0.00403683
+v 0.00891243 0.07761879 0.00531161
+v 0.00891243 0.07729657 0.00694187
+v 0.00640714 0.07690404 0.00948866
+v 0.00640714 0.07839745 0.00184553
+v 0.00390392 0.07840384 0.00184553
+v 0.00640714 0.07840641 0.00179277
+v 0.00640714 0.07740397 0.00694187
+v 0.00891243 0.07829900 0.00179277
+f 1 2 5
+f 1 5 11
+f 1 11 20
+f 1 20 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 10
+f 1 10 19
+f 1 19 33
+f 1 33 35
+f 1 35 23
+f 1 23 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 17
+f 3 17 28
+f 3 28 30
+f 3 30 18
+f 3 18 9
+f 3 9 10
+f 3 10 4
+f 5 7 11
+f 6 12 13
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+f 7 13 14
+f 7 14 11
+f 8 15 16
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+f 9 18 29
+f 9 29 44
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+f 9 46 36
+f 9 36 32
+f 9 32 19
+f 9 19 10
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+f 14 25 26
+f 14 26 21
+f 15 20 16
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+f 16 28 17
+f 18 30 31
+f 18 31 29
+f 19 32 33
+f 21 26 22
+f 22 26 34
+f 22 34 27
+f 23 35 24
+f 24 35 33
+f 24 33 36
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+f 24 39 40
+f 24 40 25
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+f 25 41 26
+f 26 41 34
+f 27 34 42
+f 27 42 43
+f 27 43 31
+f 27 31 30
+f 27 30 28
+f 29 31 43
+f 29 43 42
+f 29 42 44
+f 32 36 33
+f 34 41 45
+f 34 45 42
+f 36 46 37
+f 37 42 38
+f 37 46 44
+f 37 44 42
+f 38 42 39
+f 39 42 45
+f 39 45 41
+f 39 41 40
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_41.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8221a6c23fe4b58a6c854ef88a627495876d3940
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_41.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
+v -0.00361127 -0.04992095 -0.01801151
+v 0.00390267 -0.04992095 -0.01799417
+v 0.00633237 -0.05242170 -0.01794795
+v -0.00616225 -0.06545889 -0.01774574
+v -0.00607368 -0.06272078 -0.01778040
+v -0.00611592 -0.05250000 -0.01788294
+v -0.00758900 -0.05250001 -0.01766334
+v -0.00597284 -0.05007267 -0.01759688
+v -0.00361127 -0.04796587 -0.01759832
+v -0.00120746 -0.04716572 -0.01777168
+v 0.00146616 -0.04718285 -0.01778179
+v 0.00618793 -0.05010448 -0.01754198
+v 0.00633237 -0.05027087 -0.01754487
+v 0.00390267 -0.04807354 -0.01754920
+v 0.00633237 -0.06533166 -0.01765617
+v -0.00758900 -0.06476642 -0.01754637
+v -0.00758900 -0.06371180 -0.01768216
+v -0.00758900 -0.06277952 -0.01769228
+v 0.00390267 -0.06713748 -0.01746259
+v -0.00361127 -0.06716685 -0.01749437
+v -0.00535826 -0.06701024 -0.01747126
+v -0.00758900 -0.05116155 -0.01739751
+v -0.00753858 -0.05103431 -0.01737873
+v -0.00504211 -0.04847238 -0.01738306
+v -0.00210957 -0.04618696 -0.01707388
+v -0.00044026 -0.04587375 -0.01743795
+v 0.00067715 -0.04587375 -0.01743795
+v 0.00633237 -0.05019257 -0.01752464
+v 0.00520678 -0.04858494 -0.01730215
+v 0.00234646 -0.04621633 -0.01701464
+v 0.00633237 -0.06539773 -0.01764606
+v -0.00758900 -0.06517016 -0.01731810
+v 0.00139666 -0.06960642 -0.01558158
+v 0.00117454 -0.06791805 -0.01693238
+v 0.00550930 -0.06694173 -0.01742647
+v -0.00110662 -0.06960642 -0.01557291
+v -0.00293265 -0.06943759 -0.01519295
+v -0.00616225 -0.06745069 -0.01601065
+v -0.00702893 -0.06636671 -0.01687169
+v -0.00758900 -0.05107101 -0.01734695
+v -0.00758900 -0.05098537 -0.01721404
+v -0.00758900 -0.04950010 -0.01481869
+v -0.00541140 -0.04814205 -0.01599324
+v -0.00357175 -0.04677178 -0.01613192
+v -0.00271053 -0.04582482 -0.01537489
+v -0.00120746 -0.04551406 -0.01613192
+v 0.00146616 -0.04552385 -0.01609581
+v 0.00633237 -0.04902783 -0.01599324
+v 0.00383317 -0.04690146 -0.01609581
+v 0.00553655 -0.04827908 -0.01599324
+v 0.00295151 -0.04584195 -0.01531566
+v 0.00633237 -0.06655022 -0.01706528
+v -0.00758900 -0.06597030 -0.01651918
+v 0.00313956 -0.06943759 -0.01520451
+v 0.00139666 -0.06995635 -0.01344484
+v -0.00110662 -0.06996124 -0.01344484
+v 0.00633237 -0.06732100 -0.01597164
+v 0.00633237 -0.06735771 -0.01590663
+v -0.00322427 -0.06953303 -0.01344484
+v -0.00447659 -0.06911461 -0.01344483
+v -0.00757401 -0.06686588 -0.01517416
+v -0.00758900 -0.04918689 -0.01345488
+v -0.00415499 -0.04658826 -0.01344475
+v -0.00290267 -0.04570248 -0.01344475
+v -0.00110662 -0.04497085 -0.01344475
+v 0.00139666 -0.04500022 -0.01344475
+v 0.00633237 -0.04840388 -0.01344476
+v 0.00586088 -0.04798056 -0.01344476
+v 0.00311503 -0.04572940 -0.01344475
+v 0.00436872 -0.04669104 -0.01344475
+v -0.00758900 -0.06684141 -0.01518572
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+v 0.00338757 -0.06953060 -0.00834933
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+v 0.00633237 -0.06797679 -0.01344483
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+v -0.00611592 -0.06811137 -0.01344483
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+v -0.00758900 -0.04880274 -0.01110433
+v -0.00292856 -0.04568781 -0.01089628
+v -0.00758900 -0.04857519 -0.00834925
+v -0.00110662 -0.04498558 -0.00325229
+v -0.00297217 -0.04567315 -0.00580221
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+v -0.00298034 -0.04566582 -0.00325229
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+v 0.00313274 -0.04572207 -0.01089628
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diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_42.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d34a3d5aa28934061d8449ca0b2e942ebd36e5f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_42.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_43.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc735629f32e638f186856cad1cf95101a4779fe
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_43.obj
@@ -0,0 +1,1084 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_44.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d96f8f5c006f970a4c5562c7e9ce5b0c3654cceb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_44.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00779427 -0.06722426 0.00006204
+v -0.00787762 -0.06718486 0.00006204
+v -0.00779427 -0.06680266 -0.00325237
+v -0.00779427 -0.04873348 0.00006211
+v -0.00879274 -0.06616438 0.00006205
+v -0.01026545 -0.06451743 0.00006205
+v -0.00891609 -0.06553396 -0.00325236
+v -0.00779427 -0.04852859 -0.00325230
+v -0.00779427 -0.04870590 -0.00035997
+v -0.00931115 -0.02697242 -0.00325222
+v -0.00936032 -0.02697243 0.00006219
+v -0.00997874 -0.06424161 -0.00325236
+v -0.01509945 -0.05674760 0.00006208
+v -0.01470523 -0.02697242 -0.00325222
+v -0.01630795 -0.02697243 0.00006219
+v -0.01564453 -0.05573499 0.00006209
+v -0.01449604 -0.05507305 -0.00325232
+v -0.01473273 -0.03445463 -0.00325225
+v -0.01608959 -0.05249625 0.00006210
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+v -0.01474357 -0.03961219 -0.00325227
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+v -0.01583372 -0.05507306 0.00006209
+v -0.01604375 -0.05347733 0.00006209
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+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_45.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e009b2349bc9f7b8b6f661f9f8689f1a225d5d2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_45.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00014389 0.04292190 0.05020310
+v 0.00014389 0.04292192 0.04438801
+v 0.00014389 0.04417668 0.05045098
+v -0.00107394 0.04292190 0.05020809
+v -0.01075783 0.04292193 0.04055993
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+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_46.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ec7f1e47bdf497221646aea9c0362119a6a1152
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_46.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.00014387 0.05747239 0.04931495
+v 0.00014387 0.05780791 0.04922909
+v -0.00006135 0.05747239 0.04931304
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+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_47.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81debecf75ef86514f1ca2f95999096a4ef0ae8e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_47.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.01075783 0.01501307 0.03143734
+v 0.00014389 0.01501306 0.03438490
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+v -0.00564638 0.01501304 0.03980590
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+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_48.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca229ed51a2f35e99d941646905ab56d21e2b1a8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_48.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.01912146 -0.07312127 -0.04931488
+v -0.01912146 -0.07262841 -0.04930550
+v -0.01363121 -0.07569848 -0.04920224
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+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_49.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4215aa3f5557e59f541fac29232b81c678f973f1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_49.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.01667325 0.05323811 -0.01805908
+v 0.01715652 0.05323814 -0.02712107
+v 0.01697321 0.05577774 -0.02712107
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diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_5.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d94cd6083b790e17fbf86b3addde1b4bd5bdd055
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_5.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_50.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f46312255f2ac3022bb6eb60f84a07916cdb1d92
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_50.obj
@@ -0,0 +1,751 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_51.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba761b0c5037f628f623986d12ca56d9017a50dd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_51.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.01143320 -0.05477457 -0.04228075
+v 0.00559034 -0.05477457 -0.04228075
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diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_52.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b0ea6a490213a4de904a90db938d6cb33444572
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_52.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_53.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0b154f7a6984adc19d1a78e93681327426882ee
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_53.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.02171892 0.06404327 -0.03670692
+v -0.02171892 0.05317216 -0.03533179
+v -0.02171892 0.06404326 -0.03171645
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+v -0.00611937 0.06404325 -0.03043624
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+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_54.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb601b48bcba893d57018309df0b0f3632d61002
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_54.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.01025496 0.05838571 -0.01805729
+v 0.01025496 0.06294856 -0.00926313
+v 0.01141862 0.06294856 -0.00926313
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+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_55.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8069a99a1fa6effca4a221f1944d0529620b64b6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_55.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.01805145 0.01501099 0.02223286
+v -0.01799852 0.01501097 0.02732529
+v -0.01311763 0.01501099 0.02223286
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+v -0.01825989 0.00679393 0.02732525
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+v -0.01860563 -0.00351656 0.02477817
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+v -0.01685873 -0.00663135 0.03033627
+v -0.01659736 -0.00663135 0.03065841
+v -0.01560646 -0.00663136 0.03185182
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+f 40 49 48
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+f 43 53 44
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+f 47 56 49
+f 48 51 50
+f 48 49 56
+f 48 56 55
+f 48 55 57
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+f 51 59 60
+f 51 60 61
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+f 52 63 53
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+f 54 60 59
+f 54 59 55
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+f 62 69 63
+f 65 69 66
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_56.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af0e6b005ba8a53275bed0b213274c41ce5e39d8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_56.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.01363274 -0.05055203 -0.04793025
+v -0.01363274 -0.05176402 -0.04789890
+v -0.01363274 -0.04999590 -0.04792542
+v -0.01011863 -0.04584437 -0.04792058
+v -0.00944533 -0.04635993 -0.04792058
+v -0.01363274 -0.05351693 -0.04777475
+v -0.01363274 -0.04892760 -0.04701524
+v -0.01250584 -0.04848472 -0.04788202
+v -0.01363274 -0.04864024 -0.04657040
+v -0.01053755 -0.04543362 -0.04657039
+v -0.00744413 -0.04343729 -0.04786753
+v -0.00697629 -0.04343729 -0.04786753
+v -0.00697629 -0.04368240 -0.04786753
+v -0.01363274 -0.05477287 -0.04766504
+v -0.01363274 -0.04877886 -0.04393270
+v -0.00512629 -0.03768841 -0.03561570
+v -0.00907000 -0.04414387 -0.04657038
+v -0.00781769 -0.04319727 -0.04657038
+v -0.00454639 -0.03750586 -0.03561570
+v -0.00454639 -0.04228448 -0.04668852
+v -0.00454639 -0.04471522 -0.04708394
+v -0.00613134 -0.04463070 -0.04750105
+v -0.01329031 -0.05477288 -0.04755896
+v -0.01363274 -0.05477292 -0.03561576
+v -0.01363274 -0.04967647 -0.03561574
+v -0.00454639 -0.05183676 -0.03561575
+v -0.00454639 -0.05477290 -0.04193997
+v -0.00930392 -0.05477288 -0.04547580
+v -0.00944978 -0.05477288 -0.04558188
+v -0.01112723 -0.05477288 -0.04657042
+v -0.00504536 -0.05477292 -0.03561576
+v -0.00504180 -0.05475263 -0.03561576
+v -0.00494663 -0.05477292 -0.03567724
+v -0.00454639 -0.05477292 -0.03592799
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+f 1 25 15
+f 1 15 9
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+f 1 7 3
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+f 21 27 28
+f 21 28 29
+f 21 29 30
+f 21 30 23
+f 26 32 33
+f 26 33 34
+f 31 33 32
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_57.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e6cdfb6b25727971079a06a71730ef5db0ceaf7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_57.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.01282858 -0.00663344 0.02394690
+v 0.01282858 -0.00513614 0.02394690
+v 0.01036753 -0.00663344 0.02394690
+v 0.01282858 -0.00663336 0.00222978
+v 0.01282858 0.00376469 0.00900897
+v 0.00910859 -0.00663343 0.02229304
+v 0.01014575 -0.00663336 0.00222978
+v 0.01282858 0.00704860 0.00222983
+v 0.01247789 0.00679414 0.00222982
+v 0.00910859 -0.00206246 0.00925555
+v 0.00910859 -0.00663337 0.00414725
+v 0.01136135 0.00555264 0.00222982
+v 0.01018071 -0.00351555 0.00222979
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+v 0.00910859 -0.00609365 0.00413024
+v 0.00910859 -0.00146381 0.00694056
+v 0.01086790 0.00426962 0.00222982
+v 0.01025027 0.00163929 0.00222981
+v 0.00910859 -0.00349547 0.00453416
+v 0.00910859 -0.00201692 0.00573948
+v 0.00910859 -0.00295574 0.00485728
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 7
+f 1 7 4
+f 1 4 8
+f 1 8 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
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+f 4 13 18
+f 4 18 17
+f 4 17 12
+f 4 12 9
+f 4 9 8
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+f 6 20 21
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+f 6 15 14
+f 6 14 11
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+f 7 14 15
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+f 10 12 16
+f 12 17 16
+f 13 15 18
+f 15 19 18
+f 16 17 18
+f 16 18 20
+f 18 19 21
+f 18 21 20
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_58.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7e6b440c67b4ee8e255aeb943c02fa7a496b948
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_58.obj
@@ -0,0 +1,1072 @@
+# https://github.com/mikedh/trimesh
+v -0.01630706 -0.02697243 0.00006219
+v -0.01707006 -0.02697243 0.00104537
+v -0.00936074 -0.02697243 0.00006219
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+v -0.01843955 -0.06280705 0.00439258
+v -0.01848302 -0.06022874 0.00439259
+v -0.01848628 -0.05765044 0.00439260
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+v -0.01787871 -0.02697244 0.00252337
+v -0.01793088 -0.05507212 0.00235187
+v -0.01847433 -0.05249382 0.00439262
+v -0.00779344 -0.02697255 0.03310215
+v -0.00779344 -0.06722214 0.00006204
+v -0.01583318 -0.05507211 0.00006209
+v -0.01509300 -0.06974713 0.00045337
+v -0.01817217 -0.06538536 0.00439257
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+v -0.01841890 -0.06022876 0.01203809
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diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_59.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05e75fb735bb33c03184b4c61ed810584998822d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_59.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_6.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..493346c60e58017b9de7b2531dfb986a7fdc8b74
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_6.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_60.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2d2b730de6c114a893b0689447d3e512e30a085
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_60.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_61.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b95d575f937ffb9aa57c8999cb67ad2f350a267f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_61.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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+f 82 106 83
+f 83 107 84
+f 83 106 108
+f 83 108 109
+f 83 109 107
+f 85 109 110
+f 85 110 111
+f 85 86 107
+f 85 107 109
+f 87 112 90
+f 87 90 88
+f 88 90 89
+f 90 113 114
+f 90 114 115
+f 90 115 91
+f 90 112 113
+f 91 115 116
+f 91 116 104
+f 91 104 92
+f 94 103 95
+f 95 103 117
+f 99 118 100
+f 100 118 103
+f 101 104 116
+f 101 116 105
+f 103 118 117
+f 105 116 115
+f 105 115 119
+f 105 119 106
+f 106 119 120
+f 106 120 121
+f 106 121 108
+f 108 121 109
+f 109 122 123
+f 109 123 110
+f 109 121 122
+f 110 123 111
+f 111 123 125
+f 111 125 124
+f 112 126 127
+f 112 127 128
+f 112 128 114
+f 112 114 113
+f 114 128 129
+f 114 129 130
+f 114 130 131
+f 114 131 115
+f 115 131 119
+f 119 131 120
+f 120 131 132
+f 120 132 123
+f 120 123 122
+f 120 122 121
+f 123 132 133
+f 123 133 125
+f 124 125 129
+f 124 129 134
+f 125 133 130
+f 125 130 129
+f 126 135 127
+f 127 135 136
+f 127 136 128
+f 128 136 129
+f 129 136 134
+f 130 133 131
+f 131 133 132
+f 134 136 137
+f 135 137 136
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_62.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9699551ef98456a5935d9c60bfc99c7e91f3877d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_62.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.01025890 -0.00663134 0.02693953
+v -0.00008221 0.00408597 0.03148567
+v -0.00008221 0.00272354 0.03118369
+v -0.00008221 -0.00663135 0.02946149
+v -0.01025890 -0.00663137 0.03455722
+v -0.01025890 0.00608833 0.02986206
+v -0.01025890 0.00826231 0.03039654
+v -0.01025890 0.01501095 0.03211368
+v -0.00008221 0.01169913 0.03342392
+v -0.00008221 -0.00663137 0.03489711
+v -0.00862206 -0.00663137 0.03484025
+v -0.00862206 0.01501092 0.03964798
+v -0.01018318 0.01501093 0.03930557
+v -0.01025890 0.01501093 0.03928156
+v -0.00008221 0.01501094 0.03438420
+v -0.00008221 0.01481389 0.03431849
+v -0.00008221 0.01452784 0.03422499
+v -0.00008221 0.01298954 0.03376002
+v -0.00110735 -0.00663137 0.03489837
+v -0.00008221 0.01501092 0.03984509
+v -0.00611649 -0.00663137 0.03489458
+v -0.00611649 0.01501092 0.03980086
+v -0.00815183 0.01501092 0.03968083
+v -0.00361292 -0.00663137 0.03490090
+v -0.00063712 0.01501092 0.03984130
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 19
+f 1 19 24
+f 1 24 21
+f 1 21 11
+f 1 11 5
+f 1 5 14
+f 1 14 8
+f 1 8 7
+f 1 7 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 18
+f 2 18 17
+f 2 17 16
+f 2 16 15
+f 2 15 20
+f 2 20 10
+f 2 10 4
+f 2 4 3
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 8 14 13
+f 8 13 12
+f 8 12 23
+f 8 23 22
+f 8 22 25
+f 8 25 20
+f 8 20 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 10 20 19
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 19 20 24
+f 20 25 21
+f 20 21 24
+f 21 25 22
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_63.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83460bc72be0d3bf4a2d69d9fdef2e17857b59de
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_63.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.02722305 -0.03134396 -0.03561379
+v -0.02705676 -0.05507559 -0.03561387
+v -0.02705676 -0.05508489 -0.03560836
+v -0.02719029 -0.03134396 -0.03435675
+v -0.02095460 -0.03134396 -0.03561379
+v -0.02610188 -0.05508489 -0.03561387
+v -0.02700133 -0.05508490 -0.03383019
+v -0.02717518 -0.03134397 -0.03383011
+v -0.00148413 -0.03134396 -0.03555665
+v -0.00148413 -0.03148805 -0.03555872
+v -0.00148413 -0.03179484 -0.03556285
+v -0.00148413 -0.03710081 -0.03561381
+v -0.00508950 -0.05508489 -0.03561387
+v -0.02699881 -0.05508490 -0.03382193
+v -0.02640422 -0.03134398 -0.03128298
+v -0.00148413 -0.03134398 -0.03000391
+v -0.00148413 -0.04914907 -0.03561385
+v -0.00148413 -0.04640663 -0.03010103
+v -0.00694383 -0.05508490 -0.03212843
+v -0.02605653 -0.05508491 -0.03128306
+v -0.02552996 -0.03134398 -0.03002732
+v -0.00148413 -0.04218834 -0.02871110
+v -0.00862431 -0.03134398 -0.02929071
+v -0.00148413 -0.04623000 -0.02986628
+v -0.00695391 -0.05508490 -0.03211811
+v -0.02504119 -0.05508491 -0.02989522
+v -0.02529313 -0.03187620 -0.02970032
+v -0.02529817 -0.03134398 -0.02969894
+v -0.00862431 -0.04476348 -0.02858169
+v -0.01112867 -0.04991838 -0.02862508
+v -0.01363302 -0.05508491 -0.02877035
+v -0.00148413 -0.04257647 -0.02874622
+v -0.01061218 -0.03134398 -0.02921223
+v -0.01112867 -0.03134398 -0.02919227
+v -0.01363302 -0.03134398 -0.02912343
+v -0.02062959 -0.03134398 -0.02901741
+v -0.02114608 -0.03134398 -0.02901122
+v -0.00148413 -0.04502610 -0.02927493
+v -0.00970013 -0.05508491 -0.02986287
+v -0.00969005 -0.05508491 -0.02986837
+v -0.00844291 -0.05508491 -0.03084867
+v -0.02365548 -0.05508491 -0.02936583
+v -0.02365044 -0.05507561 -0.02936377
+v -0.02526290 -0.03445365 -0.02972029
+v -0.02365044 -0.03445365 -0.02919572
+v -0.02365044 -0.03187620 -0.02918745
+v -0.02365044 -0.03134398 -0.02918745
+v -0.01112867 -0.04734092 -0.02859753
+v -0.02114608 -0.05508491 -0.02897206
+v -0.01113623 -0.05508491 -0.02914485
+v -0.00148413 -0.04476347 -0.02916615
+v -0.01112867 -0.05508491 -0.02914623
+v -0.02313395 -0.03134398 -0.02915097
+v -0.02114608 -0.03445365 -0.02899884
+v -0.02115616 -0.05508491 -0.02897343
+v -0.02114608 -0.04218834 -0.02898233
+v -0.02114608 -0.03960856 -0.02898578
+v -0.02114608 -0.03703111 -0.02899196
+v -0.02114608 -0.05507561 -0.02897206
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 21
+f 1 21 28
+f 1 28 47
+f 1 47 53
+f 1 53 37
+f 1 37 36
+f 1 36 35
+f 1 35 34
+f 1 34 33
+f 1 33 23
+f 1 23 16
+f 1 16 9
+f 1 9 5
+f 1 5 12
+f 1 12 17
+f 1 17 13
+f 1 13 6
+f 1 6 2
+f 2 6 3
+f 3 6 13
+f 3 13 19
+f 3 19 25
+f 3 25 41
+f 3 41 40
+f 3 40 39
+f 3 39 52
+f 3 52 50
+f 3 50 31
+f 3 31 49
+f 3 49 55
+f 3 55 42
+f 3 42 26
+f 3 26 20
+f 3 20 14
+f 3 14 7
+f 3 7 8
+f 3 8 4
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 7 14 15
+f 7 15 8
+f 9 16 22
+f 9 22 32
+f 9 32 51
+f 9 51 38
+f 9 38 24
+f 9 24 18
+f 9 18 17
+f 9 17 12
+f 9 12 11
+f 9 11 10
+f 13 17 18
+f 13 18 19
+f 14 20 15
+f 15 20 21
+f 16 23 22
+f 18 24 19
+f 19 24 25
+f 20 26 27
+f 20 27 21
+f 21 27 28
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 22 23 33
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 29
+f 24 38 39
+f 24 39 40
+f 24 40 41
+f 24 41 25
+f 26 42 43
+f 26 43 44
+f 26 44 27
+f 27 44 43
+f 27 43 45
+f 27 45 28
+f 28 45 46
+f 28 46 47
+f 29 48 30
+f 29 37 48
+f 30 48 49
+f 30 49 31
+f 31 50 32
+f 32 50 52
+f 32 52 51
+f 37 53 54
+f 37 54 48
+f 38 51 52
+f 38 52 39
+f 42 55 43
+f 43 55 45
+f 45 55 49
+f 45 49 46
+f 46 49 59
+f 46 59 47
+f 47 56 57
+f 47 57 58
+f 47 58 54
+f 47 54 53
+f 47 59 56
+f 48 54 58
+f 48 58 57
+f 48 57 56
+f 48 56 59
+f 48 59 49
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_64.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bb8432540a42e4bc1f20f19eedc98723d8bc877
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_64.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00872772 -0.00609412 0.00434803
+v 0.00910859 -0.00663236 0.00414886
+v -0.00872772 -0.00663337 0.00442805
+v -0.00872772 -0.00596664 0.00438360
+v 0.00910859 -0.00349650 0.00453654
+v 0.00910859 -0.00609412 0.00413286
+v 0.00910859 -0.00617051 0.00413108
+v 0.00910859 -0.00646441 0.00412753
+v -0.00008193 -0.00663337 0.00500421
+v 0.00910859 -0.00663242 0.02229244
+v -0.00872772 -0.00663343 0.02085027
+v -0.00872772 -0.00348233 0.00509669
+v 0.00910859 -0.00295775 0.00486018
+v -0.00008193 -0.00663342 0.02027056
+v 0.00910859 -0.00206389 0.00925603
+v -0.00748462 -0.00663343 0.02107077
+v -0.00621359 -0.00663343 0.02110811
+v -0.00872772 -0.00287480 0.00927737
+v -0.00872772 -0.00243115 0.00694074
+v 0.00910859 -0.00201785 0.00574219
+v 0.00910859 -0.00146545 0.00694252
+v -0.00872772 -0.00243216 0.00741554
+f 1 2 3
+f 1 3 11
+f 1 11 18
+f 1 18 22
+f 1 22 19
+f 1 19 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 7
+f 2 7 6
+f 2 6 5
+f 2 5 13
+f 2 13 20
+f 2 20 21
+f 2 21 15
+f 2 15 10
+f 2 10 14
+f 2 14 9
+f 3 9 14
+f 3 14 17
+f 3 17 16
+f 3 16 11
+f 4 12 5
+f 5 12 13
+f 10 15 16
+f 10 16 17
+f 10 17 14
+f 11 16 18
+f 12 19 20
+f 12 20 13
+f 15 21 18
+f 15 18 16
+f 18 21 22
+f 19 22 21
+f 19 21 20
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_65.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80a9ee32d211fa26446f96dd904e9013b318ada3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_65.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.01143320 -0.05330974 -0.02911597
+v 0.01141803 -0.05330974 -0.02911732
+v 0.01143320 -0.05330972 -0.03561456
+v 0.01143320 -0.04991862 -0.02891036
+v 0.01141803 -0.04991862 -0.02891036
+v -0.00148413 -0.04218808 -0.02871149
+v -0.00148413 -0.04257299 -0.02874667
+v 0.00988555 -0.05330974 -0.02980918
+v -0.00148413 -0.04476420 -0.02916598
+v -0.00148413 -0.04502655 -0.02927487
+v -0.00148413 -0.04622860 -0.02986664
+v 0.00469130 -0.05330972 -0.03561456
+v 0.01143320 -0.04719409 -0.03561453
+v 0.01143320 -0.04734034 -0.02884745
+v 0.01141803 -0.04734034 -0.02884609
+v 0.00891195 -0.04476420 -0.02877237
+v -0.00110607 -0.04218808 -0.02870608
+v 0.01141803 -0.03134165 -0.02924101
+v 0.00943036 -0.03134165 -0.02930255
+v 0.00891195 -0.03134165 -0.02932081
+v -0.00148413 -0.03134165 -0.03000388
+v 0.00902701 -0.05330974 -0.03050104
+v -0.00148413 -0.04640708 -0.03010064
+v 0.00725555 -0.05330973 -0.03211199
+v -0.00148413 -0.04914877 -0.03561454
+v 0.01107790 -0.04609741 -0.03561453
+v 0.00771075 -0.03134163 -0.03513362
+v 0.01143320 -0.03134164 -0.03356528
+v 0.01143320 -0.03134165 -0.02924101
+v 0.00139875 -0.04218808 -0.02872637
+v -0.00148413 -0.03134163 -0.03555699
+v 0.00863377 -0.05330974 -0.03083784
+v 0.00819249 -0.05330974 -0.03123888
+v -0.00148413 -0.03710245 -0.03561450
+v 0.00685979 -0.04077742 -0.03561451
+v 0.00390357 -0.03187492 -0.03558539
+v 0.00390357 -0.03134163 -0.03557863
+v 0.00640713 -0.03134163 -0.03537303
+v -0.00110607 -0.03134163 -0.03555902
+v -0.00110607 -0.03187492 -0.03556646
+v -0.00148413 -0.03148786 -0.03555902
+v -0.00148413 -0.03187492 -0.03556375
+v 0.00139875 -0.03187492 -0.03557660
+v -0.00110607 -0.03708740 -0.03561450
+v 0.00389598 -0.03713901 -0.03561450
+v 0.00139875 -0.03705729 -0.03561450
+v 0.00139875 -0.03134163 -0.03556984
+f 1 2 8
+f 1 8 22
+f 1 22 32
+f 1 32 33
+f 1 33 24
+f 1 24 12
+f 1 12 3
+f 1 3 13
+f 1 13 28
+f 1 28 29
+f 1 29 14
+f 1 14 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 9
+f 2 9 10
+f 2 10 11
+f 2 11 8
+f 3 12 25
+f 3 25 34
+f 3 34 44
+f 3 44 46
+f 3 46 45
+f 3 45 35
+f 3 35 26
+f 3 26 13
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 21
+f 6 21 31
+f 6 31 41
+f 6 41 42
+f 6 42 34
+f 6 34 25
+f 6 25 23
+f 6 23 11
+f 6 11 10
+f 6 10 9
+f 6 9 7
+f 8 11 22
+f 11 23 22
+f 12 24 25
+f 13 26 27
+f 13 27 28
+f 14 29 15
+f 15 29 16
+f 16 30 17
+f 16 29 30
+f 17 30 29
+f 17 29 18
+f 18 29 28
+f 18 28 27
+f 18 27 38
+f 18 38 37
+f 18 37 47
+f 18 47 39
+f 18 39 31
+f 18 31 21
+f 18 21 20
+f 18 20 19
+f 22 23 32
+f 23 25 24
+f 23 24 33
+f 23 33 32
+f 26 35 36
+f 26 36 37
+f 26 37 38
+f 26 38 27
+f 31 39 40
+f 31 40 41
+f 34 42 40
+f 34 40 43
+f 34 43 36
+f 34 36 44
+f 35 45 36
+f 36 45 46
+f 36 46 44
+f 36 43 47
+f 36 47 37
+f 39 47 40
+f 40 42 41
+f 40 47 43
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_66.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abf81be7f4703909824cfcbfbe756caff1963297
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_66.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.01149169 0.04329762 -0.01805734
+v -0.00866446 0.05317104 -0.01805730
+v -0.01619656 0.04329762 -0.01805734
+v -0.01085519 0.04329764 -0.02320572
+v -0.00850979 0.05317104 -0.01854183
+v -0.01636998 0.05317104 -0.01805730
+v -0.01631093 0.04546541 -0.01805733
+v -0.01808638 0.04329765 -0.02841289
+v -0.01070239 0.04329765 -0.02616763
+v -0.01070333 0.04329765 -0.02618486
+v -0.00877789 0.05317105 -0.02109017
+v -0.01640279 0.05062054 -0.01805731
+v -0.01775923 0.05317107 -0.02841285
+v -0.01781547 0.05216498 -0.02841286
+v -0.01781641 0.05214759 -0.02841286
+v -0.01807326 0.04386497 -0.02841289
+v -0.01636530 0.04804394 -0.01805732
+v -0.01137639 0.04329765 -0.02841289
+v -0.00944626 0.05317106 -0.02363750
+v -0.00882757 0.05317105 -0.02134764
+v -0.01120110 0.05317107 -0.02841285
+v -0.00999371 0.05317106 -0.02520968
+f 1 2 6
+f 1 6 12
+f 1 12 17
+f 1 17 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 10
+f 1 10 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 20
+f 2 20 19
+f 2 19 22
+f 2 22 21
+f 2 21 13
+f 2 13 6
+f 3 7 8
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 8
+f 6 8 12
+f 7 17 8
+f 8 16 15
+f 8 15 14
+f 8 14 13
+f 8 13 21
+f 8 21 18
+f 8 17 12
+f 10 19 20
+f 10 20 11
+f 10 18 19
+f 18 21 22
+f 18 22 19
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_67.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3c8d2d66173e4201fc5005d3527f2fe735bc9b0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_67.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.01750516 -0.00153283 0.02222914
+v -0.01857056 -0.00093843 0.02222915
+v -0.01858719 -0.00153283 0.02222715
+v -0.01396047 -0.00153283 0.02222715
+v -0.01396213 -0.00093519 0.02222915
+v -0.01834933 0.00679521 0.02222917
+v -0.01857056 -0.00093843 0.02222716
+v -0.01809067 0.01501316 0.00694013
+v -0.01810231 0.01452890 0.00694012
+v -0.01843998 -0.00153278 0.00948956
+v -0.01311713 0.01501311 0.02222921
+v -0.01009142 -0.00153278 0.00694006
+v -0.01827281 0.00937201 0.02222918
+v -0.01834933 0.00679521 0.02222718
+v -0.01803079 0.01501317 0.00658499
+v -0.01799170 0.00937207 0.00439258
+v -0.01811229 0.00679527 0.00439257
+v -0.01819463 0.00421847 0.00439257
+v -0.01827281 0.00937201 0.02222719
+v -0.01808651 0.01452886 0.01967970
+v -0.01806821 0.01501312 0.01967971
+v -0.01824536 0.00679526 0.00694009
+v -0.01829111 0.00421846 0.00694009
+v -0.01839923 -0.00153278 0.00752734
+v -0.01805158 0.01501311 0.02222921
+v -0.01348224 0.01501316 0.00694013
+v -0.01066279 -0.00153276 0.00196407
+v -0.01081998 -0.00044276 0.00196408
+v -0.01175398 0.00590125 0.00196410
+v -0.01817467 0.01195043 0.02222919
+v -0.01774718 0.01501317 0.00501362
+v -0.01758749 0.00937208 0.00273789
+v -0.01768480 0.00679528 0.00257717
+v -0.01775050 0.00421848 0.00245614
+v -0.01822707 0.00164005 0.00439256
+v -0.01838259 -0.00153278 0.00694006
+v -0.01837345 -0.00093838 0.00694007
+v -0.01833269 0.00164004 0.00694008
+v -0.01776880 0.00164006 0.00231527
+v -0.01777379 -0.00093836 0.00218431
+v -0.01805574 0.01501311 0.02174907
+v -0.01199350 0.00679528 0.00196410
+v -0.01288675 0.00937208 0.00196411
+v -0.01403365 0.01501317 0.00513862
+v -0.01769561 -0.00153276 0.00196407
+v -0.01613701 0.01501318 0.00406326
+v -0.01748935 0.01092852 0.00292440
+v -0.01657532 0.00757431 0.00196411
+v -0.01708182 0.00580570 0.00196410
+v -0.01751929 0.00331959 0.00196409
+v -0.01762575 0.00099545 0.00196408
+v -0.01777546 -0.00153276 0.00216446
+v -0.01824287 -0.00093837 0.00439255
+v -0.01828196 -0.00153277 0.00497982
+v -0.01769312 -0.00135784 0.00196408
+v -0.01364775 0.01127188 0.00196412
+v -0.01416756 0.01501317 0.00471800
+v -0.01769977 -0.00153276 0.00197399
+v -0.01387646 0.01135124 0.00196412
+v -0.01409437 0.01120710 0.00196412
+v -0.01494436 0.01019160 0.00196412
+v -0.01562386 0.00937208 0.00196411
+v -0.01584842 0.00894936 0.00196411
+v -0.01824620 -0.00153277 0.00439254
+f 1 2 3
+f 1 3 10
+f 1 10 24
+f 1 24 36
+f 1 36 54
+f 1 54 64
+f 1 64 52
+f 1 52 58
+f 1 58 45
+f 1 45 27
+f 1 27 12
+f 1 12 4
+f 1 4 5
+f 1 5 11
+f 1 11 25
+f 1 25 30
+f 1 30 13
+f 1 13 6
+f 1 6 2
+f 2 6 14
+f 2 14 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 5
+f 4 12 11
+f 6 13 19
+f 6 19 14
+f 7 14 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 8 14 19
+f 8 19 13
+f 8 13 20
+f 8 20 21
+f 8 21 41
+f 8 41 25
+f 8 25 11
+f 8 11 26
+f 8 26 44
+f 8 44 57
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+f 8 46 31
+f 8 31 15
+f 9 18 22
+f 9 22 10
+f 10 22 23
+f 10 23 24
+f 11 12 26
+f 12 27 28
+f 12 28 29
+f 12 29 26
+f 13 30 21
+f 13 21 20
+f 15 31 16
+f 16 32 33
+f 16 33 17
+f 16 31 32
+f 17 33 34
+f 17 34 18
+f 18 35 36
+f 18 36 37
+f 18 37 38
+f 18 38 23
+f 18 23 22
+f 18 34 39
+f 18 39 40
+f 18 40 35
+f 21 30 41
+f 23 38 24
+f 24 38 37
+f 24 37 36
+f 25 41 30
+f 26 29 42
+f 26 42 43
+f 26 43 44
+f 27 45 55
+f 27 55 51
+f 27 51 50
+f 27 50 49
+f 27 49 48
+f 27 48 63
+f 27 63 62
+f 27 62 61
+f 27 61 60
+f 27 60 59
+f 27 59 56
+f 27 56 43
+f 27 43 42
+f 27 42 29
+f 27 29 28
+f 31 46 47
+f 31 47 32
+f 32 47 48
+f 32 48 49
+f 32 49 50
+f 32 50 33
+f 33 50 34
+f 34 50 51
+f 34 51 39
+f 35 40 52
+f 35 52 53
+f 35 53 54
+f 35 54 36
+f 39 51 55
+f 39 55 40
+f 40 55 52
+f 43 56 57
+f 43 57 44
+f 45 58 55
+f 46 57 56
+f 46 56 59
+f 46 59 60
+f 46 60 47
+f 47 60 61
+f 47 61 62
+f 47 62 63
+f 47 63 48
+f 52 55 58
+f 52 64 53
+f 53 64 54
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_68.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1adb670f9008ba9f747afe0235ad0ecd058200a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_68.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.00344171 -0.04882040 -0.04228073
+v -0.00454561 -0.05048313 -0.04228074
+v 0.00344171 -0.04725916 -0.04445030
+v 0.00344171 -0.04091769 -0.04228070
+v -0.00454561 -0.05000352 -0.04286936
+v 0.00344171 -0.04640440 -0.04556809
+v -0.00454561 -0.04150079 -0.04228070
+v 0.00344171 -0.04091371 -0.04231944
+v 0.00341825 -0.04090874 -0.04228070
+v -0.00454561 -0.04687307 -0.04584522
+v 0.00344171 -0.04622529 -0.04575575
+v -0.00415304 -0.04130775 -0.04228070
+v -0.00454561 -0.04133761 -0.04402367
+v 0.00344171 -0.04087192 -0.04277222
+v 0.00344171 -0.04075649 -0.04402367
+v 0.00325872 -0.04069082 -0.04402367
+v 0.00302177 -0.04076744 -0.04228070
+v -0.00454561 -0.04471480 -0.04708411
+v 0.00344171 -0.04480237 -0.04671697
+v -0.00397475 -0.04122019 -0.04228070
+v -0.00414679 -0.04115352 -0.04402367
+v -0.00284946 -0.04075648 -0.04591285
+v -0.00454561 -0.04228389 -0.04668860
+v 0.00320320 -0.04071469 -0.04591121
+v 0.00344171 -0.04110575 -0.04612506
+v 0.00139757 -0.04031867 -0.04402367
+v 0.00139757 -0.04045599 -0.04228070
+v 0.00002829 -0.04088583 -0.04785384
+v 0.00002829 -0.04098235 -0.04785384
+v 0.00023552 -0.04098235 -0.04785384
+v 0.00120129 -0.04197940 -0.04759689
+v 0.00344171 -0.04428992 -0.04695318
+v -0.00272199 -0.04078236 -0.04228070
+v -0.00289403 -0.04073560 -0.04402367
+v -0.00110639 -0.04036345 -0.04402367
+v -0.00092574 -0.04063011 -0.04668586
+v 0.00120129 -0.04060524 -0.04668477
+v 0.00023552 -0.04088583 -0.04785384
+v 0.00344171 -0.04172069 -0.04662367
+v -0.00031579 -0.04045698 -0.04228070
+v 0.00344171 -0.04198836 -0.04680151
+v -0.00215739 -0.04066495 -0.04228070
+v -0.00110639 -0.04047191 -0.04228070
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 19
+f 1 19 32
+f 1 32 41
+f 1 41 39
+f 1 39 25
+f 1 25 15
+f 1 15 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 27
+f 1 27 40
+f 1 40 43
+f 1 43 42
+f 1 42 33
+f 1 33 20
+f 1 20 12
+f 1 12 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 13
+f 2 13 23
+f 2 23 18
+f 2 18 10
+f 2 10 5
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 7 12 13
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 10 18 19
+f 10 19 11
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 15 24 16
+f 15 25 24
+f 16 24 26
+f 16 26 17
+f 17 26 27
+f 18 23 28
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 19
+f 20 33 21
+f 21 33 34
+f 21 34 22
+f 22 34 35
+f 22 35 36
+f 22 36 28
+f 22 28 23
+f 24 37 26
+f 24 25 38
+f 24 38 37
+f 25 39 38
+f 26 37 36
+f 26 36 35
+f 26 35 40
+f 26 40 27
+f 28 38 30
+f 28 30 29
+f 28 36 37
+f 28 37 38
+f 30 38 31
+f 31 41 32
+f 31 38 41
+f 33 42 35
+f 33 35 34
+f 35 42 43
+f 35 43 40
+f 38 39 41
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_69.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b496cde30e354a20114be1b26faecddbab0139c3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_69.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.01513045 -0.02697243 -0.00017656
+v 0.01435695 -0.03703143 -0.00325196
+v 0.01436506 -0.02697242 -0.00325192
+v 0.00940784 -0.02697243 -0.00017656
+v 0.01509240 -0.02924407 -0.00017657
+v 0.01431017 -0.05249601 -0.00325201
+v 0.00942281 -0.02697242 -0.00325192
+v 0.00909470 -0.03240840 -0.00017658
+v 0.01450105 -0.05249602 -0.00017665
+v 0.01425902 -0.05507535 -0.00017666
+v 0.01396709 -0.05507534 -0.00325202
+v 0.00924316 -0.03187657 -0.00325194
+v 0.00875848 -0.04732216 -0.00018055
+v 0.00875848 -0.04734116 -0.00017663
+v 0.00875848 -0.04739053 -0.00325199
+v 0.01336451 -0.05706967 -0.00017667
+v 0.01006407 -0.06388456 -0.00325205
+v 0.00875848 -0.06577633 -0.00017670
+v 0.00875848 -0.06560918 -0.00325206
+v 0.01028925 -0.06373262 -0.00017669
+v 0.00907848 -0.06539646 -0.00017670
+v 0.00893876 -0.06538505 -0.00325206
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 18
+f 1 18 21
+f 1 21 20
+f 1 20 16
+f 1 16 10
+f 1 10 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 17
+f 2 17 22
+f 2 22 19
+f 2 19 15
+f 2 15 12
+f 2 12 7
+f 2 7 3
+f 4 7 8
+f 5 9 6
+f 6 9 10
+f 6 10 11
+f 7 12 8
+f 8 13 14
+f 8 12 15
+f 8 15 13
+f 10 16 17
+f 10 17 11
+f 13 15 19
+f 13 19 18
+f 13 18 14
+f 16 20 17
+f 17 20 21
+f 17 21 22
+f 18 19 21
+f 19 22 21
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_7.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f127539950a3015cdad4caa3ec0708ad17e075be
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_7.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.00806405 0.01501321 -0.00586824
+v -0.00806405 0.00937434 -0.00599288
+v -0.00806405 0.01501319 0.00126974
+v 0.00910691 0.01501321 -0.00578029
+v 0.00910691 0.01324645 -0.00708220
+v 0.00910691 0.01101812 -0.00742761
+v -0.00806405 0.00919582 -0.00596997
+v 0.00910691 0.00937435 -0.00743128
+v -0.00806405 0.00937431 0.00191287
+v -0.00611563 0.00937431 0.00192844
+v -0.00110589 0.00937431 0.00192661
+v 0.00891190 0.01501319 0.00122484
+v 0.00910691 0.01501319 0.00122118
+v -0.00806405 0.00676283 -0.00564290
+v 0.00910691 0.00679658 -0.00654168
+v -0.00806405 0.00702188 0.00153723
+v 0.00910691 0.00609223 0.00139247
+v 0.00640703 0.00937431 0.00187805
+v 0.00910691 0.00957353 0.00175896
+v 0.00891190 0.00937431 0.00179560
+v -0.00806405 0.00519092 -0.00483758
+v 0.00910691 0.00603130 -0.00579957
+v -0.00806405 0.00664850 0.00143736
+v 0.00910691 0.00491548 0.00055507
+v 0.00910691 0.00937431 0.00177361
+v -0.00806405 0.00437664 -0.00328282
+v 0.00910691 0.00439080 -0.00326541
+v -0.00806405 0.00435160 -0.00055992
+v 0.00910691 0.00389221 -0.00070560
+f 1 2 7
+f 1 7 14
+f 1 14 21
+f 1 21 26
+f 1 26 28
+f 1 28 23
+f 1 23 16
+f 1 16 9
+f 1 9 3
+f 1 3 12
+f 1 12 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 4 13 19
+f 4 19 25
+f 4 25 17
+f 4 17 24
+f 4 24 29
+f 4 29 27
+f 4 27 22
+f 4 22 15
+f 4 15 8
+f 4 8 6
+f 4 6 5
+f 7 8 14
+f 8 15 14
+f 9 16 10
+f 10 16 17
+f 10 17 11
+f 11 17 18
+f 11 18 12
+f 12 18 13
+f 13 18 20
+f 13 20 19
+f 14 15 21
+f 15 22 21
+f 16 23 17
+f 17 25 20
+f 17 20 18
+f 17 23 24
+f 19 20 25
+f 21 22 27
+f 21 27 26
+f 23 28 24
+f 24 28 29
+f 26 27 29
+f 26 29 28
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_70.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45291b17dda4d2edfebeb39641c2ffb5b530aef9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_70.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.01130177 0.04331996 -0.02836548
+v 0.01833763 0.04331996 -0.02836548
+v 0.00904411 0.04176357 -0.02836549
+v 0.00904411 0.04208312 -0.02809205
+v 0.00904411 0.04267417 -0.02633130
+v 0.00904411 0.04267864 -0.02631415
+v 0.00904411 0.04270880 -0.02618499
+v 0.01093084 0.04331996 -0.02618499
+v 0.01646097 0.04331993 -0.01805734
+v 0.01835411 0.04288645 -0.02836548
+v 0.00904411 0.03196043 -0.02836552
+v 0.00904411 0.04226411 -0.02414072
+v 0.01155731 0.04331993 -0.01805734
+v 0.01108471 0.04331995 -0.02364529
+v 0.01641701 0.04288642 -0.01805734
+v 0.01832480 0.03773126 -0.02836550
+v 0.01839991 0.04030885 -0.02836549
+v 0.01380398 0.03190568 -0.02836552
+v 0.01392305 0.04022503 -0.01805735
+v 0.01248419 0.04072334 -0.01805735
+v 0.01210409 0.04085630 -0.01805735
+v 0.00904411 0.03655362 -0.02488540
+v 0.00904411 0.04047085 -0.02343946
+v 0.00904411 0.04030884 -0.02339204
+v 0.01154174 0.04288642 -0.01805734
+v 0.01568247 0.04086077 -0.01805735
+v 0.01757378 0.03505757 -0.02836551
+v 0.01515583 0.03269114 -0.02836552
+v 0.01164248 0.04243169 -0.01805734
+v 0.00904411 0.03777371 -0.02414175
+v 0.00904411 0.03795359 -0.02407818
+v 0.01645639 0.03345537 -0.02836552
+f 1 2 10
+f 1 10 17
+f 1 17 16
+f 1 16 27
+f 1 27 32
+f 1 32 28
+f 1 28 18
+f 1 18 11
+f 1 11 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 14
+f 1 14 13
+f 1 13 9
+f 1 9 2
+f 2 9 10
+f 3 11 22
+f 3 22 30
+f 3 30 31
+f 3 31 24
+f 3 24 23
+f 3 23 12
+f 3 12 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 9 13 25
+f 9 25 29
+f 9 29 21
+f 9 21 20
+f 9 20 19
+f 9 19 26
+f 9 26 15
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 12 23 13
+f 13 23 24
+f 13 24 25
+f 15 26 27
+f 15 27 16
+f 18 28 26
+f 18 26 19
+f 21 29 30
+f 21 30 22
+f 24 31 25
+f 25 31 30
+f 25 30 29
+f 26 28 32
+f 26 32 27
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_71.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0980a4945fa3f41bf60dbac7d87bc1d5ec7137da
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_71.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.01808552 0.04329765 -0.02841289
+v -0.01817366 0.04112374 -0.02841290
+v -0.01619450 0.04329762 -0.01805734
+v -0.01137613 0.04329765 -0.02841289
+v -0.01824311 0.03843331 -0.02841291
+v -0.01823510 0.03773038 -0.02841291
+v -0.01617580 0.04288665 -0.01805734
+v -0.01149098 0.04329762 -0.01805734
+v -0.01070305 0.04329765 -0.02618385
+v -0.00110904 0.04329316 -0.02618486
+v 0.00139630 0.04328081 -0.02618486
+v 0.00390164 0.04323814 -0.02618486
+v 0.00904319 0.04208044 -0.02809157
+v 0.00904319 0.04176154 -0.02836526
+v 0.00002344 0.04190415 -0.02841290
+v -0.01805881 0.03615272 -0.02841292
+v -0.01603958 0.04243075 -0.01805734
+v -0.01085529 0.04329764 -0.02320673
+v -0.01148029 0.04288665 -0.01805734
+v 0.00904319 0.04030852 -0.02339326
+v 0.00904319 0.04047021 -0.02343988
+v 0.00904319 0.04226346 -0.02414234
+v 0.00139630 0.04304948 -0.02363754
+v 0.00640698 0.04302704 -0.02618486
+v -0.01070038 0.04329765 -0.02616763
+v 0.00904319 0.04263403 -0.02644740
+v 0.00904319 0.03196099 -0.02836529
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+v -0.01725486 0.03396983 -0.02841293
+v -0.01546800 0.04077674 -0.01805735
+v -0.01191833 0.04090924 -0.01805735
+v 0.00904319 0.03795270 -0.02407951
+v 0.00904319 0.04270814 -0.02618486
+v 0.00904319 0.04267669 -0.02631360
+v 0.00904319 0.04267220 -0.02633083
+v 0.00904319 0.03655471 -0.02488538
+v -0.01363040 0.04019284 -0.01805735
+v 0.00890965 0.03195762 -0.02836529
+v -0.00110904 0.03183522 -0.02841293
+v -0.01566565 0.03291656 -0.02841293
+v -0.01411117 0.03214402 -0.02841293
+v -0.01509941 0.04064873 -0.01805735
+v -0.01332591 0.04031636 -0.01805735
+v 0.00904319 0.03777192 -0.02414236
+v -0.01351555 0.03210696 -0.02841293
+v -0.00661652 0.03186105 -0.02841293
+v -0.00410850 0.03182624 -0.02841293
+f 1 2 3
+f 1 3 8
+f 1 8 18
+f 1 18 25
+f 1 25 9
+f 1 9 4
+f 1 4 15
+f 1 15 28
+f 1 28 39
+f 1 39 47
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+f 1 45 41
+f 1 41 40
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+f 1 29 16
+f 1 16 6
+f 1 6 5
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+f 3 31 19
+f 3 19 8
+f 4 9 10
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+f 4 14 15
+f 6 16 7
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+f 8 19 20
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+f 13 34 33
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+f 13 22 21
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+f 13 27 14
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+f 14 28 15
+f 16 29 30
+f 16 30 17
+f 19 31 20
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+f 22 33 24
+f 22 24 23
+f 24 33 34
+f 24 34 35
+f 24 35 26
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+f 27 38 28
+f 28 38 37
+f 28 37 39
+f 29 40 30
+f 30 40 41
+f 30 41 42
+f 31 43 44
+f 31 44 32
+f 36 44 37
+f 37 45 46
+f 37 46 47
+f 37 47 39
+f 37 44 43
+f 37 42 41
+f 37 41 45
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_72.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2e69af9f5d82819d1884e5f29b0b099f6491886
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_72.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.01363274 -0.05477388 -0.03561456
+v -0.01363274 -0.04967754 -0.03561454
+v -0.01912146 -0.05477388 -0.03561456
+v -0.01363274 -0.05477383 -0.04766444
+v -0.01912146 -0.04977787 -0.03561454
+v -0.01363274 -0.04877966 -0.04393258
+v -0.01912146 -0.04734744 -0.04660264
+v -0.01912146 -0.05477383 -0.04891665
+v -0.01439727 -0.05477383 -0.04790053
+v -0.01363274 -0.05351683 -0.04777401
+v -0.01363274 -0.04864151 -0.04657004
+v -0.01912146 -0.04804754 -0.04843661
+v -0.01912146 -0.05249756 -0.04893881
+v -0.01363274 -0.05055281 -0.04792922
+v -0.01363274 -0.05176547 -0.04789922
+v -0.01454394 -0.05477383 -0.04793705
+v -0.01363274 -0.04892941 -0.04701614
+v -0.01363274 -0.04999665 -0.04792529
+v -0.01912146 -0.04933216 -0.04868314
+v -0.01912146 -0.05200465 -0.04893881
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 16
+f 1 16 9
+f 1 9 4
+f 1 4 10
+f 1 10 15
+f 1 15 14
+f 1 14 18
+f 1 18 17
+f 1 17 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 12
+f 3 12 19
+f 3 19 20
+f 3 20 13
+f 3 13 8
+f 4 9 10
+f 6 11 7
+f 7 11 12
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 9 16 15
+f 9 15 10
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 13 20 14
+f 14 20 18
+f 18 20 19
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_73.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efa697ad5b3d2309e973d6895dc5bdd377d87d73
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_73.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.01834519 -0.00663133 0.02394690
+v 0.01282895 -0.00663133 0.02394690
+v 0.01842670 -0.00663132 0.02222714
+v 0.01833892 -0.00435564 0.02394690
+v 0.01282895 -0.00513539 0.02394690
+v 0.01282895 -0.00663125 0.00222978
+v 0.01844722 -0.00663132 0.02169569
+v 0.01842271 -0.00609312 0.02222714
+v 0.01832182 -0.00177696 0.02394691
+v 0.01282952 0.01501098 0.02394698
+v 0.01282895 0.00376611 0.00900897
+v 0.01282895 0.00704829 0.00222983
+v 0.01782936 -0.00663125 0.00222978
+v 0.01839991 -0.00351655 0.02222715
+v 0.01829959 0.00080173 0.02394692
+v 0.01851276 -0.00663131 0.01968043
+v 0.01803512 0.01501098 0.02394698
+v 0.01343198 0.01501104 0.00901115
+v 0.01353629 0.01501104 0.00694063
+v 0.01444027 0.01501105 0.00477869
+v 0.01412907 0.00926888 0.00222983
+v 0.01789776 -0.00663125 0.00242748
+v 0.01781967 -0.00609305 0.00222978
+v 0.01786926 -0.00093780 0.00261245
+v 0.01837084 -0.00093787 0.02222716
+v 0.01826824 0.00337829 0.02394693
+v 0.01852530 -0.00663131 0.01914686
+v 0.01850535 -0.00609311 0.01968043
+v 0.01833550 0.00164082 0.02222717
+v 0.01804538 0.01472281 0.02394697
+v 0.01828192 0.01501104 0.00694063
+v 0.01604134 0.01501105 0.00429188
+v 0.01642836 0.01501105 0.00419197
+v 0.01486548 0.00903792 0.00222983
+v 0.01820669 0.00164088 0.00439175
+v 0.01819700 -0.00093781 0.00439174
+v 0.01806932 -0.00663125 0.00396656
+v 0.01776609 -0.00351648 0.00222979
+v 0.01785387 0.00164089 0.00272087
+v 0.01770511 -0.00093780 0.00222980
+v 0.01822778 0.00595486 0.02394694
+v 0.01856862 -0.00663130 0.01713161
+v 0.01846945 -0.00351654 0.01968044
+v 0.01829332 0.00421527 0.02222718
+v 0.01843012 -0.00093786 0.01968045
+v 0.01805222 0.01452788 0.02394697
+v 0.01829788 0.01452794 0.00694062
+v 0.01803284 0.01501105 0.00508055
+v 0.01627332 0.00667748 0.00222982
+v 0.01814684 0.00421533 0.00439176
+v 0.01804082 0.01452795 0.00506566
+v 0.01837255 0.01194925 0.00694061
+v 0.01839307 0.00937269 0.00694060
+v 0.01844779 0.00164087 0.00694058
+v 0.01845463 -0.00093782 0.00694057
+v 0.01811606 -0.00663126 0.00439172
+v 0.01865184 -0.00663127 0.00948937
+v 0.01839022 -0.00663127 0.00694055
+v 0.01756204 0.00164089 0.00222981
+v 0.01779630 0.00421534 0.00290795
+v 0.01818332 0.00853355 0.02394695
+v 0.01856007 -0.00609310 0.01713161
+v 0.01857660 -0.00663130 0.01659803
+v 0.01824659 0.00679395 0.02222718
+v 0.01838623 0.00164083 0.01968046
+v 0.01851675 -0.00351653 0.01713162
+v 0.01807559 0.01368880 0.02394697
+v 0.01772448 0.00571551 0.00305463
+v 0.01711917 0.00428950 0.00222982
+v 0.01644261 0.00625794 0.00222982
+v 0.01860282 -0.00351650 0.00948938
+v 0.01814570 0.01194920 0.02222720
+v 0.01819700 0.00937264 0.02222719
+v 0.01833721 0.00421528 0.01968047
+v 0.01860225 -0.00663129 0.01458278
+v 0.01862790 -0.00663128 0.01203820
+v 0.01813601 0.01111011 0.02394696
+v 0.01811948 0.01194919 0.02394696
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+f 1 57 76
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+f 1 75 63
+f 1 63 42
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+f 1 16 7
+f 1 7 3
+f 1 3 4
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+f 1 15 26
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+f 1 41 61
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+f 1 77 78
+f 1 78 67
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+f 1 30 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 11
+f 2 11 12
+f 2 12 6
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 5 10 11
+f 6 12 21
+f 6 21 34
+f 6 34 49
+f 6 49 70
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+f 7 14 15
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+f 7 9 8
+f 7 16 14
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+f 10 20 19
+f 10 19 18
+f 10 18 12
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+f 12 20 21
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+f 14 16 15
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+f 16 29 25
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+f 30 46 31
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+f 36 58 56
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+f 39 48 50
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+f 42 45 43
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+f 44 64 61
+f 44 45 65
+f 44 65 64
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+f 46 52 47
+f 47 52 48
+f 48 52 51
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+f 48 69 70
+f 48 70 49
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+f 52 72 73
+f 52 73 74
+f 52 74 65
+f 52 65 66
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+f 53 57 54
+f 54 57 55
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+f 59 69 68
+f 59 68 60
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+f 64 65 74
+f 64 74 77
+f 67 78 72
+f 71 75 76
+f 72 78 73
+f 73 78 77
+f 73 77 74
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_74.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2dc1f7872dc2ba971c824a837ee323c9f4768c2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_74.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.01870999 -0.00663343 0.02222714
+v -0.01870902 -0.00663343 0.02222913
+v -0.01870218 -0.00609422 0.02222714
+v -0.01856147 -0.00663338 0.00948955
+v -0.01156919 -0.00663343 0.02222913
+v -0.01870120 -0.00609422 0.02222913
+v -0.01864355 -0.00351695 0.02222914
+v -0.01864355 -0.00351695 0.02222715
+v -0.01854877 -0.00609417 0.00948955
+v -0.01839927 -0.00153278 0.00752734
+v -0.01838266 -0.00153278 0.00694006
+v -0.01848330 -0.00663338 0.00747376
+v -0.00872870 -0.00663343 0.02085021
+v -0.01395923 -0.00153283 0.02222715
+v -0.01395043 -0.00351446 0.02222914
+v -0.01750422 -0.00153283 0.02222914
+v -0.01858785 -0.00153283 0.02222715
+v -0.01844031 -0.00153278 0.00948956
+v -0.01841197 -0.00351690 0.00694006
+v -0.01828201 -0.00153277 0.00497982
+v -0.01844910 -0.00609417 0.00694005
+v -0.01845496 -0.00663338 0.00694005
+v -0.00872870 -0.00287433 0.00927727
+v -0.00872870 -0.00663337 0.00442626
+v -0.00872870 -0.00243198 0.00741425
+v -0.01009178 -0.00153278 0.00694006
+v -0.01824586 -0.00153277 0.00439254
+v -0.01831230 -0.00663337 0.00492426
+v -0.00991785 -0.00663336 0.00196406
+v -0.00872870 -0.00609416 0.00434888
+v -0.00872870 -0.00243048 0.00694006
+v -0.01066242 -0.00153276 0.00196407
+v -0.01825661 -0.00351689 0.00439254
+v -0.01777489 -0.00153276 0.00216446
+v -0.01778466 -0.00663336 0.00198390
+v -0.01826833 -0.00609416 0.00439253
+v -0.01826931 -0.00663337 0.00439253
+v -0.01777684 -0.00663336 0.00196406
+v -0.00991883 -0.00519495 0.00196406
+v -0.00872870 -0.00596684 0.00438261
+v -0.00872870 -0.00348244 0.00509688
+v -0.01041423 -0.00233709 0.00196407
+v -0.01769476 -0.00153276 0.00196407
+v -0.01769965 -0.00153276 0.00197399
+v -0.01773385 -0.00377501 0.00196407
+v -0.01777098 -0.00617403 0.00196406
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 12
+f 1 12 22
+f 1 22 28
+f 1 28 37
+f 1 37 35
+f 1 35 38
+f 1 38 29
+f 1 29 24
+f 1 24 13
+f 1 13 5
+f 1 5 2
+f 2 5 15
+f 2 15 16
+f 2 16 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 14
+f 5 14 15
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 8 18 9
+f 9 18 10
+f 10 18 17
+f 10 17 16
+f 10 16 14
+f 10 14 26
+f 10 26 32
+f 10 32 43
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+f 10 34 27
+f 10 27 20
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+f 12 19 21
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+f 13 30 40
+f 13 40 41
+f 13 41 31
+f 13 31 25
+f 13 25 23
+f 14 16 15
+f 14 23 25
+f 14 25 26
+f 19 20 21
+f 20 27 22
+f 20 22 21
+f 22 27 28
+f 24 29 30
+f 25 31 26
+f 26 31 32
+f 27 33 28
+f 27 34 35
+f 27 35 33
+f 28 33 36
+f 28 36 37
+f 29 38 46
+f 29 46 45
+f 29 45 43
+f 29 43 32
+f 29 32 42
+f 29 42 39
+f 29 39 30
+f 30 39 40
+f 31 41 32
+f 32 41 42
+f 33 35 36
+f 34 44 45
+f 34 45 46
+f 34 46 35
+f 35 46 38
+f 35 37 36
+f 39 42 41
+f 39 41 40
+f 43 45 44
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_75.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6509d2167472482acdf2cd3674815c1c30d280c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_75.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.00442490 -0.07715627 0.00253258
+v 0.00389143 -0.07723735 0.00253258
+v 0.00442490 -0.07714654 0.00206541
+v 0.00442490 -0.04612353 0.00253269
+v 0.00207453 -0.07742547 0.00253258
+v 0.00388665 -0.07718546 0.00179586
+v 0.00304219 -0.07703950 0.00051554
+v 0.00442490 -0.07683516 0.00084680
+v 0.00442490 -0.04669434 -0.00325229
+v 0.00428974 -0.04587378 0.00253269
+v 0.00139753 -0.07749033 0.00253258
+v 0.00139753 -0.07744493 0.00184286
+v 0.00139753 -0.07711086 0.00045325
+v 0.00139753 -0.06992998 -0.00325238
+v 0.00336394 -0.06951158 -0.00325238
+v 0.00442490 -0.06910940 -0.00325237
+v 0.00441294 -0.04668461 -0.00325229
+v 0.00353618 -0.04520240 0.00253269
+v 0.00422993 -0.04581865 0.00253269
+v -0.00043014 -0.07751304 0.00253258
+v -0.00110714 -0.07747412 0.00184286
+v -0.00110714 -0.07714328 0.00042380
+v -0.00110714 -0.06995268 -0.00325238
+v 0.00316060 -0.04569862 -0.00325229
+v 0.00139633 -0.04501751 -0.00325229
+v 0.00139753 -0.04439804 0.00253270
+v -0.00110714 -0.07750980 0.00253258
+v -0.00293361 -0.07736709 0.00253258
+v -0.00361181 -0.07727627 0.00184286
+v -0.00488687 -0.07699409 0.00056310
+v -0.00361181 -0.07706220 0.00049458
+v -0.00320394 -0.06953753 -0.00325238
+v -0.00110834 -0.04498508 -0.00325229
+v -0.00110714 -0.04437858 0.00253270
+v -0.00361181 -0.07730222 0.00253258
+v -0.00477563 -0.07714654 0.00253258
+v -0.00520743 -0.07706221 0.00184286
+v -0.00645977 -0.07662111 0.00184286
+v -0.00779224 -0.07612812 0.00184286
+v -0.00779224 -0.07556700 0.00089097
+v -0.00779224 -0.07515509 0.00030942
+v -0.00445627 -0.06910616 -0.00325237
+v -0.00212863 -0.04470292 0.00253270
+v -0.00298146 -0.04566619 -0.00325229
+v -0.00527083 -0.07707194 0.00253258
+v -0.00652316 -0.07667949 0.00253258
+v -0.00749560 -0.07632272 0.00253258
+v -0.00779224 -0.07621244 0.00253258
+v -0.00779224 -0.06680011 -0.00325237
+v -0.00766306 -0.06694930 -0.00325237
+v -0.00611648 -0.06808774 -0.00325237
+v -0.00328408 -0.04518295 0.00253269
+v -0.00779224 -0.04853334 -0.00325230
+v -0.00779224 -0.04819281 0.00253268
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 9
+f 1 9 4
+f 1 4 10
+f 1 10 19
+f 1 19 18
+f 1 18 26
+f 1 26 34
+f 1 34 43
+f 1 43 52
+f 1 52 54
+f 1 54 48
+f 1 48 47
+f 1 47 46
+f 1 46 45
+f 1 45 36
+f 1 36 35
+f 1 35 28
+f 1 28 27
+f 1 27 20
+f 1 20 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 9 16 15
+f 9 15 14
+f 9 14 23
+f 9 23 32
+f 9 32 42
+f 9 42 51
+f 9 51 50
+f 9 50 49
+f 9 49 53
+f 9 53 44
+f 9 44 33
+f 9 33 25
+f 9 25 24
+f 9 24 17
+f 11 20 12
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 22 14
+f 14 22 23
+f 17 24 18
+f 18 25 26
+f 18 24 25
+f 20 27 21
+f 21 27 28
+f 21 28 29
+f 21 29 30
+f 21 30 31
+f 21 31 22
+f 22 31 23
+f 23 31 30
+f 23 30 32
+f 25 33 26
+f 26 33 34
+f 28 35 29
+f 29 35 36
+f 29 36 37
+f 29 37 30
+f 30 37 38
+f 30 38 39
+f 30 39 40
+f 30 40 41
+f 30 41 42
+f 30 42 32
+f 33 43 34
+f 33 44 43
+f 36 45 37
+f 37 45 46
+f 37 46 38
+f 38 46 47
+f 38 47 39
+f 39 47 48
+f 39 48 54
+f 39 54 53
+f 39 53 49
+f 39 49 41
+f 39 41 40
+f 41 49 50
+f 41 50 51
+f 41 51 42
+f 43 44 52
+f 44 53 52
+f 52 53 54
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_76.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03f2c2cd71d63570ac5bbcd2d382ea0b61ca9ff5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_76.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.00875806 -0.06577986 -0.00017670
+v 0.00796334 -0.06699298 -0.00017671
+v 0.00875806 -0.06560794 -0.00325206
+v 0.00875806 -0.04734336 -0.00017663
+v 0.00487350 -0.07138055 -0.00017672
+v 0.00778777 -0.06680411 -0.00325207
+v 0.00875806 -0.04739420 -0.00325199
+v 0.00875806 -0.04732399 -0.00018055
+v 0.00442610 -0.04664358 -0.00017663
+v 0.00442610 -0.07132970 -0.00017672
+v 0.00442610 -0.06910927 -0.00325207
+v 0.00461693 -0.06903663 -0.00325207
+v 0.00640824 -0.06787678 -0.00325207
+v 0.00442610 -0.04669442 -0.00325199
+v 0.00875806 -0.04739178 -0.00317702
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 13
+f 3 13 12
+f 3 12 11
+f 3 11 14
+f 3 14 7
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 7 14 15
+f 8 14 9
+f 8 15 14
+f 9 14 11
+f 9 11 10
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_77.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c28a32a83bd33bd0ac16c6c25f17b4ac993b8bcb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_77.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.00600137 -0.07569779 -0.04895531
+v -0.00600137 -0.06538830 -0.04719367
+v 0.00381147 -0.07569779 -0.04889002
+v 0.00381147 -0.07753704 -0.04845648
+v -0.00600137 -0.07578537 -0.04893442
+v -0.00600137 -0.06315492 -0.04620773
+v 0.00381147 -0.06538830 -0.04711793
+v 0.00381147 -0.07821237 -0.04657082
+v -0.00110648 -0.07824233 -0.04657082
+v -0.00600137 -0.07760389 -0.04840686
+v -0.00361156 -0.07756470 -0.04848129
+v -0.00600137 -0.07757162 -0.04849435
+v -0.00600137 -0.05477458 -0.04249253
+v 0.00381147 -0.06326095 -0.04609674
+v 0.00381147 -0.07831148 -0.04402309
+v -0.00361156 -0.07825385 -0.04657082
+v -0.00600137 -0.07825616 -0.04657082
+v -0.00600137 -0.05477461 -0.03561456
+v 0.00381147 -0.05477459 -0.04175602
+v 0.00381147 -0.07822853 -0.04147535
+v 0.00139764 -0.07831609 -0.04402309
+v -0.00110648 -0.07831840 -0.04402309
+v -0.00361156 -0.07831840 -0.04402309
+v -0.00600137 -0.07825846 -0.04645330
+v -0.00504372 -0.05477461 -0.03561456
+v -0.00600137 -0.07789434 -0.03561465
+v 0.00381147 -0.05477461 -0.03630013
+v 0.00139764 -0.07823313 -0.04147535
+v 0.00381147 -0.07810868 -0.03902033
+v 0.00139764 -0.07812021 -0.03892761
+v -0.00110648 -0.07812942 -0.03892761
+v -0.00600137 -0.07829765 -0.04390425
+v -0.00600137 -0.07830226 -0.04402309
+v -0.00110648 -0.07823082 -0.04147535
+v -0.00361156 -0.07812021 -0.03892761
+v 0.00381147 -0.05845542 -0.03561457
+v -0.00600137 -0.07795888 -0.03634462
+v -0.00361156 -0.07797501 -0.03637988
+v -0.00361156 -0.07790587 -0.03561465
+v 0.00381147 -0.07810407 -0.03892761
+v 0.00381147 -0.07796809 -0.03647260
+v 0.00139764 -0.07797501 -0.03637988
+v -0.00110648 -0.07798192 -0.03637988
+v -0.00600137 -0.07809716 -0.03892761
+v -0.00600137 -0.07796119 -0.03637988
+v 0.00381147 -0.07789895 -0.03561465
+v -0.00035630 -0.07791278 -0.03561465
+v 0.00381147 -0.07796119 -0.03637988
+v 0.00214878 -0.07790817 -0.03561465
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 10
+f 1 10 17
+f 1 17 24
+f 1 24 33
+f 1 33 32
+f 1 32 44
+f 1 44 45
+f 1 45 37
+f 1 37 26
+f 1 26 18
+f 1 18 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 14
+f 3 14 19
+f 3 19 27
+f 3 27 36
+f 3 36 46
+f 3 46 48
+f 3 48 41
+f 3 41 40
+f 3 40 29
+f 3 29 20
+f 3 20 15
+f 3 15 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 6 13 7
+f 7 13 14
+f 8 15 9
+f 9 15 16
+f 9 16 10
+f 10 12 11
+f 10 16 17
+f 13 18 25
+f 13 25 27
+f 13 27 19
+f 13 19 14
+f 15 20 28
+f 15 28 21
+f 15 21 16
+f 16 21 17
+f 17 21 22
+f 17 22 23
+f 17 23 24
+f 18 26 39
+f 18 39 47
+f 18 47 49
+f 18 49 46
+f 18 46 36
+f 18 36 25
+f 20 29 30
+f 20 30 31
+f 20 31 28
+f 21 28 22
+f 22 28 23
+f 23 32 33
+f 23 33 24
+f 23 28 34
+f 23 34 35
+f 23 35 32
+f 25 36 27
+f 26 37 38
+f 26 38 39
+f 28 31 34
+f 29 40 30
+f 30 40 41
+f 30 41 42
+f 30 42 31
+f 31 42 43
+f 31 43 38
+f 31 38 35
+f 31 35 34
+f 32 35 44
+f 35 38 45
+f 35 45 44
+f 37 45 38
+f 38 43 39
+f 39 43 47
+f 41 48 42
+f 42 48 46
+f 42 46 49
+f 42 49 43
+f 43 49 47
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_78.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a721f936600623d8c847cfada75926f3cc6667de
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_78.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.01143164 -0.05477287 -0.03561456
+v 0.00491217 -0.05477287 -0.03561456
+v 0.01143164 -0.05477284 -0.04228075
+v 0.01143164 -0.04719329 -0.03561453
+v -0.00454482 -0.05183644 -0.03561455
+v -0.00454482 -0.05477287 -0.03592777
+v 0.00558945 -0.05477284 -0.04228075
+v 0.01143164 -0.04777778 -0.04228073
+v 0.01107814 -0.04609712 -0.03561453
+v -0.00454482 -0.03750635 -0.03561450
+v -0.00454482 -0.05477285 -0.04194079
+v -0.00454482 -0.05048180 -0.04228074
+v 0.01066050 -0.04643357 -0.04228072
+v 0.01029449 -0.04587507 -0.04228072
+v 0.00685956 -0.04077753 -0.03561451
+v -0.00360163 -0.03720975 -0.03561450
+v -0.00272256 -0.04078271 -0.04228070
+v -0.00397390 -0.04122153 -0.04228070
+v -0.00415222 -0.04130825 -0.04228070
+v -0.00454482 -0.04150077 -0.04228070
+v 0.00913231 -0.04458637 -0.04228071
+v 0.00389545 -0.03713864 -0.03561450
+v -0.00345616 -0.03717853 -0.03561450
+v -0.00215633 -0.04066476 -0.04228070
+v 0.00827514 -0.04368966 -0.04228071
+v 0.00139903 -0.04045663 -0.04228070
+v 0.00139903 -0.03705539 -0.03561450
+v 0.00787940 -0.04330114 -0.04228071
+v 0.00692839 -0.04268020 -0.04228071
+v 0.00640752 -0.04234892 -0.04228071
+v 0.00487306 -0.04154413 -0.04228070
+v 0.00427398 -0.04123540 -0.04228070
+v 0.00341995 -0.04090932 -0.04228070
+v 0.00302265 -0.04076710 -0.04228070
+v -0.00110677 -0.03708661 -0.03561450
+v -0.00110677 -0.04047224 -0.04228070
+v -0.00031374 -0.04045836 -0.04228070
+f 1 2 6
+f 1 6 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 22
+f 1 22 27
+f 1 27 35
+f 1 35 23
+f 1 23 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 12
+f 3 12 20
+f 3 20 19
+f 3 19 18
+f 3 18 17
+f 3 17 24
+f 3 24 36
+f 3 36 37
+f 3 37 26
+f 3 26 34
+f 3 34 33
+f 3 33 32
+f 3 32 31
+f 3 31 30
+f 3 30 29
+f 3 29 28
+f 3 28 25
+f 3 25 21
+f 3 21 14
+f 3 14 13
+f 3 13 8
+f 4 8 9
+f 5 10 20
+f 5 20 12
+f 5 12 11
+f 5 11 6
+f 7 11 12
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 14 21 22
+f 14 22 15
+f 16 23 17
+f 17 23 24
+f 21 25 22
+f 22 26 27
+f 22 25 28
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 22 34 26
+f 23 35 36
+f 23 36 24
+f 26 37 27
+f 27 37 35
+f 35 37 36
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_8.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cc2e17e4cc864d5719c2f4eeb338c79c0f11b9d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_8.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.01007451 -0.00663134 0.02710463
+v -0.00008122 0.00272800 0.03118463
+v -0.00008122 0.00408676 0.03148678
+v 0.01007451 0.00933546 0.03086434
+v 0.01077707 0.01501580 0.03212744
+v 0.01007451 -0.00663137 0.03450810
+v -0.00008122 -0.00663135 0.02946265
+v -0.00008122 0.01169981 0.03342683
+v 0.01077707 0.01725753 0.03266583
+v 0.01077707 0.01501578 0.03901978
+v 0.00891173 -0.00663137 0.03479207
+v 0.01077707 0.03457815 0.04660734
+v 0.01077707 0.04093543 0.04897674
+v 0.01057300 0.04114145 0.04911759
+v -0.00008122 -0.00663137 0.03489656
+v -0.00008122 0.01298991 0.03376078
+v 0.01077707 0.02722022 0.03542826
+v 0.00640761 -0.00663137 0.03492837
+v 0.00891279 0.04065093 0.04928342
+v 0.00640761 0.04288284 0.05014668
+v 0.00640761 0.04039094 0.04938111
+v 0.01077707 0.04157803 0.04916756
+v 0.01077707 0.04293189 0.04948107
+v 0.00891279 0.04288284 0.04992178
+v -0.00008122 0.01501577 0.03984441
+v 0.00014517 0.04288284 0.05019666
+v -0.00008122 0.01453017 0.03422648
+v -0.00008122 0.01481468 0.03431962
+v -0.00008122 0.01501579 0.03438551
+v 0.00014517 0.04348131 0.04445607
+v 0.01077707 0.04348131 0.04251603
+v 0.00390455 0.04288284 0.05018076
+v 0.00640761 0.04348129 0.05026254
+v 0.00390455 0.04348129 0.05030115
+v 0.01077707 0.04348129 0.04959466
+v 0.00948887 0.04348129 0.04990588
+v 0.00934113 0.04348129 0.04993995
+v 0.00891279 0.04348129 0.05003764
+v 0.00014517 0.04348129 0.05031251
+v 0.00197650 0.04348129 0.05030797
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 6
+f 1 6 11
+f 1 11 18
+f 1 18 15
+f 1 15 7
+f 1 7 2
+f 2 7 15
+f 2 15 25
+f 2 25 29
+f 2 29 28
+f 2 28 27
+f 2 27 16
+f 2 16 8
+f 2 8 3
+f 3 8 9
+f 3 9 4
+f 4 9 5
+f 5 9 17
+f 5 17 31
+f 5 31 35
+f 5 35 23
+f 5 23 22
+f 5 22 13
+f 5 13 12
+f 5 12 10
+f 6 10 12
+f 6 12 13
+f 6 13 14
+f 6 14 11
+f 8 16 9
+f 9 16 17
+f 11 14 19
+f 11 19 20
+f 11 20 21
+f 11 21 18
+f 13 22 14
+f 14 22 23
+f 14 23 24
+f 14 24 19
+f 15 18 26
+f 15 26 25
+f 16 27 17
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 18 21 32
+f 18 32 26
+f 19 24 20
+f 20 24 38
+f 20 38 33
+f 20 33 34
+f 20 34 32
+f 20 32 21
+f 23 35 24
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 25 26 39
+f 25 39 30
+f 25 30 29
+f 26 32 34
+f 26 34 40
+f 26 40 39
+f 30 39 40
+f 30 40 34
+f 30 34 33
+f 30 33 38
+f 30 38 37
+f 30 37 36
+f 30 36 35
+f 30 35 31
+
diff --git a/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_9.obj b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a240ab387cee04c8033796908284d2b67c6f37e6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1ad9e289b3f35c4e94bea6fdcc794af3/mjcf/mesh/stapler_17_collision_9.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v -0.01112784 0.01501113 -0.01587751
+v -0.00986345 0.01501113 -0.01526982
+v -0.00958015 0.01194934 -0.01510744
+v -0.00959061 0.00937278 -0.01508475
+v -0.01112784 0.01452803 -0.01587054
+v -0.01334670 0.01452803 -0.01546715
+v -0.01335811 0.01501113 -0.01546889
+v -0.00956969 0.01501113 -0.01512488
+v -0.00957159 0.01452803 -0.01512314
+v -0.00922840 0.00937277 -0.01344502
+v -0.00924551 0.00679408 -0.01344503
+v -0.00960677 0.00679409 -0.01504809
+v -0.01112784 0.01194934 -0.01582165
+v -0.01328396 0.01194934 -0.01543224
+v -0.01386577 -0.00609299 -0.01344507
+v -0.01447039 0.01501112 -0.01344499
+v -0.00921414 0.01501112 -0.01344499
+v -0.00806573 0.00937274 -0.00599553
+v -0.00928069 0.00421540 -0.01344503
+v -0.00963434 0.00421541 -0.01500268
+v -0.00973701 -0.00351642 -0.01487000
+v -0.00978359 -0.00609299 -0.01481762
+v -0.01112784 0.00937278 -0.01575007
+v -0.01307956 0.00421541 -0.01528558
+v -0.01303298 0.00164096 -0.01520700
+v -0.01292651 -0.00351641 -0.01506383
+v -0.01285711 -0.00609298 -0.01499748
+v -0.01383535 -0.00663119 -0.01344507
+v -0.01398555 -0.00663119 -0.01291246
+v -0.01777777 -0.00663125 0.00196207
+v -0.01585742 0.01501109 -0.00566720
+v -0.01777112 -0.00617357 0.00196207
+v -0.01773404 -0.00377287 0.00196208
+v -0.01769221 -0.00135734 0.00196209
+v -0.01762567 0.00099463 0.00196209
+v -0.00806573 0.01501109 -0.00586977
+v -0.00806573 0.00676227 -0.00564454
+v -0.00940617 -0.00351642 -0.01344506
+v -0.00936340 -0.00093774 -0.01344505
+v -0.00932157 0.00164095 -0.01344504
+v -0.00966761 0.00164095 -0.01495555
+v -0.00945941 -0.00609299 -0.01344507
+v -0.00979880 -0.00663119 -0.01480016
+v -0.01112784 0.00421541 -0.01557021
+v -0.01112784 0.00679409 -0.01566451
+v -0.01112784 -0.00351641 -0.01521576
+v -0.01112784 -0.00609298 -0.01509702
+v -0.01282288 -0.00663119 -0.01497304
+v -0.01303678 -0.00663119 -0.01467268
+v -0.00991764 -0.00663125 0.00196207
+v -0.01585647 0.01501108 -0.00351233
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