diff --git a/.gitattributes b/.gitattributes
index f33338f7d0fcbff1b8cb853ffbe39cba0b3bb048..d56e1e2ae804340c6b74ba7bdc6c15264cff101c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3345,5 +3345,5 @@ dataset/desktop_supplies/office_tools/34805fd4735a5809831807398f5f7960/mesh/scis
 dataset/desktop_supplies/office_tools/34805fd4735a5809831807398f5f7960/scissors_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/37f4a35c7a6f56aebbdaddd5ca1dc850/magnifier_019.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/37f4a35c7a6f56aebbdaddd5ca1dc850/mesh/magnifier_019.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/magnifier_001.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/3efd53c61ad75f4a942393f68cd112a0/mesh/magnifier_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mesh/staples_box_012.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/staples_box_012.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mesh/material.mtl b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5454ac7bfb91b0035c0d3e463b40dcfb8f44f0a1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl staples_box_012_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_012_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mesh/material_0.png b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a371c4f4440228b0964ddb817fbd4912bbfa33e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6899e4925246ef8f69305b5d6477382bc885614f5e9d2be072fa32642f2f059f
+size 12395077
diff --git a/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mesh/staples_box_012.glb b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mesh/staples_box_012.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ec55c1a64a129f923c9d2648a9bbb30897468e7a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mesh/staples_box_012.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:beeff73d237de52abb1d432da80e96e0d27d915e6a9b88e20e8844a4f312c1c3
+size 14836156
diff --git a/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mesh/staples_box_012.mtl b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mesh/staples_box_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dc9867eb2b41aeee90ed4d8b7aaf1e0c719d2982
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mesh/staples_box_012.mtl
@@ -0,0 +1,6 @@
+newmtl staples_box_012_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/3e527ab1b53255fea0ba4c2680e5d35a/mesh/staples_box_012.obj b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mesh/staples_box_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0187178dea76ecf91626389e15aa669edd9f6a54
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mesh/staples_box_012.obj
@@ -0,0 +1,103836 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl staples_box_012_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mesh/staples_box_012_collision.obj b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mesh/staples_box_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6289b33f0a0dcc8f10493bd4aab70cdc7e2d217
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mesh/staples_box_012_collision.obj
@@ -0,0 +1,3203 @@
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diff --git a/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mesh/staples_box_012_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mesh/staples_box_012_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..2a371c4f4440228b0964ddb817fbd4912bbfa33e
--- /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/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a371c4f4440228b0964ddb817fbd4912bbfa33e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012.obj b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision.obj b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f20e653b4046e06d04c20c43f869d01396016676
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision.obj
@@ -0,0 +1,3203 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_0.obj b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaa5cb4305a0ddfe84abe52e8be941465306c258
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_0.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_1.obj b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7480e4241648249f65c30022bcb8a8847f284a90
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_1.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_10.obj b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01f93b986d070bca88976121cb89a943c4a76e68
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_10.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.00555497 -0.00211387 0.00424669
+v -0.00573808 -0.00251228 0.00415248
+v -0.00573808 -0.00251227 0.00385068
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+v -0.00876038 -0.00566546 0.00421106
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+v -0.00803757 -0.00507445 0.00305897
+v -0.00628163 -0.00211386 0.00305898
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+v -0.00693890 -0.00334072 0.00305898
+v -0.00631825 -0.00211387 0.00445550
+v -0.00961233 -0.00566546 0.00444438
+v -0.00925189 -0.00566546 0.00435352
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+
diff --git a/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_11.obj b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..098859e5d6c1314973c4ffc0c4489625c2deb435
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_11.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.00585691 -0.00566542 -0.00438997
+v -0.00553665 -0.00566542 -0.00438997
+v -0.00632379 -0.00566542 -0.00438924
+v -0.01043507 -0.00436973 -0.00438414
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+v -0.01043507 -0.00211383 -0.00438486
+v -0.00632379 -0.00355692 -0.00438923
+v -0.00553665 -0.00352077 -0.00438996
+v -0.00553665 -0.00566545 0.00277458
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+v -0.01043507 -0.00566542 -0.00438122
+v -0.02277085 -0.00211383 -0.00436152
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+v -0.02511492 -0.00566543 -0.00364471
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+
diff --git a/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_2.obj b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c121ad911cb2b51f6475737b3779d0de22f9b45
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_2.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
+v -0.02359212 0.01543279 0.00225510
+v -0.02359212 0.01542935 0.00285969
+v -0.02194668 0.01542935 0.00225510
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+v -0.02441612 0.01539500 0.00285969
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+v -0.02504878 0.01433011 0.00359597
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+v -0.00796936 0.01433010 0.00438139
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diff --git a/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_3.obj b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4f28fa5a1ca08a1579ade9fa56bf63637d1ae03
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_3.obj
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+
diff --git a/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_4.obj b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc59595ee496eb7992d16f91c7c178ed2a25b741
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_4.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
+v -0.02359263 0.01543351 0.00133096
+v -0.02277117 0.01543180 -0.00248943
+v -0.02359263 0.01543180 -0.00248943
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+v -0.02359263 0.01540947 -0.00325390
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+v -0.02441410 0.01539573 -0.00248943
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+v -0.02522025 -0.00211384 -0.00248950
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+v -0.00961247 -0.00211383 -0.00438601
+v -0.01043648 -0.00211383 -0.00438536
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+v -0.02277117 -0.00211383 -0.00436124
+v 0.00078336 0.00080272 -0.00438535
+v 0.00078336 0.00132316 -0.00438470
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+
diff --git a/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_5.obj b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f345870d8a4d6e3c139503b340bc005a613200d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_5.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.00078336 0.00401672 0.00388298
+v 0.00080693 0.00402893 0.00389064
+v 0.00078336 0.00401671 0.00413478
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+
diff --git a/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_6.obj b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecbb617d82c31a0f865146f0dab17b5193a9fdb0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_6.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.00107975 0.01535348 0.00235146
+v 0.00078336 0.01535348 0.00235146
+v 0.00162692 0.01535220 0.00235146
+v 0.00190245 0.01535220 0.00209502
+v 0.00078336 0.01535475 0.00209502
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+v 0.00244924 0.01534965 0.00235146
+v 0.00272476 0.01535093 0.00133096
+v 0.00190245 0.01535476 -0.00019783
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+
diff --git a/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_7.obj b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e5c2f72360b58c0b8fbd7ec018636a7f8816f73
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_7.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.00078336 -0.00490343 -0.00439044
+v 0.00078336 -0.00407678 -0.00438972
+v 0.00489265 -0.00470913 -0.00438202
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+f 11 15 12
+f 12 15 16
+f 15 17 16
+
diff --git a/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_8.obj b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ac0b9cb99baf6bb1b50003cd5cb12df3f6e689d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_8.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_9.obj b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..910ad33e2bcee8d3abedd42b9d7cd06c1bb6da2b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/mesh/staples_box_012_collision_9.obj
@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
+v -0.00879093 -0.01087465 -0.00439225
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diff --git a/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/staples_box_012.xml b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/staples_box_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..abda4904e294106272e848ea3f81c6f4ee5aa917
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/mjcf/staples_box_012.xml
@@ -0,0 +1,38 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="staples_box_012">
+  <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_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/staples_box_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/staples_box_012_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/staples_box_012_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/staples_box_012_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/staples_box_012_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/staples_box_012_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/staples_box_012_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/staples_box_012_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/staples_box_012_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/staples_box_012_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/staples_box_012_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/staples_box_012_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="staples_box_012">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" 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/3e527ab1b53255fea0ba4c2680e5d35a/staples_box_012.urdf b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/staples_box_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fff56a336e2ba7205719ad682cd629a428a1f000
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/staples_box_012.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="staples_box_012">
+   <link name="staples_box_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/staples_box_012.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_012_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>3e527ab1b53255fea0ba4c2680e5d35a</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>staples_box</category>
+         <name>green staples box</name>
+         <color>black,green</color>
+         <shape>cuboid</shape>
+         <material>paper</material>
+         <description>small black and green cardboard box for colored staples</description>
+         <min_height>0.0091</min_height>
+         <max_height>0.0091</max_height>
+         <real_height>0.0091</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609174936</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.025156 -0.015151 -0.004367</min>
+            <max>0.024844 0.015360 0.004770</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>NO: {"summary":"Outer box and inner staples are segmented, but the transparent window is missed and cannot be fixed by merging.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/staples_box_012.usd b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/staples_box_012.usd
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+++ b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/staples_box_012.usd
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diff --git a/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/textures/material_0.png b/dataset/desktop_supplies/office_tools/3e527ab1b53255fea0ba4c2680e5d35a/textures/material_0.png
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