diff --git a/.gitattributes b/.gitattributes
index 06d16787c84c34930832731dd93346cfab9846e6..6b607b29fcf6ed1862bccc0ba30f94a8b9913527 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3123,3 +3123,5 @@ dataset/desktop_supplies/office_stationery/3bfc50d25a6a52b89e0477abfad2cd02/mark
 dataset/desktop_supplies/office_stationery/3bfc50d25a6a52b89e0477abfad2cd02/mesh/marker_030.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mesh/sharpener_033.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/sharpener_033.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mesh/stapler_028.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/stapler_028.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..40fe76f5750b7620b09a3943abe4e38ef8352e86
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stapler_028_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd stapler_028_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..25b7ae6066954a895746bddb5b0b01a4638c1af8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3711cda0039089511b6842c7c4ac6dde759ecb76d02c00600eed7ebecd4931f
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diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mesh/stapler_028.glb b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mesh/stapler_028.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6c67b23870a48658dcf4b3b11b88f6d6d3dc575b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mesh/stapler_028.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bc811ff49e346effd0fcb95fe5b51a1f0d21a65f2b6d71e27c6ebf555696988
+size 12260160
diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mesh/stapler_028.mtl b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mesh/stapler_028.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7a6e0e0e7f7fb580f361d46a8f6362f73b15dad9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mesh/stapler_028.mtl
@@ -0,0 +1,6 @@
+newmtl stapler_028_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mesh/stapler_028.obj b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mesh/stapler_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34c7a8ae0a748b35187440dd2dd3a643a650d16c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mesh/stapler_028.obj
@@ -0,0 +1,111846 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stapler_028_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mesh/stapler_028_collision.obj b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mesh/stapler_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e00438189bef6ae2da9e33a8412bb3cc0efcecbf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mesh/stapler_028_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mesh/stapler_028_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mesh/stapler_028_geometry_Looks_material_0.png
new file mode 100644
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--- /dev/null
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diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028.obj b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028.obj
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diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision.obj b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af2179bda47e13f093afbb5a3a70624e0b1b840f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision.obj
@@ -0,0 +1,14553 @@
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diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_0.obj b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aea0607c41e58417591862c0bf789bc51cb999b1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_1.obj b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0de2fe6e3cfcaad6577be184b868ce9e51935fae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_1.obj
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+f 42 46 43
+f 43 46 44
+f 43 44 47
+f 44 45 47
+
diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_10.obj b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b6a781127dcd80cfe739e6703564792d379339c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_10.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.01811272 0.00578431 -0.00026946
+v 0.01794271 0.00417561 -0.00026946
+v 0.01802417 0.00578431 -0.00068078
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+v -0.01801780 0.00578431 -0.00068078
+v -0.01795405 0.00459477 -0.00026946
+v 0.01720246 -0.00111964 -0.00026948
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+v 0.01712808 0.00459478 -0.00197007
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+v -0.01786550 0.00459477 -0.00068078
+v -0.01725276 0.00578432 -0.00211719
+v -0.01722089 -0.00100171 -0.00026948
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+v -0.01053031 -0.00731088 -0.00313783
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+v -0.01717838 -0.00113374 -0.00026948
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+v -0.01084199 0.00578048 -0.00313778
+v -0.01084199 0.00453838 -0.00313778
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+v -0.01641688 -0.00304367 -0.00026949
+v -0.01661169 0.00180936 -0.00159385
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+v -0.00734264 0.00578432 -0.00313778
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+f 1 41 32
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+f 1 22 15
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+f 23 38 39
+f 23 39 24
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+f 27 40 28
+f 32 41 33
+
diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_11.obj b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..008bec3ac9dd8f1609005a2f5e0fa55329c7248f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_11.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.00650347 -0.04697166 -0.01035666
+v 0.00650347 -0.04506216 -0.01016708
+v 0.00836310 -0.04697166 -0.01019868
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+v 0.00836310 -0.04506216 -0.01000713
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+v 0.00975080 -0.04697166 -0.00958354
+v 0.00955911 -0.04826826 -0.00939793
+v 0.00836310 -0.04931716 -0.00819136
+v 0.00650347 -0.04953831 -0.00819136
+v 0.00464487 -0.04953894 -0.00819136
+v 0.00278523 -0.04860377 -0.00962996
+v 0.00278523 -0.04697166 -0.01010093
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+v 0.01033005 -0.04506217 -0.00819135
+v 0.00953514 -0.04315268 -0.00933472
+v 0.01035297 -0.04697167 -0.00819135
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+v 0.00836310 -0.04940689 -0.00631337
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+v 0.01049153 -0.04697168 -0.00631336
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+v 0.00650347 -0.04937469 -0.00026966
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+
diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_12.obj b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc2f5f3f1d5da0e05163524d89c211d7ca687308
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_12.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.00651191 -0.04697187 -0.01035660
+v -0.00837199 -0.04855047 -0.00962003
+v -0.00837199 -0.04697187 -0.01018776
+v -0.00651191 -0.04506227 -0.01016505
+v -0.00465391 -0.04697187 -0.01034080
+v -0.00465391 -0.04868692 -0.00972074
+v -0.00651191 -0.04868565 -0.00971778
+v -0.00651191 -0.04953971 -0.00819131
+v -0.00837199 -0.04930093 -0.00819131
+v -0.00955927 -0.04825359 -0.00939195
+v -0.00837199 -0.04506227 -0.00999423
+v -0.00975091 -0.04697187 -0.00957559
+v -0.00967175 -0.04506228 -0.00947685
+v -0.00651191 -0.04314697 -0.00992214
+v -0.00465391 -0.04314697 -0.00992214
+v 0.00000672 -0.04314697 -0.00991227
+v 0.00000672 -0.04315266 -0.00991227
+v -0.00279382 -0.04697187 -0.01011370
+v -0.00279382 -0.04861238 -0.00963681
+v -0.00465391 -0.04954098 -0.00819131
+v -0.00651191 -0.04959973 -0.00631334
+v -0.00837199 -0.04939380 -0.00631334
+v -0.00981652 -0.04855744 -0.00631334
+v -0.00975507 -0.04849489 -0.00819131
+v -0.01033830 -0.04697188 -0.00819130
+v -0.00953220 -0.04315267 -0.00932676
+v -0.00837199 -0.04315266 -0.00972270
+v -0.01031435 -0.04506228 -0.00819130
+v -0.01016021 -0.04314698 -0.00819129
+v -0.00953428 -0.04314698 -0.00932281
+v -0.00837511 -0.04314697 -0.00972072
+v 0.00000672 -0.04314701 -0.00027062
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+v -0.00465391 -0.04959847 -0.00631334
+v -0.00279382 -0.04949487 -0.00631334
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+v -0.01060700 -0.04506231 -0.00027063
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+
diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_13.obj b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2561106ce01fb7fad6428ec472075b7b15e8513
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_13.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.00474606 0.01080254 -0.01432176
+v 0.00563822 0.00752645 -0.01432177
+v 0.00802625 0.00836597 -0.01039958
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+v 0.01667455 0.03514869 -0.01432167
+v 0.01665587 0.03639430 -0.01432167
+v 0.01659164 0.01338359 -0.01432175
+v 0.01666521 0.03068165 -0.01432169
+v 0.01660099 0.01530473 -0.01432174
+v 0.01665353 0.02684328 -0.01432170
+v 0.01665937 0.02875660 -0.01432169
+f 1 2 3
+f 1 3 4
+f 1 4 5
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+f 1 11 21
+f 1 21 22
+f 1 22 12
+f 1 12 6
+f 1 6 17
+f 1 17 24
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+f 1 39 38
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+f 1 43 47
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+f 1 58 53
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+
diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_14.obj b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9afba0c6d356c62872d531875c96edf4b2559e2c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_14.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.00409930 0.02169593 -0.01039914
+v -0.00381838 0.02169594 -0.01346670
+v 0.00414746 0.02169593 -0.01039914
+v -0.00406216 0.03515292 -0.01039909
+v 0.00380600 0.02169594 -0.01346670
+v -0.00377398 0.03515293 -0.01346665
+v 0.00378017 0.03706182 -0.01346664
+v 0.00407077 0.03706181 -0.01039908
+v -0.00405732 0.03613541 -0.01039909
+v -0.00374815 0.03706182 -0.01346664
+v 0.00372931 0.03754532 -0.01346664
+v 0.00371559 0.03897263 -0.01039908
+v -0.00403956 0.03706181 -0.01039908
+v -0.00394350 0.03789151 -0.01039908
+v -0.00334614 0.03897264 -0.01346664
+v 0.00335556 0.03916024 -0.01346664
+v 0.00335233 0.03917378 -0.01346664
+v 0.00267990 0.04050052 -0.01346663
+v 0.00258788 0.04066685 -0.01346663
+v 0.00267264 0.04076548 -0.01039907
+v -0.00359154 0.03950836 -0.01039907
+v -0.00258411 0.04065718 -0.01346663
+v 0.00242401 0.04071520 -0.01346663
+v 0.00092496 0.04145399 -0.01039907
+v -0.00267210 0.04075581 -0.01039907
+v -0.00124328 0.04143659 -0.01039907
+v -0.00093330 0.04104205 -0.01346663
+v 0.00092496 0.04105172 -0.01346663
+v -0.00093330 0.04144432 -0.01039907
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 12
+f 1 12 20
+f 1 20 24
+f 1 24 29
+f 1 29 26
+f 1 26 25
+f 1 25 21
+f 1 21 14
+f 1 14 13
+f 1 13 9
+f 1 9 4
+f 1 4 2
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+f 2 11 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 4 9 6
+f 6 9 10
+f 7 11 8
+f 8 11 12
+f 9 13 10
+f 10 13 14
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+f 11 16 12
+f 12 16 17
+f 12 17 18
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+f 15 21 22
+f 19 23 24
+f 19 24 20
+f 21 25 22
+f 22 25 26
+f 22 26 27
+f 23 28 24
+f 24 28 27
+f 24 27 29
+f 26 29 27
+
diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_15.obj b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfcd99664ae977b75c5bddc0519e2aa21e64a11e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_15.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.00414732 0.02169487 -0.01039914
+v 0.00717014 0.02102784 -0.01039914
+v 0.00717014 0.02104260 -0.01346670
+v 0.00380625 0.02169488 -0.01346670
+v -0.00409855 0.02169487 -0.01039914
+v 0.00717014 0.01220985 -0.01039918
+v 0.00717014 0.01316669 -0.01346673
+v -0.00381767 0.02169488 -0.01346670
+v -0.00649407 0.02062635 -0.01039914
+v 0.00172238 0.01105702 -0.01039918
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+v -0.00649407 0.01992665 -0.01346671
+v -0.00649407 0.01274728 -0.01039917
+v 0.00092521 0.01093057 -0.01039918
+v 0.00038485 0.01123723 -0.01346674
+v -0.00649407 0.01356080 -0.01346673
+v -0.00093396 0.01094532 -0.01039918
+v -0.00134859 0.01132996 -0.01346674
+v -0.00093396 0.01124777 -0.01346674
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 13
+f 1 13 17
+f 1 17 14
+f 1 14 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 11
+f 3 11 15
+f 3 15 19
+f 3 19 18
+f 3 18 16
+f 3 16 12
+f 3 12 8
+f 3 8 4
+f 5 8 9
+f 6 10 11
+f 6 11 7
+f 8 12 9
+f 9 12 16
+f 9 16 13
+f 10 14 11
+f 11 14 15
+f 13 16 18
+f 13 18 17
+f 14 17 15
+f 15 17 19
+f 17 18 19
+
diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_2.obj b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b66fc59753031f41f1ad9b6bbf3beb428dba3e5e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_2.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.01206850 -0.02275349 0.00293730
+v 0.01207681 -0.02275349 0.00293730
+v -0.01054642 -0.02275348 -0.00026956
+v -0.01060550 -0.04505953 -0.00026965
+v -0.01060550 -0.04505953 0.00119692
+v -0.01059132 -0.04505954 0.00293721
+v 0.01060909 -0.04505953 -0.00026965
+v 0.01057364 -0.02275348 -0.00026956
+v 0.01059727 -0.04505954 0.00293721
+v 0.01060909 -0.04505953 0.00119692
+v -0.01048260 -0.04655268 -0.00026965
+v -0.01043533 -0.04696961 0.00119692
+v -0.01057951 -0.04520025 0.00293721
+v 0.01044837 -0.04696961 -0.00026965
+v 0.01042001 -0.04696962 0.00293721
+v 0.01044128 -0.04696961 0.00119692
+v -0.01044479 -0.04696961 -0.00026965
+v -0.01040697 -0.04696962 0.00293721
+v -0.00992482 -0.04813703 -0.00026966
+v -0.00976883 -0.04843410 0.00119691
+v -0.00975465 -0.04840805 0.00293720
+v -0.01035970 -0.04707646 0.00293721
+v 0.00977478 -0.04846276 -0.00026966
+v 0.00975824 -0.04842108 0.00293720
+v -0.00977829 -0.04845755 -0.00026966
+v -0.00837202 -0.04918198 -0.00026966
+v -0.00837202 -0.04913247 0.00119691
+v -0.00837202 -0.04906472 0.00293720
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+v 0.00965661 -0.04847059 0.00293720
+v 0.00836142 -0.04918719 -0.00026966
+v -0.00651196 -0.04937221 -0.00026966
+v -0.00651196 -0.04932269 0.00119691
+v -0.00664668 -0.04923932 0.00293720
+v 0.00836142 -0.04907775 0.00293720
+v 0.00836142 -0.04914028 0.00119691
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+v 0.00650372 -0.04932269 0.00119691
+v -0.00651196 -0.04925234 0.00293720
+v 0.00822670 -0.04909078 0.00293720
+v 0.00650372 -0.04925234 0.00293720
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+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
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+f 1 18 22
+f 1 22 21
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+f 1 34 39
+f 1 39 41
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+f 14 16 23
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+f 24 30 31
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+f 26 33 27
+f 27 33 28
+f 28 33 34
+f 30 35 36
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+f 32 37 33
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+f 33 38 41
+f 33 41 39
+f 33 39 34
+f 35 40 38
+f 35 38 36
+f 36 38 37
+f 38 40 41
+
diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_3.obj b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22e748fc8f74b536fe9bd5512184b49649bd6cae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_3.obj
@@ -0,0 +1,1192 @@
+# https://github.com/mikedh/trimesh
+v -0.01931884 0.04088077 -0.00026933
+v -0.01931127 0.04278958 -0.00026932
+v -0.01931127 0.04278958 -0.00068081
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+v -0.01931127 0.04088077 -0.00068082
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+v -0.01928478 0.04661211 -0.00026931
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+v -0.01925829 0.04088078 -0.00255883
+v -0.01926965 0.03897196 -0.00068083
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+v -0.01928100 0.04703028 -0.00026931
+v -0.01926586 0.04852092 -0.00026930
+v -0.01926208 0.04852092 -0.00068079
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+v -0.01912206 0.04088079 -0.00631287
+v -0.01919775 0.04088079 -0.00443684
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+v -0.01920153 0.03556760 -0.00026935
+v -0.01911828 0.05042972 -0.00026929
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diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_4.obj b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0023e5fc1604d6d996c574a125a2619d8e038f51
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_5.obj b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58f4cf2ee8d3047bcf25cf28f3e7a9b827cde867
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_6.obj b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0738496a795ccb268897b0cdbad9de4c79fedc7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_6.obj
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+f 2279 2328 2280
+f 2281 2282 2283
+f 2288 2344 2343
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+f 2289 2343 2347
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+f 2291 2348 2349
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+f 2292 2349 2350
+f 2292 2350 2351
+f 2292 2351 2293
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+f 2297 2354 2355
+f 2297 2355 2298
+f 2298 2355 2356
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+f 2301 2356 2357
+f 2301 2357 2358
+f 2301 2358 2302
+f 2302 2358 2303
+f 2303 2358 2359
+f 2303 2359 2304
+f 2304 2359 2311
+f 2304 2311 2306
+f 2305 2306 2311
+f 2305 2311 2310
+f 2307 2360 2361
+f 2307 2361 2308
+f 2307 2315 2360
+f 2308 2318 2317
+f 2308 2361 2318
+f 2311 2359 2312
+f 2312 2359 2313
+f 2313 2359 2314
+f 2314 2359 2315
+f 2315 2359 2358
+f 2315 2358 2362
+f 2315 2362 2363
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+f 2316 2318 2320
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+f 2318 2360 2364
+f 2318 2364 2365
+f 2318 2365 2366
+f 2318 2366 2320
+f 2319 2320 2367
+f 2319 2367 2368
+f 2319 2368 2321
+f 2320 2366 2367
+f 2321 2368 2369
+f 2321 2369 2370
+f 2321 2370 2322
+f 2322 2370 2371
+f 2322 2371 2325
+f 2322 2325 2324
+f 2322 2324 2323
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+f 2327 2329 2368
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+f 2329 2346 2374
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+f 2330 2376 2377
+f 2330 2377 2375
+f 2331 2368 2367
+f 2332 2375 2335
+f 2332 2335 2378
+f 2332 2378 2333
+f 2333 2378 2335
+f 2333 2335 2334
+f 2335 2379 2380
+f 2335 2380 2381
+f 2335 2381 2382
+f 2335 2382 2336
+f 2335 2375 2377
+f 2335 2377 2379
+f 2336 2382 2348
+f 2336 2348 2337
+f 2337 2348 2383
+f 2337 2383 2338
+f 2338 2383 2339
+f 2339 2383 2340
+f 2340 2383 2347
+f 2340 2347 2341
+f 2341 2347 2343
+f 2341 2343 2342
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+f 2348 2382 2349
+f 2349 2382 2381
+f 2349 2381 2380
+f 2349 2380 2350
+f 2350 2380 2384
+f 2350 2384 2351
+f 2351 2384 2385
+f 2351 2385 2352
+f 2352 2385 2353
+f 2353 2385 2386
+f 2353 2386 2354
+f 2354 2386 2387
+f 2354 2387 2355
+f 2355 2387 2356
+f 2356 2387 2363
+f 2356 2363 2362
+f 2356 2362 2357
+f 2357 2362 2358
+f 2360 2363 2388
+f 2360 2388 2364
+f 2363 2387 2386
+f 2363 2386 2389
+f 2363 2389 2388
+f 2364 2388 2365
+f 2365 2388 2389
+f 2365 2389 2390
+f 2365 2390 2391
+f 2365 2391 2366
+f 2366 2391 2376
+f 2366 2376 2367
+f 2370 2374 2372
+f 2370 2372 2371
+f 2372 2374 2373
+f 2376 2391 2377
+f 2377 2391 2392
+f 2377 2392 2379
+f 2379 2392 2384
+f 2379 2384 2380
+f 2384 2392 2393
+f 2384 2393 2385
+f 2385 2393 2390
+f 2385 2390 2386
+f 2386 2390 2389
+f 2390 2393 2391
+f 2391 2393 2392
+
diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_7.obj b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68e0ed76c1e64c66c9b9fb2e802099c18bec3df6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_7.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.01094036 -0.00731089 -0.00026951
+v 0.01096771 -0.00731089 -0.00026951
+v -0.01055006 -0.00731087 -0.00631309
+v -0.01055864 -0.02405702 -0.00631315
+v -0.01056507 -0.03932639 -0.00631320
+v -0.01055864 -0.04314636 -0.00631322
+v -0.01056722 -0.04314638 -0.00026964
+v 0.01057741 -0.04314636 -0.00631889
+v 0.01058385 -0.03932639 -0.00631320
+v 0.01058170 -0.02023704 -0.00631313
+v 0.01057956 -0.01259709 -0.00631311
+v 0.01057741 -0.00731087 -0.00631309
+v 0.01056669 -0.04314638 -0.00026964
+v 0.01057741 -0.04314636 -0.00631322
+v -0.01045785 -0.00731087 -0.00675153
+v -0.01015119 -0.00731086 -0.00819061
+v -0.01016191 -0.03742165 -0.00819072
+v -0.01016191 -0.04124163 -0.00819073
+v -0.01015976 -0.04314635 -0.00819074
+v 0.01017425 -0.04314635 -0.00819452
+v 0.01017854 -0.03932638 -0.00819072
+v 0.01018068 -0.02595822 -0.00819068
+v 0.01018068 -0.01450532 -0.00819063
+v 0.01027290 -0.00731086 -0.00775123
+v -0.00952714 -0.00731086 -0.00932544
+v -0.00953357 -0.03550992 -0.00933026
+v -0.00953357 -0.04314635 -0.00932273
+v -0.00953357 -0.03742165 -0.00933027
+v -0.00953357 -0.03932638 -0.00932932
+v 0.00953090 -0.04314635 -0.00933596
+v 0.00953519 -0.04124163 -0.00933595
+v 0.00953734 -0.03932638 -0.00933783
+v 0.00953948 -0.02595822 -0.00933968
+v 0.00953948 -0.02214526 -0.00934060
+v 0.00953948 -0.02023703 -0.00934059
+v 0.00953948 -0.00731086 -0.00933961
+v 0.01017854 -0.00731086 -0.00819061
+v -0.00837126 -0.00731085 -0.00971757
+v -0.00837126 -0.03550991 -0.00972334
+v -0.00837341 -0.04314634 -0.00972053
+v -0.00953143 -0.04124163 -0.00932839
+v -0.00837126 -0.03742164 -0.00972335
+v -0.00837126 -0.04124162 -0.00972241
+v 0.00836216 -0.04314634 -0.00973093
+v 0.00836216 -0.03550991 -0.00973184
+v 0.00836216 -0.01642055 -0.00973272
+v 0.00836216 -0.00731085 -0.00973269
+v -0.00650985 -0.00731085 -0.00991505
+v -0.00650985 -0.04314634 -0.00992180
+v 0.00835573 -0.04314634 -0.00973187
+v 0.00650289 -0.04314634 -0.00992180
+v 0.00650289 -0.00731085 -0.00991505
+v -0.00279131 -0.00731085 -0.00991789
+v -0.00279131 -0.01068533 -0.00991884
+v -0.00465058 -0.04314634 -0.00992274
+v -0.00093204 -0.00877710 -0.00991883
+v -0.00093204 -0.00731085 -0.00991789
+f 1 2 12
+f 1 12 24
+f 1 24 37
+f 1 37 36
+f 1 36 47
+f 1 47 52
+f 1 52 57
+f 1 57 53
+f 1 53 48
+f 1 48 38
+f 1 38 25
+f 1 25 16
+f 1 16 15
+f 1 15 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 13
+f 1 13 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 13 14
+f 2 14 8
+f 3 15 4
+f 4 15 16
+f 4 16 5
+f 5 17 18
+f 5 18 19
+f 5 19 6
+f 5 16 17
+f 6 19 27
+f 6 27 40
+f 6 40 49
+f 6 49 55
+f 6 55 51
+f 6 51 50
+f 6 50 44
+f 6 44 30
+f 6 30 20
+f 6 20 8
+f 6 8 14
+f 6 14 13
+f 6 13 7
+f 8 20 9
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 10
+f 10 23 24
+f 10 24 11
+f 11 24 12
+f 16 25 17
+f 17 26 28
+f 17 28 18
+f 17 25 26
+f 18 27 19
+f 18 28 29
+f 18 29 27
+f 20 30 31
+f 20 31 32
+f 20 32 21
+f 21 32 33
+f 21 33 22
+f 22 33 34
+f 22 34 35
+f 22 35 23
+f 23 35 36
+f 23 36 37
+f 23 37 24
+f 25 38 26
+f 26 38 39
+f 26 39 42
+f 26 42 28
+f 27 29 41
+f 27 41 40
+f 28 42 43
+f 28 43 29
+f 29 43 40
+f 29 40 41
+f 30 44 32
+f 30 32 31
+f 32 44 34
+f 32 34 33
+f 34 44 45
+f 34 45 46
+f 34 46 47
+f 34 47 35
+f 35 47 36
+f 38 48 39
+f 39 48 49
+f 39 49 42
+f 40 43 49
+f 42 49 43
+f 44 50 45
+f 45 50 51
+f 45 51 46
+f 46 51 47
+f 47 51 52
+f 48 53 54
+f 48 54 49
+f 49 54 55
+f 51 55 56
+f 51 56 52
+f 52 56 57
+f 53 57 56
+f 53 56 54
+f 54 56 55
+
diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_8.obj b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5192fac1794c143304a811517e660b9f92789abd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_8.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.01091361 0.00578432 -0.00313778
+v 0.01083694 0.00268485 -0.00313779
+v 0.01057922 -0.00731087 -0.00587518
+v 0.01057709 -0.00731087 -0.00631423
+v 0.01066868 0.00578434 -0.00737164
+v -0.00734330 0.00578432 -0.00313778
+v 0.01058349 -0.00731088 -0.00399786
+v 0.01058349 -0.00731087 -0.00443623
+v 0.01057922 -0.00731088 -0.00313783
+v 0.01018095 -0.00731086 -0.00819088
+v 0.01050468 0.00578434 -0.00814800
+v -0.01072547 0.00578432 -0.00363907
+v -0.01084474 0.00578048 -0.00313778
+v -0.01053166 -0.00731088 -0.00313783
+v 0.00986147 0.00578435 -0.00976698
+v 0.01013196 0.00578434 -0.00928109
+v 0.00953987 -0.00731086 -0.00934004
+v -0.01057000 0.00578433 -0.00631418
+v -0.01045925 0.00578434 -0.00817812
+v -0.01084048 0.00453838 -0.00313778
+v -0.01080641 0.00241951 -0.00313779
+v -0.01055083 -0.00731087 -0.00631423
+v 0.00836207 -0.00731085 -0.00973290
+v 0.00693721 -0.00731085 -0.00987278
+v 0.00650273 -0.00731085 -0.00991495
+v 0.00836207 0.00578435 -0.00990820
+v -0.00985224 0.00578435 -0.00975895
+v -0.01015042 -0.00731086 -0.00819088
+v 0.00650273 0.00578435 -0.00991958
+v -0.00093251 -0.00731085 -0.00991829
+v -0.00766917 0.00578435 -0.00997513
+v -0.00936238 0.00578435 -0.00992560
+v -0.00952851 -0.00731086 -0.00932598
+v -0.01000559 -0.00731086 -0.00845659
+v -0.00279185 -0.00731085 -0.00991762
+v -0.00421671 -0.00731085 -0.00991695
+v -0.00607605 -0.00731085 -0.00991561
+v -0.00651267 -0.00731085 -0.00991495
+v -0.00837201 -0.00731085 -0.00971818
+v -0.00793752 -0.00731085 -0.00976436
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 16
+f 1 16 15
+f 1 15 26
+f 1 26 29
+f 1 29 31
+f 1 31 32
+f 1 32 27
+f 1 27 19
+f 1 19 18
+f 1 18 12
+f 1 12 6
+f 1 6 13
+f 1 13 20
+f 1 20 21
+f 1 21 14
+f 1 14 9
+f 1 9 2
+f 2 7 8
+f 2 8 3
+f 2 9 7
+f 3 8 7
+f 3 7 9
+f 3 9 14
+f 3 14 22
+f 3 22 28
+f 3 28 34
+f 3 34 33
+f 3 33 39
+f 3 39 40
+f 3 40 38
+f 3 38 37
+f 3 37 36
+f 3 36 35
+f 3 35 30
+f 3 30 25
+f 3 25 24
+f 3 24 23
+f 3 23 17
+f 3 17 10
+f 3 10 4
+f 4 10 5
+f 5 10 11
+f 6 12 13
+f 10 15 16
+f 10 16 11
+f 10 17 15
+f 12 18 13
+f 13 18 19
+f 13 19 20
+f 14 21 22
+f 15 17 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 19 27 28
+f 19 28 22
+f 19 22 20
+f 20 22 21
+f 25 29 26
+f 25 30 31
+f 25 31 29
+f 27 32 33
+f 27 33 34
+f 27 34 28
+f 30 35 31
+f 31 35 36
+f 31 36 37
+f 31 37 38
+f 31 38 32
+f 32 39 33
+f 32 38 40
+f 32 40 39
+
diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_9.obj b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f62576b2961dbad4c71ed9a960e09a2f31e91d7a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/mesh/stapler_028_collision_9.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00649407 0.00710498 -0.01439439
+v -0.00649407 0.00710498 -0.01339439
+v -0.00649407 0.04259235 -0.01439439
+v -0.00649407 0.04259235 -0.01339439
+v 0.00474490 0.00710498 -0.01439439
+v 0.00474490 0.00710498 -0.01339439
+v 0.00474490 0.04259235 -0.01439439
+v 0.00474490 0.04259235 -0.01339439
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/stapler_028.xml b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/stapler_028.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f5e39fde12add6158a46673706fcff7f43698627
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mjcf/stapler_028.xml
@@ -0,0 +1,46 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stapler_028">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/stapler_028.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stapler_028_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stapler_028_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stapler_028_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stapler_028_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stapler_028_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/stapler_028_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stapler_028_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/stapler_028_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/stapler_028_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/stapler_028_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/stapler_028_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/stapler_028_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/stapler_028_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/stapler_028_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/stapler_028_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/stapler_028_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stapler_028">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/stapler_028.urdf b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/stapler_028.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..152e2e975a786daac9c2d2f19b2ebc1804c18818
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/stapler_028.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_028">
+   <link name="stapler_028">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stapler_028.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stapler_028_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2250" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>428a6ec7df4f59a7995c030a275039dc</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>stapler</category>
+         <name>desktop stapler</name>
+         <color>gray,black</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>compact gray desktop stapler with rounded top and black base</description>
+         <min_height>0.0600</min_height>
+         <max_height>0.0600</max_height>
+         <real_height>0.0600</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611151025</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.020982 -0.060116 -0.027801</min>
+            <max>0.020973 0.055885 0.032199</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>11</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/stapler_028.usd b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/stapler_028.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/stapler_028.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53ac1b34747846e67c53dbe550aa841c63fd15122d7750c8194467be75aaa0ef
+size 4855803
diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/textures/material_0.png b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3711cda0039089511b6842c7c4ac6dde759ecb76d02c00600eed7ebecd4931f
+size 9014942
diff --git a/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/video.mp4 b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e583e6d0e55ec96f8215216edc8d423a9536dbe6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd41f7666fd0d36e0f261ba271a2420b55d6695e9c8800e085ac01c589384f36
+size 201287