diff --git a/.gitattributes b/.gitattributes
index df4a042204c67005131a45a0ea40a7146e084295..425cbcdd903748b1a5cbcb300eceea27a938f694 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3291,3 +3291,5 @@ dataset/desktop_supplies/office_stationery/f2fd29c97f43540db1691502d4c89199/glue
 dataset/desktop_supplies/office_stationery/f2fd29c97f43540db1691502d4c89199/mesh/glue_stick_020.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/f51a7c0b35515dca8e547665d3586545/marker_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/f51a7c0b35515dca8e547665d3586545/mesh/marker_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mesh/stapler_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/stapler_008.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..97422d8e16535edbde195cad5c4e9e92f79dfcdd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stapler_008_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_008_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa98f4da62c9c3ae27b435fa21e11b00704acdf5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a34f0d6637b9b863592f93b54dc9f2b3d19334b92ebb1a60daa38a07c8a194f9
+size 9235970
diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mesh/stapler_008.glb b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mesh/stapler_008.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5f8617033b88c870bc882a1098070e04d629f418
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mesh/stapler_008.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c2c37c6048f65de9757ea514315ea0ccc42591394092b81a17faef3b558fcf4
+size 12455908
diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mesh/stapler_008.mtl b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mesh/stapler_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7f17c02cf8a76b0e26bda43acd99d6c64c6ce3bf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mesh/stapler_008.mtl
@@ -0,0 +1,6 @@
+newmtl stapler_008_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/f3b88e5184a7550ba2be0e432752637f/mesh/stapler_008.obj b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mesh/stapler_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bb99908694b8c6369fd812d653c7681207169be
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mesh/stapler_008.obj
@@ -0,0 +1,110820 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stapler_008_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mesh/stapler_008_collision.obj b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mesh/stapler_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7898f3b4fce296a51ede242b95405a5f86a8033
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mesh/stapler_008_collision.obj
@@ -0,0 +1,11755 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision.obj b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7108c13a82ad90134fa5357fc5e31ad478d27faa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision.obj
@@ -0,0 +1,11755 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_0.obj b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efb257511b0aee291c4d4870450f03136859f426
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_1.obj b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6deda8fc53ca1fca776691ec8ab19036b6a0483c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_10.obj b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1677b11c75c6b2c00e753ddf01c0a723f2a8806
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_10.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_11.obj b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b49518ab9513bcf0e03e7f51b7f028067cac9e01
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_11.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_12.obj b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b364fb00801512072210e1df0c7e5354cf93f3b8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_12.obj
@@ -0,0 +1,493 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_13.obj b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49805b63207419792eb52c86737d3e2633e69718
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_13.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_14.obj b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e37ed8f6261f35e91d4d965a851cf6a052be42e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_14.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_15.obj b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9228e08d88bad9579f7e4bd595292a13b60572ef
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_15.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_16.obj b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5d2045b1b3218a2a09adbdbb5ebf8d695d8ba18
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_16.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.00733343 0.00498603 -0.02561073
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diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_17.obj b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c75beee791a4c627e6cdd3edf8474f59efc55e2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_17.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_18.obj b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a86694f4b0a2e1035a1ace5be7eff7c85318c746
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_18.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_19.obj b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75113f7c1c5f347a90c34263e058db570f574bf5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_19.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_2.obj b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8464516e01c9e85c9a32fa59bddaf49bbf82be44
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_2.obj
@@ -0,0 +1,1141 @@
+# https://github.com/mikedh/trimesh
+v -0.00626950 -0.03482740 0.04403904
+v -0.00701169 -0.03482740 0.04397179
+v -0.00626950 -0.03651225 0.04359178
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diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_20.obj b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbe457a872c18bf110189e8ab654a0ce72ed5206
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_20.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.00003950 0.00498599 -0.01355152
+v 0.00003950 0.00423407 -0.01355152
+v 0.00003950 0.00498600 -0.01532263
+v -0.01123720 0.00498599 -0.01355152
+v 0.00003950 0.00441454 -0.01532263
+v -0.00441232 -0.00179153 -0.01355155
+v -0.01123056 0.00498600 -0.01532263
+v -0.01126264 0.00498599 -0.01402282
+v -0.01121175 0.00479664 -0.01355152
+v -0.00533610 -0.00192755 -0.01532266
+v -0.00539141 -0.00195900 -0.01355155
+v -0.01121507 0.00455672 -0.01532263
+v -0.01122613 0.00455671 -0.01444748
+v -0.01117524 0.00452732 -0.01355152
+v -0.00606627 -0.00199728 -0.01355155
+v -0.00703319 -0.00197198 -0.01532266
+v -0.01114648 0.00364895 -0.01532264
+v -0.01106572 0.00312808 -0.01532264
+v -0.01109780 0.00403105 -0.01355153
+v -0.00675882 -0.00168421 -0.01355155
+v -0.00847140 -0.00045584 -0.01532265
+v -0.01068625 0.00236454 -0.01532264
+v -0.01099491 0.00361818 -0.01355153
+v -0.01104912 0.00342131 -0.01444749
+v -0.01021828 0.00168576 -0.01532264
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+
diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_21.obj b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72a00677bac3ca335f1673ded9b8678ee93f015e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_21.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.01134527 0.00498599 -0.01444743
+v 0.01133088 0.00455658 -0.01444743
+v 0.01131760 0.00455659 -0.01534107
+v 0.01131871 0.00498600 -0.01534107
+v 0.01128883 0.00498599 -0.01355134
+v 0.01127998 0.00471199 -0.01355134
+v 0.01127334 0.00452046 -0.01355134
+v 0.01115714 0.00309525 -0.01534108
+v 0.00003950 0.00498600 -0.01534107
+v 0.00003950 0.00498599 -0.01355134
+v 0.01113943 0.00338900 -0.01444744
+v 0.01108410 0.00359348 -0.01355135
+v 0.01091588 0.00243614 -0.01534108
+v 0.00003950 0.00441005 -0.01534107
+v 0.00003950 0.00423419 -0.01355134
+v 0.00683890 -0.00168277 -0.01355137
+v 0.00858191 -0.00032638 -0.01534109
+v 0.00442967 -0.00149737 -0.01355137
+v 0.00541572 -0.00193222 -0.01534110
+v 0.00546884 -0.00195200 -0.01355137
+v 0.00711999 -0.00197721 -0.01534110
+v 0.00578977 -0.00194653 -0.01534110
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+
diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_22.obj b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..912b1c9b8f4ab42a66ee0bac4a7fa0144c5390c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_22.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.00003950 -0.00209229 -0.02580009
+v 0.00003950 -0.00200706 -0.02579906
+v 0.00082123 0.00127468 -0.02575913
+v 0.00090293 -0.00209229 -0.02579906
+v 0.00003950 -0.00209232 -0.01688087
+v 0.00003950 0.00127468 -0.02575913
+v 0.00082123 0.00291554 -0.02573762
+v 0.00238799 0.00291554 -0.02573352
+v 0.00238799 0.00127468 -0.02575401
+v 0.00003950 0.00209303 -0.02574888
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+v 0.00246970 -0.00209229 -0.02579292
+v 0.00003950 0.00440948 -0.01534107
+v 0.00541883 -0.00209232 -0.01567281
+v 0.00541552 -0.00193225 -0.01534110
+v 0.00082123 0.00498603 -0.02570792
+v 0.00003950 0.00291554 -0.02573762
+v 0.00003950 0.00373390 -0.02572635
+v 0.00238799 0.00498603 -0.02570280
+v 0.00395475 0.00498603 -0.02569461
+v 0.00395475 0.00455641 -0.02570075
+v 0.00395475 0.00291554 -0.02572328
+v 0.00395475 0.00127468 -0.02574377
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+v 0.00395475 -0.00209229 -0.02578166
+v 0.00003950 0.00498600 -0.01534107
+v 0.00578982 -0.00194680 -0.01534110
+v 0.00717109 -0.00209232 -0.01554074
+v 0.00003950 0.00498603 -0.02570792
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+v 0.00552152 0.00127468 -0.02572432
+v 0.00552152 -0.00036619 -0.02574377
+v 0.00552152 -0.00200706 -0.02576221
+v 0.00552152 -0.00209229 -0.02576221
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diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_3.obj b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f24f2f43b884cefebaf3922c473dfe330763a573
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_4.obj b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6538fde053a662f958f708c4d2d0485748a290b8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_4.obj
@@ -0,0 +1,1219 @@
+# https://github.com/mikedh/trimesh
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+v 0.00708777 -0.03482543 0.04396552
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diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_5.obj b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69a1555999db7b776e85a4803c3687054afb167e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_6.obj b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c910d7cbc94abdd3a7d3b90af740ffcf13f01dc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_6.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_7.obj b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80b57f2d30f69c105a2d80dfe90cb3513cb8348e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_7.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.00174360 0.03300462 0.00968329
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diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_8.obj b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88b17d59cec00c6b3d42e20dde749311b5a50733
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_8.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_9.obj b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5cfc3694d28955a14c0376e36f8a2f2a3655844
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/mesh/stapler_008_collision_9.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/stapler_008.xml b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/stapler_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..857166c24a98a90386ca779b619826d76e35c0ee
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/mjcf/stapler_008.xml
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stapler_008">
+  <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_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stapler_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stapler_008_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stapler_008_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stapler_008_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stapler_008_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/stapler_008_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stapler_008_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/stapler_008_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/stapler_008_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/stapler_008_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/stapler_008_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/stapler_008_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/stapler_008_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/stapler_008_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/stapler_008_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/stapler_008_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/stapler_008_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/stapler_008_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/stapler_008_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/stapler_008_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/stapler_008_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/stapler_008_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/stapler_008_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stapler_008">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/stapler_008.urdf b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/stapler_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1579b5db5eae9afd7e5a063806b6544b6d2c6f46
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/stapler_008.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_008">
+   <link name="stapler_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stapler_008.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_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5500" />
+         <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>f3b88e5184a7550ba2be0e432752637f</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>stapler</category>
+         <name>desktop stapler</name>
+         <color>gray,orange</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>gray stapler with orange accent, designed for heavy-duty use</description>
+         <min_height>0.0699</min_height>
+         <max_height>0.0699</max_height>
+         <real_height>0.0699</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.7</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427234844</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>12</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/f3b88e5184a7550ba2be0e432752637f/stapler_008.usd b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/stapler_008.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/stapler_008.usd
@@ -0,0 +1,3 @@
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+size 4841701
diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/textures/material_0.png b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/textures/material_0.png
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/video.mp4 b/dataset/desktop_supplies/office_stationery/f3b88e5184a7550ba2be0e432752637f/video.mp4
new file mode 100644
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--- /dev/null
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