diff --git a/.gitattributes b/.gitattributes
index ffd0bd4dc7239c130b5adefa0181a46643ad0af7..a3c39bcfaad122285d1eecd55102833475e979dc 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3136,5 +3136,5 @@ dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mark
 dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mesh/marker_021.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/495590f0a67f5eeda90b208d290794dc/eraser_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/495590f0a67f5eeda90b208d290794dc/mesh/eraser_033.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/correction_tape_031.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mesh/correction_tape_031.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mesh/stapler_022.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/stapler_022.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d6178bf98732e6f410b4b74642842c3b354d034c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stapler_022_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_022_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6260f16121441e6bc6d2d29c00b801a74d026e13
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6b2d0113ab9ad3a545ed85a40c55815cd65bfdb6f3b121f5d367f9ebfdb67d5
+size 11968339
diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mesh/stapler_022.glb b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mesh/stapler_022.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4eadd2de2fb79a3b40d21632d3de7f8bb64cd550
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mesh/stapler_022.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f03acfd26beda614e6bc42a063e873812fc924364736a9c5e1cfd4492a0d3447
+size 15315824
diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mesh/stapler_022.mtl b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mesh/stapler_022.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..aec6820ff8995b399eb10ad9807d2da717b9ecad
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mesh/stapler_022.mtl
@@ -0,0 +1,6 @@
+newmtl stapler_022_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/4bcb2b1bde8854369eb97e7d013d8de8/mesh/stapler_022.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mesh/stapler_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..641cc97253ff70c8da1dd9bb267f7e4eb323c6f6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mesh/stapler_022.obj
@@ -0,0 +1,112486 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stapler_022_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mesh/stapler_022_collision.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mesh/stapler_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d3d2785e230ba92c5c8ae21a2470305b025a2d8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mesh/stapler_022_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mesh/stapler_022_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mesh/stapler_022_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022.obj
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diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f71f8ce85f13b3f91e2cf93c3c5de90980a6945e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision.obj
@@ -0,0 +1,9419 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_0.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf91f1988a00bbd4d2db7c49fddebdab3130b5f7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_1.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e744ba7f11a91e7dfa8315532b7ba18883ca21b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_10.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..591ab57ab05bc0b94834e7fa78da2eebcb65f61b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_11.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..024a71a069dfad71b93b1d9ffab329a293553ec6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_11.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_12.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28f592381ebb8080281c46b137a9ab8aa09550b9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_12.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_13.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bfa990d679a5908f37d0d66ab4c2d4ab44cc5b2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_13.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.00399494 0.00659873 -0.00784643
+v 0.00987395 0.01320697 -0.01070864
+v 0.00548307 0.00659873 -0.00783966
+v 0.00399494 0.00659871 -0.00202518
+v 0.00399494 0.01692027 -0.01070863
+v 0.00702286 0.01430152 -0.01070864
+v 0.00804480 0.01348317 -0.01070864
+v 0.00674384 0.00659873 -0.00761614
+v 0.01110027 0.01360592 -0.01070864
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+v 0.00458629 0.00659870 -0.00082339
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+v 0.00459203 0.00825331 -0.00082338
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+v 0.00399494 0.02127802 -0.01070861
+v 0.00722955 0.00659873 -0.00752228
+v 0.01122773 0.01367241 -0.01070864
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+v 0.01002437 0.00659870 -0.00082339
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+
diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_14.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e01087faba6accc231380290ac28a2f5e3892d5f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_14.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.00457173 0.00659868 0.00663624
+v -0.00011217 0.00659867 0.00771261
+v 0.00457173 0.01568500 0.00507089
+v 0.00457173 0.00659859 0.02983767
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+v -0.00011217 0.02652312 0.00521323
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+v -0.00011217 0.03005740 0.00483548
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+v 0.00095988 0.00659859 0.03047160
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+
diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_15.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be8e4a51c6e280f4d781af9cfdb58d0a1e9b1a00
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_15.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.01760566 0.05774036 0.00402795
+v 0.01760566 0.05720100 0.00402795
+v 0.01760566 0.05774036 0.00380613
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+
diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_16.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec4058c81e7c7ed3191a7977fd2b5847457068ce
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_16.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.00399494 0.00659615 -0.00202493
+v 0.00141284 0.00825177 -0.00427831
+v 0.00140893 0.00659616 -0.00426982
+v 0.00399494 0.00659617 -0.00784668
+v 0.00399494 0.00824889 -0.00215242
+v 0.00147544 0.01738639 -0.00437433
+v -0.00000184 0.01951915 -0.00836258
+v -0.00000184 0.01734616 -0.00833114
+v 0.00096684 0.00659616 -0.00611860
+v 0.00328643 0.00659617 -0.00785263
+v 0.00399494 0.01691790 -0.01070863
+v 0.00399494 0.01738638 -0.00333221
+v 0.00328643 0.01738638 -0.00358466
+v 0.00171331 0.01897302 -0.00458172
+v -0.00000184 0.02012995 -0.00908765
+v -0.00000184 0.01713060 -0.01059388
+v 0.00174656 0.00659617 -0.00753557
+v -0.00000184 0.01713778 -0.01065083
+v -0.00000184 0.01714640 -0.01070863
+v 0.00399494 0.02127681 -0.01070861
+v 0.00399494 0.01850449 -0.00368666
+v 0.00399494 0.01947602 -0.00406491
+v -0.00000184 0.02070913 -0.00977785
+v -0.00000184 0.02091896 -0.01070861
+v 0.00399494 0.02126532 -0.01065336
+v 0.00399494 0.02112591 -0.01002180
+f 1 2 3
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+
diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_17.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7eecac1a71fa3712a5d4490bd862a28e570fcac
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_17.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.01643882 0.02652312 0.00410152
+v -0.01635085 0.02652313 0.00283367
+v -0.01610661 0.02423685 0.00059589
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+v -0.01641451 0.02781459 0.00410152
+v -0.01575472 0.03272220 -0.00082329
+v -0.01581838 0.02414223 -0.00082332
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+v -0.01574199 0.02195313 -0.00082333
+v -0.01596308 0.02195313 0.00059588
+v -0.01545260 0.00659868 0.00410144
+v -0.01624899 0.02423684 0.00283366
+v -0.01631381 0.02880685 0.00410153
+v -0.01583459 0.03272220 0.00059592
+v -0.00501976 0.03272220 -0.00082329
+v -0.01558225 0.02041359 -0.00082334
+v -0.01540514 0.00659869 0.00390716
+v -0.01541672 0.00659869 0.00395296
+v -0.00517487 0.00659868 0.00410144
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+v -0.01013027 0.00659870 -0.00082339
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+v -0.01526393 0.01889452 -0.00082334
+v -0.00461346 0.00659870 -0.00082339
+v -0.00464472 0.03271706 0.00410154
+v -0.00466208 0.03272218 0.00410154
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+f 1 20 13
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+
diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_18.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c756d8693449ab2f573e04cadbc952658536f4d8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_18.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v -0.00476294 0.03272465 0.00349556
+v -0.00476294 0.03342076 0.00290891
+v 0.00253616 0.03272464 0.00449191
+v -0.00476294 0.03272456 0.02605522
+v -0.00476294 0.03566158 0.00191499
+v 0.00253616 0.03294355 0.00445070
+v 0.00253616 0.03272456 0.02641158
+v -0.00230300 0.03272456 0.02635097
+v -0.00476294 0.03334687 0.02591704
+v -0.00476294 0.03794422 0.00181561
+v 0.00253616 0.05785093 0.00238294
+v 0.00253616 0.04251197 0.00337197
+v 0.00253616 0.04043102 0.00351256
+v 0.00253616 0.03339123 0.00437070
+v 0.00253616 0.03566150 0.02573281
+v 0.00109077 0.03566149 0.02586372
+v 0.00109077 0.03405774 0.02623220
+v 0.00220321 0.03272456 0.02643825
+v -0.00143919 0.03272456 0.02643825
+v -0.00110553 0.03394459 0.02620795
+v -0.00110553 0.03566150 0.02581524
+v -0.00476294 0.03413892 0.02573524
+v -0.00476294 0.04022932 0.00178410
+v -0.00476294 0.04251197 0.00176715
+v -0.00476294 0.04479707 0.00175745
+v -0.00476294 0.04707725 0.00175503
+v -0.00476294 0.04987152 0.00175747
+v -0.00476294 0.05164746 0.00176475
+v -0.00476294 0.05785093 0.00210901
+v 0.00253616 0.05785087 0.01795604
+v 0.00253616 0.03794414 0.02517041
+v 0.00109077 0.03794414 0.02530616
+v -0.00110553 0.03794414 0.02526010
+v 0.00109077 0.03291642 0.02647946
+v 0.00109077 0.03272456 0.02652067
+v -0.00110553 0.03272456 0.02646976
+v -0.00330041 0.03566150 0.02555585
+v -0.00476294 0.03566150 0.02537403
+v -0.00476294 0.05785087 0.01782513
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+v -0.00476294 0.03794414 0.02479465
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+v 0.00253616 0.05164739 0.02065659
+v 0.00253616 0.05274198 0.02019356
+v 0.00253616 0.04833903 0.02199959
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+
diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_19.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e6e9d649662ce739ed301bac9b533784e705a80
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_19.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.00500972 0.03272221 -0.00164287
+v -0.00501925 0.03272220 -0.00082329
+v -0.00500866 0.02568788 -0.00082332
+v -0.00500866 0.02194334 -0.00082333
+v -0.00501184 0.02424030 -0.00164290
+v -0.00508803 0.02652352 -0.00388101
+v -0.00509227 0.03272221 -0.00388099
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+v -0.00501396 0.02194335 -0.00164291
+v -0.01574048 0.02194334 -0.00082333
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+v -0.01581879 0.02414322 -0.00082332
+v -0.01574154 0.02195600 -0.00082333
+v -0.01563783 0.02194335 -0.00148132
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+v -0.01239003 0.03272224 -0.01070857
+v -0.01549179 0.03272221 -0.00308173
+v -0.01578704 0.02268296 -0.00082333
+v -0.01560714 0.02407254 -0.00186255
+v -0.01563783 0.02195601 -0.00148712
+v -0.01532776 0.02195601 -0.00260570
+v -0.01532670 0.02194335 -0.00260183
+v -0.01537538 0.02319997 -0.00275567
+v -0.01239426 0.02195604 -0.01070861
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diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_2.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a397ac35c84dbdefc01d204e9a3e9d9de3b76b3e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_2.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_20.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4702a055666d77d4560957f78fd82140af13259f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_20.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_21.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16b139fde42faa09938920325eb1a433b760f688
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_21.obj
@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_22.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5279577febe0dc639e6a881d5eac4ef6a6a9d9c7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_22.obj
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diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_23.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8383cc417438640cc39676f5850a5ecd8fbb49a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_23.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_24.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0488cd07bed4f36e841e2555c94399fc4c71022
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_24.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_25.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce83a99f6b06c6a6e21c3ed133a26270abdd0d4e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_25.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_26.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..791a3b36250c500e8c8b0ef6d736c7722c72b17d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_26.obj
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diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_3.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75040294970c4fc90d75de4d8d902e5904ff24fe
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_4.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f500681a7a00c3783fbc2da19dccfc53972746fb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_4.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_5.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a297eb21b195d7742d02f13ae22f8849e0b43239
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_5.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.01569661 0.00659612 0.00525022
+v -0.00517972 0.00659612 0.00525022
+v -0.01565577 0.00659612 0.00493848
+v -0.01565285 0.00368263 0.00525049
+v -0.00504407 0.00659613 0.00241960
+v -0.00121219 -0.05569937 0.00525000
+v -0.00079647 -0.04860841 0.00298746
+v -0.01541655 0.00659613 0.00395309
+v -0.01540488 0.00659613 0.00390737
+v -0.01557117 0.00139482 0.00525021
+v -0.01547344 -0.00088667 0.00525020
+v -0.01535966 -0.00317448 0.00525019
+v -0.01522984 -0.00545598 0.00525018
+v -0.01507960 -0.00773747 0.00525017
+v -0.01456032 -0.01459459 0.00525015
+v -0.01437361 -0.01687608 0.00525014
+v -0.01427880 -0.01789991 0.00525013
+v -0.01051110 -0.05341156 0.00525000
+v -0.01003704 -0.05569937 0.00525000
+v -0.00918081 -0.05720983 0.00524999
+v -0.00769298 -0.05774703 0.00524999
+v -0.00549771 -0.05796822 0.00524999
+v -0.00330098 -0.05779127 0.00524999
+v -0.00312011 -0.05774071 0.00524999
+v -0.00170521 -0.05725407 0.00524999
+v -0.00124428 -0.05588897 0.00524999
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+v -0.01259406 0.00659613 0.00241960
+v -0.00087378 -0.05569936 0.00283365
+v -0.00080085 -0.05531385 0.00241938
+v -0.00079647 -0.05125646 0.00327287
+v -0.01437361 0.00659613 0.00305777
+v -0.01043963 -0.05341155 0.00241938
+v -0.00995973 -0.05569936 0.00241938
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+v -0.00980365 -0.05596480 0.00241937
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+v -0.00795846 -0.05754478 0.00241937
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+v -0.00370794 -0.05784181 0.00241937
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+v -0.00330098 -0.05783550 0.00283364
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+v -0.00079647 -0.05320931 0.00241938
+v -0.01260427 0.00659613 0.00242320
+v -0.00160748 -0.05732358 0.00241937
+v -0.00090879 -0.05569936 0.00241938
+v -0.00079647 -0.05312083 0.00280483
+v -0.00190651 -0.05741838 0.00241937
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+f 43 49 46
+
diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_6.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70f9d0575dad27a83db6214ce8f78d10658b1e79
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_6.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.00498657 0.02175119 -0.01263657
+v 0.00498657 0.02174047 -0.01070861
+v 0.00498657 0.02175119 -0.01269792
+v -0.00437922 0.02146376 -0.01244002
+v -0.00437922 0.02145586 -0.01073107
+v 0.00491139 0.01669399 -0.01070863
+v 0.00498657 0.01666355 -0.01071465
+v -0.00437922 0.02144007 -0.01070861
+v 0.00498657 0.02152801 -0.01307365
+v -0.00437922 0.02110812 -0.01289215
+v -0.00437922 0.01682362 -0.01070863
+v 0.00498657 0.01599344 -0.01307367
+v -0.00437922 0.02081054 -0.01307365
+v -0.00437922 0.01682925 -0.01222197
+v -0.00437922 0.01687548 -0.01307367
+f 1 2 7
+f 1 7 12
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+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
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+f 2 5 8
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+f 6 11 7
+f 7 11 12
+f 9 12 15
+f 9 15 13
+f 9 13 10
+f 11 14 12
+f 12 14 15
+
diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_7.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20754ab5294309895135229165cb1c996c4d29ff
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_7.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.00092642 -0.03057345 -0.00611767
+v 0.00093098 -0.04176410 -0.00611771
+v 0.00136391 -0.04176410 -0.00414180
+v 0.00092642 -0.02600536 -0.00611766
+v 0.00174102 -0.00773771 -0.00753843
+v 0.00174330 -0.02372367 -0.00753749
+v 0.00175583 -0.04176409 -0.00752448
+v 0.00174558 -0.02829177 -0.00753549
+v 0.00092984 -0.02143727 -0.00611764
+v 0.00459268 -0.04176413 0.00241943
+v 0.00136733 -0.03285987 -0.00415886
+v 0.00094009 -0.00773772 -0.00611759
+v 0.00174102 -0.00088793 -0.00753840
+v 0.00328704 0.00659617 -0.00785312
+v 0.00174216 -0.01230580 -0.00753845
+v 0.00328704 -0.02600535 -0.00784821
+v 0.00328704 -0.04176409 -0.00782413
+v 0.00328704 -0.02829177 -0.00784520
+v 0.00137530 -0.02143727 -0.00418296
+v 0.00136961 -0.02829178 -0.00416890
+v 0.00136847 -0.03057345 -0.00416388
+v 0.00958849 -0.04176413 0.00241943
+v 0.00483079 -0.00316965 0.00241957
+v 0.00140948 0.00659616 -0.00426933
+v 0.00140720 0.00596657 -0.00426632
+v 0.00140379 0.00368015 -0.00425728
+v 0.00139353 -0.00316962 -0.00423115
+v 0.00138784 -0.00773772 -0.00421810
+v 0.00138556 -0.01002413 -0.00421208
+v 0.00094237 -0.00545604 -0.00611758
+v 0.00174671 0.00659617 -0.00753537
+v 0.00548361 0.00659617 -0.00783904
+v 0.00548361 -0.02600535 -0.00782609
+v 0.00548361 -0.04176409 -0.00780201
+v 0.00548361 -0.02829177 -0.00782307
+v 0.00094921 -0.00088794 -0.00611756
+v 0.00094579 -0.00316962 -0.00611757
+v 0.00995648 -0.04176412 0.00059536
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+v 0.00832615 -0.00316961 -0.00694715
+v 0.00832615 0.00659617 -0.00694511
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+
diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_8.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b18650efd08fa96c1d4d4f524664a33c7dacada0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_8.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.00498657 0.01599405 -0.01307367
+v 0.00553161 0.01433396 -0.01307368
+v 0.00498657 0.01666618 -0.01071465
+v 0.00498657 0.02152904 -0.01307365
+v 0.00612167 0.01294920 -0.01307368
+v 0.00498737 0.01666618 -0.01070863
+v 0.00498657 0.02174363 -0.01070861
+v 0.00498657 0.02175174 -0.01269792
+v 0.00562084 0.04707826 -0.01307356
+v 0.00684679 0.01202603 -0.01307369
+v 0.00504123 0.01656090 -0.01070863
+v 0.00498657 0.02175174 -0.01263657
+v 0.00676720 0.04934570 -0.01070851
+v 0.00570606 0.04937809 -0.01307355
+v 0.00760406 0.01169806 -0.01307369
+v 0.00804460 0.01348366 -0.01070864
+v 0.00702204 0.01430156 -0.01070864
+v 0.00694808 0.01437039 -0.01070864
+v 0.00677605 0.04941453 -0.01070851
+v 0.00612087 0.05059280 -0.01307354
+v 0.00846182 0.01153205 -0.01307369
+v 0.00987346 0.01320833 -0.01070864
+v 0.00773670 0.05128921 -0.01070850
+v 0.00667797 0.05167793 -0.01307354
+v 0.00987346 0.01143892 -0.01307369
+v 0.01110102 0.01360918 -0.01070864
+v 0.00782915 0.05143093 -0.01070850
+v 0.00759039 0.05243104 -0.01307354
+v 0.01199897 0.01293705 -0.01307368
+v 0.01122803 0.01367396 -0.01070864
+v 0.00987346 0.05210306 -0.01070850
+v 0.00987346 0.05280355 -0.01307354
+v 0.01204881 0.01299779 -0.01307368
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diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_9.obj b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1eaa0f67b1f71c1934fe425e9259e2357f3200d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/mesh/stapler_022_collision_9.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/stapler_022.xml b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/stapler_022.xml
new file mode 100644
index 0000000000000000000000000000000000000000..15eeeb7ba12a3e6a7721363aeb46d8ebec3bc85d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mjcf/stapler_022.xml
@@ -0,0 +1,68 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stapler_022">
+  <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_022.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stapler_022_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stapler_022_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stapler_022_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stapler_022_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stapler_022_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/stapler_022_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stapler_022_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/stapler_022_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/stapler_022_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/stapler_022_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/stapler_022_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/stapler_022_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/stapler_022_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/stapler_022_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/stapler_022_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/stapler_022_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/stapler_022_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/stapler_022_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/stapler_022_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/stapler_022_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/stapler_022_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/stapler_022_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/stapler_022_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/stapler_022_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/stapler_022_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/stapler_022_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/stapler_022_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stapler_022">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" 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/4bcb2b1bde8854369eb97e7d013d8de8/stapler_022.urdf b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/stapler_022.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1535e4798c4d01143e0dbbf6c4a1e7830dd6ff85
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/stapler_022.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_022">
+   <link name="stapler_022">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stapler_022.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_022_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>4bcb2b1bde8854369eb97e7d013d8de8</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>stapler</category>
+         <name>blue stapler</name>
+         <color>blue,golden</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>compact blue desktop stapler with rounded body and 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>20260611150820</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.021862 -0.071264 -0.028232</min>
+            <max>0.021847 0.067169 0.031768</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/4bcb2b1bde8854369eb97e7d013d8de8/stapler_022.usd b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/stapler_022.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/stapler_022.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d82730d5b07c07e7b5ca1c6f6f38a0c3b6a44c211f0cddfc258080a4fc8c316
+size 4924265
diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/textures/material_0.png b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6260f16121441e6bc6d2d29c00b801a74d026e13
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6b2d0113ab9ad3a545ed85a40c55815cd65bfdb6f3b121f5d367f9ebfdb67d5
+size 11968339
diff --git a/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/video.mp4 b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c164f17ba4e75bcd988560768c527d64323ddfa0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dc30e6be35bcc2e95c3108c56532d4dc6fe8445f455d67acaecccd230d2f99c
+size 305940