diff --git a/.gitattributes b/.gitattributes
index 79f2412d461fefd4017948ea0ffa0b9d508a36cc..e41f80bcc891c94f7532eae2880aab8d6cf6475f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3212,5 +3212,5 @@ dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mesh
 dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mesh/open_notebook_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mesh/notebook_037.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/notebook_037.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mesh/sharpener_025.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/sharpener_025.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mesh/stapler_023.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/stapler_023.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1b25bbfd5d84c8b51c928fec3304c621da15b06c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stapler_023_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_023_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..46f8d858695ba13a33815a2d1c33822d7be3698c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ddeda963812c968384edcfceb3035835d2149926b0c14a4802a63483478a46b
+size 8167301
diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mesh/stapler_023.glb b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mesh/stapler_023.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8f3c330980b9ceeaef6c52696c4231fabbf25d3a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mesh/stapler_023.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99bd37c921c3a95374c83027a74b102938c35fce6e1ceeb2dd31b1958def4cf9
+size 11265280
diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mesh/stapler_023.mtl b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mesh/stapler_023.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12d362d39f6166064e02e07a2630bfe4f9877845
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mesh/stapler_023.mtl
@@ -0,0 +1,6 @@
+newmtl stapler_023_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/9d2a722a16de5caf89533857753f7765/mesh/stapler_023.obj b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mesh/stapler_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f1a15280478605f09ca5be74f1b7e89700d1ec8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mesh/stapler_023.obj
@@ -0,0 +1,113568 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stapler_023_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mesh/stapler_023_collision.obj b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mesh/stapler_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d168cef8d9eecb4f46ba0b2a1376369af0ecf7e8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mesh/stapler_023_collision.obj
@@ -0,0 +1,6925 @@
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diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mesh/stapler_023_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mesh/stapler_023_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:3ddeda963812c968384edcfceb3035835d2149926b0c14a4802a63483478a46b
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diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023.obj b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision.obj b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a1c136bef0de726efcf073239877e256f267b23
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision.obj
@@ -0,0 +1,6925 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_0.obj b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de6eed7f186c5246f37ee3fbb65c522d7c7d95b7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_1.obj b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5129a2f3827997545f01401cae353b0ed0632c55
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_1.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_10.obj b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02a3895f8a28ac928825c41ef02220b470dc850a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_10.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_11.obj b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10a3b8b1c731c8ff868a946d10841aca2ef57f62
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_11.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_12.obj b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7c51e9b24f2603289948fc04ce1030e69a147f8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_12.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_13.obj b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52a1081ffb6e2130f2afc7543a8486ec2399fed3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_13.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_14.obj b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2ab331d5a116e0618e0c828fcb36dba17ea6f78
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_14.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_15.obj b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b5e84c9f56f90f35febc6eeb862246ee074ee9d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_15.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_16.obj b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b081b905159326ee5bcae34fe88fe9555e06359e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_16.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_2.obj b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8e94b21c1605eef8026f19b1d6f8c7cdf325667
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_2.obj
@@ -0,0 +1,1462 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_3.obj b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dcaa40eb257f1f4c2f1d178bf43b5477dc06dfc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_4.obj b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87abaa02dca8e9af5bf44fca8bca863021e42f92
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_4.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_5.obj b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5e3e6c71bacbe9c38d0295098875158f5eb0fbc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_5.obj
@@ -0,0 +1,475 @@
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diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_6.obj b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4649180023fa72b662ffd12fd694f7620d40f34b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_6.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_7.obj b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1488f0b63d3b1028e09710bb2036e007869e03a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_7.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_8.obj b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..989e7065c5faaf683ed88b476adcd5c3a20497ca
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_8.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_9.obj b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f371816e55834b18490d97c5215c324be85dac6d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/mesh/stapler_023_collision_9.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/stapler_023.xml b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/stapler_023.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1bb7f49be382f586a42f4b99323ec7a1b40722d3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/mjcf/stapler_023.xml
@@ -0,0 +1,48 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stapler_023">
+  <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_023.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stapler_023_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stapler_023_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stapler_023_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stapler_023_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stapler_023_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/stapler_023_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stapler_023_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/stapler_023_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/stapler_023_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/stapler_023_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/stapler_023_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/stapler_023_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/stapler_023_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/stapler_023_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/stapler_023_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/stapler_023_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/stapler_023_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stapler_023">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/stapler_023.urdf b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/stapler_023.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d8f921a16c9d73c224f62f80aa5132f656161720
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/stapler_023.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_023">
+   <link name="stapler_023">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stapler_023.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_023_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>9d2a722a16de5caf89533857753f7765</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>stapler</category>
+         <name>black stapler</name>
+         <color>black,silver</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>compact black desktop stapler with metal inner mechanism</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>20260611150841</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.019877 -0.075570 -0.029347</min>
+            <max>0.019805 0.078387 0.030653</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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>NO: {"summary":"Segmentation is over-fragmented; top and base are mostly correct but internal magazine/anvil areas are split inconsistently.","merge_groups":[{"colors":["Blue","Navy"],"target_part":"rear hinge/pivot area","reason":"same rear hardware split into two colors"},{"colors":["Magenta","Brown"],"target_part":"internal magazine/driver area","reason":"same inner assembly fragmented"}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/stapler_023.usd b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/stapler_023.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/stapler_023.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:606bbec61b5f39b0bd05618538af15ba156ba5762f73cd6397f087c918733b44
+size 4768211
diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/textures/material_0.png b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/textures/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/textures/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/video.mp4 b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/video.mp4
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9d2a722a16de5caf89533857753f7765/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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