diff --git a/.gitattributes b/.gitattributes
index 4f173d2bcd0ca116052191578b150a313f32743a..9d8d0a730244803524c8682102e8f51275d8e779 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3190,5 +3190,5 @@ dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh
 dataset/desktop_supplies/office_stationery/8412916f3ae6508cbd1065fbc9cbcc61/8412916f3ae6508cbd1065fbc9cbcc61.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mesh/sharpener_013.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/sharpener_013.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mesh/notebook_029.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/notebook_029.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mesh/stapler_033.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/stapler_033.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ae199abaedbfac9b08a7c64b824b56f2b522e769
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stapler_033_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_033_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e79fe68ca4fc07706f3443c6d9734e4c52f633fa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4318ad9f52789100f82460be6895ee124bd785d166367f6e8d1413aa01c97142
+size 9906168
diff --git a/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mesh/stapler_033.glb b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mesh/stapler_033.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3be7050c3c3f2351a873941210890e9f36b43498
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mesh/stapler_033.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6e0d2f2094c433a15d77ec585a975e6965a0a6526532103b6358b7cd9dde7ed
+size 13139444
diff --git a/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mesh/stapler_033.mtl b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mesh/stapler_033.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d0785359606203a47812014bf6f939f07e181eab
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mesh/stapler_033.mtl
@@ -0,0 +1,6 @@
+newmtl stapler_033_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/8597cb23040c51aea95127b7cf11d2ec/mesh/stapler_033.obj b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mesh/stapler_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04c0c73d73b22449bded054a0059c45712f8a163
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mesh/stapler_033.obj
@@ -0,0 +1,115770 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stapler_033_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mesh/stapler_033_collision.obj b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mesh/stapler_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa2fa38b60097e2cc5474c572c0859f63fc49453
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mesh/stapler_033_collision.obj
@@ -0,0 +1,9797 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033.obj b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29c270f71660bbc690f4b83139bfd600946e7929
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033.obj
@@ -0,0 +1,115770 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stapler_033_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision.obj b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e779386d93aca16352a99b70aca166edcbc7f58b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision.obj
@@ -0,0 +1,9797 @@
+# https://github.com/mikedh/trimesh
+
+o stapler_033_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_0.obj b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8a10ed5e940ca3d07142bbe193aab52cc812f01
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_1.obj b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa8ccf5e66bdfbf041efae2b901ebe6ee008dc58
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_1.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_10.obj b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a0cc307831363091c23c87eb8fb18fe5e732eca
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_10.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.00265382 0.01464367 -0.01028537
+v 0.00575044 0.01161575 -0.01028538
+v 0.00572080 0.01187122 -0.00787322
+v 0.00265382 0.01514831 -0.00946202
+v 0.00265382 0.02782454 -0.01028532
+v 0.00715414 0.01101333 -0.01028538
+v 0.00715414 0.01149274 -0.00787322
+v 0.00506622 0.01305085 -0.00787321
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+v 0.00343499 0.04296094 -0.00788868
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+v 0.00343499 0.04139652 -0.00832291
+v 0.00449096 0.03774411 -0.01028528
+v 0.00733200 0.01106379 -0.01028538
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+v 0.00797696 0.01167567 -0.00787322
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+
diff --git a/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_11.obj b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0096789737ee9d4fc271c17e965129701438fd0e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_11.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.01003116 0.03109403 -0.00787315
+v -0.00465586 0.03109403 -0.00787315
+v -0.00991829 0.03109403 -0.00910373
+v -0.00991829 0.03090206 -0.00910373
+v -0.00986853 0.01466418 -0.00910379
+v -0.00986004 0.01466418 -0.00787321
+v -0.00408301 0.02455544 -0.00910375
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+v -0.00492165 0.03109403 -0.00910373
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+v -0.00867550 0.01174004 -0.00886000
+v -0.00716935 0.01148796 -0.00787322
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+
diff --git a/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_12.obj b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa405d38daf9df43da861d1752ced806503da26b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_12.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.00338805 0.01444207 -0.01028527
+v -0.00000384 0.01473316 -0.01028537
+v 0.00265302 0.01464184 -0.01028537
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+
diff --git a/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_13.obj b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f061094da8fdf5b17a02cc2644421345d530964f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_13.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.01325441 0.00806542 0.00567973
+v -0.01325182 0.00641493 0.00567972
+v -0.01323364 0.00641493 0.00637707
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diff --git a/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_14.obj b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea738524eb87277cb0955a6d1448d53e2bc8af8e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_14.obj
@@ -0,0 +1,118 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_2.obj b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52ea4ca7a0e8a017a161ae4d4797956b89dad1dd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_2.obj
@@ -0,0 +1,988 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_3.obj b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b59a7d31c0d76f3999e2a8e4f8426ae484680ef
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_4.obj b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d4620cec48aadf4293a03002c3793ed07302fd9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_5.obj b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdbf1f82af07ec288b3fe53408e1be073c8c920b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_6.obj b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f16dbf95c8de74dd2852db15ac35c2267406e88
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_6.obj
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+f 895 944 896
+f 896 944 945
+f 896 945 898
+f 897 898 927
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+f 898 945 927
+f 900 935 901
+f 901 935 902
+f 902 935 903
+f 903 935 904
+f 907 934 909
+f 907 909 908
+f 909 934 932
+f 909 932 946
+f 909 946 947
+f 909 947 910
+f 910 947 911
+f 911 947 948
+f 911 948 913
+f 911 913 912
+f 913 948 914
+f 914 948 949
+f 914 949 950
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+f 915 951 916
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+f 918 953 954
+f 918 954 955
+f 919 955 967
+f 919 967 956
+f 919 956 921
+f 919 921 920
+f 923 924 926
+f 923 926 957
+f 923 957 939
+f 925 945 926
+f 925 927 945
+f 926 945 958
+f 926 958 957
+f 928 959 930
+f 929 952 951
+f 929 951 931
+f 929 930 960
+f 929 960 953
+f 929 953 952
+f 930 959 961
+f 930 961 960
+f 931 951 950
+f 931 950 962
+f 931 962 932
+f 932 962 963
+f 932 963 946
+f 932 934 933
+f 935 938 936
+f 939 957 940
+f 940 957 958
+f 940 958 943
+f 940 943 941
+f 941 943 942
+f 943 958 945
+f 943 945 944
+f 946 963 949
+f 946 949 947
+f 947 949 948
+f 949 963 962
+f 949 962 950
+f 953 960 964
+f 953 964 954
+f 954 964 968
+f 954 968 965
+f 954 965 966
+f 954 966 955
+f 955 966 967
+f 960 961 964
+f 961 968 964
+
diff --git a/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_7.obj b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4db413ed10e823af7d9aa6c7d224ff3ca84ab44c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_7.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00000353 0.03596735 -0.00865802
+v -0.00000353 0.03596735 -0.00765802
+v -0.00000353 0.04301500 -0.00865802
+v -0.00000353 0.04301500 -0.00765802
+v 0.00343405 0.03596735 -0.00865802
+v 0.00343405 0.03596735 -0.00765802
+v 0.00343405 0.04301500 -0.00865802
+v 0.00343405 0.04301500 -0.00765802
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_8.obj b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2f6f27ca68489273fc20d81f9e4a198d37c9c9d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_8.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.01084856 0.03939639 -0.00787312
+v -0.01013624 0.03914786 -0.00910370
+v -0.01010333 0.03749857 -0.00910370
+v -0.01084644 0.03930958 -0.00787312
+v -0.01070312 0.04099574 -0.00787311
+v -0.01012032 0.03939639 -0.00910370
+v -0.00991756 0.03109522 -0.00910373
+v -0.01037085 0.03372672 -0.00787314
+v -0.01068932 0.04103974 -0.00787311
+v -0.00980822 0.04076981 -0.00910369
+v -0.00492179 0.03109522 -0.00910373
+v -0.01003115 0.03109522 -0.00787315
+v -0.01018614 0.03216066 -0.00787314
+v -0.01018189 0.04227046 -0.00787310
+v -0.00960970 0.04096125 -0.00910369
+v -0.00000353 0.03747716 -0.00787312
+v -0.00465640 0.03109522 -0.00787315
+v -0.00459695 0.03610018 -0.00910371
+v -0.00000353 0.04104568 -0.00817437
+v -0.00000353 0.03961400 -0.00812065
+v -0.00000353 0.03920018 -0.00807392
+v -0.00000353 0.03878994 -0.00802754
+v -0.00983476 0.04248331 -0.00787310
+v -0.00882839 0.04143928 -0.00910369
+v -0.00000353 0.04301485 -0.00787310
+v -0.00451734 0.03774709 -0.00910370
+v -0.00456404 0.03936904 -0.00910370
+v -0.00000353 0.04210161 -0.00810583
+v -0.00876044 0.04147852 -0.00910369
+v -0.00876044 0.04296728 -0.00787310
+v -0.00000353 0.04297085 -0.00788912
+v -0.00716915 0.04195416 -0.00910369
+v -0.00716915 0.04324078 -0.00787310
+v -0.00539313 0.04109800 -0.00910369
+v -0.00553538 0.04120264 -0.00910369
+v -0.00000353 0.04251185 -0.00800632
+v -0.00764685 0.04182455 -0.00910369
+v -0.00866066 0.04300176 -0.00787310
+v -0.00000353 0.04292566 -0.00790538
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 12
+f 1 12 17
+f 1 17 16
+f 1 16 25
+f 1 25 33
+f 1 33 38
+f 1 38 30
+f 1 30 23
+f 1 23 14
+f 1 14 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 15
+f 2 15 24
+f 2 24 29
+f 2 29 37
+f 2 37 32
+f 2 32 35
+f 2 35 34
+f 2 34 27
+f 2 27 26
+f 2 26 18
+f 2 18 11
+f 2 11 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 5 10 6
+f 7 11 17
+f 7 17 12
+f 7 12 13
+f 7 13 8
+f 9 14 10
+f 10 14 15
+f 11 16 17
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 16
+f 14 23 15
+f 15 23 24
+f 16 22 21
+f 16 21 20
+f 16 20 19
+f 16 19 28
+f 16 28 36
+f 16 36 39
+f 16 39 31
+f 16 31 25
+f 18 26 19
+f 19 26 27
+f 19 27 28
+f 23 29 24
+f 23 30 29
+f 25 31 32
+f 25 32 33
+f 27 34 28
+f 28 34 35
+f 28 35 36
+f 29 30 38
+f 29 38 37
+f 31 39 32
+f 32 37 38
+f 32 38 33
+f 32 39 35
+f 35 39 36
+
diff --git a/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_9.obj b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6410844f78677269c71c4a61808f2bd19c35e699
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/mesh/stapler_033_collision_9.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.01013680 0.03914667 -0.00910370
+v -0.01012095 0.03939505 -0.00910370
+v -0.00983490 0.03939506 -0.01028528
+v -0.00992673 0.03794112 -0.01028528
+v -0.00990955 0.01466583 -0.01028537
+v -0.00986860 0.01466582 -0.00910379
+v -0.00980848 0.04077025 -0.00910369
+v -0.00964663 0.04037951 -0.01028527
+v -0.00973251 0.01288777 -0.01028537
+v -0.00983953 0.01437200 -0.00910379
+v -0.00961030 0.04096108 -0.00910369
+v -0.00882286 0.04117009 -0.01028527
+v -0.00957925 0.01217292 -0.01028538
+v -0.00971137 0.01313917 -0.00910379
+v -0.00882880 0.04143967 -0.00910369
+v -0.00876076 0.04147905 -0.00910369
+v -0.00865836 0.04125794 -0.01028527
+v -0.00899131 0.01172159 -0.01028538
+v -0.00954556 0.01222441 -0.00974664
+v -0.00949139 0.01232739 -0.00910379
+v -0.00764764 0.04182436 -0.00910369
+v -0.00725392 0.04164262 -0.01028527
+v -0.00890147 0.01165495 -0.01028538
+v -0.00871386 0.01172461 -0.00910380
+v -0.00716936 0.04195461 -0.00910369
+v -0.00716936 0.04165474 -0.01028527
+v -0.00716936 0.01100976 -0.01028538
+v -0.00716936 0.01128539 -0.00910380
+v -0.00553634 0.04120340 -0.00910369
+v -0.00579860 0.04110345 -0.01028527
+v -0.00702204 0.01106428 -0.01028538
+v -0.00611107 0.01167008 -0.00910380
+v -0.00539299 0.04109739 -0.00910369
+v -0.00499002 0.03949805 -0.01028527
+v -0.00576887 0.01161254 -0.01028538
+v -0.00589637 0.01176398 -0.00910380
+v -0.00456393 0.03936779 -0.00910370
+v -0.00451570 0.03774726 -0.01028528
+v -0.00338871 0.01444168 -0.01028537
+v -0.00577614 0.01192149 -0.00910380
+v -0.00338871 0.02785435 -0.01011322
+v -0.00338871 0.02901751 -0.01028531
+v -0.00408301 0.02455873 -0.00910375
+v -0.00338871 0.01641662 -0.00922118
+v -0.00338871 0.02620654 -0.00989728
+v -0.00338871 0.01493844 -0.00939445
+v -0.00481100 0.01365714 -0.00910379
+v -0.00383198 0.01646811 -0.00910378
+v -0.00435914 0.01470520 -0.00910379
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 14
+f 1 14 20
+f 1 20 24
+f 1 24 28
+f 1 28 32
+f 1 32 36
+f 1 36 40
+f 1 40 47
+f 1 47 49
+f 1 49 48
+f 1 48 43
+f 1 43 37
+f 1 37 33
+f 1 33 29
+f 1 29 25
+f 1 25 21
+f 1 21 16
+f 1 16 15
+f 1 15 11
+f 1 11 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 12
+f 3 12 17
+f 3 17 22
+f 3 22 26
+f 3 26 30
+f 3 30 34
+f 3 34 38
+f 3 38 42
+f 3 42 39
+f 3 39 35
+f 3 35 31
+f 3 31 27
+f 3 27 23
+f 3 23 18
+f 3 18 13
+f 3 13 9
+f 3 9 5
+f 3 5 4
+f 5 9 10
+f 5 10 6
+f 7 11 8
+f 8 11 12
+f 9 13 14
+f 9 14 10
+f 11 15 12
+f 12 15 16
+f 12 16 17
+f 13 18 19
+f 13 19 14
+f 14 19 20
+f 16 21 17
+f 17 21 22
+f 18 23 19
+f 19 23 24
+f 19 24 20
+f 21 25 22
+f 22 25 26
+f 23 27 24
+f 24 27 28
+f 25 29 30
+f 25 30 26
+f 27 31 32
+f 27 32 28
+f 29 33 30
+f 30 33 34
+f 31 35 36
+f 31 36 32
+f 33 37 34
+f 34 37 38
+f 35 39 36
+f 36 39 40
+f 37 41 42
+f 37 42 38
+f 37 43 44
+f 37 44 45
+f 37 45 41
+f 39 46 40
+f 39 42 41
+f 39 41 45
+f 39 45 44
+f 39 44 46
+f 40 46 47
+f 43 48 44
+f 44 48 49
+f 44 49 46
+f 46 49 47
+
diff --git a/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/stapler_033.xml b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/stapler_033.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fcea416ffb8d2217f606aa08a7a7d505e92b6612
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/mjcf/stapler_033.xml
@@ -0,0 +1,44 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stapler_033">
+  <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_033.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stapler_033_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stapler_033_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stapler_033_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stapler_033_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stapler_033_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/stapler_033_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stapler_033_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/stapler_033_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/stapler_033_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/stapler_033_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/stapler_033_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/stapler_033_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/stapler_033_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/stapler_033_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/stapler_033_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stapler_033">
+      <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/8597cb23040c51aea95127b7cf11d2ec/stapler_033.urdf b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/stapler_033.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..130d0d65591e429b94d8fb6c673675f346bae867
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/stapler_033.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_033">
+   <link name="stapler_033">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stapler_033.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_033_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>8597cb23040c51aea95127b7cf11d2ec</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>stapler</category>
+         <name>gray stapler</name>
+         <color>gray</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>compact gray desktop stapler with rounded top and metal inner mechanism</description>
+         <min_height>0.0484</min_height>
+         <max_height>0.0484</max_height>
+         <real_height>0.0484</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611151223</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.015860 -0.051013 -0.022493</min>
+            <max>0.015845 0.048987 0.025879</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>11</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/stapler_033.usd b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/stapler_033.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c2c18cc94ab6553263ffabdf7482692da42485b9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/stapler_033.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d210e22c25de966cf92e8fafb08f9dec31b2a920948ef64f9a4d238692d1aa6
+size 4854027
diff --git a/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/textures/material_0.png b/dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/textures/material_0.png
new file mode 100644
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