diff --git a/.gitattributes b/.gitattributes
index da6f5605a29a5a18e0dddbd876d50b9010f7cdf4..ad98d694a69651f4f5f6e80aabe65687fe0bfe23 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3215,3 +3215,5 @@ dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/note
 dataset/desktop_supplies/office_stationery/9f8c55f225ab5838a82b30ebefcf5a2c/mesh/notebook_003.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/9f8c55f225ab5838a82b30ebefcf5a2c/notebook_003.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/a32dcba8c28b5924b9eb671b31cff68b.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mesh/stapler_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/stapler_004.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5321bf7910d163f12fa8f1a9ee274df1e98561a2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stapler_004_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_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a74277062feb4e55768f18c6adb6fa00f508214f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4313967af341192ca524c7920d2d6e7f2296f4c94bc4ee900439d366dd70f33
+size 10135689
diff --git a/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mesh/stapler_004.glb b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mesh/stapler_004.glb
new file mode 100644
index 0000000000000000000000000000000000000000..87056f2e2d83932979fbec58d7fa0a1c51c58af4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mesh/stapler_004.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2782b23e00a63450596fbb34c3555c724bdf802105c2cedd61bdf0ffa0a6b9f6
+size 13513408
diff --git a/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mesh/stapler_004.mtl b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mesh/stapler_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f1057b55048bf484d04de29f2359f349345125e4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mesh/stapler_004.mtl
@@ -0,0 +1,6 @@
+newmtl stapler_004_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/a90ec868cc0951e99fb6118a41aab433/mesh/stapler_004.obj b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mesh/stapler_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..600ac9fbd7c2a645dfddfc9adf712f2d1dd80a9a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mesh/stapler_004.obj
@@ -0,0 +1,111010 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stapler_004_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mesh/stapler_004_collision.obj b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mesh/stapler_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d2a2c3ef7a4d9ff813505ad403b7c31b1166455
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mesh/stapler_004_collision.obj
@@ -0,0 +1,8443 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mesh/stapler_004_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mesh/stapler_004_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 10135689
diff --git a/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a74277062feb4e55768f18c6adb6fa00f508214f
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+++ b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4313967af341192ca524c7920d2d6e7f2296f4c94bc4ee900439d366dd70f33
+size 10135689
diff --git a/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004.obj b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004.obj
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index 0000000000000000000000000000000000000000..73b22f5ce1ab1a13a8c5f287b9650233269df298
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+++ b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision.obj b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cd718b6d088e86d8f16451543c6f4cc04f0254b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision.obj
@@ -0,0 +1,8443 @@
+# https://github.com/mikedh/trimesh
+
+o stapler_004_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_0.obj b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cd735156a2084f4faee54a96808a33526d4c7e7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_1.obj b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bdff6dabf470f0d8e948cb8dc525027f7b6a29e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_10.obj b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a6cacd688dc45e47d8b4d1a0d7ec8cd5c1ab99b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_2.obj b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0da563adb85c4c30b411e92731a160ab1a1cca19
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_3.obj b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ad52524c9db4193dba1bd46063fead25104a5bf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_4.obj b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54040170b83ad1ade76578d9086dc78468096bed
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_5.obj b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fdc878e6bc79608a4d376d18555aa4cd1e820d9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_6.obj b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bf90c1a5fef04de294bdc4f8564d66311dfe328
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_7.obj b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20ce09e33533a0b99fd221b073c2158bd370fdbe
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_7.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_8.obj b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12b3cecbd404fdb4615937e6ef917c450c900401
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_8.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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+v -0.00833400 -0.00118412 -0.00527214
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diff --git a/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_9.obj b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5a322782f965d1d4c17a2ef72ded76e755f52db
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/mesh/stapler_004_collision_9.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.01232300 0.00607621 0.00053110
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diff --git a/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/stapler_004.xml b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/stapler_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fa220c53ffa7438c283f09cae110a07d76822a05
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/mjcf/stapler_004.xml
@@ -0,0 +1,36 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stapler_004">
+  <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_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stapler_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stapler_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stapler_004_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stapler_004_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stapler_004_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/stapler_004_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stapler_004_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/stapler_004_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/stapler_004_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/stapler_004_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/stapler_004_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stapler_004">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/stapler_004.urdf b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/stapler_004.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a3d0cd46cbf2b444c86991ee6c941c705b20c891
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/stapler_004.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_004">
+   <link name="stapler_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stapler_004.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_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>a90ec868cc0951e99fb6118a41aab433</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>stapler</category>
+         <name>red stapler</name>
+         <color>red</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>compact red stapler with metallic components</description>
+         <min_height>0.0535</min_height>
+         <max_height>0.0535</max_height>
+         <real_height>0.0535</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427234655</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/a90ec868cc0951e99fb6118a41aab433/stapler_004.usd b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/stapler_004.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/stapler_004.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4935780
diff --git a/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/textures/material_0.png b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/textures/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/textures/material_0.png
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+size 10135689
diff --git a/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/video.mp4 b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/video.mp4
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