diff --git a/.gitattributes b/.gitattributes
index 5d4696d894299c3980f4626c0c3b78c568da71d3..c929a001b7d4d2966bbdbac01123a8e693f0381d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3071,3 +3071,5 @@ dataset/desktop_supplies/electronic_accessories/fdddf167a17d5399b3f90db41a3e9139
 dataset/desktop_supplies/electronic_accessories/fdddf167a17d5399b3f90db41a3e9139/mesh/ac_remote_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/f7eec103bd5957229341cfba37ed88d1/ac_remote_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/electronic_accessories/f7eec103bd5957229341cfba37ed88d1/mesh/ac_remote_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mesh/stapler_032.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/stapler_032.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..01fc3e46b1ea0e2fe274ea68fad41534cc6b46b7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stapler_032_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_032_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1b55097cbe0d011ee76065eca512ea1976b587b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06856edd7c66ebf39a31b40590450c55a7c284dea81521cd3892eb57d5d8d915
+size 9707533
diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mesh/stapler_032.glb b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mesh/stapler_032.glb
new file mode 100644
index 0000000000000000000000000000000000000000..bce478ad6ae83b57a1c0ec4809d9412ce1ebea4e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mesh/stapler_032.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3fc8d395893296145b29776af9d062e4d78ea871a78cc924921b4d5e85cc3df
+size 12965792
diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mesh/stapler_032.mtl b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mesh/stapler_032.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5e16c6c85ad902cc99c601701b72833f22f26df0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mesh/stapler_032.mtl
@@ -0,0 +1,6 @@
+newmtl stapler_032_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/031b8e0abca354a3bf75dd1738b2cd24/mesh/stapler_032.obj b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mesh/stapler_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7192b34361b2bf0e6763ff4ce4bde2089689c187
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mesh/stapler_032.obj
@@ -0,0 +1,111730 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stapler_032_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mesh/stapler_032_collision.obj b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mesh/stapler_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0db16d511bcdd6f0daf35d6676bf15e7694bbff1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mesh/stapler_032_collision.obj
@@ -0,0 +1,8964 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
+v -0.01436000 -0.02167462 0.02731992
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diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mesh/stapler_032_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mesh/stapler_032_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..c1b55097cbe0d011ee76065eca512ea1976b587b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mesh/stapler_032_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9707533
diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1b55097cbe0d011ee76065eca512ea1976b587b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032.obj b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032.obj
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032.obj
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diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision.obj b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f328cf063543367c9e983991e5b6ded097242adf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision.obj
@@ -0,0 +1,8964 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_0.obj b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c016187a3d6a607430341b5e24e9bc877cfadb89
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_1.obj b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b8b8659598f468d608b96b1e6f2e08143680203
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_10.obj b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..113dcd393b286251d7de2f7eb04f84686a2beb2e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_10.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.01026978 0.03520139 -0.01170554
+v -0.00977187 0.03647467 -0.00744341
+v -0.00977187 0.03684556 -0.00744340
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+v -0.00976636 0.02660574 -0.00744344
+v -0.01026244 0.03684557 -0.01170553
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+
diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_11.obj b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35560b12e523697f70e03e2acf45ac650273bf99
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_11.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.00401769 0.01545968 -0.00586649
+v 0.00404354 0.00887723 -0.00586652
+v 0.00435445 0.03014459 -0.00586644
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+
diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_12.obj b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d1fcab4762f7fb5f2b52b73394b89181e3381b5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_12.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.00441613 0.02184021 -0.01170559
+v 0.00441613 0.02197661 -0.01122623
+v 0.00441613 0.04055446 -0.01170552
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+v 0.01030694 0.00558898 -0.01170565
+v 0.01027580 0.00393268 -0.01170566
+v 0.00964549 0.00558507 -0.00744352
+v 0.00977178 0.00723358 -0.00744351
+f 1 2 8
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+f 1 14 18
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+f 1 17 16
+f 1 16 22
+f 1 22 10
+f 1 10 3
+f 1 3 12
+f 1 12 24
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+f 1 29 33
+f 1 33 39
+f 1 39 46
+f 1 46 49
+f 1 49 48
+f 1 48 53
+f 1 53 57
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+f 1 59 60
+f 1 60 56
+f 1 56 51
+f 1 51 45
+f 1 45 40
+f 1 40 35
+f 1 35 34
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+f 1 31 25
+f 1 25 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
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+f 10 36 42
+f 10 42 50
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+f 10 58 52
+f 10 52 47
+f 10 47 38
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+f 10 32 28
+f 10 28 23
+f 10 23 11
+f 11 23 24
+f 11 24 12
+f 13 25 26
+f 13 26 19
+f 15 21 27
+f 15 27 22
+f 15 22 16
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+f 24 28 29
+f 25 30 26
+f 25 31 30
+f 28 32 33
+f 28 33 29
+f 30 31 34
+f 30 34 35
+f 30 35 36
+f 32 37 33
+f 33 37 38
+f 33 38 39
+f 35 40 36
+f 36 41 42
+f 36 40 43
+f 36 43 44
+f 36 44 45
+f 36 45 41
+f 38 46 39
+f 38 47 48
+f 38 48 49
+f 38 49 46
+f 40 45 43
+f 41 45 42
+f 42 45 51
+f 42 51 50
+f 43 45 44
+f 47 52 53
+f 47 53 48
+f 50 54 55
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+f 52 57 53
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+f 52 59 57
+f 54 56 55
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+f 55 60 61
+f 58 62 59
+f 59 62 60
+f 60 62 61
+
diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_13.obj b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..523b2499ba655d6d43536f731025ff029cd85bfc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_13.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.00000489 -0.03260686 0.00189968
+v 0.00000489 0.00226681 0.00189981
+v 0.00000489 -0.03251837 0.00166330
+v 0.00001639 -0.04220794 -0.00383339
+v 0.00001639 -0.04250438 -0.00221129
+v 0.00001639 -0.04232742 0.00189964
+v 0.00452233 0.00227566 0.00189981
+v 0.00000489 0.00227566 0.00189906
+v 0.00000489 -0.03222192 0.00087990
+v 0.00001639 -0.04191149 -0.00435237
+v 0.00237015 -0.04267251 -0.00383339
+v 0.00000489 -0.03056273 -0.00218473
+v 0.00237015 -0.04285391 -0.00221129
+v 0.00237015 -0.04291588 0.00189964
+v 0.00783261 0.00227566 0.00189754
+v 0.00783491 0.00226681 0.00189981
+v 0.00000489 0.00227569 -0.00563337
+v 0.00001639 -0.04160620 -0.00488498
+v 0.00394289 -0.04267693 -0.00383339
+v 0.00237015 -0.04190707 -0.00512440
+v 0.00000489 -0.02893011 -0.00377273
+v 0.00394289 -0.04285834 -0.00221129
+v 0.00394289 -0.04288489 -0.00059071
+v 0.00394289 -0.04292472 0.00189964
+v 0.00773527 0.00227568 -0.00221037
+v 0.00774830 -0.04048242 0.00189965
+v 0.00773680 -0.03883649 -0.00221127
+v 0.00773833 -0.03719502 -0.00221127
+v 0.00773910 -0.03554911 -0.00221126
+v 0.00237015 0.00227569 -0.00575914
+v 0.00000489 -0.00264432 -0.00579401
+v 0.00000489 -0.02551440 -0.00497130
+v 0.00001639 -0.04110181 -0.00494332
+v 0.00237015 -0.04048239 -0.00560853
+v 0.00394289 -0.04190707 -0.00512591
+v 0.00551794 -0.04187609 -0.00510167
+v 0.00551794 -0.04261941 -0.00383339
+v 0.00551794 -0.04281409 -0.00221129
+v 0.00394289 -0.04048239 -0.00570323
+v 0.00551794 -0.04288489 0.00103139
+v 0.00551794 -0.04284950 -0.00059071
+v 0.00478675 -0.04291145 0.00189964
+v 0.00733518 0.00227568 -0.00383247
+v 0.00744249 -0.04048240 -0.00383338
+v 0.00736048 -0.04134961 0.00189965
+v 0.00773374 -0.04048241 0.00103140
+v 0.00770384 -0.04048241 -0.00059070
+v 0.00767319 -0.04048240 -0.00221128
+v 0.00394289 0.00227569 -0.00583717
+v 0.00000489 -0.00429022 -0.00583948
+v 0.00000489 -0.02479322 -0.00503039
+v 0.00001639 -0.04063724 -0.00499408
+v 0.00394289 -0.03883648 -0.00579944
+v 0.00000489 -0.01416564 -0.00578723
+v 0.00000489 -0.01251974 -0.00582890
+v 0.00551794 -0.04048239 -0.00557292
+v 0.00663695 -0.04166372 -0.00493272
+v 0.00687378 -0.04193362 -0.00383338
+v 0.00695809 -0.04203539 -0.00221128
+v 0.00698492 -0.04206194 -0.00059070
+v 0.00701174 -0.04208407 0.00103140
+v 0.00551794 -0.04289818 0.00189964
+v 0.00702554 -0.04209292 0.00189965
+v 0.00633191 -0.04246458 0.00189964
+v 0.00663159 0.00227569 -0.00500984
+v 0.00676571 -0.04048239 -0.00504257
+v 0.00396052 0.00227569 -0.00583490
+v 0.00394289 -0.00264432 -0.00583719
+v 0.00394289 -0.00429022 -0.00583645
+v 0.00000489 -0.02402778 -0.00509252
+v 0.00551794 0.00227569 -0.00562049
+v 0.00662316 0.00227569 -0.00502271
+f 1 2 8
+f 1 8 17
+f 1 17 31
+f 1 31 50
+f 1 50 55
+f 1 55 54
+f 1 54 70
+f 1 70 51
+f 1 51 32
+f 1 32 21
+f 1 21 12
+f 1 12 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 24
+f 1 24 42
+f 1 42 62
+f 1 62 64
+f 1 64 63
+f 1 63 45
+f 1 45 26
+f 1 26 16
+f 1 16 7
+f 1 7 2
+f 2 7 8
+f 3 9 4
+f 4 10 11
+f 4 11 5
+f 4 9 12
+f 4 12 10
+f 5 11 13
+f 5 13 14
+f 5 14 6
+f 7 15 25
+f 7 25 43
+f 7 43 65
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+f 7 71 67
+f 7 67 49
+f 7 49 30
+f 7 30 17
+f 7 17 8
+f 7 16 15
+f 10 12 18
+f 10 18 11
+f 11 19 22
+f 11 22 13
+f 11 18 20
+f 11 20 19
+f 12 21 18
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 15 16 25
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+f 16 27 28
+f 16 28 29
+f 16 29 25
+f 17 30 31
+f 18 21 32
+f 18 32 33
+f 18 33 34
+f 18 34 20
+f 19 20 35
+f 19 35 36
+f 19 36 37
+f 19 37 38
+f 19 38 22
+f 20 34 39
+f 20 39 35
+f 22 40 23
+f 22 38 41
+f 22 41 40
+f 23 40 42
+f 23 42 24
+f 25 29 44
+f 25 44 43
+f 26 45 46
+f 26 46 27
+f 27 46 47
+f 27 47 48
+f 27 48 44
+f 27 44 28
+f 28 44 29
+f 30 49 31
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+f 32 51 52
+f 32 52 33
+f 33 52 34
+f 34 53 39
+f 34 52 54
+f 34 54 55
+f 34 55 53
+f 35 39 36
+f 36 39 56
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+f 36 57 37
+f 37 57 58
+f 37 58 38
+f 38 58 59
+f 38 59 60
+f 38 60 61
+f 38 61 41
+f 39 53 56
+f 40 62 42
+f 40 41 61
+f 40 61 63
+f 40 63 64
+f 40 64 62
+f 43 44 66
+f 43 66 65
+f 44 48 58
+f 44 58 57
+f 44 57 66
+f 45 63 48
+f 45 48 47
+f 45 47 46
+f 48 63 61
+f 48 61 60
+f 48 60 59
+f 48 59 58
+f 49 67 68
+f 49 68 50
+f 50 68 69
+f 50 69 53
+f 50 53 55
+f 51 70 52
+f 52 70 54
+f 53 69 71
+f 53 71 56
+f 56 66 57
+f 56 71 66
+f 65 66 72
+f 66 71 72
+f 67 71 68
+f 68 71 69
+
diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_14.obj b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fbd80be52ea5e0e750e83219fc04f22dd06d0f5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_14.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.00780847 0.00227566 0.00190057
+v 0.00000413 0.00226860 0.00190057
+v 0.00000413 0.00227566 0.00189981
+v -0.00770370 0.00227568 -0.00221102
+v -0.00770523 0.00064804 -0.00221103
+v -0.00770753 -0.00428784 -0.00221105
+v -0.00770829 -0.00922372 -0.00221106
+v -0.00770906 -0.03061254 -0.00221114
+v -0.00770906 -0.03225783 -0.00221115
+v -0.00770829 -0.03379367 -0.00221115
+v -0.00770906 -0.03379367 -0.00210201
+v -0.00771594 -0.03379368 -0.00059001
+v -0.00772206 -0.03379369 0.00190044
+v 0.00000413 -0.03260739 0.00190044
+v 0.00000413 0.00227569 -0.00563444
+v -0.00769988 0.00227568 -0.00222921
+v -0.00730680 0.00227568 -0.00383292
+v -0.00730757 0.00064804 -0.00383293
+v -0.00730833 -0.00099725 -0.00383293
+v -0.00730833 -0.00264255 -0.00383294
+v -0.00731368 -0.03379367 -0.00372391
+v -0.00078356 -0.03379369 0.00190044
+v -0.00110857 -0.03379367 -0.00383305
+v 0.00000413 -0.03251912 0.00166397
+v 0.00000413 -0.00264254 -0.00579513
+v -0.00235510 0.00227569 -0.00576252
+v -0.00729915 0.00227568 -0.00384656
+v -0.00660477 0.00227569 -0.00502130
+v -0.00660400 -0.00099724 -0.00501904
+v -0.00728462 -0.03379367 -0.00383305
+v -0.00112387 -0.03379367 -0.00391036
+v 0.00000413 -0.03056664 -0.00218462
+v 0.00000413 -0.03222254 0.00088107
+v 0.00000413 -0.00428783 -0.00583910
+v -0.00391211 0.00227569 -0.00583983
+v -0.00550431 0.00227569 -0.00561852
+v -0.00550431 -0.00099724 -0.00561626
+v -0.00550431 -0.00264254 -0.00561400
+v -0.00660324 -0.00264254 -0.00501677
+v -0.00662695 -0.03379366 -0.00489638
+v -0.00133952 -0.03379366 -0.00498278
+v 0.00000413 -0.02893194 -0.00377317
+v 0.00000413 -0.01251783 -0.00582928
+v -0.00078050 -0.00428783 -0.00583986
+v -0.00392970 0.00227569 -0.00584059
+v -0.00392970 0.00064805 -0.00584060
+v -0.00392970 -0.00428783 -0.00583834
+v -0.00392970 -0.03379366 -0.00580207
+v -0.00550431 -0.00428783 -0.00561098
+v -0.00657953 -0.03379366 -0.00497293
+v -0.00140759 -0.03379366 -0.00502219
+v 0.00000413 -0.02551777 -0.00497214
+v -0.00078050 -0.01251783 -0.00583004
+v 0.00000413 -0.01333694 -0.00580882
+v -0.00235510 -0.03379366 -0.00556181
+v -0.00403600 -0.03379366 -0.00578539
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+v -0.00550431 -0.03379366 -0.00555196
+v -0.00557696 -0.03379366 -0.00551331
+v 0.00000413 -0.02479398 -0.00503125
+v 0.00000413 -0.02403135 -0.00509340
+f 1 2 3
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+f 1 15 26
+f 1 26 35
+f 1 35 45
+f 1 45 36
+f 1 36 28
+f 1 28 27
+f 1 27 17
+f 1 17 16
+f 1 16 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 13
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+f 1 22 14
+f 1 14 2
+f 2 14 24
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+f 2 42 52
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+f 10 59 58
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+f 10 48 55
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+f 10 41 31
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+f 10 23 22
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+f 10 20 21
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+f 29 38 39
+f 29 39 30
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+f 34 45 35
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+f 36 47 37
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+f 37 48 38
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+f 38 50 39
+f 38 48 49
+f 39 50 40
+f 41 51 52
+f 41 52 42
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+f 43 48 53
+f 44 47 46
+f 44 46 45
+f 44 53 47
+f 47 53 48
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+f 48 57 55
+f 49 56 58
+f 49 58 59
+f 49 59 50
+f 51 55 52
+f 52 55 60
+f 55 61 60
+f 55 57 61
+
diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_15.obj b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..783047c5d725fc0e120105de5b36310e0abebb6b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_15.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.00383426 0.04196199 -0.00586640
+v -0.00235410 0.04090588 -0.00744339
+v -0.00392756 0.04090588 -0.00744339
+v -0.00392756 0.04196083 -0.00586764
+v -0.00392756 0.03093465 -0.00586644
+v 0.00551878 0.04195852 -0.00586640
+v 0.00551878 0.04090472 -0.00744339
+v -0.00392756 0.04056927 -0.00744339
+v -0.00392756 0.03066282 -0.00586644
+v 0.00709224 0.04189836 -0.00586640
+v 0.00705325 0.04083300 -0.00744339
+v -0.00386072 0.03080395 -0.00744343
+v -0.00392756 0.03080395 -0.00744219
+v 0.00435330 0.03014459 -0.00586644
+v 0.00507319 0.03014460 -0.00744343
+v 0.00846240 0.04155250 -0.00586640
+v 0.00709224 0.04083069 -0.00744339
+v 0.01029346 0.03014459 -0.00586644
+v 0.00978940 0.03014460 -0.00744343
+v 0.00950952 0.03939979 -0.00744340
+v 0.00894419 0.03992148 -0.00744339
+v 0.00862671 0.04019101 -0.00744339
+v 0.00999827 0.03991222 -0.00586640
+v 0.01029486 0.03191211 -0.00586643
+v 0.00979079 0.03191212 -0.00744342
+v 0.00967940 0.03850793 -0.00744340
+v 0.01024751 0.03849173 -0.00586641
+v 0.01029625 0.03393411 -0.00586643
+v 0.00979358 0.03684683 -0.00744340
+v 0.01029764 0.03684682 -0.00586641
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 18
+f 1 18 24
+f 1 24 28
+f 1 28 30
+f 1 30 27
+f 1 27 23
+f 1 23 16
+f 1 16 10
+f 1 10 6
+f 1 6 7
+f 1 7 2
+f 2 7 11
+f 2 11 17
+f 2 17 22
+f 2 22 21
+f 2 21 20
+f 2 20 26
+f 2 26 29
+f 2 29 25
+f 2 25 19
+f 2 19 15
+f 2 15 12
+f 2 12 8
+f 2 8 3
+f 3 8 13
+f 3 13 9
+f 3 9 5
+f 3 5 4
+f 6 10 7
+f 7 10 11
+f 8 12 13
+f 9 13 15
+f 9 15 14
+f 10 16 17
+f 10 17 11
+f 12 15 13
+f 14 15 19
+f 14 19 18
+f 16 20 21
+f 16 21 22
+f 16 22 17
+f 16 23 20
+f 18 19 25
+f 18 25 24
+f 20 23 26
+f 23 27 26
+f 24 25 28
+f 25 29 28
+f 26 27 29
+f 27 30 29
+f 28 29 30
+
diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_2.obj b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46bd0bde1c8e20380e944fa750303a0ef90053bf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_2.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.01028508 0.02195233 -0.00586647
+v -0.01028010 0.03684398 -0.00586641
+v -0.00977225 0.03684399 -0.00744340
+v -0.00976665 0.02697497 -0.00744344
+v -0.00976540 0.02532758 -0.00744345
+v -0.00976291 0.02331239 -0.00744345
+v -0.00974300 0.00723308 -0.00744351
+v -0.01027824 0.02143512 -0.00586647
+v -0.01025085 0.03811209 -0.00586641
+v -0.00969383 0.03811976 -0.00744340
+v -0.00973677 0.00686146 -0.00744351
+v -0.00974113 0.00723308 -0.00707747
+v -0.00968698 0.00723307 -0.00586652
+v -0.01022720 0.03849138 -0.00586641
+v -0.00965462 0.03850671 -0.00744340
+v -0.00965088 0.00683080 -0.00586652
+v -0.00961977 0.00559335 -0.00744352
+v -0.01001995 0.03969052 -0.00586640
+v -0.00952392 0.03921164 -0.00744340
+v -0.00959487 0.00559718 -0.00713707
+v -0.00953948 0.00605691 -0.00586653
+v -0.00958927 0.00536348 -0.00744352
+v -0.00998012 0.03990507 -0.00586640
+v -0.00948782 0.03938787 -0.00744340
+v -0.00954197 0.00510680 -0.00744352
+v -0.00941438 0.00476966 -0.00744352
+v -0.00917913 0.00505315 -0.00663642
+v -0.00882936 0.00526387 -0.00586653
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diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_3.obj b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..777b69deefccb507d9fad102a693114f286cb82f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_3.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_4.obj b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f328e043f7ed0eb13c8c7b20013ea1d0bb01884e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_4.obj
@@ -0,0 +1,658 @@
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diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_5.obj b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..530f4dd003bff53bd37a5ab6bd5985f354b52b63
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_6.obj b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2399a8856bd524d9a813e88e0a9d5c3bf6fc4b0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_6.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00510540 0.01312008 -0.01170571
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+
diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_7.obj b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46ead074ac5b511982350ecfba052be1f8278db4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_7.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.01028585 0.00558588 -0.01170565
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+
diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_8.obj b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f8243867583f9b109de0f8c55acbca27544be98
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_8.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.00402135 0.02198819 -0.01170559
+v 0.00441555 0.02184452 -0.01170559
+v 0.00441555 0.02198073 -0.01122623
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diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_9.obj b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7765136eabad06d867085acf9bb8f5db4ccbbba6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/mesh/stapler_032_collision_9.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.00772266 -0.03390541 0.00190044
+v -0.00772191 -0.03379370 0.00190044
+v -0.00771585 -0.03379369 -0.00059023
+v -0.00771585 -0.03390540 -0.00059023
+v -0.00770827 -0.03719618 -0.00221149
+v -0.00771585 -0.04048609 0.00190041
+v -0.00078325 -0.03379370 0.00190044
+v -0.00770903 -0.03379368 -0.00210213
+v -0.00770827 -0.03379368 -0.00221147
+v -0.00740376 -0.04048607 -0.00383349
+v -0.00770600 -0.03884068 -0.00221149
+v -0.00770070 -0.04048608 0.00103173
+v -0.00700380 -0.04209573 0.00190041
+v 0.00001590 -0.03826242 -0.00195436
+v 0.00001590 -0.03816411 -0.00221149
+v -0.00110822 -0.03379368 -0.00383346
+v 0.00001590 -0.04031985 0.00190041
+v 0.00001590 -0.03878438 -0.00059704
+v -0.00731362 -0.03379368 -0.00372412
+v -0.00673565 -0.04048606 -0.00503924
+v -0.00661218 -0.04166491 -0.00493141
+v -0.00684776 -0.04193304 -0.00383349
+v -0.00764237 -0.04048607 -0.00221150
+v -0.00728483 -0.03379368 -0.00383346
+v -0.00767191 -0.04048608 -0.00059026
+v -0.00698941 -0.04208499 0.00103173
+v -0.00550396 -0.04288579 0.00103172
+v -0.00550396 -0.04290278 0.00190040
+v 0.00001590 -0.03868337 -0.00395413
+v -0.00133925 -0.03379367 -0.00498266
+v 0.00001590 -0.04233078 0.00190040
+v -0.00550396 -0.04048606 -0.00556709
+v -0.00662733 -0.03379367 -0.00489594
+v -0.00657960 -0.03379367 -0.00497286
+v -0.00550396 -0.03379367 -0.00555198
+v -0.00550396 -0.04187673 -0.00509957
+v -0.00550396 -0.04261855 -0.00383350
+v -0.00550396 -0.04281249 -0.00221151
+v -0.00693638 -0.04203583 -0.00221150
+v -0.00696290 -0.04206175 -0.00059026
+v -0.00550396 -0.04285093 -0.00059027
+v -0.00392913 -0.04285986 -0.00221151
+v -0.00392913 -0.04288758 -0.00059027
+v -0.00392913 -0.04292334 0.00190040
+v 0.00001590 -0.04063889 -0.00499475
+v -0.00140743 -0.03379367 -0.00502187
+v -0.00235581 -0.04291619 0.00190040
+v 0.00001590 -0.04250773 -0.00221151
+v -0.00392913 -0.03884067 -0.00579631
+v -0.00392913 -0.04048606 -0.00569980
+v -0.00392913 -0.03379367 -0.00580233
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+v -0.00392913 -0.04191069 -0.00512521
+v -0.00392913 -0.04267843 -0.00383350
+v -0.00235581 -0.04287417 -0.00059027
+v -0.00235581 -0.04266592 -0.00383350
+v -0.00235581 -0.04284556 -0.00221151
+v -0.00308680 -0.04292066 0.00190040
+v 0.00001590 -0.04110364 -0.00494348
+v -0.00235581 -0.04048606 -0.00560932
+v -0.00235581 -0.03379367 -0.00556178
+v 0.00001590 -0.04236115 -0.00301308
+v -0.00235581 -0.04190444 -0.00512294
+v 0.00001590 -0.04160950 -0.00488541
+v 0.00001590 -0.04191427 -0.00435305
+v 0.00001590 -0.04221011 -0.00383350
+f 1 2 3
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+
diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/stapler_032.xml b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/stapler_032.xml
new file mode 100644
index 0000000000000000000000000000000000000000..50ba83c4fdb64eeea6fc3c3eb72875b684e406ad
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mjcf/stapler_032.xml
@@ -0,0 +1,46 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stapler_032">
+  <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_032.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stapler_032_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stapler_032_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stapler_032_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stapler_032_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stapler_032_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/stapler_032_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stapler_032_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/stapler_032_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/stapler_032_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/stapler_032_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/stapler_032_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/stapler_032_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/stapler_032_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/stapler_032_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/stapler_032_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/stapler_032_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stapler_032">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/stapler_032.urdf b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/stapler_032.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5055875853fb470d27cf3bd2b6082b4d979b228f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/stapler_032.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_032">
+   <link name="stapler_032">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stapler_032.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_032_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2250" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>031b8e0abca354a3bf75dd1738b2cd24</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>stapler</category>
+         <name>desktop stapler</name>
+         <color>gray,black</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>compact gray desktop stapler with metal jaw and broad base</description>
+         <min_height>0.0545</min_height>
+         <max_height>0.0545</max_height>
+         <real_height>0.0545</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611151200</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.014287 -0.051843 -0.025370</min>
+            <max>0.014302 0.048157 0.029159</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>16</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/031b8e0abca354a3bf75dd1738b2cd24/stapler_032.usd b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/stapler_032.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5a4110ef3ebea536546e50e4f492b2ccb8d6c082
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/stapler_032.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad30da15a0c451def0127185c3b53438f88ac31558d69084c34c38b89263fda9
+size 4871020
diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/textures/material_0.png b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1b55097cbe0d011ee76065eca512ea1976b587b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06856edd7c66ebf39a31b40590450c55a7c284dea81521cd3892eb57d5d8d915
+size 9707533
diff --git a/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/video.mp4 b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6f557a3e64636684cf3432ebde3c5cd753dff3c6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a896a38c27fde9f4cf91b71bf8f8e3e110ed1d4ab7a3324bc26495cfb1a9e7a1
+size 272109