diff --git a/.gitattributes b/.gitattributes
index 6f00ec01cb69359d401c4f9ee73ae71f1c183700..725b9fef6bace752c278cfcdd7f59f225c82ad9c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3314,8 +3314,7 @@ dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/cutter_kn
 dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mesh/cutter_knife_026.glb filter=lfs diff=lfs merge=lfs -text
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-dataset/desktop_supplies/office_tools/0ccb6cdcdb775437bc9943a66169b739/magnifier_002.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/0ccb6cdcdb775437bc9943a66169b739/mesh/magnifier_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/11fac9ad03bf52e5aced2632cc87bf7f.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mesh/pen_holder.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mesh/pen_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/0ce93da77e1653439b4263effdc63116/mesh/scissors_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/0ce93da77e1653439b4263effdc63116/scissors_018.usd filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mesh/material.mtl b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..61915063e30d8190ed5e39a1fb582aa97842bb24
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl staples_box_018_geometry_Looks_material_0
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mesh/material_0.png b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mesh/material_0.png
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mesh/staples_box_018.glb b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mesh/staples_box_018.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1f1f681b8cc09a765391788b9532063030a3d100
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+++ b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mesh/staples_box_018.glb
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+version https://git-lfs.github.com/spec/v1
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+size 13978020
diff --git a/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mesh/staples_box_018.mtl b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mesh/staples_box_018.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..23b1c4000fab98a2373aba5c4d4b129178dd26e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mesh/staples_box_018.mtl
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+newmtl staples_box_018_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/0b238e87266e59e691520be64880f525/mesh/staples_box_018.obj b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mesh/staples_box_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dbff2520e0dfecd98a9788a3cc871fb1befc376
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mesh/staples_box_018.obj
@@ -0,0 +1,113926 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl staples_box_018_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mesh/staples_box_018_collision.obj b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mesh/staples_box_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29db8848c02276504418b3828e57505a3941641a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mesh/staples_box_018_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mesh/staples_box_018_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mesh/staples_box_018_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9040d067790f13e5692f3b66cd53acb8fad4352e
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+version https://git-lfs.github.com/spec/v1
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+size 10710107
diff --git a/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9040d067790f13e5692f3b66cd53acb8fad4352e
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/mesh/staples_box_018.obj b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/mesh/staples_box_018.obj
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index 0000000000000000000000000000000000000000..ab5eafc1df5d51a17d0fd9c0a62161c4ecf1ca36
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+++ b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/mesh/staples_box_018.obj
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diff --git a/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/mesh/staples_box_018_collision.obj b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/mesh/staples_box_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eea3fcc2016d9686c6218c09a919a16ba56387f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/mesh/staples_box_018_collision.obj
@@ -0,0 +1,2738 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/mesh/staples_box_018_collision_0.obj b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/mesh/staples_box_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afbe106c7d76de3034dd7803874f690e13abfe5a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/mesh/staples_box_018_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/mesh/staples_box_018_collision_1.obj b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/mesh/staples_box_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db5828b85073965229611e471c881420a3ce03fe
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/mesh/staples_box_018_collision_1.obj
@@ -0,0 +1,508 @@
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diff --git a/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/mesh/staples_box_018_collision_2.obj b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/mesh/staples_box_018_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8d330393f0cefe1f26f1887f0f74437883881b8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/mesh/staples_box_018_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/mesh/staples_box_018_collision_3.obj b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/mesh/staples_box_018_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42eb202fefec27f15f2930687d9e3b73dc778c5d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/mesh/staples_box_018_collision_3.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/mesh/staples_box_018_collision_4.obj b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/mesh/staples_box_018_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02da853f4a95b5235edc40e73f683c50a9fdfe7c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/mesh/staples_box_018_collision_4.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/mesh/staples_box_018_collision_5.obj b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/mesh/staples_box_018_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..864ba9075d6fb24a9b0b56ee32369a195a7f4825
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/mesh/staples_box_018_collision_5.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/staples_box_018.xml b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/staples_box_018.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d74d93b3417cc46f099544c7da753012c0abb81d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mjcf/staples_box_018.xml
@@ -0,0 +1,26 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="staples_box_018">
+  <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_018.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/staples_box_018_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/staples_box_018_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/staples_box_018_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/staples_box_018_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/staples_box_018_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/staples_box_018_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="staples_box_018">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/staples_box_018.urdf b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/staples_box_018.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8fac6c2610af91af1733bd1d26c5c9550ff352fa
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/staples_box_018.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="staples_box_018">
+   <link name="staples_box_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/staples_box_018.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_018_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>0b238e87266e59e691520be64880f525</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>staples_box</category>
+         <name>plastic staples box</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>small translucent plastic box holding metal staples with hinged lid</description>
+         <min_height>0.0379</min_height>
+         <max_height>0.0379</max_height>
+         <real_height>0.0379</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518181151</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.023088 -0.056096 -0.018421</min>
+            <max>0.020185 0.054096 0.019449</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/staples_box_018.usd b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/staples_box_018.usd
new file mode 100644
index 0000000000000000000000000000000000000000..dd40c4c68dea439fc4f6700e0b2f84ddb69d55e4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/staples_box_018.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55227ab4210444e5a62f1e2520f8a7092ff34d64ed5bdae60dbd6541bdc65bb9
+size 4877533
diff --git a/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/textures/material_0.png b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9040d067790f13e5692f3b66cd53acb8fad4352e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df8e4d83d0197d1c1eed5e8f7d4267144e54c6779bce18061a128f568719d043
+size 10710107
diff --git a/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/video.mp4 b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0b7b07046fdabb8177cf4d491f4862f3ad114b27
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a8d13ef10cac1858d2bae8071ffc51300c0066b3f533bc74a5af91111346f10
+size 299027