diff --git a/.gitattributes b/.gitattributes
index 8670ce75b75eb05e9c7dc11dcbb66c3209e4e191..84e036eb6e7feefb38c62eb4f1da3e6c2f18787c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3405,3 +3405,5 @@ dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/cutter_kn
 dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mesh/cutter_knife_029.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mesh/staples_box_039.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/staples_box_039.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mesh/staples_box_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/staples_box_013.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mesh/material.mtl b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3a15e1354ab2ef9cb30828777c41691dee08954d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl staples_box_013_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 staples_box_013_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mesh/material_0.png b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..46497cc654c36d13a180b4f29584e05ef306e847
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:439c35acddcab36cc9878adeb35c9a5dd63fff48746d210549b8c59e3cec6c49
+size 14417269
diff --git a/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mesh/staples_box_013.glb b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mesh/staples_box_013.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a66d86694d25bf47e926f766bf788e9f651c740f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mesh/staples_box_013.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc1fce6a660002dcf668e19024e7ba7903102419609ee7bb11f378a24cd630b9
+size 16844724
diff --git a/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mesh/staples_box_013.mtl b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mesh/staples_box_013.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3d421875d296caf38843cc11c8d8c35a8dac7616
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mesh/staples_box_013.mtl
@@ -0,0 +1,6 @@
+newmtl staples_box_013_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_tools/9bbcc67fb1a953f689739764a30db3b6/mesh/staples_box_013.obj b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mesh/staples_box_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d5f70897545ca5c06d59cbd7a883064fd179a56
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mesh/staples_box_013.obj
@@ -0,0 +1,105486 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl staples_box_013_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mesh/staples_box_013_collision.obj b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mesh/staples_box_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c65578198ca3c228fd8337621ca2a0f4f90e94d8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mesh/staples_box_013_collision.obj
@@ -0,0 +1,2115 @@
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+
diff --git a/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mesh/staples_box_013_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mesh/staples_box_013_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..46497cc654c36d13a180b4f29584e05ef306e847
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mesh/staples_box_013_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:439c35acddcab36cc9878adeb35c9a5dd63fff48746d210549b8c59e3cec6c49
+size 14417269
diff --git a/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..46497cc654c36d13a180b4f29584e05ef306e847
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:439c35acddcab36cc9878adeb35c9a5dd63fff48746d210549b8c59e3cec6c49
+size 14417269
diff --git a/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mjcf/mesh/staples_box_013.obj b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mjcf/mesh/staples_box_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0876329df110a14e6af717f30dbab6eb43aad690
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mjcf/mesh/staples_box_013.obj
@@ -0,0 +1,105486 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl staples_box_013_geometry_Looks_material_0
+v 0.024855 0.016543 0.003658
+v 0.024855 0.016543 0.003658
+v 0.024848 0.016258 0.003411
+v 0.024848 0.016258 0.003411
+v 0.024869 0.016718 0.003218
+v 0.024869 0.016718 0.003218
+v 0.007443 0.019899 0.000336
+v 0.007793 0.019898 0.000437
+v 0.007885 0.019895 0.000316
+v 0.007904 0.019900 0.001027
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diff --git a/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mjcf/mesh/staples_box_013_collision.obj b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mjcf/mesh/staples_box_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d2b4a60bd9d5cd2df5a1a0a9e7b79e75584911a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mjcf/mesh/staples_box_013_collision.obj
@@ -0,0 +1,2113 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mjcf/mesh/staples_box_013_collision_0.obj b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mjcf/mesh/staples_box_013_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d2b4a60bd9d5cd2df5a1a0a9e7b79e75584911a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mjcf/mesh/staples_box_013_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mjcf/staples_box_013.xml b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mjcf/staples_box_013.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ea186d67fea17f0d533a15df08f46b282e225e69
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mjcf/staples_box_013.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="staples_box_013">
+  <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/staples_box_013.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/staples_box_013_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="staples_box_013">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/staples_box_013.urdf b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/staples_box_013.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..824ab3d4d8d6eb1da86aa763fa47eab5591f0a2a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/staples_box_013.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="staples_box_013">
+   <link name="staples_box_013">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/staples_box_013.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/staples_box_013_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <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>9bbcc67fb1a953f689739764a30db3b6</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>staples_box</category>
+         <name>no.8 staples box</name>
+         <color>white,blue</color>
+         <shape>cuboid</shape>
+         <material>paper</material>
+         <description>small rectangular cardboard staples box with blue yellow white print</description>
+         <min_height>0.0105</min_height>
+         <max_height>0.0105</max_height>
+         <real_height>0.0105</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609174956</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.024947 -0.020162 -0.005231</min>
+            <max>0.025053 0.020100 0.005244</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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_tools/9bbcc67fb1a953f689739764a30db3b6/staples_box_013.usd b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/staples_box_013.usd
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+size 4351416
diff --git a/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/textures/material_0.png b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/textures/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/video.mp4 b/dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/video.mp4
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