diff --git a/.gitattributes b/.gitattributes
index c5f88636b5e33bcda40b2285484dd3b52d20b92a..5ed6722d735a84c1448cb9237721b193ee5869eb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3296,3 +3296,5 @@ dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/eras
 dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mesh/eraser_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/glue_stick_032.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mesh/glue_stick_032.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mesh/stapler_040.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/stapler_040.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fd21fa5b90997f6f6c3a4d15cbf59825956ab5c9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stapler_040_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_040_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6200e4821e7fb97bda03bfd90fa4e17a14e7132
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d377428ef7153df6a00ccb5af8cff4d7856e953dd56c64b1ee53b3f3c6f2874c
+size 13691408
diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mesh/stapler_040.glb b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mesh/stapler_040.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3d672d5f92b0fdbda96a36a69ef84ed4b9da14cc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mesh/stapler_040.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7eff344dcaaa71013b64560c1d1f127e02111c5a8589d638a8649024532d29ae
+size 17202684
diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mesh/stapler_040.mtl b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mesh/stapler_040.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6894519464e6bb03d49ae48df75d703a52c9c6ac
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mesh/stapler_040.mtl
@@ -0,0 +1,6 @@
+newmtl stapler_040_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/fc406e139025511aa29662f7729421e9/mesh/stapler_040.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mesh/stapler_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..096a558b084bf3eae1f19e8251e97ddd218d511e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mesh/stapler_040.obj
@@ -0,0 +1,114404 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stapler_040_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mesh/stapler_040_collision.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mesh/stapler_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83a2dad02c877e72966410cc6f8dd1b74c319538
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mesh/stapler_040_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mesh/stapler_040_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mesh/stapler_040_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040.obj
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+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba8b853bb34b55cd209764388104e02c927c9488
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision.obj
@@ -0,0 +1,19130 @@
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_0.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04713e56b5875aed482cf1de6a947878f277430a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_1.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0607d5adb68c078c8045a369dd499bbee2dcacf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_10.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ff8950d15dd42096630b17e6a260f65b944d0f9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_11.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c53f8f0cd3205b05aac3df9d88b442e158e77a9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_11.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_12.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fec7c0acd29243790ba4dff7366c5116e794930
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_12.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_13.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab8b8b9eaa8fcced6250235033036f47227ef0a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_13.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_14.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..928bc98bcbe7fb7896e0b188a85fe30ff9bf112c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_14.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_15.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7882d207a0ea77dc93eb3fe1f6fbb10aae44b8bb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_15.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_16.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..488dc16a1c16e9020b340fb4d10cee7c9245d627
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_16.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_17.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..661cc15370038cfb033850b102fed5e8c1122302
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_17.obj
@@ -0,0 +1,427 @@
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_18.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f68b7cdd111872ed6cc800b17ff6e1fcaca3e106
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_18.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_19.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c91361f59d5aa4dfeb26345b2e8e0e2e91594730
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_19.obj
@@ -0,0 +1,517 @@
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_2.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49baf5d38566d8575f41e453f45cb949d7f70d79
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_20.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bc077f4fcec892716f43b62b2cd788fd3659c3f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_20.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_21.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93d84e189c7e13cde8f0f2555c5b251401725021
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_21.obj
@@ -0,0 +1,487 @@
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_22.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbf35d7f25d8fa096f748d145e42f4dd0eedb51f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_22.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_23.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb699a92d0536c49cb8d36f9a04218ca0a748bbe
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_23.obj
@@ -0,0 +1,1141 @@
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_24.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24eb05a62d4825e070b100a1cbcd1453e742a02b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_24.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_25.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb2f9ed145973167c18754f81e71d7bce53f67b2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_25.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_26.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b8ae505d4110633b8e48733132bbaa9cddf3389
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_26.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_27.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..135b1181996d88b36d122e38a84d9f1f12e2f331
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_27.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_28.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d22445e6e6b352d6b6f2563c15a9a676c38de64e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_28.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_29.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0b8b0777245a3ace28d096963582e720fdcb937
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_29.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_3.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e439aa02c833578cb4cfda85c815caef5aacf8af
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_3.obj
@@ -0,0 +1,1375 @@
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_30.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2c9aefec0577b935a35b5034cd647d26cc05e9d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_30.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_31.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44f20c3ce132235889f73bf0d7dab147440fda92
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_31.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_32.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52a05f2b525c0392a3ce79ee7f9cee6a15c1b478
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_32.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_33.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f37a9c2864ea700508bcfbb0f2f3c25ec2deb8d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_33.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_34.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4dad201bd11892b2140259464e23390b66d3d51
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_34.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00640371 -0.01351727 0.01482078
+v 0.00640371 -0.00859093 0.01437782
+v 0.00921510 -0.00674023 0.01308221
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_35.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60e6fe1c879fe47d286c8e9ca2c5dc37bb17efc3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_35.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.03225949 0.00269368 0.01385863
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+
diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_4.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b5b1a8e4385e13acefb40411ba5963e3e14d086
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_4.obj
@@ -0,0 +1,892 @@
+# https://github.com/mikedh/trimesh
+v 0.03984398 -0.00134722 -0.04057429
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_5.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faefa4310e2793970681421ca9f70a7856d746b8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_6.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfad17e2da8cfdc0d0d9cc9e7c6f400862e093b1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_7.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0376d462bacf57868dbc50f13bbfa2f3fb50d945
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_7.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_8.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c028a83329973f61bdb61d5b11685ce272ab4a9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_8.obj
@@ -0,0 +1,574 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_9.obj b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e13b6fc4da2bea20a49ea904efef35581b4ade2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/mesh/stapler_040_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/stapler_040.xml b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/stapler_040.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a78cd0c3367bb6b821a330ae45d08b8e41965f92
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/mjcf/stapler_040.xml
@@ -0,0 +1,86 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stapler_040">
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+    <mesh name="collision_mesh_0_5" file="mesh/stapler_040_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stapler_040_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_26" file="mesh/stapler_040_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_28" file="mesh/stapler_040_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_30" file="mesh/stapler_040_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/stapler_040_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/stapler_040_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/stapler_040_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/stapler_040_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  <worldbody>
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+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" 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/fc406e139025511aa29662f7729421e9/stapler_040.urdf b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/stapler_040.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..77049ec39bae9455fcf9fe34c773b3a55469b486
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/stapler_040.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_040">
+   <link name="stapler_040">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stapler_040.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_040_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>fc406e139025511aa29662f7729421e9</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>stapler</category>
+         <name>crocodile stapler</name>
+         <color>green,yellow</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>green crocodile-themed stapler on circular display base</description>
+         <min_height>0.0870</min_height>
+         <max_height>0.0870</max_height>
+         <real_height>0.0870</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611151511</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.057223 -0.052279 -0.040299</min>
+            <max>0.052171 0.047721 0.046732</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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":"Segmentation adds nonfunctional decorative/object regions and misses actionable stapler part boundaries.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/stapler_040.usd b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/stapler_040.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/stapler_040.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58400535bb4b031cb9543c977d85ac6b077aa87c0dc1e5ec99a3ae3dded87b32
+size 5009200
diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/textures/material_0.png b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d377428ef7153df6a00ccb5af8cff4d7856e953dd56c64b1ee53b3f3c6f2874c
+size 13691408
diff --git a/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/video.mp4 b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fc406e139025511aa29662f7729421e9/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fde964cf2b28fc5752805bdd96ec182834b84ab2ea37d9a6c8b4bd8261c648f0
+size 658138