diff --git a/.gitattributes b/.gitattributes
index 824e09a7b9e21ab88c3b168180644ca4b754fa5a..70bb9796b65056fd4a518e9350d8b6049b94df16 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3441,4 +3441,8 @@ dataset/desktop_supplies/office_tools/cb750a91f26d54c7b91f9f130bb15278/magnifier
 dataset/desktop_supplies/office_tools/cb750a91f26d54c7b91f9f130bb15278/mesh/magnifier_017.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/cf02ac041c085cc79b49f7baa3518310/mesh/sticky_notes_020.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/cf02ac041c085cc79b49f7baa3518310/sticky_notes_020.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/dcc4bd2e2c89592c83f8523eb7c205cb/dcc4bd2e2c89592c83f8523eb7c205cb.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/da254ecb4c06536a942ce93c6a09639d/da254ecb4c06536a942ce93c6a09639d.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/da254ecb4c06536a942ce93c6a09639d/mesh/pen_holder.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/da254ecb4c06536a942ce93c6a09639d/mesh/pen_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mesh/staples_box_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/staples_box_011.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mesh/material.mtl b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9c13b16eba1c5de1447b287e8bce82470c5cb4f4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl staples_box_011_geometry_Looks_material_0
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mesh/material_0.png b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mesh/staples_box_011.glb b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mesh/staples_box_011.glb
new file mode 100644
index 0000000000000000000000000000000000000000..14c4bbc996d6ff53e10bbce6e7737752e329283a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mesh/staples_box_011.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 15881972
diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mesh/staples_box_011.mtl b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mesh/staples_box_011.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..77aaa55b9c4cee45b2587e3ba7006011e6ad0b79
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mesh/staples_box_011.mtl
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+newmtl staples_box_011_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
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diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mesh/staples_box_011.obj b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mesh/staples_box_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44a7a93f21695e3153f260c768446db6eb25bbf1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mesh/staples_box_011.obj
@@ -0,0 +1,113124 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl staples_box_011_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mesh/staples_box_011_collision.obj b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mesh/staples_box_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe7cc44f0633684887934f6ccf851e3c332ed16d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mesh/staples_box_011_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011.obj b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011.obj
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diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision.obj b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6918c18030115e51112c660187463c6731309287
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision.obj
@@ -0,0 +1,16382 @@
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diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_0.obj b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8737143f3ba08e8cd561e519785ac1360dec4e61
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_1.obj b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cadfc1f9605a92dc55c7967f56d91ba7dc1a3c8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_10.obj b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5a484bdc0ef02ad3fa2d5a57ecfdccc0f11a8b4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_10.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_11.obj b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1201bb4e01f3919999905f92debf963b633a8a5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_11.obj
@@ -0,0 +1,559 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_12.obj b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39fd1a18711535784c7bce5cf7089db1270fa575
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_12.obj
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diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_13.obj b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb82f04dc9bc91c6d19750e656c3de068e6f5cea
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_13.obj
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diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_14.obj b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b409a23dce454c62e8b272d6b1ed961683f837a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_14.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_15.obj b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66a581079f2041fa4816fd285213743ec65d0de7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_15.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_16.obj b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a07e0faeb801c916ac4098cb059cfb4664b79389
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_16.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.03830413 0.02412571 -0.00858140
+v 0.03830413 0.02412571 -0.00758139
+v 0.03830413 0.02572253 -0.00858140
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+v 0.04434160 0.02572253 -0.00858140
+v 0.04434160 0.02572253 -0.00758139
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+
diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_17.obj b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfc4ed41a5067dee217531143e0f97cc341d37e6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_17.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_18.obj b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e69094854c7cd64d3539c0a93919e6256661c4ab
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_18.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.02581270 -0.02257074 -0.02753347
+v -0.02580526 -0.02257420 -0.02753347
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diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_19.obj b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5afd149eddcc91f97bb3bfc83ef643badb9fecd9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_19.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_2.obj b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fe5a7735a558c01e2b3231b9eb96dfbfe4f8d8a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_2.obj
@@ -0,0 +1,1465 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_20.obj b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81b9ed64d3535ede25041ce097f1f2548b568380
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_20.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_3.obj b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c72bee19aeb9b0bb36450a1d6ee86acd1e7fbc50
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_3.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_4.obj b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c298360a3e377c46d852e0a9b10574ca11ada77
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_5.obj b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfef065877cfdbdf9ca0fb1de72654c3c832a974
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_6.obj b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70c0347bc104a5a0a7a063c2fa5fdcb079dfeab1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_7.obj b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc932d0b18785d4278d2db593727f306235325aa
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_8.obj b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cd1f412ecb0fd3018beb6541216ff8c467ee1f1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_8.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.03056704 0.00002089 0.00906365
+v -0.03019150 0.00002089 0.00912499
+v -0.03056704 0.00002088 0.01081115
+v -0.03056704 0.01096110 0.00906112
+v -0.03019150 0.01096110 0.00912143
+v -0.02892677 0.00002088 0.00974244
+v -0.02727294 0.00002088 0.01081115
+v -0.03056704 0.02407756 0.01081124
+v -0.03056704 0.01241665 0.00906096
+v -0.02892548 0.01096109 0.00974008
+v -0.03019150 0.01241665 0.00912127
+v -0.02727133 0.02407756 0.01081124
+v -0.03056704 0.02407757 0.00906169
+v -0.03056704 0.01824829 0.00906115
+v -0.03019214 0.02407757 0.00912148
+v -0.02892548 0.01241664 0.00974009
+v -0.03019150 0.01824829 0.00912146
+v -0.02892806 0.02407756 0.00973996
+f 1 2 6
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+
diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_9.obj b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4db1364d1d5a90904869c2c99337c89a71390b50
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/mesh/staples_box_011_collision_9.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.02873165 -0.01819976 0.02796852
+v -0.03240076 -0.01382463 0.02796654
+v -0.03240076 -0.02425983 0.02796650
+v -0.02749921 -0.02425983 0.02796650
+v -0.02727158 -0.02403168 0.02796650
+v -0.02727158 -0.01528380 0.02796653
+v -0.02584997 0.00001847 0.02796459
+v -0.02800771 0.00001847 0.02796659
+v -0.03019109 0.00001847 0.02796659
+v -0.03240076 0.00001847 0.02796459
+v -0.03240076 -0.02425976 0.00756474
+v -0.02584997 -0.02425983 0.02796450
+v -0.02584997 0.00001853 0.01089622
+v -0.03240076 0.00001854 0.00758680
+v -0.02584997 -0.02425977 0.01083222
+f 1 2 3
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+f 7 14 10
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+f 7 15 13
+f 11 14 15
+f 13 15 14
+
diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/staples_box_011.xml b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/staples_box_011.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b2ae7caa4c328a6eb5b808f9f2b9521e53b5108b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/mjcf/staples_box_011.xml
@@ -0,0 +1,56 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="staples_box_011">
+  <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/staples_box_011.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/staples_box_011_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/staples_box_011_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/staples_box_011_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/staples_box_011_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/staples_box_011_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/staples_box_011_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/staples_box_011_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/staples_box_011_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/staples_box_011_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/staples_box_011_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/staples_box_011_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/staples_box_011_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/staples_box_011_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/staples_box_011_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/staples_box_011_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/staples_box_011_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/staples_box_011_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/staples_box_011_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/staples_box_011_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/staples_box_011_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/staples_box_011_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="staples_box_011">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/staples_box_011.urdf b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/staples_box_011.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..726d08f86aa1182cc2690338c51351aa7e65c615
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/staples_box_011.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="staples_box_011">
+   <link name="staples_box_011">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/staples_box_011.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/staples_box_011_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>dcb9be9999755234b0cdfea1d6f71c65</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>staples_box</category>
+         <name>wooden staples box</name>
+         <color>brown</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>small rounded rectangular wooden staples box with sliding drawer opening</description>
+         <min_height>0.0552</min_height>
+         <max_height>0.0552</max_height>
+         <real_height>0.0552</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518180840</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.043149 -0.041679 -0.027392</min>
+            <max>0.045584 0.041729 0.027842</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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_tools/dcb9be9999755234b0cdfea1d6f71c65/staples_box_011.usd b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/staples_box_011.usd
new file mode 100644
index 0000000000000000000000000000000000000000..eb71df21394338a0b8924e6c242e75910614e95e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/staples_box_011.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b25b068cb8b369300cab8a79b00ab6303fa523cdf6ad94abf60f201fbbda6f9
+size 4782087
diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/textures/material_0.png b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e7d0dedf6314486e6291c2f0fe584c97e162ba2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ca7a60bf7e4bb4d94e96525b3f64d487baad4563b574004ddeecc81c380b3a4
+size 12759413
diff --git a/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/video.mp4 b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..be26b1931b03bb57138087cb0bee0a7aa81504f6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dcb9be9999755234b0cdfea1d6f71c65/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e25df0fb47063e520382fe5039fbd6a507efc11000ec1898c11c8cf1fac3fb28
+size 553841