diff --git a/.gitattributes b/.gitattributes
index aa383b8a11bb01536d2ebfaec2ed57b4a966d440..865aadbc24af07cebc6b60cf86cd955e4fc4444b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3433,6 +3433,7 @@ dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mesh/scot
 dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/scotch_tape_002.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/be65b7ab0bac513ea1e916913c8b9244/magnifier_014.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/be65b7ab0bac513ea1e916913c8b9244/mesh/magnifier_014.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/c3f43d32fd235292a166d97bd86abdeb.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mesh/pencil_sharpener.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mesh/pencil_sharpener_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/bda0199138895403a151e99d49ead903/mesh/sticky_notes_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/bda0199138895403a151e99d49ead903/sticky_notes_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mesh/staples_box_017.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/staples_box_017.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mesh/material.mtl b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2e3802bf6d3a77a12ce8d718ca4ca4ced953aed4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl staples_box_017_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd staples_box_017_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mesh/material_0.png b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mesh/material_0.png
@@ -0,0 +1,3 @@
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diff --git a/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mesh/staples_box_017.glb b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mesh/staples_box_017.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5ca0a14fc243eff49e30f6365ca37ab18a751b6d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mesh/staples_box_017.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13330548
diff --git a/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mesh/staples_box_017.mtl b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mesh/staples_box_017.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..831cccade914af376ab9d0229b0934a01d3a9468
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mesh/staples_box_017.mtl
@@ -0,0 +1,6 @@
+newmtl staples_box_017_geometry_Looks_material_0
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+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/be67a41c39895418b0686707a77df9b1/mesh/staples_box_017.obj b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mesh/staples_box_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..949c120a2c32a1da07be8d9069ad5881b1817573
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mesh/staples_box_017.obj
@@ -0,0 +1,104786 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl staples_box_017_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mesh/staples_box_017_collision.obj b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mesh/staples_box_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1488e054e73fbf12762ea4b0d20fb333c28e3f0a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mesh/staples_box_017_collision.obj
@@ -0,0 +1,2547 @@
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diff --git a/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mesh/staples_box_017_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mesh/staples_box_017_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..36e83431d51ddb97f9a27bd9500e7bbbc95a5850
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mesh/staples_box_017_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:208211aaa40245414de5b7116d3c5e469f69d0cc424ff1beab31dacf329af083
+size 11119428
diff --git a/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..36e83431d51ddb97f9a27bd9500e7bbbc95a5850
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:208211aaa40245414de5b7116d3c5e469f69d0cc424ff1beab31dacf329af083
+size 11119428
diff --git a/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mjcf/mesh/staples_box_017.obj b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mjcf/mesh/staples_box_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c25f7957e8c6c2e6f25365fb889f4776da968c92
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mjcf/mesh/staples_box_017.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl staples_box_017_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mjcf/mesh/staples_box_017_collision.obj b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mjcf/mesh/staples_box_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd446bd5aa99ed599aee60dd6ace2a06714f638c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mjcf/mesh/staples_box_017_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mjcf/mesh/staples_box_017_collision_0.obj b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mjcf/mesh/staples_box_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd446bd5aa99ed599aee60dd6ace2a06714f638c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mjcf/mesh/staples_box_017_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mjcf/staples_box_017.xml b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mjcf/staples_box_017.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3b1dd9947152077cd1b294d591fbf0d4fef2f481
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/mjcf/staples_box_017.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="staples_box_017">
+  <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_017.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/staples_box_017_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="staples_box_017">
+      <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/be67a41c39895418b0686707a77df9b1/staples_box_017.urdf b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/staples_box_017.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c95196210e42381887e8fb6ae3210e70d8dcb086
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/staples_box_017.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="staples_box_017">
+   <link name="staples_box_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/staples_box_017.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_017_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>be67a41c39895418b0686707a77df9b1</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>staples_box</category>
+         <name>staple box</name>
+         <color>gray,green</color>
+         <shape>cuboid</shape>
+         <material>paper</material>
+         <description>small rectangular cardboard staples box with teal and gray printed sides</description>
+         <min_height>0.0113</min_height>
+         <max_height>0.0113</max_height>
+         <real_height>0.0113</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.06</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609175057</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.024987 -0.014512 -0.005610</min>
+            <max>0.025013 0.014640 0.005670</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/be67a41c39895418b0686707a77df9b1/staples_box_017.usd b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/staples_box_017.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/staples_box_017.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79dd0b611e9b8ba2721216b539b4702edaae592702948c2b3c9605d81d24c358
+size 4210261
diff --git a/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/textures/material_0.png b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/textures/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/video.mp4 b/dataset/desktop_supplies/office_tools/be67a41c39895418b0686707a77df9b1/video.mp4
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@@ -0,0 +1,3 @@
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