diff --git a/.gitattributes b/.gitattributes
index 22a27b1423415c66d6d88101688625e508a07a4f..64450b60afff86dc3ca5504adc87dfd493ed11a7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3205,3 +3205,5 @@ dataset/desktop_supplies/office_stationery/955680a2de33595880995f90e4c2f6c9/9556
 dataset/desktop_supplies/office_stationery/955680a2de33595880995f90e4c2f6c9/mesh/pen.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/955680a2de33595880995f90e4c2f6c9/mesh/pen_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/9645b5c681155ab8823d6e5f132e7dc6/9645b5c681155ab8823d6e5f132e7dc6.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mesh/stapler_037.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/stapler_037.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3d218f2394f39b86ccbddbd1074c0f4e03b3dbe4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stapler_037_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_037_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..de9125e62eb31d88a7fcec58005b627727717af9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mesh/stapler_037.glb b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mesh/stapler_037.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ffd8eb9808dce29c0df45b89f541411053133c29
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mesh/stapler_037.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6f56801b604746f9b33224cec85bd71a09d54524cdc50af231c5f73b8735dd9
+size 12771628
diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mesh/stapler_037.mtl b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mesh/stapler_037.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ebc6c080ab47cc6b21957a2c8786d1a344b1b503
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mesh/stapler_037.mtl
@@ -0,0 +1,6 @@
+newmtl stapler_037_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/94df61d6fe1a5eca8a941cd2df2c98ca/mesh/stapler_037.obj b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mesh/stapler_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b80bdf7bb6598c0f6fcfb3e466b367838eed3e32
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mesh/stapler_037.obj
@@ -0,0 +1,112380 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stapler_037_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mesh/stapler_037_collision.obj b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mesh/stapler_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..540a320e2bcfd4fbed878ab13841f9b92342a4f7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mesh/stapler_037_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mesh/stapler_037_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mesh/stapler_037_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037.obj b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037.obj
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diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision.obj b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c28c9d366f4be96b4c66935ff3f7f203edc7926
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision.obj
@@ -0,0 +1,8757 @@
+# https://github.com/mikedh/trimesh
+
+o stapler_037_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_0.obj b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ff36d1a0c9d1e0bbfbff1a5c617466a51f6e8ef
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_0.obj
@@ -0,0 +1,1078 @@
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diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_1.obj b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d3d4cbbb73b96dabbfe7161d0a110e802ad0bf6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_10.obj b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d746824ba556087fc51b37c9ebcd2d984f3ac1d1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_11.obj b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1709c776684a771745c05c9256bc6c62fdbe4882
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_11.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_12.obj b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79ac31f1b5d3e9726e6d52aa2f6918508099df05
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_12.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_13.obj b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc811e98301c6858d902a76ad8792da2e48c78f4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_13.obj
@@ -0,0 +1,598 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_14.obj b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8adab5bff1484e6e3dfe90e368e3088080b56581
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_14.obj
@@ -0,0 +1,850 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_15.obj b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc303c49503e847f46380caebc5879477ddbc2d8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_15.obj
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diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_2.obj b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..921d5dbb99e37e9373160dc1bd18349e188b8f2b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_2.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.00108240 -0.03952590 0.00145048
+v 0.00108381 -0.03952589 -0.00016197
+v 0.00143356 -0.04047488 0.00145048
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+v 0.00112425 -0.03964032 0.00287232
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+v 0.00143498 -0.04047150 -0.00016197
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+v 0.00239766 -0.04061285 0.00145048
+v 0.00239766 -0.04061285 0.00287232
+v 0.00784670 -0.00625459 0.00287245
+v 0.00221605 -0.00625457 -0.00177429
+v 0.00137184 -0.03841202 -0.00293715
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+v 0.00749412 -0.00625457 -0.00205174
+v 0.00653783 -0.03787695 -0.00425662
+v 0.00548576 -0.00625456 -0.00428403
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+
diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_3.obj b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..069fa848435ff2564a6a5e9c65f2d00723c2e524
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_3.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.00835876 -0.03787731 0.00287233
+v -0.00835733 -0.03787731 0.00145100
+v -0.00817862 -0.03904166 0.00145100
+v -0.00817933 -0.03904166 0.00287233
+v -0.00824626 -0.00625459 0.00287245
+v -0.00835449 -0.03787730 -0.00016229
+v -0.00817648 -0.03903829 -0.00016229
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+v -0.00751432 -0.03976854 0.00287232
+v -0.00200196 -0.00625459 0.00287245
+v -0.00765530 -0.00625457 -0.00177404
+v -0.00828756 -0.03787729 -0.00177416
+v -0.00814302 -0.03897434 -0.00177416
+v -0.00741748 -0.03986276 -0.00016230
+v -0.00662288 -0.04046850 0.00145099
+v -0.00732991 -0.03994017 0.00287232
+v -0.00742460 -0.03986614 0.00287232
+v -0.00108489 -0.03952625 0.00287232
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+v -0.00225116 -0.00625457 -0.00177404
+v -0.00706219 -0.00625457 -0.00310009
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+v -0.00806897 -0.03884310 -0.00274735
+v -0.00736622 -0.03979881 -0.00177417
+v -0.00656735 -0.04044493 -0.00177417
+v -0.00661861 -0.04046513 -0.00016230
+v -0.00662573 -0.04046850 0.00287232
+v -0.00558905 -0.04060310 -0.00016230
+v -0.00571223 -0.04059302 0.00287232
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+v -0.00693688 -0.00625457 -0.00337956
+v -0.00733347 -0.03787729 -0.00362527
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+
diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_4.obj b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8182bd58a62b7f8065365b4a50b12aae7f5b15a1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_4.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.01039556 -0.00625460 0.00454707
+v 0.01038281 -0.00625460 0.00454707
+v -0.00824572 -0.00625459 0.00287245
+v -0.00835759 -0.03787718 0.00287233
+v -0.00837996 -0.03787719 0.00454695
+v 0.00834890 -0.03787719 0.00454695
+v 0.00832856 -0.03787718 0.00287233
+v 0.00784653 -0.00625459 0.00287245
+v -0.00833725 -0.03801522 0.00287233
+v -0.00817860 -0.03904215 0.00287233
+v -0.00818877 -0.03904553 0.00454695
+v 0.00817602 -0.03902195 0.00454695
+v 0.00816585 -0.03902194 0.00287233
+v 0.00818619 -0.03888390 0.00287233
+v -0.00751352 -0.03976941 0.00287232
+v -0.00742402 -0.03986705 0.00287232
+v -0.00742809 -0.03987043 0.00454694
+v 0.00811500 -0.03908930 0.00454695
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+v -0.00662673 -0.04046974 0.00306411
+v -0.00662877 -0.04047985 0.00454694
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+v -0.00558944 -0.04060779 0.00287232
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+v 0.00559093 -0.04062463 0.00454694
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+v 0.00399431 -0.04062799 0.00287232
+v 0.00399431 -0.04064483 0.00454694
+v 0.00540178 -0.04060779 0.00287232
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+f 34 39 35
+
diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_5.obj b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50f1730977f455b6b1b8dcfbeb49119457bf1925
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_5.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.00986871 0.03469538 -0.00781121
+v -0.00985729 0.03469537 -0.00661287
+v -0.00969919 0.03634269 -0.00674011
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+v -0.00970580 0.01490659 -0.00553157
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diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_6.obj b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3970b0b320fab32ea01b4452e15d48796b6eb4e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_6.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_7.obj b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a4cfe9b1d3e0de7173ee304814d5d7cb45d9253
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_7.obj
@@ -0,0 +1,1774 @@
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diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_8.obj b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7de2bbb10f38c1f0f07e7fa5766da0d0051e295
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_8.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_9.obj b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9abc8306d94f214b3cef7ba5485f40a7a8ac1b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/mesh/stapler_037_collision_9.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/stapler_037.xml b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/stapler_037.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0fe94ecdbb20fd2fcbe0cfc27bd124ecbcb29def
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mjcf/stapler_037.xml
@@ -0,0 +1,46 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stapler_037">
+  <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_037.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stapler_037_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stapler_037_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stapler_037_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stapler_037_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stapler_037_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/stapler_037_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stapler_037_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/stapler_037_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/stapler_037_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/stapler_037_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/stapler_037_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/stapler_037_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/stapler_037_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/stapler_037_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/stapler_037_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/stapler_037_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stapler_037">
+      <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/94df61d6fe1a5eca8a941cd2df2c98ca/stapler_037.urdf b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/stapler_037.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..605b41167084157c7b6e37d9cd0e62f23b561f90
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/stapler_037.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_037">
+   <link name="stapler_037">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stapler_037.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_037_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>94df61d6fe1a5eca8a941cd2df2c98ca</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>stapler</category>
+         <name>desktop stapler</name>
+         <color>gray</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>gray desktop stapler with rounded top and rectangular base</description>
+         <min_height>0.0468</min_height>
+         <max_height>0.0468</max_height>
+         <real_height>0.0468</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611151349</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.016994 -0.050774 -0.021044</min>
+            <max>0.016997 0.049226 0.025710</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/stapler_037.usd b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/stapler_037.usd
new file mode 100644
index 0000000000000000000000000000000000000000..6cc662629dbf88da8b76c06095757ba1c193328b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/stapler_037.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8090f217a97a0264b868c11344df19631c66dd187539505ed9819d337161c523
+size 4895975
diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/textures/material_0.png b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..de9125e62eb31d88a7fcec58005b627727717af9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9473909
diff --git a/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/video.mp4 b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..266885de6a87492d80865a48c1c40ad43b1684d1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d7b82a39604b65c6e875791372b27cb5e86d337148cae762e272f00680a00df
+size 302041