diff --git a/.gitattributes b/.gitattributes
index 4640b70fa00dd2c9aefb2598e37422ee7bcfc149..615eb9f204c6d0f98723ac372afa002c6b6f48b1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3188,4 +3188,4 @@ dataset/desktop_supplies/office_stationery/7c5f32ee66605d9aafb84c7e8ea45686/mesh
 dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/ballpoint_pen_034.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh/ballpoint_pen_034.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/8412916f3ae6508cbd1065fbc9cbcc61/8412916f3ae6508cbd1065fbc9cbcc61.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/86ad8f2486705bad84990abf23ef6d9a/86ad8f2486705bad84990abf23ef6d9a.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/86a44f5aa5ee59d69cbe0f44baacdf11.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/86a44f5aa5ee59d69cbe0f44baacdf11.urdf b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/86a44f5aa5ee59d69cbe0f44baacdf11.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..db602971b5a9e19a1c05998dc67445980650da1f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/86a44f5aa5ee59d69cbe0f44baacdf11.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_20">
+   <link name="stapler_20">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/stapler_20.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/stapler_20_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="2.0000" />
+         <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>0.241583</scale>
+         <version>v0.1.5</version>
+         <category>stapler</category>
+         <description>heavy-duty stapler with ergonomic design and robust metal construction</description>
+         <min_height>0.18</min_height>
+         <max_height>0.22</max_height>
+         <real_height>0.2</real_height>
+         <min_mass>1.5</min_mass>
+         <max_mass>2.5</max_mass>
+         <generate_time>20251014154633</generate_time>
+         <gs_model>mesh/stapler_20_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.026854038238525</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>NO: {"summary":"Several tiny colors fragment the stapling mechanism and top cap; segmentation is over-split for functional parts.","merge_groups":[{"colors":["Yellow","Jade"],"target_part":"stapling mechanism","reason":"small adjacent metal pieces share same fastening role"},{"colors":["Olive","Teal"],"target_part":"top housing/handle","reason":"cap and upper body form one continuous press part"},{"colors":["Blue","Navy"],"target_part":"base","reason":"edge strip is part of same base surface"}]}</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>7</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/86a44f5aa5ee59d69cbe0f44baacdf11.usd b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/86a44f5aa5ee59d69cbe0f44baacdf11.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f12559ea37b1b250a995bafd1aea2d7ef0d9cc8e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/86a44f5aa5ee59d69cbe0f44baacdf11.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c692de5bfa99edcc641af36f9fe24ce5fcd57d32c89dcb0af9226714de5dcf8
+size 859636
diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d17b3cd8570f7692752c6f55a14d7a5d2a4c2ff9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfc3bb1f24f78abdb113ec0036697038340e29d1c4659445d8bc54e8ae64d15b
+size 1414560
diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mesh/stapler_20.glb b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mesh/stapler_20.glb
new file mode 100644
index 0000000000000000000000000000000000000000..af23aa9e2883a95ab7d7ef86bead4bce392c7906
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mesh/stapler_20.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a666ab5e77f1db4ab700d216e67b03d1a2b0094f14a793573d94ab0cf580f8eb
+size 2015992
diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mesh/stapler_20.obj b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mesh/stapler_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c709c7a78e4b1e1722526d8ad7cf6a69d950e0f5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mesh/stapler_20.obj
@@ -0,0 +1,55248 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mesh/stapler_20_collision.obj b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mesh/stapler_20_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbadf1867ce8ede072373a5192643b7e1c262b60
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mesh/stapler_20_collision.obj
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+    <mesh name="collision_mesh_0_13" file="mesh/stapler_20_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  <worldbody>
+    <body name="stapler_20">
+      <joint type="free" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
+oid sha256:bfc3bb1f24f78abdb113ec0036697038340e29d1c4659445d8bc54e8ae64d15b
+size 1414560
diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20.obj b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d053b229c0a3200e300cb68c31a63f237c81d0f2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20.obj
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diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision.obj b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e655d2954ba6c759d19a1d727e003f7fafe6d0d4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision.obj
@@ -0,0 +1,10911 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_0.obj b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deadbe50d09d8e7b706a4a9be74234c2e1f63258
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_1.obj b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f882fb932bef12302289f64dac88b37a1fd6d4d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_10.obj b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07fbc20b11208df2d688cefa4fb7a9748fcc05c8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_10.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.01110000 -0.07025054 -0.01255143
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+v 0.01106087 -0.06994469 -0.01255143
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+
diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_11.obj b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..345c6938849b458c52058e06bfd6924371f5f5a3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_11.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v -0.01685435 -0.09176059 -0.00652272
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+v -0.01626183 -0.08896046 -0.00652271
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+
diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_12.obj b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4ff2cea87a9f3081705387367680fc047335155
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_12.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.01388088 -0.06073450 0.01919627
+v 0.01378055 -0.06073450 0.01811384
+v 0.01344429 -0.05066632 0.01420458
+v 0.01304294 -0.05066634 0.01811387
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diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_13.obj b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5a53eb7e14dc987c7c6ff7f952dc9db7e69ef54
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_13.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_14.obj b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b17b59ae5f61aef54d50ce36184e340e4147ae0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_14.obj
@@ -0,0 +1,199 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_15.obj b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42bf09c035858c4f4b32e6ca6b0e5da1cd0cb45b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_15.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v 0.01474786 0.06843978 -0.01731744
+v 0.01917400 0.06843979 -0.01938899
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diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_16.obj b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eca3025b29ed9871dcae7c35875ee19db917c33
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_16.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.00750161 -0.05327077 0.00035795
+v 0.01330119 -0.05327073 -0.00964420
+v 0.01700084 -0.05293958 -0.00964419
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+
diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_17.obj b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84f9a3e690a6371dd7517abd9b98c925bb31dcb7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_17.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
+v -0.01714382 -0.09300917 -0.00652272
+v -0.01692601 -0.09613882 -0.00652273
+v -0.01685114 -0.09176059 -0.00652272
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+v 0.01734146 -0.09176059 -0.00652272
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diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_18.obj b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b296806c840a9e7f516d9a3c397e9a178405b33a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_18.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_19.obj b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6c86592fdfbdb86751c54b7855dbfb0ec643a3e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_19.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_2.obj b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e434411c2776cc1bed362f08075f075990d891d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_2.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_20.obj b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4429657f08018e2c0a9693c31afa3c759da80b61
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_20.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_21.obj b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9ebeba11e3b5f8775518b96ae9498b73e1f0270
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_21.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_3.obj b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75ea974d3dc4ae70e24bc2b0b95af5709f0092ff
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_3.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_4.obj b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..068f2ce7b269b1c425d2b72e34a8f7f7c52d36f9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_4.obj
@@ -0,0 +1,610 @@
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diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_5.obj b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8110678ed2fb7cbf62595f842aa0d0110712c5c7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_5.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_6.obj b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd7b76ee810ef9b88e0a1293f6b88a3e5ed0c2f2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_6.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_7.obj b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c06b40597ab75641ae1b9e7466910158b90c152
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_8.obj b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ab5ff5ca0888dda53cc41ed29941ed1c3ebd96a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_9.obj b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6507916711f936713f5a1227614049c9886f719a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/mjcf/mesh/stapler_20_collision_9.obj
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