diff --git a/.gitattributes b/.gitattributes
index 482206a69a94c7f3d9aaa4d1883efe5fd5cd3698..bf408ad9b0c440aaa2ebb0c9fd6934b048ebe661 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3190,5 +3190,5 @@ dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh
 dataset/desktop_supplies/office_stationery/8412916f3ae6508cbd1065fbc9cbcc61/8412916f3ae6508cbd1065fbc9cbcc61.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/86a44f5aa5ee59d69cbe0f44baacdf11.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/86c8b37f313c509f9b24374b4686a528/86c8b37f313c509f9b24374b4686a528.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/888f32ec8d74532391cd325742751675/ballpoint_pen_036.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/888f32ec8d74532391cd325742751675/mesh/ballpoint_pen_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mesh/stapler_035.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/stapler_035.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6ae58cdba3149e863eadb20d16c71148f8255ddb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stapler_035_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd stapler_035_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..861e604dc75b5191a29a3e2c94af5b7bd91ec679
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45c460412a9245dfc779a4dcd32560bc85e1f31503ab07eee99d17317ec35b52
+size 8083946
diff --git a/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mesh/stapler_035.glb b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mesh/stapler_035.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cffd47ea6e43ea9821c277f11a749a61b80e4034
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mesh/stapler_035.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb2c052b2873e1d1c1313d1bfa3e900aa096f981554b307bfad0d147a4fb3754
+size 11345304
diff --git a/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mesh/stapler_035.mtl b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mesh/stapler_035.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a5f6fdae9f3a6941f5c9faec170180444a46a7a5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mesh/stapler_035.mtl
@@ -0,0 +1,6 @@
+newmtl stapler_035_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/87cc03e6881d55979958232f9e577e71/mesh/stapler_035.obj b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mesh/stapler_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0545102c7ea84ce148cd8358c0245af3a1e6dd1f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mesh/stapler_035.obj
@@ -0,0 +1,112484 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stapler_035_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mesh/stapler_035_collision.obj b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mesh/stapler_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9c8e1ea329e6de6e0e35be39539df3d6efe125e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mesh/stapler_035_collision.obj
@@ -0,0 +1,5800 @@
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diff --git a/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mesh/stapler_035_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mesh/stapler_035_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..861e604dc75b5191a29a3e2c94af5b7bd91ec679
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diff --git a/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision.obj b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc289b88837f842928802bdf8c0431811a5c9711
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision.obj
@@ -0,0 +1,5800 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision_0.obj b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8c1ca42ea396d40fba1ed09dbd587c68da466ff
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision_1.obj b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35b2a28a8918328bc764d7dba96d71503fa1cb5b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision_1.obj
@@ -0,0 +1,226 @@
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diff --git a/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision_2.obj b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebfd3d9944776cc75906b581e95a2e43e89c7647
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision_3.obj b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4df05e706a851f11c1963e107aca1d068781fb86
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision_4.obj b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7035a779b3f0249c7783e76ed2b37eb5ebb4fdfe
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision_5.obj b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab8aedf5bba7b66249dd4a028f2cfbe3014c5fd1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision_6.obj b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cda004292eb71b1527a64b79590b4cf76892edff
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision_6.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.00494182 0.03710195 -0.01255214
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+
diff --git a/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision_7.obj b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4d6a4e951f031fce588f817844491e00f5a0f53
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/mesh/stapler_035_collision_7.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.00926861 0.03875357 -0.01255214
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diff --git a/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/stapler_035.xml b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/stapler_035.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bc15459c6e2d26fa9733119ac0b81ebeb988d892
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mjcf/stapler_035.xml
@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stapler_035">
+  <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_035.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stapler_035_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stapler_035_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stapler_035_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stapler_035_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stapler_035_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/stapler_035_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stapler_035_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/stapler_035_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stapler_035">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/stapler_035.urdf b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/stapler_035.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ded00708e028724672a18f9bf742c9b18f9845b1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/stapler_035.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_035">
+   <link name="stapler_035">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stapler_035.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_035_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>87cc03e6881d55979958232f9e577e71</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>stapler</category>
+         <name>black stapler</name>
+         <color>black,silver</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>compact black desktop stapler with metal inner arm</description>
+         <min_height>0.0408</min_height>
+         <max_height>0.0408</max_height>
+         <real_height>0.0408</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611151304</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.013335 -0.050031 -0.019903</min>
+            <max>0.013326 0.049969 0.020897</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Main body and base are merged; tiny green dots are noise, not functional parts.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/stapler_035.usd b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/stapler_035.usd
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+size 4875715
diff --git a/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/textures/material_0.png b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/textures/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/video.mp4 b/dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/video.mp4
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