diff --git a/.gitattributes b/.gitattributes
index 353f3929aec29f74c25689695639cb45f93ef049..b1df8a6e68b0670b5d5808150ff460266cad47e4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3246,3 +3246,5 @@ dataset/desktop_supplies/office_stationery/c378ba7773e25174ac07f93f3cfd7df1/mesh
 dataset/desktop_supplies/office_stationery/c378ba7773e25174ac07f93f3cfd7df1/sharpener_031.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/c918062725c857ba8af3b6106a916d25/eraser_012.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/c918062725c857ba8af3b6106a916d25/mesh/eraser_012.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mesh/stapler_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/stapler_009.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4cd54d476e14af2f99ccf58a1cdb6ef20404e152
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stapler_009_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_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fcdc456caa5f261fdd352dc14c2a5b567e97ed44
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c9931cfeb5eeddf5b178b516860401520c29511ffced14689048d3f2d35d3d4
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diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mesh/stapler_009.glb b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mesh/stapler_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a74f04d801f7ab57441bd517e682065f8e677cf8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mesh/stapler_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21fc134474c67be3d39b1c23dbecbaa67f6cbca649d01c241874f8f4cf19707e
+size 12881436
diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mesh/stapler_009.mtl b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mesh/stapler_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f4401d179db64bf34ba95f8679e47f3cc0181881
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mesh/stapler_009.mtl
@@ -0,0 +1,6 @@
+newmtl stapler_009_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/c906f489d6e05d5f9efc979526e019d7/mesh/stapler_009.obj b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mesh/stapler_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d796a3fb004a58b127b68b9be19118b8784921b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mesh/stapler_009.obj
@@ -0,0 +1,111486 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stapler_009_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mesh/stapler_009_collision.obj b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mesh/stapler_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ee9ee23937d3f087cda225e4ef228915b5db174
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mesh/stapler_009_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mesh/stapler_009_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mesh/stapler_009_geometry_Looks_material_0.png
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--- /dev/null
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diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/material_0.png
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+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009.obj b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009.obj
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diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision.obj b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f56961995c8b7b05727a59f6a691b9d6324fa33f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision.obj
@@ -0,0 +1,12043 @@
+# https://github.com/mikedh/trimesh
+
+o stapler_009_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_0.obj b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..293d3cbc3433a54b0f81a7c8ac07dc9d752ccb7d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_1.obj b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c3c940544e5367dda790bcb1935171083502d7f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_10.obj b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf829f6eb9e455aa683e452d4c60d1cd1e1db455
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_10.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_11.obj b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69b9ca31720fda52f17a335bda153d6eae98176f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_11.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.00522052 -0.01896661 -0.00718443
+v 0.00576560 -0.01826245 -0.00736920
+v 0.00576560 -0.01849802 -0.00734153
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+
diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_12.obj b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8eaca68d67fd24ddb1748e30a6d2ad2409ff1f76
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_12.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.01063931 -0.01574170 0.00396545
+v 0.01063931 -0.01841687 0.00396544
+v 0.01064455 -0.01841687 0.00198721
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+
diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_13.obj b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7141d300ac7a8678beb3f02c4a585b355476ee70
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_13.obj
@@ -0,0 +1,847 @@
+# https://github.com/mikedh/trimesh
+v -0.00070048 0.04505246 -0.00738308
+v -0.00274694 0.04501080 -0.00798773
+v -0.01128407 0.04504552 -0.00738308
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diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_14.obj b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c806db47427c7a7cba525b682159fd1f2ffae91
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_14.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_15.obj b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ba820c57e0d0368368d89a3181973400e3f07ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_15.obj
@@ -0,0 +1,649 @@
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diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_16.obj b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4adca061e41caf4ef8a84c2d2c1381047138721f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_16.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_17.obj b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0630aa0e4a3252bd8a45e01cc752dd6d7375a395
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_17.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_18.obj b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..577a026bfd8f2605cd39d7a9d32fd45f6566a5c6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_18.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.01146504 -0.00361514 0.00396550
+v 0.01063857 -0.01574082 0.00396545
+v 0.01063857 -0.01574082 0.00174973
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+v -0.01066939 -0.01204554 0.00174975
+v -0.01068741 -0.01301773 0.00174974
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+
diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_19.obj b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b90088dcf6504f8cd23d9f7f5f7dbd54718bc2da
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_19.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.01678614 0.00691225 0.00563592
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+
diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_2.obj b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f85956b58ec84e2bac2866353bd7ca4e98ddf3ff
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_2.obj
@@ -0,0 +1,691 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_20.obj b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..575b57ca64de416a04dcdc100a1043e5531b86b1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_20.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.00006999 -0.02323829 0.00563580
+v 0.00254770 -0.02454349 0.00396542
+v 0.00221041 -0.02455922 0.00563580
+v -0.00006999 -0.01139971 0.00563585
+v -0.00006999 -0.02237732 0.00396543
+v 0.00326936 -0.02469550 0.00396542
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+v 0.01137794 -0.01139971 0.00563585
+v -0.00006999 -0.01139970 0.00396547
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+v 0.01061370 -0.02282811 0.00396543
+v 0.01063611 -0.02246381 0.00396543
+v 0.01070783 -0.01166965 0.00396547
+v 0.01070895 -0.01139970 0.00396547
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+v 0.01057112 -0.02319505 0.00550270
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+v 0.00856078 -0.02464702 0.00466457
+v 0.00892049 -0.02459591 0.00396542
+v 0.00856078 -0.02464963 0.00396542
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+
diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_21.obj b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4b56306407ba317dfb45d0fa98336f066e96f12
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_21.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.00005677 -0.01574170 0.00396545
+v -0.00005677 -0.02237686 0.00396543
+v -0.00005677 -0.01574170 0.00274047
+v -0.01069135 -0.01574170 0.00396545
+v -0.00005677 -0.02217548 0.00356224
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+v -0.00863842 -0.02465334 0.00332560
+v -0.00863842 -0.02466044 0.00198719
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+
diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_22.obj b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2d79b72478bc55ab2b8d959b340bc4ab72f1435
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_22.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.01145560 -0.01139971 0.00563585
+v -0.00007111 -0.01139971 0.00563585
+v -0.01079359 -0.01139970 0.00396547
+v -0.01070109 -0.02246475 0.00396543
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+v -0.00007111 -0.01139970 0.00396547
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+v -0.00007111 -0.02237695 0.00396543
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+v -0.00261994 -0.02454829 0.00396542
+v -0.00939045 -0.02453388 0.00396542
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diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_3.obj b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a9f103b022fa0036bd81670d9c59c0c73b3e33b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_4.obj b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb308aeee7bbf7362b868acd184296c8395520a8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_4.obj
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+v -0.01065711 0.00691227 0.00006853
+v -0.01107006 0.00890302 0.00080480
+f 1 2 3
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+f 40 52 47
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+
diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_5.obj b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afd6998fe71f3e5185951a5243dadae885697906
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_5.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.00352922 -0.02192983 -0.00504993
+v -0.00400588 -0.01896915 -0.00604425
+v -0.00353343 -0.02192983 -0.00487053
+v -0.00354537 -0.02192983 -0.00604605
+v -0.00402273 -0.01896915 -0.00594785
+v -0.00395814 -0.02019446 -0.00677795
+v -0.00457871 -0.01896914 -0.00706447
+v -0.00490724 -0.02192986 0.00174881
+v -0.00411258 -0.02192983 -0.00631561
+v -0.00395814 -0.02062454 -0.00677796
+v -0.00642847 -0.01896918 0.00174882
+v -0.00457871 -0.01975307 -0.00701359
+v -0.00599323 -0.01976611 -0.00736883
+v -0.00599323 -0.01896914 -0.00736705
+v -0.01070012 -0.02192986 0.00174881
+v -0.00593075 -0.02192982 -0.00701181
+v -0.00467067 -0.02089434 -0.00692523
+v -0.01069591 -0.01896918 0.00174882
+v -0.00640039 -0.02192982 -0.00706715
+v -0.00731579 -0.02192982 -0.00714659
+v -0.00731579 -0.01976611 -0.00736705
+v -0.00731579 -0.01896914 -0.00736526
+v -0.01069942 -0.02111521 0.00174881
+v -0.01069872 -0.01976614 0.00064828
+v -0.01070012 -0.02192985 0.00064827
+v -0.01069661 -0.01896918 0.00143821
+v -0.00787388 -0.02192982 -0.00705555
+v -0.00863906 -0.01976611 -0.00710106
+v -0.00851832 -0.02192982 -0.00693059
+v -0.00863906 -0.01896914 -0.00709838
+v -0.01069731 -0.01896917 0.00064828
+v -0.01069380 -0.02192984 -0.00336743
+v -0.01069942 -0.02192985 -0.00015951
+v -0.00906868 -0.01896914 -0.00690737
+v -0.00871277 -0.02112531 -0.00694219
+v -0.00934808 -0.02068250 -0.00675565
+v -0.00936984 -0.01976612 -0.00677527
+v -0.00888265 -0.02192983 -0.00676993
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+v -0.01068678 -0.02111519 -0.00336743
+v -0.01066151 -0.01976612 -0.00433943
+v -0.01066151 -0.02111518 -0.00434480
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+v -0.00920276 -0.02158206 -0.00667174
+v -0.00984369 -0.02192983 -0.00597464
+v -0.00981210 -0.02112532 -0.00615316
+v -0.00997707 -0.01976612 -0.00604425
+v -0.00997566 -0.01896915 -0.00604425
+v -0.00972645 -0.01896915 -0.00634416
+v -0.00914309 -0.02192983 -0.00661373
+v -0.01057025 -0.01896915 -0.00500886
+v -0.01056955 -0.01976612 -0.00500886
+v -0.01056604 -0.02111518 -0.00501423
+v -0.01054217 -0.02192983 -0.00498835
+v -0.01032736 -0.01896915 -0.00543284
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 25
+f 1 25 33
+f 1 33 32
+f 1 32 43
+f 1 43 55
+f 1 55 46
+f 1 46 51
+f 1 51 38
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+f 1 20 19
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+f 1 4 2
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+f 36 48 37
+f 37 48 49
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+f 39 52 41
+f 41 52 42
+f 42 52 53
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+f 42 54 43
+f 43 54 55
+f 45 51 46
+f 46 55 47
+f 47 55 48
+f 48 56 49
+f 48 55 54
+f 48 54 52
+f 48 52 56
+f 52 54 53
+
diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_6.obj b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9271c81bd7ce0e14f7340f4c115e137c1f69aaf6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_6.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.00522107 0.00690972 0.00174982
+v -0.00522107 0.00690976 -0.00735113
+v -0.01087517 0.00690972 0.00174982
+v -0.00522107 -0.01503478 0.00174973
+v -0.00599322 0.00690976 -0.00735024
+v -0.00522107 -0.01571623 -0.00735836
+v -0.00599322 -0.01896661 -0.00736729
+v -0.01065155 0.00690975 -0.00427941
+v -0.01065543 -0.00087545 -0.00429461
+v -0.01066096 -0.01841433 -0.00433930
+v -0.01066096 -0.01896662 -0.00433930
+v -0.01069749 -0.01896664 0.00064846
+v -0.01069638 -0.01896665 0.00143826
+v -0.01069583 -0.01896665 0.00174972
+v -0.00642883 -0.01896665 0.00174972
+v -0.00522107 -0.01832314 -0.00327999
+v -0.00731666 0.00587359 -0.00734757
+v -0.00701168 0.00690976 -0.00734756
+v -0.00731666 -0.01896661 -0.00736551
+v -0.00522107 -0.01706654 -0.00735568
+v -0.00522107 -0.01896661 -0.00718524
+v -0.01063107 0.00690975 -0.00443379
+v -0.01056299 0.00587358 -0.00494338
+v -0.01056576 -0.00357355 -0.00497018
+v -0.01057018 -0.01841433 -0.00500862
+v -0.01062388 -0.01896662 -0.00461327
+v -0.00522107 -0.01896662 -0.00427237
+v -0.00731666 0.00690976 -0.00734667
+v -0.00863899 -0.01896661 -0.00709867
+v -0.01056078 0.00690975 -0.00494872
+v -0.01056520 -0.00222323 -0.00496750
+v -0.01032775 -0.01896662 -0.00543252
+v -0.01057018 -0.01896662 -0.00500862
+v -0.01042018 0.00690975 -0.00520217
+v -0.00995247 0.00587358 -0.00604463
+v -0.00873143 0.00690976 -0.00701023
+v -0.00863899 0.00587359 -0.00707449
+v -0.00936796 -0.01896662 -0.00677383
+v -0.00935191 0.00587358 -0.00675857
+v -0.00997572 -0.01896662 -0.00604472
+v -0.00984453 0.00690975 -0.00613833
+v -0.00933641 0.00690975 -0.00674428
+v -0.00972664 -0.01896662 -0.00634368
+v -0.00929545 0.00690975 -0.00676302
+f 1 2 5
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+f 35 39 38
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+f 37 39 44
+f 39 42 44
+
diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_7.obj b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c89267a3e39f4e367700c78d494dfabd3addf8d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_7.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.01675380 0.00691226 0.00396554
+v 0.01675709 0.00657842 0.00396553
+v 0.01674065 0.00691226 0.00363456
+v -0.01682441 0.00691226 0.00396554
+v 0.01671764 0.00522864 0.00396553
+v 0.01671107 0.00691226 0.00332593
+v -0.01679154 0.00691226 0.00332593
+v -0.01680140 0.00587365 0.00396553
+v 0.01665519 0.00387886 0.00396552
+v 0.01665519 0.00587365 0.00332592
+v 0.01634291 0.00691226 0.00243038
+v -0.01673894 0.00587365 0.00332592
+v -0.01674552 0.00452387 0.00396553
+v -0.01631162 0.00691226 0.00219462
+v 0.01656315 0.00253011 0.00396552
+v 0.01637578 -0.00002313 0.00396551
+v 0.01654671 0.00452387 0.00332592
+v 0.01623443 0.00691226 0.00219571
+v -0.01663047 0.00452387 0.00332592
+v -0.01648583 0.00047660 0.00396551
+v -0.01666005 0.00317409 0.00396552
+v -0.01625902 0.00587365 0.00230631
+v -0.01525315 0.00691226 0.00174978
+v 0.01625087 -0.00125339 0.00396551
+v 0.01617855 0.00587365 0.00230826
+v 0.01540607 0.00691226 0.00183393
+v -0.01636750 -0.00087318 0.00396551
+v -0.01630833 0.00047660 0.00355103
+v -0.01615383 0.00452387 0.00244382
+v -0.01622944 -0.00087318 0.00368811
+v -0.01034544 -0.00361395 0.00174996
+v -0.01592044 0.00247756 0.00265224
+v -0.01600920 0.00317409 0.00258110
+v 0.01071860 0.00691226 0.00175000
+v 0.01027483 -0.00361395 0.00174996
+v 0.01607665 -0.00249910 0.00396550
+v 0.01614897 -0.00087318 0.00369114
+v 0.01607008 0.00452387 0.00244772
+v 0.01592544 0.00317409 0.00258544
+v 0.01583998 0.00248993 0.00265463
+v 0.01517597 0.00691226 0.00175910
+v -0.01619985 -0.00222193 0.00396550
+v -0.01611767 -0.00222193 0.00382192
+v -0.01153868 -0.00361395 0.00396550
+v -0.01525315 -0.00359541 0.00396550
+v -0.01576266 -0.00348928 0.00396550
+v -0.01600591 -0.00324611 0.00392407
+v 0.01592544 -0.00324199 0.00392624
+v 0.01594516 -0.00326775 0.00396550
+v 0.01517597 -0.00355935 0.00396550
+v 0.01146478 -0.00361395 0.00396550
+v 0.01603392 -0.00222193 0.00382474
+v -0.01602892 -0.00327290 0.00396550
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 18
+f 1 18 26
+f 1 26 41
+f 1 41 34
+f 1 34 23
+f 1 23 14
+f 1 14 7
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+f 1 4 8
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+f 1 13 21
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+f 1 5 2
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+
diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_8.obj b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88ba7cb0a847c978d7fbdb5cf060eb9332d8cefa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_8.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.01072081 0.00690977 0.00174892
+v 0.01063253 0.00690979 -0.00336658
+v 0.00576609 0.00690977 0.00174892
+v 0.01064514 -0.01849903 0.00174882
+v 0.01064708 -0.01849902 0.00064786
+v 0.01063544 -0.01436703 -0.00336666
+v 0.01063592 -0.01031715 -0.00336665
+v 0.01063592 -0.00896884 -0.00336664
+v 0.01058936 0.00690980 -0.00438361
+v 0.01059761 -0.01849900 -0.00444175
+v 0.00576609 0.00690981 -0.00735434
+v 0.00576609 -0.01551634 0.00174883
+v 0.00635978 -0.01849903 0.00174882
+v 0.01061313 -0.01849901 -0.00336668
+v 0.01059906 -0.01849900 -0.00437389
+v 0.01049526 0.00587245 -0.00504616
+v 0.01049332 0.00690980 -0.00505330
+v 0.01050448 -0.01841442 -0.00511054
+v 0.01050448 -0.01849900 -0.00511054
+v 0.00622009 0.00690981 -0.00735434
+v 0.00591500 -0.01849899 -0.00737229
+v 0.00576609 -0.01826266 -0.00736962
+v 0.00576609 -0.01849901 -0.00312381
+v 0.00989720 0.00587245 -0.00604444
+v 0.00987441 0.00690980 -0.00604443
+v 0.00991515 -0.01849900 -0.00604453
+v 0.00989914 0.00452415 -0.00604444
+v 0.00723819 0.00690981 -0.00735166
+v 0.00723819 0.00587246 -0.00735256
+v 0.00723819 -0.01841441 -0.00736872
+v 0.00723819 -0.01849899 -0.00736872
+v 0.00576609 -0.01849899 -0.00734283
+v 0.00928750 0.00452415 -0.00677038
+v 0.00928605 0.00587245 -0.00676859
+v 0.00926471 0.00690980 -0.00674983
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+v 0.00929429 -0.01841442 -0.00677761
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diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_9.obj b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19a19fe5ec0adcce9d03b671a9ad9722c95036cf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/mesh/stapler_009_collision_9.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/stapler_009.xml b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/stapler_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..40816f80b1e2465130e4d0b39ea11651d96d1a1b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/mjcf/stapler_009.xml
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stapler_009">
+  <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_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stapler_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stapler_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stapler_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stapler_009_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stapler_009_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/stapler_009_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stapler_009_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/stapler_009_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/stapler_009_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/stapler_009_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/stapler_009_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/stapler_009_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/stapler_009_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/stapler_009_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/stapler_009_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/stapler_009_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/stapler_009_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/stapler_009_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/stapler_009_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/stapler_009_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/stapler_009_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/stapler_009_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/stapler_009_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stapler_009">
+      <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/c906f489d6e05d5f9efc979526e019d7/stapler_009.urdf b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/stapler_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9e54c9cccf3666d068180dfc144583bac0906853
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/stapler_009.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_009">
+   <link name="stapler_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stapler_009.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_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>c906f489d6e05d5f9efc979526e019d7</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>stapler</category>
+         <name>compact stapler</name>
+         <color>gray,green</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>small stapler with rounded design and two-tone color scheme</description>
+         <min_height>0.0526</min_height>
+         <max_height>0.0526</max_height>
+         <real_height>0.0526</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427234911</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>6</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/stapler_009.usd b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/stapler_009.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9c53209cd4086b30b43af6363885dc368a6fe5b9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c906f489d6e05d5f9efc979526e019d7/stapler_009.usd
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