diff --git a/.gitattributes b/.gitattributes
index b9050c2c3ce15e9724859e5345e3f36ec933b859..9e4c6517bf8514d7c39a5c8150722bd1b2f0a34b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3179,3 +3179,5 @@ dataset/desktop_supplies/office_stationery/811d12e6c84d53fbaa7e851aa3abcd04/mark
 dataset/desktop_supplies/office_stationery/811d12e6c84d53fbaa7e851aa3abcd04/mesh/marker_006.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/mesh/stapler_031.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/80bec21b20db5e22a485c7ce2252fcf8/stapler_031.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mesh/stapler_027.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/stapler_027.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c9ed83ff3cc4ebee5ee4ffc15eabd6af793d3649
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stapler_027_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_027_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4010692c7a3d0e23baa2d76e820c560fe0b4999b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/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_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mesh/stapler_027.glb b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mesh/stapler_027.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9f6b08860c8d0690f8d7e8939d25316781c7d201
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mesh/stapler_027.glb
@@ -0,0 +1,3 @@
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+size 12080752
diff --git a/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mesh/stapler_027.mtl b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mesh/stapler_027.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbde65620aab80608b17c341da2f49235149d788
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mesh/stapler_027.mtl
@@ -0,0 +1,6 @@
+newmtl stapler_027_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
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mesh/stapler_027.obj b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mesh/stapler_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fbfda03b41a22b4b424d6f52335d71351744f11
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mesh/stapler_027.obj
@@ -0,0 +1,111726 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stapler_027_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mesh/stapler_027_collision.obj b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mesh/stapler_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d59eaca3feb8f86771c70e669380ff50f861323f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mesh/stapler_027_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mesh/stapler_027_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mesh/stapler_027_geometry_Looks_material_0.png
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4010692c7a3d0e23baa2d76e820c560fe0b4999b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027.obj b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027.obj
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diff --git a/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision.obj b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d484807d254a7507474baae6c1aa2c1e7367c9ca
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision.obj
@@ -0,0 +1,8947 @@
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diff --git a/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_0.obj b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24e836ad2abe12801fc549e393898d378080aa65
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_0.obj
@@ -0,0 +1,1474 @@
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diff --git a/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_1.obj b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a41075453d758da09245879b52881b4e840e7a7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_10.obj b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2506283f4d8e5841979c924b5b808f38078714c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_10.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_11.obj b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d8de83812ba76cdd1668546ebb787ab76828978
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_11.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_12.obj b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbba15bda06a5396845309acfca0bc266a7e2bda
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_12.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_13.obj b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..810b68a0baf22dce9c5d0f7fc773dea79b2fa485
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_13.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_2.obj b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6789410def3de950b5c5dbe2b89393633c87e0d6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_2.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.00150184 0.02786587 -0.01216670
+v 0.00150184 0.02961399 -0.01230687
+v 0.00429018 0.01617023 -0.01570240
+v 0.00438789 0.01520946 -0.01570240
+v 0.00427884 0.01685350 -0.01216674
+v 0.00150184 0.04333870 -0.01216664
+v 0.00150184 0.03053313 -0.01237644
+v 0.00426139 0.01711018 -0.01570240
+v 0.00150184 0.03060597 -0.01238163
+v 0.00150184 0.03071349 -0.01238890
+v 0.00150184 0.03944709 -0.01296344
+v 0.00468016 0.01425910 -0.01570241
+v 0.00466707 0.01535165 -0.01216674
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+v 0.00633607 0.04654705 -0.01570229
+v 0.00550288 0.04570075 -0.01570229
+v 0.00150184 0.04308898 -0.01235978
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+
diff --git a/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_3.obj b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..420322b0f0b2f07810a53e133d92168e41216765
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_3.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.01210370 0.01524661 -0.01800144
+v -0.01204800 0.01340952 -0.01800145
+v -0.01032362 0.01524660 -0.01570263
+v -0.01033429 0.01629203 -0.01570263
+v -0.01032718 0.01820109 -0.01570262
+v -0.01022170 0.04317034 -0.01570253
+v -0.01038169 0.04503394 -0.01800133
+v -0.01204444 0.01338679 -0.01800145
+v -0.01026673 0.01449661 -0.01570264
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+v -0.00423555 0.02083362 -0.01570261
+v -0.00423437 0.01897001 -0.01570262
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+
diff --git a/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_4.obj b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d011bb5b5b462b84944046cb47b8f19b25ec4031
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_4.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.00000370 0.00978676 -0.01800146
+v 0.00774443 0.00882036 -0.01800147
+v 0.00805401 0.01184082 -0.01570265
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+
diff --git a/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_5.obj b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c18b8d73e45301cb221fba91ded6a4e80ef2a38c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_5.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_6.obj b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..078057e79a9ab9066b8f4143c67b3efa35cccc84
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_6.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_7.obj b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bc27afe5372d39e5e587131625b50d04c7755aa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_7.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_8.obj b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3715176083718c5be07f0bb413a895d6d7d2410f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_8.obj
@@ -0,0 +1,1684 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_9.obj b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb69106286f5002f597b47f82998cf3691d8e6cd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/mesh/stapler_027_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/stapler_027.xml b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/stapler_027.xml
new file mode 100644
index 0000000000000000000000000000000000000000..799cddefef961ecadd24c0ea76401ce4749162d7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/mjcf/stapler_027.xml
@@ -0,0 +1,42 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stapler_027">
+  <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_027.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stapler_027_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stapler_027_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stapler_027_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stapler_027_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stapler_027_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/stapler_027_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stapler_027_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/stapler_027_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/stapler_027_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/stapler_027_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/stapler_027_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/stapler_027_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/stapler_027_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/stapler_027_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stapler_027">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/stapler_027.urdf b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/stapler_027.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ad47c20f0132b907772fb4aded07d1d55e74daa4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/stapler_027.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_027">
+   <link name="stapler_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stapler_027.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_027_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2650" />
+         <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>80adb8f37b855c9fbff3001f7b3b1b11</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>stapler</category>
+         <name>desktop stapler</name>
+         <color>gray,black</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>compact gray desktop stapler with hinged top and flat base</description>
+         <min_height>0.0600</min_height>
+         <max_height>0.0600</max_height>
+         <real_height>0.0600</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611151006</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.016876 -0.057108 -0.027632</min>
+            <max>0.016884 0.055932 0.032368</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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/80adb8f37b855c9fbff3001f7b3b1b11/stapler_027.usd b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/stapler_027.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/stapler_027.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e870c3828a18f96f8f56f1f1ea05620ec556bdb3400c10a8733af22ff528801
+size 4858721
diff --git a/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/textures/material_0.png b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/textures/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/textures/material_0.png
@@ -0,0 +1,3 @@
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diff --git a/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/video.mp4 b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/80adb8f37b855c9fbff3001f7b3b1b11/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ec79088d2f0323fe1e5e9c34a5513ccb9baa7030c48bbf0ef6b299024ecf8f4
+size 271867