diff --git a/.gitattributes b/.gitattributes
index 0cf2fd09b1ef5a93fc628d0ebb05c8e59270a314..8e768264696cbfc99fed6d1115bb7b541c61c254 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3117,3 +3117,5 @@ dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/glue
 dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mesh/glue_stick_040.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/marker_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mesh/marker_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mesh/stapler_021.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/stapler_021.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a5c0adb2fd26789352373ace7386796d44b6209b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stapler_021_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd stapler_021_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..93db9db375323fd8d385779b05bbf25642177855
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:177cde6928e44cc63cf3ff8dc26b401f8fc883d7d0a90c177f953edb4d41202e
+size 10732389
diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mesh/stapler_021.glb b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mesh/stapler_021.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8bbc1763adac6e06880d90d3abc7a97b6657e1bc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mesh/stapler_021.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64e35bd7c624299063f496845f4071f47c2fc5061bf5d60e8f432ef4bcc92fc7
+size 14046308
diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mesh/stapler_021.mtl b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mesh/stapler_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..53853edf300734a65175f7236592f4bd68b9caeb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mesh/stapler_021.mtl
@@ -0,0 +1,6 @@
+newmtl stapler_021_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/3771df35afdf51daab6f958fbbd1349e/mesh/stapler_021.obj b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mesh/stapler_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b961996b50cefc38721f5532a04c4df7ba2369b7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mesh/stapler_021.obj
@@ -0,0 +1,111908 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stapler_021_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mesh/stapler_021_collision.obj b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mesh/stapler_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f76ce110606dbeb7758cde1fb4c22092c7a7a586
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mesh/stapler_021_collision.obj
@@ -0,0 +1,6819 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021.obj b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ef61bfb3f4aeb719f179b9f5d82eaf05adb7ae2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021.obj
@@ -0,0 +1,111908 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stapler_021_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision.obj b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24f374be0722b58f755d00a113435d13e242026b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision.obj
@@ -0,0 +1,6819 @@
+# https://github.com/mikedh/trimesh
+
+o stapler_021_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_0.obj b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aca1e424543d866e1ec5388bd9c106c36c8324ed
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_1.obj b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e957e5a2a2905dd357bf301e7a51f3c91cf887bb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_10.obj b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b19b0a243b583712622370eb1f4011f65ff5a316
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_11.obj b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a91203ac3a1d517629046f1c1c7522e37db1b63
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_11.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_12.obj b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cd6595a9722e8a0378dcdb1306806c1e87d0f57
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_12.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_13.obj b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e553f6058baa1b6cc28c6005d50d7801a9be0e9c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_13.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v 0.00632418 0.03150409 -0.01954565
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diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_14.obj b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da58a2d5cbc7f01d067151ac5156a6b603c9cea9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_14.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_15.obj b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f605aa560a56faa745b4115b13ac269933246839
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_15.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_16.obj b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aca91146777ce44ebd2f226b6fa088d9655bfc5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_16.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_17.obj b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd37b7af1b1d4d204dbe432c255bcedf9c9877b6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_17.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+v -0.00851473 0.03063281 -0.01694513
+v -0.00853202 0.03365671 -0.01694512
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+
diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_18.obj b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..366ec2cb261631c149869d1aff91a1a713bfaafb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_18.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.00282195 0.02003471 -0.01954465
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+
diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_2.obj b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b66e65b97e6d6c9ce1703ddc3f2693fe11369ba7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_2.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_3.obj b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56c2257b8c4241bbbf7fe697f3d0250487eda23d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_3.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_4.obj b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4afa91685c679e9e27e8bb6216f53833e3bdcbdb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_4.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_5.obj b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d26933b9852f5405f555077c09f12e4907010736
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_5.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_6.obj b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88ea585ca33b68ea28023cc5c7d1f985dff9a50a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_6.obj
@@ -0,0 +1,193 @@
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diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_7.obj b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9296acf8743b62a49f2b84eb3832cb457f1371c9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_7.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_8.obj b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3002f108410615cc142ddb8d695e6ab34fd2a35b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_8.obj
@@ -0,0 +1,664 @@
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diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_9.obj b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0793dd45ae4ded17f0d04e671bd9d2c8bf77d837
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/mesh/stapler_021_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/stapler_021.xml b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/stapler_021.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cf13e6e08b71861ce3ce89bf42e1e3406518b7d8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mjcf/stapler_021.xml
@@ -0,0 +1,52 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stapler_021">
+  <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_021.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stapler_021_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stapler_021_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stapler_021_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stapler_021_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stapler_021_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/stapler_021_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stapler_021_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/stapler_021_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/stapler_021_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/stapler_021_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/stapler_021_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/stapler_021_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/stapler_021_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/stapler_021_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/stapler_021_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/stapler_021_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/stapler_021_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/stapler_021_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/stapler_021_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stapler_021">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/stapler_021.urdf b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/stapler_021.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ff9830f8b9bc9080eade35ebdc784d7b5b4892c8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/stapler_021.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_021">
+   <link name="stapler_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stapler_021.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_021_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>3771df35afdf51daab6f958fbbd1349e</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>stapler</category>
+         <name>gray stapler</name>
+         <color>gray,black</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>gray desktop stapler with long lever handle and rectangular base</description>
+         <min_height>0.0600</min_height>
+         <max_height>0.0600</max_height>
+         <real_height>0.0600</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611150759</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.011612 -0.049070 -0.027759</min>
+            <max>0.011602 0.049922 0.032241</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>12</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/stapler_021.usd b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/stapler_021.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ddcea5c3743c2c900de06e31186722bf2d716ca5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/stapler_021.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a6c7c04249a22429d169f81ae1ecea312128ac94dfcdc05fa7a79d292933843
+size 4903187
diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/textures/material_0.png b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..93db9db375323fd8d385779b05bbf25642177855
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:177cde6928e44cc63cf3ff8dc26b401f8fc883d7d0a90c177f953edb4d41202e
+size 10732389
diff --git a/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/video.mp4 b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33a5284f2d5d4eb2ce4320a6e79b816acd2fba674f8ce2cc8eaee5434d2b8439
+size 296095