diff --git a/.gitattributes b/.gitattributes
index f6673b14ae321e40e8ca63c4c838af1034ab7213..ad9cc88b44ac3481bce51296db45b932abc331b4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3219,5 +3219,5 @@ dataset/desktop_supplies/office_stationery/a00d15d133e7509ca0e3e2287ae57c2b/eras
 dataset/desktop_supplies/office_stationery/a00d15d133e7509ca0e3e2287ae57c2b/mesh/eraser_038.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/marker_024.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mesh/marker_024.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/b25e4be50e185a99b79c44502bc797c0/glue_stick_016.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/b25e4be50e185a99b79c44502bc797c0/mesh/glue_stick_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mesh/stapler_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/stapler_002.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f90bef35620aae9ca9a774383d8729f3132acb3c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stapler_002_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_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f559c423c8dd0d0ab38da125ab354cd2a112ef19
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:566550cb6745bec69f0c8b5e0294d0dcb984fba95b5d430cffaaf19f45bd9e35
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diff --git a/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mesh/stapler_002.glb b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mesh/stapler_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0413e700d3195dca61a77570c9825d33991bb9fb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mesh/stapler_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a77757c022514f49079e3ae56ea6507b4528dcda9d5b669f0e9484c34099c54c
+size 13088616
diff --git a/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mesh/stapler_002.mtl b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mesh/stapler_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..eb3e7e9516e6a5fe6f0372ddac16b9532faf13dc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mesh/stapler_002.mtl
@@ -0,0 +1,6 @@
+newmtl stapler_002_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/b1e8634f52b25d518af7a582a1f1a756/mesh/stapler_002.obj b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mesh/stapler_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..270aa70a24f6ace609aad3433ff556f03115088d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mesh/stapler_002.obj
@@ -0,0 +1,108806 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stapler_002_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mesh/stapler_002_collision.obj b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mesh/stapler_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75622dd159a930728d5a985e9a8ee9643c429810
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mesh/stapler_002_collision.obj
@@ -0,0 +1,11156 @@
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diff --git a/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mesh/stapler_002_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mesh/stapler_002_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002.obj b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision.obj b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdbdd5ffe5ee50217ed7f446d0be75bd01cad717
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision.obj
@@ -0,0 +1,11156 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_0.obj b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffa24aad17e51412991a0202932c3026c03c7de8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_1.obj b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60d2c9c3baac82a8968a2bb4e9b054681f63ce65
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_1.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_10.obj b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb94c6e9e374e5cbef8fb343b706d3e1606535f0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_10.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.01119222 0.01518613 -0.00994186
+v -0.01119105 0.01517318 -0.00994186
+v -0.01073481 0.01529301 -0.00695935
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+
diff --git a/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_11.obj b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ab770cb16b938dad5b8307ae20e8bf829d2c494
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_11.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.00497203 0.01766637 -0.00994098
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+
diff --git a/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_2.obj b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..752265ed28221f3ff1eb0dce1ad85b077b879104
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_3.obj b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b7370b948281c8eae9960a659d7388743e66cd6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_3.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_4.obj b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7d93c86d6604e4929525af518fe4d29b90d6091
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_4.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_5.obj b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfde6dd05f41d129c1569b75b8a6a9a503973eac
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_5.obj
@@ -0,0 +1,1078 @@
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diff --git a/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_6.obj b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0b317a55c492d63783328075933b0d89b375bf2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_7.obj b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f4530093e399fdced7e602bd0451b40a2adee94
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_8.obj b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9b6fda2f1a7f5e888c384bc50bd56183653131f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_9.obj b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08926098575290e6c983daa6664369720aec21ee
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/mesh/stapler_002_collision_9.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.00523195 0.01689199 -0.00994127
+v -0.00405234 0.01805802 -0.00994155
+v 0.00497003 0.01766665 -0.00994156
+v 0.00497203 0.01827665 -0.00695934
+v -0.00523195 0.01813359 -0.00695934
+v -0.00523195 0.01842511 -0.00994155
+v 0.00497203 0.01766935 -0.00994069
+v 0.00497203 0.01848719 -0.00994155
+v 0.00497203 0.04439096 -0.00695925
+v -0.00523195 0.04439366 -0.00695925
+v -0.00523195 0.04446655 -0.00994146
+v 0.00497203 0.04445845 -0.00994146
+v -0.00093501 0.04446385 -0.00994146
+v 0.00089084 0.04439366 -0.00695925
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 11
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+f 4 14 10
+f 4 10 5
+f 9 12 13
+f 9 13 14
+f 10 14 11
+f 11 14 13
+
diff --git a/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/stapler_002.xml b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/stapler_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..437bea83237fed548bf70b60cd1aefd92938a1ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mjcf/stapler_002.xml
@@ -0,0 +1,38 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stapler_002">
+  <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_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/stapler_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/stapler_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/stapler_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/stapler_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/stapler_002_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/stapler_002_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stapler_002_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/stapler_002_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/stapler_002_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/stapler_002_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/stapler_002_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/stapler_002_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stapler_002">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/stapler_002.urdf b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/stapler_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..42e44663c9f94240626e09845eed7a961ab68747
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/stapler_002.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stapler_002">
+   <link name="stapler_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stapler_002.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_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>b1e8634f52b25d518af7a582a1f1a756</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>stapler</category>
+         <name>compact stapler</name>
+         <color>blue</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>compact blue stapler with metal components</description>
+         <min_height>0.0581</min_height>
+         <max_height>0.0581</max_height>
+         <real_height>0.0581</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427234541</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/b1e8634f52b25d518af7a582a1f1a756/stapler_002.usd b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/stapler_002.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d3628154ace3e87c298293ca2482784601875911
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/stapler_002.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9fd456e9ada9fff4d97813f60067c27e5f89b8dd1c2e94809db10d68a6461ab
+size 4862852
diff --git a/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/textures/material_0.png b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f559c423c8dd0d0ab38da125ab354cd2a112ef19
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:566550cb6745bec69f0c8b5e0294d0dcb984fba95b5d430cffaaf19f45bd9e35
+size 9846399
diff --git a/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/video.mp4 b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0b99ac0468553bd09f6bcb9a5451d53b04ccd50b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb614339b35559b67121e72a2f74824ced77eb59d9e56a48bd76ccd8c8a04744
+size 259326