diff --git a/.gitattributes b/.gitattributes
index 8b1d1f4a0b55497e62d90a8bca539d04dd00575e..760b5ff4e3a67f7b2da9613a0ddb1bbb73a4f49e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3451,5 +3451,5 @@ dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/mesh/pen_
 dataset/desktop_supplies/office_tools/e1472efb810a5eeab9221af3485795de/mesh/pen_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/e153444686e85d3db03e23118796ee11/mesh/scissors_026.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/e153444686e85d3db03e23118796ee11/scissors_026.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/mesh/staples_box_040.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/e5fd714000ab57a2935e7f0112b6718b/staples_box_040.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mesh/staples_box_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/staples_box_011.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mesh/material.mtl b/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9c13b16eba1c5de1447b287e8bce82470c5cb4f4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl staples_box_011_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_011_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mesh/material_0.png b/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec5b947cca43c045b430d3bfa774e442cd9c75c7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3269374ef627fa7845cf7b5f3eb32ae6ab6f88c23cbf9b98ae7bd93366d0d3a2
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diff --git a/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mesh/staples_box_011.glb b/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mesh/staples_box_011.glb
new file mode 100644
index 0000000000000000000000000000000000000000..20e83bf9b26d2f825f88a93b9c90a8b8d57f40b0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mesh/staples_box_011.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d98704aa3ad89c6b413b42c19d305117e76dc7e76382e67d43aa37377e764e28
+size 15959176
diff --git a/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mesh/staples_box_011.mtl b/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mesh/staples_box_011.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..77aaa55b9c4cee45b2587e3ba7006011e6ad0b79
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mesh/staples_box_011.mtl
@@ -0,0 +1,6 @@
+newmtl staples_box_011_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/dff251f7482256a2976ad958c8694f62/mesh/staples_box_011.obj b/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mesh/staples_box_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60ae7b9a19a97a7bbc164bac755ea95e2239cb8a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mesh/staples_box_011.obj
@@ -0,0 +1,127816 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl staples_box_011_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mesh/staples_box_011_collision.obj b/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mesh/staples_box_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40f759e61b7c6d46868c36762112f3e3840e876a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mesh/staples_box_011_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mesh/staples_box_011_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mesh/staples_box_011_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec5b947cca43c045b430d3bfa774e442cd9c75c7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mesh/staples_box_011_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3269374ef627fa7845cf7b5f3eb32ae6ab6f88c23cbf9b98ae7bd93366d0d3a2
+size 12678462
diff --git a/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec5b947cca43c045b430d3bfa774e442cd9c75c7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3269374ef627fa7845cf7b5f3eb32ae6ab6f88c23cbf9b98ae7bd93366d0d3a2
+size 12678462
diff --git a/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mjcf/mesh/staples_box_011.obj b/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mjcf/mesh/staples_box_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28dc401681d7881a5784f70e02d4c5fa18c7dad4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mjcf/mesh/staples_box_011.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl staples_box_011_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mjcf/mesh/staples_box_011_collision.obj b/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mjcf/mesh/staples_box_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff7e563a593c087a40551da6cf02eff6c7206bb3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mjcf/mesh/staples_box_011_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mjcf/mesh/staples_box_011_collision_0.obj b/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mjcf/mesh/staples_box_011_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff7e563a593c087a40551da6cf02eff6c7206bb3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mjcf/mesh/staples_box_011_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mjcf/staples_box_011.xml b/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mjcf/staples_box_011.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a5be9cabb9668359dc2a210755578675e5761b2a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/mjcf/staples_box_011.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="staples_box_011">
+  <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_011.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/staples_box_011_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="staples_box_011">
+      <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/dff251f7482256a2976ad958c8694f62/staples_box_011.urdf b/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/staples_box_011.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6e9c809b41f465d3b0136e90607e485750ca3896
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/staples_box_011.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="staples_box_011">
+   <link name="staples_box_011">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/staples_box_011.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_011_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0400" />
+         <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>dff251f7482256a2976ad958c8694f62</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>staples_box</category>
+         <name>staple box</name>
+         <color>blue,white</color>
+         <shape>cuboid</shape>
+         <material>paper</material>
+         <description>small rectangular cardboard box for metal staples</description>
+         <min_height>0.0159</min_height>
+         <max_height>0.0159</max_height>
+         <real_height>0.0159</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.06</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609174921</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.024954 -0.016064 -0.007991</min>
+            <max>0.025046 0.015975 0.007934</max>
+         </aabb>
+         <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_tools/dff251f7482256a2976ad958c8694f62/staples_box_011.usd b/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/staples_box_011.usd
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diff --git a/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/textures/material_0.png b/dataset/desktop_supplies/office_tools/dff251f7482256a2976ad958c8694f62/textures/material_0.png
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