diff --git a/.gitattributes b/.gitattributes
index 932d87a519fd7a3ac78828902f28888d17db30ab..6f856a6ac0cae424f9477d617f5ad24fa9209efc 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3227,9 +3227,5 @@ dataset/desktop_supplies/office_stationery/a1f28a9e92c1510280ae7e2f8b70220c/mesh
 dataset/desktop_supplies/office_stationery/a1f28a9e92c1510280ae7e2f8b70220c/stapler_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/marker_016.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mesh/marker_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/a5174c001bbe586c9beca5dde1430d7d.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/mesh/notebook.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/mesh/notebook_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/marker_040.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mesh/marker_040.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a9d4b8e232b650a9a05155a9595046e4/a9d4b8e232b650a9a05155a9595046e4.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mesh/stapler_026.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/stapler_026.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..99ec62b79d6b418a4ccd4af32bd4dace15c5cd1e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stapler_026_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_026_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa0fca158200934296afb7f4d053e426b6a0638c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90a40dae7e27c0112621e3ff57db9f8a4a1025f42e873e64f26143ce77a04059
+size 10713166
diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mesh/stapler_026.glb b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mesh/stapler_026.glb
new file mode 100644
index 0000000000000000000000000000000000000000..fe1f49da937974c6865eafca6490bbf4ebc432a7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mesh/stapler_026.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ec4f213db31614c15342248ea6eb3a9204577a3f306df13e7b473ae83406f0d
+size 14002864
diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mesh/stapler_026.mtl b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mesh/stapler_026.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a89a5120c2133628afd89bfed36717e55884d483
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mesh/stapler_026.mtl
@@ -0,0 +1,6 @@
+newmtl stapler_026_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/a45c0007cc315c60a2976b6a94366ef1/mesh/stapler_026.obj b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mesh/stapler_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2887f55bfd9180480f6013d987cf6c27c0109939
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mesh/stapler_026.obj
@@ -0,0 +1,110344 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stapler_026_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mesh/stapler_026_collision.obj b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mesh/stapler_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e50fc68eeda5d656d2d23db9497fcbe63457fe2a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mesh/stapler_026_collision.obj
@@ -0,0 +1,9890 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mesh/stapler_026_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mesh/stapler_026_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026.obj b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026.obj
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+++ b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision.obj b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3e9d5664cd51ded44bd0213f7a6b77bc94cdbe5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision.obj
@@ -0,0 +1,9890 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_0.obj b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c293e61d1cc896a20db5758218d1500d26fafd1d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_1.obj b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54cdbe352040bc50f697440eb461d2bea1dd783b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_10.obj b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..817a871cdf202af5245a4b83b323b0b41dd515c2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_10.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.01190308 -0.00614461 -0.01329328
+v -0.01190208 -0.00728218 -0.01329329
+v -0.01173285 -0.00795040 -0.01175684
+v -0.01172484 -0.00614462 -0.01175683
+v -0.01182798 -0.00433747 -0.01329328
+v -0.01190108 -0.00795039 -0.01329329
+v -0.01189807 -0.00975617 -0.01329330
+v -0.01189607 -0.01089104 -0.01329330
+v -0.01173085 -0.00890266 -0.01175684
+v -0.01136836 -0.00428744 -0.01175683
+v -0.01123217 -0.00255333 -0.01329327
+v -0.01188506 -0.01450125 -0.01329331
+v -0.01172884 -0.00975618 -0.01175685
+v -0.01075954 -0.00300783 -0.01175682
+v -0.01058230 -0.00186484 -0.01329327
+v -0.01188205 -0.01517487 -0.01329332
+v -0.01171082 -0.01432272 -0.01175686
+v -0.01172284 -0.01156197 -0.01175685
+v -0.01172584 -0.01070980 -0.01175685
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+v -0.00167326 -0.01021066 -0.01329330
+v -0.00167326 -0.01268600 -0.01329331
+v -0.00167326 -0.01265895 -0.01326879
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+v -0.00616333 -0.01423074 -0.01175686
+v -0.00749212 -0.00426985 -0.01175683
+v -0.00714065 -0.00518424 -0.01175683
+v -0.00621139 -0.01231133 -0.01175686
+v -0.00649177 -0.00981840 -0.01175685
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+
diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_11.obj b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f95a8fac5ffe3401e83b754fa66a117d889cfed8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_11.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00167326 -0.01352893 -0.01340141
+v -0.00167326 -0.01352893 -0.01240141
+v -0.00167326 -0.00863010 -0.01340141
+v -0.00167326 -0.00863010 -0.01240141
+v 0.00587258 -0.01352893 -0.01340141
+v 0.00587258 -0.01352893 -0.01240141
+v 0.00587258 -0.00863010 -0.01340141
+v 0.00587258 -0.00863010 -0.01240141
+f 2 4 1
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+f 3 5 1
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+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_12.obj b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac855cfbd6be6318ea90f4d79ffaad7d211d3300
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_12.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.00453455 -0.04283059 -0.01175697
+v 0.00453455 -0.04229006 -0.01329342
+v 0.00597680 -0.04197140 -0.01329341
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+v 0.01165178 -0.00337683 -0.01329327
+v 0.01139153 -0.00428845 -0.01175683
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+
diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_13.obj b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8707189437f7f1cfd71e1adea18d63641c37f98b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_13.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.00533752 -0.04256098 -0.01175697
+v -0.00533752 -0.04214981 -0.01329341
+v -0.00481087 -0.04276656 -0.01175697
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+v -0.00261149 -0.04294430 -0.01175697
+v -0.00533752 -0.02844013 -0.01270711
+v 0.00453455 -0.03609802 -0.01329339
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+v -0.00533752 -0.02596459 -0.01232902
+v 0.00088277 -0.04238965 -0.01329342
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+v 0.00453455 -0.02595604 -0.01198792
+v 0.00369577 -0.02401373 -0.01175690
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+f 30 34 31
+f 32 37 38
+f 32 38 33
+f 36 38 39
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+
diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_14.obj b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83168289512f2e8cd26ef9631345c046d984ea45
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_14.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.01188078 -0.01541159 -0.01329332
+v -0.01170593 -0.01541160 -0.01175687
+v -0.00636295 -0.01541159 -0.01329332
+v -0.01186285 -0.03610798 -0.01329339
+v -0.01170400 -0.03504752 -0.01175694
+v -0.00644941 -0.01541160 -0.01175687
+v -0.00533816 -0.02545813 -0.01175690
+v -0.00533816 -0.02596311 -0.01232892
+v -0.00533816 -0.02782357 -0.01265246
+v -0.00583582 -0.02509400 -0.01329335
+v -0.01183979 -0.03685217 -0.01329340
+v -0.01167454 -0.03600168 -0.01175694
+v -0.00533816 -0.04256382 -0.01175697
+v -0.00533816 -0.02844019 -0.01270721
+v -0.00533816 -0.03590864 -0.01329339
+v -0.01152339 -0.03797376 -0.01329340
+v -0.01163291 -0.03685218 -0.01175695
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+v -0.00595816 -0.04197909 -0.01329341
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+v -0.01130690 -0.03768939 -0.01175695
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+v -0.00694900 -0.04180102 -0.01175696
+v -0.01020397 -0.03947011 -0.01329340
+v -0.01101804 -0.03835916 -0.01175695
+v -0.00714627 -0.04164155 -0.01175696
+f 1 2 6
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+f 1 24 22
+f 1 22 16
+f 1 16 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
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+f 22 24 23
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+
diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_2.obj b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25085da1f6cf8b2dfc3fc0590f886031f67ae64e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_2.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.00837852 -0.00147345 0.00145683
+v -0.00760228 -0.00147342 -0.00548276
+v 0.00842254 -0.00147345 0.00145683
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+v -0.00775851 0.04082495 -0.00192699
+v -0.00772562 0.04082495 -0.00370479
+v -0.00744111 -0.00147342 -0.00602742
+v -0.00744275 0.04082496 -0.00548260
+v 0.00759038 -0.00147342 -0.00548276
+v 0.00771208 0.04082495 -0.00370479
+v 0.00774826 0.04082495 -0.00192699
+v 0.00774333 0.04082493 0.00145699
+v -0.00756774 0.04263032 0.00145700
+v -0.00756281 0.04263034 -0.00192698
+v -0.00755952 0.04263034 -0.00370478
+v -0.00729145 0.04268076 -0.00552191
+v -0.00721580 -0.00147342 -0.00677441
+v -0.00711713 0.04211256 -0.00654123
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+v 0.00734040 0.04066000 -0.00565137
+v 0.00728942 0.04266243 -0.00550753
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+v 0.00755091 0.04263034 -0.00192698
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+v 0.00772524 0.04099906 0.00145699
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+v -0.00717140 0.04393169 -0.00192698
+v -0.00716482 0.04391794 -0.00370478
+v -0.00709904 0.04378049 -0.00495520
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+v 0.00437686 0.04082497 -0.00753466
+v 0.00437686 0.04263036 -0.00745410
+v 0.00437686 0.04417914 -0.00676369
+v 0.00437686 0.04506809 -0.00548258
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+v 0.00437686 -0.00147341 -0.00832592
+v 0.00612506 0.04478856 -0.00192698
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+v -0.00610735 0.04482520 0.00145700
+v -0.00593632 0.04487560 0.00145700
+v -0.00435916 0.04531094 -0.00370477
+v -0.00435916 0.04508183 -0.00548258
+v -0.00435916 0.04418831 -0.00676849
+v -0.00261097 0.04419289 -0.00676657
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+v -0.00435916 -0.00147341 -0.00833359
+v 0.00263032 -0.00147341 -0.00833263
+v 0.00263032 0.04508183 -0.00548258
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+v -0.00435916 0.04531094 -0.00192697
+v -0.00086442 0.04533841 0.00145701
+v 0.00263032 0.04531094 -0.00370477
+v 0.00023251 0.04533383 0.00145701
+v 0.00088212 0.04532924 0.00145701
+v 0.00279478 0.04531550 0.00145701
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+f 78 86 79
+f 80 82 81
+
diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_3.obj b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e28778aba804798a5dd603268d2cd477cfd9306
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_3.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.01331955 -0.00147346 0.00671323
+v -0.01245107 -0.00147345 0.00387510
+v 0.01332454 -0.00147346 0.00671323
+v -0.01244585 0.01524041 0.00671330
+v -0.01241716 0.01011864 0.00574134
+v -0.01236239 0.00108511 0.00408555
+v -0.00775914 0.04082619 0.00145699
+v -0.01218504 -0.00147345 0.00350619
+v -0.01235978 0.01192443 0.00586277
+v -0.01229197 0.01373021 0.00597700
+v -0.01224503 0.01486171 0.00604543
+v 0.01245605 -0.00147345 0.00389620
+v 0.01242476 0.01011864 0.00575626
+v 0.01236738 0.01192443 0.00587666
+v 0.01243780 0.01533278 0.00671330
+v -0.01234935 0.01675986 0.00671330
+v -0.00756614 0.04263197 0.00145700
+v -0.00837725 -0.00147345 0.00145683
+v -0.01079233 -0.00147345 0.00235725
+v -0.01166603 -0.00147345 0.00298600
+v -0.01223460 0.01808071 0.00671331
+v 0.01167363 -0.00147345 0.00300710
+v 0.00774326 0.04082619 0.00145699
+v 0.01236738 0.00108511 0.00410356
+v 0.01225523 0.01478320 0.00605624
+v 0.01229957 0.01373021 0.00599141
+v 0.01226827 0.01734177 0.00671330
+v -0.00804863 0.04252112 0.00671340
+v -0.00721405 0.04381427 0.00145700
+v -0.01204421 0.01963248 0.00671331
+v -0.01179644 0.02121197 0.00671332
+v 0.00842136 -0.00147345 0.00145683
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+v -0.00086339 0.04533833 0.00145701
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+
diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_4.obj b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cc0fbfa51b3394672cb2eb0599d8a3f3e04c1cf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_4.obj
@@ -0,0 +1,787 @@
+# https://github.com/mikedh/trimesh
+v -0.01432720 -0.04226993 -0.00074216
+v -0.01402448 -0.04046480 -0.00468595
+v -0.01403289 -0.04226991 -0.00470980
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+v -0.01166156 -0.03684953 -0.00835405
+v -0.01402728 -0.04588517 -0.00470087
+v -0.01168398 -0.00975776 -0.00835395
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+v -0.01405531 -0.01582356 -0.00074206
+v -0.01406652 -0.01879341 -0.00192752
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+v -0.01400766 -0.01879341 -0.00287752
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+v -0.01397403 -0.01426552 -0.00104530
+v -0.01133081 -0.00611224 -0.00835393
+v -0.01396842 -0.03595707 -0.00458981
+v -0.01110096 -0.03868993 -0.00835405
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+v -0.01375539 -0.04812390 -0.00416068
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diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_5.obj b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..638b30e2ac4f75057071645febf8548259eab192
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_6.obj b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73ce4a57b699148370b4ec2d09b42637609c3a90
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_7.obj b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0e16e93c34771fce0fd4ff140b125250e53e219
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_7.obj
@@ -0,0 +1,187 @@
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diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_8.obj b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b154a5e1eff67c499485e248873f81b3ce590496
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_8.obj
@@ -0,0 +1,1279 @@
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diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_9.obj b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba668d7da14f55d32a954b16975ede593788f88c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/mesh/stapler_026_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/stapler_026.xml b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/stapler_026.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b4cb3233ad9d5df3be5dadaadceea6826d2a5a57
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mjcf/stapler_026.xml
@@ -0,0 +1,44 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stapler_026">
+  <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_026.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stapler_026_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stapler_026_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stapler_026_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stapler_026_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stapler_026_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/stapler_026_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stapler_026_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/stapler_026_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/stapler_026_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/stapler_026_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/stapler_026_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/stapler_026_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/stapler_026_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/stapler_026_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/stapler_026_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stapler_026">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/stapler_026.urdf b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/stapler_026.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8b0ae376f51fe955dab10e89374bfe6373cd5af1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/stapler_026.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_026">
+   <link name="stapler_026">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stapler_026.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_026_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2250" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>a45c0007cc315c60a2976b6a94366ef1</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>stapler</category>
+         <name>blue stapler</name>
+         <color>blue,white</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>compact blue desktop stapler with white base and metal jaws</description>
+         <min_height>0.0600</min_height>
+         <max_height>0.0600</max_height>
+         <real_height>0.0600</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611150944</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.019125 -0.052830 -0.027411</min>
+            <max>0.019144 0.056849 0.032589</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/stapler_026.usd b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/stapler_026.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/stapler_026.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:431b56cda6505ebc580ff435bd1c77f612f7a11e1639e1ed0cb8436f70760d3a
+size 4883793
diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/textures/material_0.png b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/textures/material_0.png
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/video.mp4 b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f89897f9a286a5299d3f5327a2503546d9782f81
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8627ed4337d07aa63d9040db883e578cd1cfa7563e9d4cc8dfc5e43addbeca2
+size 299664