diff --git a/.gitattributes b/.gitattributes
index bab120cd5c248a595050d121af48ac60b258c102..441837c293d04212763df2cb9ffc74b92a436d35 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3372,9 +3372,5 @@ dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/mesh/scis
 dataset/desktop_supplies/office_tools/6793da611a6951589926b7815dd8285f/scissors_023.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/magnifier_008.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/73c1a608fd925b73be8f40c302c3ab2d/mesh/magnifier_008.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/75d1ef560e0d50f1ac8cc216e34e548d/magnifier_026.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/75d1ef560e0d50f1ac8cc216e34e548d/mesh/magnifier_026.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/7a4d7516b5605ce09caedbb491759d2a/mesh/staples_box_019.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/7a4d7516b5605ce09caedbb491759d2a/staples_box_019.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mesh/staples_box_018.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/staples_box_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mesh/staples_box_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/staples_box_016.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mesh/material.mtl b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..18fbed1df664a0f598d2d8252c617e0b675ad60a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl staples_box_016_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mesh/material_0.png b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mesh/staples_box_016.glb b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mesh/staples_box_016.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mesh/staples_box_016.glb
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diff --git a/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mesh/staples_box_016.mtl b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mesh/staples_box_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ffcc15977695272d950c68837e55f13928eb5c5d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mesh/staples_box_016.mtl
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+newmtl staples_box_016_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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diff --git a/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mesh/staples_box_016.obj b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mesh/staples_box_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb63d48dad476a6629ca455d17b33843d5c0b5ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mesh/staples_box_016.obj
@@ -0,0 +1,107786 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl staples_box_016_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mesh/staples_box_016_collision.obj b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mesh/staples_box_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4ca8cd27b59607d1bd069a552e60d73fed0af8e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mesh/staples_box_016_collision.obj
@@ -0,0 +1,2242 @@
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diff --git a/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mesh/staples_box_016_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mesh/staples_box_016_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ad3777de4841a9e29768f6d9cfdc3ad3bc16d52
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mesh/staples_box_016_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a531f55f9bd5186956346766476eac3cc3579d3435ef80f3200850c07674ca7
+size 8553729
diff --git a/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ad3777de4841a9e29768f6d9cfdc3ad3bc16d52
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a531f55f9bd5186956346766476eac3cc3579d3435ef80f3200850c07674ca7
+size 8553729
diff --git a/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mjcf/mesh/staples_box_016.obj b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mjcf/mesh/staples_box_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e466fd15396981df710d4c750c68e635cfba624a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mjcf/mesh/staples_box_016.obj
@@ -0,0 +1,107786 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mjcf/mesh/staples_box_016_collision.obj b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mjcf/mesh/staples_box_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53b90739e87ed72a8a87f61041f11fce9f232ee0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mjcf/mesh/staples_box_016_collision.obj
@@ -0,0 +1,2242 @@
+# https://github.com/mikedh/trimesh
+
+o staples_box_016_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mjcf/mesh/staples_box_016_collision_0.obj b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mjcf/mesh/staples_box_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34b086468d57716e9c275bb5f625efa1a28e8d7d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mjcf/mesh/staples_box_016_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mjcf/mesh/staples_box_016_collision_1.obj b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mjcf/mesh/staples_box_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c66b5b34edf72776b386048628c6c66255b72ab7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mjcf/mesh/staples_box_016_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mjcf/staples_box_016.xml b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mjcf/staples_box_016.xml
new file mode 100644
index 0000000000000000000000000000000000000000..457464e128ba51ebae95f56a9ca0803e08a13cb6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/mjcf/staples_box_016.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="staples_box_016">
+  <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_016.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/staples_box_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/staples_box_016_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="staples_box_016">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/staples_box_016.urdf b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/staples_box_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..73f7a47cf0c1072b0154b269149fe3adfaebfa57
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/staples_box_016.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="staples_box_016">
+   <link name="staples_box_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/staples_box_016.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_016_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <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>7d8d184457da5ee5b31c39032947949d</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>staples_box</category>
+         <name>plastic staples box</name>
+         <color>gray,black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>small rectangular plastic staples storage box with hinged latch</description>
+         <min_height>0.0309</min_height>
+         <max_height>0.0309</max_height>
+         <real_height>0.0309</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518181104</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.023862 -0.057619 -0.015633</min>
+            <max>0.023877 0.057130 0.015314</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/staples_box_016.usd b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/staples_box_016.usd
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+++ b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/staples_box_016.usd
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+version https://git-lfs.github.com/spec/v1
+oid sha256:c6e100128f6900e1700465a857aba32eed380d9d23e0bd96fdf7eff2e71027b6
+size 4688567
diff --git a/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/textures/material_0.png b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/textures/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/video.mp4 b/dataset/desktop_supplies/office_tools/7d8d184457da5ee5b31c39032947949d/video.mp4
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 203245