diff --git a/.gitattributes b/.gitattributes
index 09c16c9db7ebaf98d4a8f0232df207d769ee4ee6..cf14c7ed1b240f5d34e25908a4ddadb6056fc556 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3217,3 +3217,5 @@ dataset/desktop_supplies/office_stationery/9f8c55f225ab5838a82b30ebefcf5a2c/note
 dataset/desktop_supplies/office_stationery/a31529328e585ae594523771b2e5a4d9/a31529328e585ae594523771b2e5a4d9.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/a31529328e585ae594523771b2e5a4d9/mesh/book.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/a31529328e585ae594523771b2e5a4d9/mesh/book_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mesh/stapler_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/stapler_025.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5a81eff00f35636a3427140c3a5f2bfbe80f1b9b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stapler_025_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mesh/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/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/a03b7ca4ca6e50a995e38f4d996b1216/mesh/stapler_025.glb b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mesh/stapler_025.glb
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mesh/stapler_025.glb
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diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mesh/stapler_025.mtl b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mesh/stapler_025.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..802500228738f5675cafc48e4505a9a57e7ff5dd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mesh/stapler_025.mtl
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+newmtl stapler_025_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mesh/stapler_025.obj b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mesh/stapler_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..970362d33fb30a1bff914df7568dbf3cdcb5f33e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mesh/stapler_025.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mesh/stapler_025_collision.obj b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mesh/stapler_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7231dc283ba55d0f9aad516f64f13fdaf3db357
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mesh/stapler_025_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025.obj b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13d77c46194816d35a42ceaf893d0b6fee7de631
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025.obj
@@ -0,0 +1,108736 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision.obj b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8386f69ed7702b7118ab3c206a2cae76b81d238f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision.obj
@@ -0,0 +1,11599 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_0.obj b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23fb9dcabfb9cfb561ae5366413dfa8129785d41
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_1.obj b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebe5913a6fe8038630c73e059931bcdd3db32753
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_10.obj b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e273e39bb8c605267b083a922f8fc1ff17d306b
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_11.obj b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..885778d732a7df9dcd0edb5a3738aea99eb7769c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_11.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_12.obj b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81a4cdee53a44dd31fe1a7848d25a9d0418d12a7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_12.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.00772263 -0.00480786 -0.00064044
+v 0.01209101 -0.01278245 -0.00064047
+v 0.01125082 -0.01152316 -0.00501080
+v 0.00770052 -0.00480786 -0.00102246
+v -0.00771675 -0.00480786 -0.00064044
+v 0.01278275 -0.01470527 -0.00064047
+v 0.00752048 -0.00480785 -0.00378087
+v 0.00759313 -0.00480785 -0.00277855
+v 0.00760892 -0.00480785 -0.00255225
+v 0.01475058 -0.02047129 -0.00064050
+v 0.01552760 -0.02337973 -0.00064051
+v 0.01135505 -0.01233200 -0.00501081
+v 0.00687296 -0.00480784 -0.00501078
+v 0.00712565 -0.00480784 -0.00472159
+v -0.00760304 -0.00480785 -0.00255225
+v -0.01115334 -0.01121076 -0.00501080
+v -0.01209145 -0.01277277 -0.00064047
+v 0.01583715 -0.02621310 -0.00064052
+v 0.01582767 -0.02621310 -0.00067132
+v 0.01534756 -0.02954532 -0.00202444
+v 0.01140243 -0.01281876 -0.00501081
+v -0.00688287 -0.00480784 -0.00501078
+v -0.00751459 -0.00480785 -0.00378558
+v -0.01125125 -0.01150379 -0.00501080
+v -0.01453307 -0.01964792 -0.00064049
+v -0.01278319 -0.01470285 -0.00064047
+v -0.00720821 -0.00480784 -0.00455048
+v -0.00712924 -0.00480784 -0.00472630
+v 0.01602982 -0.02815770 -0.00064052
+v 0.01602035 -0.02812622 -0.00067132
+v 0.01613090 -0.02954533 -0.00067133
+v 0.01174672 -0.02954531 -0.00501087
+v 0.01174672 -0.02945086 -0.00501087
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+v -0.01537326 -0.02261448 -0.00064050
+v -0.01496896 -0.02107913 -0.00064050
+v 0.01613722 -0.02954533 -0.00064053
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+v -0.01601446 -0.02812622 -0.00067132
+v -0.01602078 -0.02809474 -0.00064052
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+
diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_13.obj b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71e12422bb9fe7949f018bc893649b8dbf3f66be
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_13.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.00501260 -0.03773335 -0.00994407
+v -0.01148991 -0.03773335 -0.00994407
+v -0.00503083 -0.03773336 -0.00743946
+v 0.00271083 -0.04060467 -0.00807273
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+v -0.01149832 -0.03773336 -0.00743946
+v 0.00270942 -0.04070823 -0.00743947
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+v -0.01146748 -0.04496437 -0.00743949
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+v -0.01007278 -0.04697146 -0.00743949
+v -0.00993962 -0.04675398 -0.00994410
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+
diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_14.obj b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9971fa0facb60e62286771b1419c055aac8e11c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_14.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.01241838 -0.04010146 -0.00501091
+v -0.01154232 -0.03960739 -0.00743947
+v -0.01154353 -0.04010145 -0.00743947
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+v -0.00654440 -0.00827421 -0.00743935
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+
diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_15.obj b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2676cc41a281719b51134d2905eeede8bbd4edd3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_15.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.00271081 -0.04720811 -0.00743949
+v 0.00271081 -0.04650913 -0.00954865
+v 0.00650808 -0.04699897 -0.00994410
+v 0.00836521 -0.04720151 -0.00994410
+v 0.00836521 -0.04735600 -0.00743949
+v 0.00271081 -0.04070823 -0.00743947
+v 0.00271081 -0.04649217 -0.00958886
+v 0.00271081 -0.04633580 -0.00994410
+v 0.00847532 -0.04717419 -0.00994410
+v 0.00915437 -0.04721470 -0.00743949
+v 0.00504073 -0.03773336 -0.00743946
+v 0.00271168 -0.04060461 -0.00807273
+v 0.00271081 -0.04098800 -0.00994408
+v 0.00996364 -0.04675688 -0.00994410
+v 0.01009124 -0.04697637 -0.00743949
+v 0.01150353 -0.03773336 -0.00743946
+v 0.00503549 -0.03773335 -0.00994407
+v 0.01082710 -0.04583747 -0.00994410
+v 0.01065318 -0.04636972 -0.00743949
+v 0.01154286 -0.03846531 -0.00743946
+v 0.01149654 -0.03773335 -0.00994407
+v 0.01089264 -0.04576588 -0.00994410
+v 0.01123261 -0.04553415 -0.00743949
+v 0.01159442 -0.04037947 -0.00743947
+v 0.01149654 -0.04152306 -0.00994408
+v 0.01163899 -0.04229270 -0.00743948
+v 0.01092323 -0.04569806 -0.00994410
+v 0.01147818 -0.04498120 -0.00743949
+v 0.01146071 -0.04343629 -0.00994409
+v 0.01161627 -0.04343630 -0.00743948
+v 0.01128854 -0.04480974 -0.00994409
+v 0.01144934 -0.04352860 -0.00994409
+v 0.01156907 -0.04422287 -0.00743948
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 15
+f 1 15 19
+f 1 19 23
+f 1 23 28
+f 1 28 33
+f 1 33 30
+f 1 30 26
+f 1 26 24
+f 1 24 20
+f 1 20 16
+f 1 16 11
+f 1 11 6
+f 1 6 13
+f 1 13 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 13
+f 3 13 17
+f 3 17 21
+f 3 21 25
+f 3 25 29
+f 3 29 32
+f 3 32 31
+f 3 31 27
+f 3 27 22
+f 3 22 18
+f 3 18 14
+f 3 14 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 6 11 12
+f 6 12 13
+f 9 14 15
+f 9 15 10
+f 11 16 21
+f 11 21 17
+f 11 17 12
+f 12 17 13
+f 14 18 15
+f 15 18 19
+f 16 20 21
+f 18 22 19
+f 19 22 23
+f 20 24 21
+f 21 24 26
+f 21 26 25
+f 22 27 23
+f 23 27 28
+f 25 26 29
+f 26 30 29
+f 27 31 28
+f 28 31 32
+f 28 32 29
+f 28 29 33
+f 29 30 33
+
diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_16.obj b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb35f64d44a7736c4b4f187fa0614b6e0e540a50
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_16.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.01149929 -0.03773036 -0.00743946
+v -0.01149155 -0.03195388 -0.00994405
+v -0.01149069 -0.03773035 -0.00994407
+v -0.00503130 -0.03773036 -0.00743946
+v -0.01145201 -0.01281805 -0.00743937
+v -0.01149327 -0.01281804 -0.00994398
+v -0.00501325 -0.03773035 -0.00994407
+v -0.00361890 -0.03103566 -0.00743943
+v -0.01131189 -0.01089456 -0.00743936
+v -0.01146920 -0.01089455 -0.00994397
+v -0.00345643 -0.03003941 -0.00743943
+v -0.00271713 -0.01247595 -0.00994398
+v -0.00271713 -0.01281804 -0.00987705
+v -0.00271713 -0.01477754 -0.00948429
+v -0.00271713 -0.01598985 -0.00923252
+v -0.00271713 -0.01602286 -0.00922369
+v -0.00271713 -0.01855850 -0.00854190
+v -0.01117950 -0.01012937 -0.00743936
+v -0.01123022 -0.00974527 -0.00853868
+v -0.01129727 -0.00945719 -0.00994396
+v -0.00271713 -0.02058102 -0.00743940
+v -0.00271713 -0.02044598 -0.00768383
+v -0.00271713 -0.00973326 -0.00994397
+v -0.01097233 -0.00974527 -0.00743936
+v -0.01091129 -0.00858096 -0.00994396
+v -0.00271713 -0.00884204 -0.00743935
+v -0.00348566 -0.00895906 -0.00994396
+v -0.00271713 -0.00907009 -0.00977038
+v -0.01026226 -0.00906109 -0.00743935
+v -0.00991754 -0.00755470 -0.00994396
+v -0.01075656 -0.00840992 -0.00994396
+v -0.01084768 -0.00850294 -0.00994396
+v -0.00271713 -0.00872501 -0.00819053
+v -0.00650216 -0.00738666 -0.00994396
+v -0.00384069 -0.00858998 -0.00743935
+v -0.00517143 -0.00788479 -0.00994396
+v -0.00271713 -0.00872501 -0.00825428
+v -0.00835986 -0.00816987 -0.00743935
+v -0.00959517 -0.00783678 -0.00869778
+v -0.00847849 -0.00709859 -0.00994396
+v -0.00522301 -0.00786078 -0.00994396
+v -0.00835986 -0.00708058 -0.00994396
+v -0.00464704 -0.00847295 -0.00743935
+v -0.00654514 -0.00827190 -0.00743935
+v -0.00557202 -0.00834691 -0.00743935
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 11
+f 1 11 21
+f 1 21 26
+f 1 26 35
+f 1 35 43
+f 1 43 45
+f 1 45 44
+f 1 44 38
+f 1 38 29
+f 1 29 24
+f 1 24 18
+f 1 18 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 20
+f 2 20 25
+f 2 25 32
+f 2 32 31
+f 2 31 30
+f 2 30 40
+f 2 40 42
+f 2 42 34
+f 2 34 41
+f 2 41 36
+f 2 36 27
+f 2 27 23
+f 2 23 12
+f 2 12 7
+f 2 7 3
+f 4 7 8
+f 5 9 10
+f 5 10 6
+f 7 11 8
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 11
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 11 17 22
+f 11 22 21
+f 12 23 28
+f 12 28 37
+f 12 37 33
+f 12 33 26
+f 12 26 21
+f 12 21 22
+f 12 22 17
+f 12 17 16
+f 12 16 15
+f 12 15 14
+f 12 14 13
+f 18 24 19
+f 19 24 25
+f 19 25 20
+f 23 27 28
+f 24 29 30
+f 24 30 31
+f 24 31 32
+f 24 32 25
+f 26 33 34
+f 26 34 35
+f 27 36 28
+f 28 36 37
+f 29 38 39
+f 29 39 30
+f 30 39 40
+f 33 37 34
+f 34 37 41
+f 34 42 35
+f 35 42 43
+f 36 41 37
+f 38 44 42
+f 38 42 40
+f 38 40 39
+f 42 44 45
+f 42 45 43
+
diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_17.obj b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dfe3c4bd1f4f04ebb27df5effd7662064d41015
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_17.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00002248 -0.02071904 -0.00621823
+v 0.00179520 -0.03108743 -0.00501087
+v -0.00002248 -0.02039427 -0.00501083
+v -0.00002248 -0.02019387 -0.00743939
+v 0.00406853 -0.04010145 -0.00743947
+v 0.00403929 -0.04010146 -0.00501091
+v -0.00002248 -0.01846985 -0.00501083
+v -0.00002248 -0.00990841 -0.00743936
+v 0.01157684 -0.04010145 -0.00743947
+v 0.01242356 -0.04010146 -0.00501091
+v -0.00002248 -0.01078598 -0.00628855
+v 0.00216800 -0.00480887 -0.00501078
+v 0.00294283 -0.00480887 -0.00588084
+v 0.00433534 -0.00480887 -0.00622815
+v 0.00464965 -0.00480887 -0.00630137
+v 0.00106667 -0.00940744 -0.00743935
+v 0.01145502 -0.01358796 -0.00743937
+v 0.01145136 -0.01281750 -0.00743937
+v 0.01144527 -0.01281751 -0.00631447
+v 0.01140263 -0.01281751 -0.00501081
+v 0.00687547 -0.00480887 -0.00501078
+v 0.00619932 -0.00480887 -0.00579479
+v 0.00970190 -0.00877518 -0.00743935
+v 0.00836544 -0.00816710 -0.00743935
+v 0.00825335 -0.00815674 -0.00743935
+v 0.00654531 -0.00827075 -0.00743935
+v 0.00464965 -0.00847459 -0.00743935
+v 0.00269186 -0.00885464 -0.00743935
+v 0.01136364 -0.01145969 -0.00743936
+v 0.01135633 -0.01233036 -0.00501081
+v 0.01114435 -0.00998787 -0.00730552
+v 0.01115288 -0.00996369 -0.00743936
+v 0.01099572 -0.00978749 -0.00743936
+v 0.01026231 -0.00906885 -0.00743935
+v 0.01125278 -0.01152189 -0.00501080
+v 0.01097379 -0.01027465 -0.00631446
+v 0.01131126 -0.01091035 -0.00743936
+v 0.01129420 -0.01123168 -0.00631446
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 10
+f 2 10 20
+f 2 20 30
+f 2 30 35
+f 2 35 21
+f 2 21 12
+f 2 12 7
+f 2 7 3
+f 4 8 16
+f 4 16 28
+f 4 28 27
+f 4 27 26
+f 4 26 25
+f 4 25 24
+f 4 24 23
+f 4 23 34
+f 4 34 33
+f 4 33 32
+f 4 32 37
+f 4 37 29
+f 4 29 18
+f 4 18 17
+f 4 17 9
+f 4 9 5
+f 5 9 10
+f 5 10 6
+f 7 12 11
+f 8 12 13
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 11 12
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 12 21 22
+f 12 22 15
+f 12 15 14
+f 12 14 13
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 18 29 19
+f 19 29 20
+f 20 29 30
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 21 35 36
+f 21 36 31
+f 22 34 23
+f 29 37 30
+f 30 37 38
+f 30 38 35
+f 31 36 35
+f 31 35 32
+f 32 35 38
+f 32 38 37
+
diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_18.obj b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0688bb8c9a9c57d3a40190b9a21b3e09867b7fd3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_18.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.00271713 -0.02057839 -0.00743940
+v -0.00271713 -0.02044279 -0.00768383
+v 0.00279196 -0.02065905 -0.00743940
+v -0.00271713 -0.00883977 -0.00743935
+v 0.00279196 -0.02032706 -0.00774830
+v 0.00279196 -0.02045799 -0.00768138
+v -0.00271713 -0.01855727 -0.00854190
+v 0.00279196 -0.00884094 -0.00743935
+v 0.00279196 -0.00883276 -0.00748568
+v 0.00279034 -0.00871703 -0.00819593
+v -0.00271713 -0.00872521 -0.00819053
+v 0.00279196 -0.01855961 -0.00854557
+v -0.00271713 -0.01602181 -0.00922369
+v 0.00279196 -0.00871820 -0.00819985
+v 0.00279034 -0.00906887 -0.00977038
+v 0.00093205 -0.00905835 -0.00979980
+v -0.00271713 -0.00872287 -0.00825428
+v 0.00279034 -0.01599142 -0.00923326
+v 0.00279196 -0.01599259 -0.00923276
+v -0.00271713 -0.01598674 -0.00923252
+v 0.00279196 -0.00907004 -0.00977136
+v -0.00092625 -0.00905835 -0.00979956
+v 0.00279196 -0.00972816 -0.00994397
+v 0.00152416 -0.00964634 -0.00994397
+v 0.00093205 -0.00962529 -0.00994397
+v -0.00271713 -0.00906887 -0.00977038
+v -0.00271713 -0.01477454 -0.00948429
+v 0.00279196 -0.01473246 -0.00949361
+v -0.00092625 -0.00962646 -0.00994397
+v -0.00271713 -0.00973284 -0.00994397
+v 0.00279196 -0.01248338 -0.00994398
+v -0.00271713 -0.01281770 -0.00987705
+v 0.00247649 -0.01249507 -0.00994398
+v 0.00279196 -0.01282121 -0.00987803
+v -0.00271713 -0.01247403 -0.00994398
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 11
+f 1 11 17
+f 1 17 26
+f 1 26 30
+f 1 30 35
+f 1 35 32
+f 1 32 27
+f 1 27 20
+f 1 20 13
+f 1 13 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 5
+f 3 6 5
+f 3 5 12
+f 3 12 19
+f 3 19 28
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+f 3 34 31
+f 3 31 23
+f 3 23 21
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+f 3 9 8
+f 4 8 9
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+f 4 10 11
+f 5 7 12
+f 7 13 12
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 12 13 18
+f 12 18 19
+f 13 20 18
+f 14 21 15
+f 15 21 16
+f 16 22 17
+f 16 21 23
+f 16 23 24
+f 16 24 25
+f 16 25 22
+f 17 22 26
+f 18 20 27
+f 18 27 28
+f 18 28 19
+f 22 25 29
+f 22 29 30
+f 22 30 26
+f 23 31 33
+f 23 33 35
+f 23 35 30
+f 23 30 29
+f 23 29 25
+f 23 25 24
+f 27 32 33
+f 27 33 28
+f 28 33 34
+f 31 34 33
+f 32 35 33
+
diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_19.obj b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d953e7701d911dec7ac898ca1ad360fc91a828e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_19.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00279196 -0.02065932 -0.00743940
+v 0.00279196 -0.00884253 -0.00743935
+v 0.00279196 -0.02065332 -0.00744749
+v 0.00348528 -0.03003954 -0.00743943
+v 0.00464933 -0.00847644 -0.00743935
+v 0.00650754 -0.00737817 -0.00994396
+v 0.00634637 -0.00741418 -0.00994396
+v 0.00279196 -0.00883353 -0.00748568
+v 0.00279196 -0.02045828 -0.00768138
+v 0.00503564 -0.03773335 -0.00994407
+v 0.00367971 -0.03120082 -0.00743943
+v 0.00279196 -0.02032924 -0.00774830
+v 0.00279196 -0.01856183 -0.00854557
+v 0.00654677 -0.00827239 -0.00743935
+v 0.00836491 -0.00708110 -0.00994396
+v 0.00818241 -0.00710211 -0.00994396
+v 0.00521643 -0.00785528 -0.00994396
+v 0.00279196 -0.00871950 -0.00819985
+v 0.01149633 -0.03773335 -0.00994407
+v 0.00504075 -0.03773336 -0.00743946
+v 0.00279196 -0.01599622 -0.00923276
+v 0.00279196 -0.01473292 -0.00949361
+v 0.00279196 -0.01282146 -0.00987803
+v 0.00279196 -0.01248538 -0.00994398
+v 0.00825405 -0.00815536 -0.00743935
+v 0.00991527 -0.00755821 -0.00994396
+v 0.00836491 -0.00816737 -0.00743935
+v 0.00959633 -0.00784029 -0.00869680
+v 0.00348272 -0.00895955 -0.00994396
+v 0.00279196 -0.00907057 -0.00977136
+v 0.01150315 -0.03773336 -0.00743946
+v 0.01149718 -0.01295349 -0.00994398
+v 0.00279196 -0.00972773 -0.00994397
+v 0.00997667 -0.00761823 -0.00994396
+v 0.01026150 -0.00906758 -0.00743935
+v 0.00970207 -0.00877351 -0.00743935
+v 0.00305121 -0.00943366 -0.00994396
+v 0.01145540 -0.01358965 -0.00743937
+v 0.01149633 -0.01281846 -0.00994398
+v 0.01145199 -0.01281847 -0.00743937
+v 0.01084651 -0.00852144 -0.00994396
+v 0.01099575 -0.00978775 -0.00743936
+v 0.01147586 -0.01104204 -0.00994397
+v 0.01146734 -0.01089500 -0.00994397
+v 0.01136415 -0.01146215 -0.00743936
+v 0.01129763 -0.00947567 -0.00994396
+v 0.01115351 -0.00996479 -0.00743936
+v 0.01123197 -0.00975774 -0.00856001
+v 0.01131213 -0.01091002 -0.00743936
+v 0.01130531 -0.00953268 -0.00994397
+f 1 2 8
+f 1 8 18
+f 1 18 30
+f 1 30 33
+f 1 33 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 13
+f 1 13 12
+f 1 12 9
+f 1 9 3
+f 1 3 4
+f 1 4 11
+f 1 11 20
+f 1 20 31
+f 1 31 38
+f 1 38 40
+f 1 40 45
+f 1 45 49
+f 1 49 47
+f 1 47 42
+f 1 42 35
+f 1 35 36
+f 1 36 27
+f 1 27 25
+f 1 25 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 4 10 11
+f 4 9 12
+f 4 12 13
+f 4 13 10
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 15
+f 6 15 26
+f 6 26 34
+f 6 34 41
+f 6 41 46
+f 6 46 50
+f 6 50 44
+f 6 44 43
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+f 6 39 32
+f 6 32 19
+f 6 19 10
+f 6 10 24
+f 6 24 33
+f 6 33 37
+f 6 37 29
+f 6 29 17
+f 6 17 7
+f 7 17 18
+f 7 18 8
+f 10 19 31
+f 10 31 20
+f 10 20 11
+f 10 13 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 14 25 15
+f 15 25 27
+f 15 27 28
+f 15 28 26
+f 17 29 30
+f 17 30 18
+f 19 32 31
+f 26 28 35
+f 26 35 34
+f 27 36 28
+f 28 36 35
+f 29 37 30
+f 30 37 33
+f 31 32 38
+f 32 39 40
+f 32 40 38
+f 34 35 42
+f 34 42 41
+f 39 43 40
+f 40 43 44
+f 40 44 45
+f 41 42 47
+f 41 47 48
+f 41 48 46
+f 44 49 45
+f 44 50 49
+f 46 48 49
+f 46 49 50
+f 47 49 48
+
diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_2.obj b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4748a3d184e77bccbdeeab08036f856cc5d1c9f1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_2.obj
@@ -0,0 +1,2230 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_3.obj b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9321b5776a2575667f17e9ea00778fd62a1245b6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_4.obj b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4d71e2f6ff57399feb81c1e3c9cb306800adede
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_4.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_5.obj b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4547aa6cf434431783a1ad668913cfb63d54a234
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_5.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_6.obj b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc64b2a5dabda9e57a7d1032fbda65492759e587
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_6.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.00002061 -0.00480544 0.00033387
+v 0.00002061 -0.00480545 0.00168282
+v 0.00002061 -0.00414010 0.00032684
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+v 0.00712697 -0.00480542 -0.00472118
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+v 0.00748179 0.02162786 -0.00356986
+v 0.00747185 0.02354119 -0.00355031
+v 0.00745893 0.02545452 -0.00352921
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+v 0.00762093 0.03359650 0.00168296
+v 0.00145182 0.03359650 0.00168296
+v 0.00002061 0.02156018 0.00156100
+v 0.00433611 -0.00480542 -0.00622800
+v 0.00296950 -0.00324543 -0.00585363
+v 0.00002061 0.00664823 0.00033235
+v 0.00002061 0.01397452 0.00076770
+v 0.00002061 0.01483534 0.00082241
+v 0.00002061 0.01588786 0.00088963
+v 0.00002061 0.01971452 0.00114286
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+
diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_7.obj b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d58d6f2308b6e1ac1116e3b5fcf393483b4ba909
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_7.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+v 0.00184070 0.03359652 -0.00352766
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+v 0.00279075 0.04565062 -0.00067139
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+
diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_8.obj b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9b3f26356f1275e0063771c8a591bc710c660a2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_8.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.01242093 -0.04010146 -0.00501091
+v 0.01336617 -0.04535082 -0.00501093
+v 0.01157602 -0.04010145 -0.00743947
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+v -0.01343590 -0.04731089 -0.00501093
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+f 3 11 10
+f 3 10 17
+f 3 17 22
+f 3 22 24
+f 3 24 31
+f 3 31 35
+f 3 35 33
+f 3 33 27
+f 3 27 26
+f 3 26 21
+f 3 21 19
+f 3 19 14
+f 3 14 7
+f 4 7 8
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 7 14 8
+f 8 14 15
+f 9 16 10
+f 10 16 18
+f 10 18 17
+f 14 19 15
+f 15 19 21
+f 15 21 20
+f 17 18 22
+f 18 23 24
+f 18 24 22
+f 20 21 26
+f 20 26 27
+f 20 27 25
+f 23 28 24
+f 24 28 29
+f 24 29 30
+f 24 30 31
+f 25 27 32
+f 27 33 32
+f 30 34 35
+f 30 35 31
+f 32 33 36
+f 33 37 38
+f 33 38 39
+f 33 39 40
+f 33 40 41
+f 33 41 42
+f 33 42 43
+f 33 43 36
+f 33 35 44
+f 33 44 37
+f 34 45 35
+f 35 45 46
+f 35 46 47
+f 35 47 48
+f 35 48 44
+
diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_9.obj b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4de79ef875b2f6a59bc69366cab0f69dcd441781
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/mesh/stapler_025_collision_9.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.01018834 0.01845853 0.00558250
+v -0.00759030 0.01845854 0.00168291
+v 0.01021260 0.01845853 0.00558250
+v -0.00816941 0.04267720 0.00558259
+v -0.00797371 0.04267721 0.00168300
+v 0.00759259 0.01845854 0.00168291
+v 0.00796602 0.04267721 0.00168300
+v 0.00815573 0.04267720 0.00558259
+v -0.00775804 0.04426554 0.00558259
+v -0.00768216 0.04408341 0.00168300
+v -0.00789982 0.04303613 0.00168300
+v 0.00767846 0.04407270 0.00168300
+v 0.00795803 0.04363877 0.00558259
+v -0.00701517 0.04493247 0.00558260
+v -0.00662776 0.04503962 0.00168301
+v 0.00774236 0.04424678 0.00558259
+v 0.00662406 0.04502891 0.00168301
+v -0.00655387 0.04531281 0.00558260
+v -0.00569718 0.04559406 0.00168301
+v 0.00673589 0.04512532 0.00558260
+v 0.00592712 0.04545210 0.00168301
+v 0.00589916 0.04566101 0.00558260
+v -0.00590686 0.04567441 0.00558260
+v -0.00464278 0.04582172 0.00558260
+v -0.00464278 0.04564495 0.00168301
+v 0.00569548 0.04559138 0.00168301
+v 0.00535799 0.04578422 0.00558260
+v 0.00278990 0.04581636 0.00558260
+v 0.00278990 0.04564763 0.00168301
+v -0.00325090 0.04564763 0.00168301
+v 0.00464707 0.04563692 0.00168301
+v 0.00464707 0.04581369 0.00558260
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 13
+f 1 13 16
+f 1 16 20
+f 1 20 22
+f 1 22 27
+f 1 27 32
+f 1 32 28
+f 1 28 24
+f 1 24 23
+f 1 23 18
+f 1 18 14
+f 1 14 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 10
+f 2 10 15
+f 2 15 19
+f 2 19 25
+f 2 25 30
+f 2 30 29
+f 2 29 31
+f 2 31 26
+f 2 26 21
+f 2 21 17
+f 2 17 12
+f 2 12 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 7 12 13
+f 7 13 8
+f 9 14 15
+f 9 15 10
+f 12 16 13
+f 12 17 16
+f 14 18 15
+f 15 18 19
+f 16 17 20
+f 17 21 22
+f 17 22 20
+f 18 23 19
+f 19 23 24
+f 19 24 25
+f 21 26 22
+f 22 26 27
+f 24 28 29
+f 24 29 30
+f 24 30 25
+f 26 31 27
+f 27 31 32
+f 28 32 29
+f 29 32 31
+
diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/stapler_025.xml b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/stapler_025.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3ea7c7a617fec394ade391c9795bb7cff813907d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/mjcf/stapler_025.xml
@@ -0,0 +1,54 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stapler_025">
+  <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_025.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stapler_025_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stapler_025_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stapler_025_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stapler_025_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stapler_025_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/stapler_025_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stapler_025_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/stapler_025_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/stapler_025_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/stapler_025_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/stapler_025_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/stapler_025_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/stapler_025_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/stapler_025_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/stapler_025_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/stapler_025_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/stapler_025_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/stapler_025_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/stapler_025_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/stapler_025_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stapler_025">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/stapler_025.urdf b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/stapler_025.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..22f603e35c954469b0041b87db72134b3d021f0e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/stapler_025.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_025">
+   <link name="stapler_025">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stapler_025.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_025_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>a03b7ca4ca6e50a995e38f4d996b1216</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>stapler</category>
+         <name>wooden stapler</name>
+         <color>brown,silver</color>
+         <shape>elongated</shape>
+         <material>wood</material>
+         <description>compact wooden stapler with metal staple channel and rounded 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>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611150922</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.020838 -0.056574 -0.025847</min>
+            <max>0.020844 0.059683 0.034153</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>14</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/a03b7ca4ca6e50a995e38f4d996b1216/stapler_025.usd b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/stapler_025.usd
new file mode 100644
index 0000000000000000000000000000000000000000..2062deb917d0a9097bc0e4f588686accf9be5f9e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/stapler_025.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b294c4ea26bd77403a7aff23090e26c5b61d7828428164b98831b27a51b1227c
+size 4777237
diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/textures/material_0.png b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee1b943a0ea34b5452d20022d5cfce224009cdf6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b27813c38e36b58eef05f0e8419119c3f71a2872370e3e1eb0a1e410c0a8c9a
+size 10005340
diff --git a/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/video.mp4 b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..929ea80fd50ac3677426e6134b9c4dfc6f093c7e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a03b7ca4ca6e50a995e38f4d996b1216/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f07a566b3ff531c43ee6b25ccce069333b4d435446c9ff7becc04b6f2c59f177
+size 277578