diff --git a/.gitattributes b/.gitattributes
index bfb2e1e62e35a966032a04ce430eee5875dc6138..431ca207b5209e6ee86274b7ed452575dd91cc89 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3161,5 +3161,5 @@ dataset/desktop_supplies/office_stationery/744f195b77b35368a9506b4116b4b7bf/mark
 dataset/desktop_supplies/office_stationery/744f195b77b35368a9506b4116b4b7bf/mesh/marker_033.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mesh/sharpener_037.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/sharpener_037.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/eraser_035.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mesh/eraser_035.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mesh/stapler_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/stapler_030.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8a733c2b8f0dbb8566c845c9008a466705354dfd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stapler_030_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_030_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..994a99e57ba394ed5fee40580e3072b481ae59f9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e2fc06d281e0b56f5353d08936ccab348ea4ef0765f3c9bfe3f21e33a420875
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diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mesh/stapler_030.glb b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mesh/stapler_030.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9d4ac48a7e245366302956e8f93935bc4d0367a6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mesh/stapler_030.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4f63bc02c511b62274ea5da91c8031bc1af6fb5004a8c8fd2debf954d55ed64
+size 16980008
diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mesh/stapler_030.mtl b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mesh/stapler_030.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c03aa0245307db3dab1c8ee66c2a5bcbc3750e8b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mesh/stapler_030.mtl
@@ -0,0 +1,6 @@
+newmtl stapler_030_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/79c7a68f07f750eaa84dbc5962e20fbe/mesh/stapler_030.obj b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mesh/stapler_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e34cc964c1fd15edaf21ebc065911a5ef525586d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mesh/stapler_030.obj
@@ -0,0 +1,121134 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stapler_030_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mesh/stapler_030_collision.obj b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mesh/stapler_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11519c8f67bb91d7115628a517a76e76c2cbb893
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mesh/stapler_030_collision.obj
@@ -0,0 +1,8422 @@
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030.obj
@@ -0,0 +1,121134 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stapler_030_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision.obj b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a89ba48705843da1d07dec39f316ce48400a50fc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision.obj
@@ -0,0 +1,8422 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_0.obj b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b832ec7b9962c7ebe2f32458a875406280e31dd3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_1.obj b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24643ce0a167795a3b4bee11003444d9c7194aff
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_10.obj b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5edf222dd4399cabc0fab08988c6662e9093a56
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_10.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_11.obj b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb65d3ed37bb9b4dbf0a7681cf9a0898d262b1f0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_11.obj
@@ -0,0 +1,502 @@
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diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_12.obj b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c54acd1bdcae9be5bccef7c6af4243686ae33860
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_12.obj
@@ -0,0 +1,310 @@
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diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_13.obj b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97461bb06a12499b83a00e0eac65e9f7e31ecb31
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_13.obj
@@ -0,0 +1,226 @@
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diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_14.obj b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc1dd2f020f3d7f527ea185e6f27aea6ac02ab9c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_14.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_15.obj b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4ebeff230f3e617276ef76be43217069ea0ff25
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_15.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_16.obj b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcb0605d087ea2cba6f831c6d57fa222a9431977
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_16.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.00141949 0.01505113 0.01882466
+v 0.00141949 0.01493390 0.01876743
+v 0.00141949 0.01505114 0.01686573
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+
diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_17.obj b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84309c74e01fde15cd7a2b5fbb2c79196f57961c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_17.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.00486723 -0.01400106 -0.00146602
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+v -0.00522671 -0.01394557 -0.00539428
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+
diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_18.obj b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deb1b028006db81aba5de3958be77be4109ed7f9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_18.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.00392707 -0.01393372 -0.00109773
+v 0.00582718 -0.01395792 -0.00539386
+v 0.00486933 -0.01392088 -0.00539386
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+
diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_19.obj b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68e5fc7144bd1e044ed27b67a5146915573f1f93
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_19.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v 0.00304233 -0.01794340 0.01355631
+v 0.00304233 -0.01834588 0.01355057
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diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_2.obj b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..383d695796831a1358576240df8fea697e3e1af7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_3.obj b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48019a638a435108f7ba8b56f5f12cc81a5b81fc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_4.obj b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2327fe0de65bbf0b6eba744ccf0f5d1ffa99c56
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_5.obj b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bde77512bbc6433529b2e21a9fb0e108bb509d3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_6.obj b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e63e34f0cd324eeffe2f31edf01356c093b4f7a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_6.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_7.obj b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8d66011aafa4d19f9bdcc955a6e117706fd0942
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_7.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_8.obj b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0b20c2eafac2bc7c1b5076f0f46afd1ae5da589
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_8.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_9.obj b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c1ac4f7d05bd786be2a5a1658af72b6969d13aa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/mesh/stapler_030_collision_9.obj
@@ -0,0 +1,634 @@
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diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/stapler_030.xml b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/stapler_030.xml
new file mode 100644
index 0000000000000000000000000000000000000000..77e52563cefdb8ec89e8723214e2b2ea6a32e706
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mjcf/stapler_030.xml
@@ -0,0 +1,54 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stapler_030">
+  <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_030.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stapler_030_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stapler_030_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stapler_030_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stapler_030_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stapler_030_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/stapler_030_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stapler_030_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/stapler_030_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/stapler_030_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/stapler_030_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/stapler_030_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/stapler_030_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/stapler_030_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/stapler_030_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/stapler_030_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/stapler_030_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/stapler_030_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/stapler_030_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/stapler_030_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/stapler_030_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stapler_030">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/stapler_030.urdf b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/stapler_030.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..479e30e34ad0a4e4175bcca850aff303c2b3d84a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/stapler_030.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_030">
+   <link name="stapler_030">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stapler_030.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_030_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.5000" />
+         <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>79c7a68f07f750eaa84dbc5962e20fbe</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>stapler</category>
+         <name>heavy-duty stapler</name>
+         <color>gray</color>
+         <shape>irregular</shape>
+         <material>metal</material>
+         <description>dark metal desktop stapler with long lever and spring base</description>
+         <min_height>0.0600</min_height>
+         <max_height>0.0600</max_height>
+         <real_height>0.0600</real_height>
+         <min_mass>1.0</min_mass>
+         <max_mass>2.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611151111</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.014060 -0.033682 -0.015972</min>
+            <max>0.014062 0.033618 0.044028</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>19</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/79c7a68f07f750eaa84dbc5962e20fbe/stapler_030.usd b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/stapler_030.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/stapler_030.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16d78a305bb8ad39cb97c1c0736b99c5eedbfb6173147ab9b6fbd09f88a7b7d2
+size 4980491
diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/textures/material_0.png b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/textures/material_0.png
new file mode 100644
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@@ -0,0 +1,3 @@
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diff --git a/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/video.mp4 b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/video.mp4
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+size 569929