diff --git a/.gitattributes b/.gitattributes
index d7662f199d2985e9902a4b68c8785817409577a3..8670ce75b75eb05e9c7dc11dcbb66c3209e4e191 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3403,3 +3403,5 @@ dataset/desktop_supplies/office_tools/9aaf1bc5ce28553fa0a9e32a68fda39b/mesh/scis
 dataset/desktop_supplies/office_tools/9aaf1bc5ce28553fa0a9e32a68fda39b/scissors_025.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/cutter_knife_029.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mesh/cutter_knife_029.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mesh/staples_box_039.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/staples_box_039.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mesh/material.mtl b/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2fc41990eea1c820346e38f4839b7c20979b134f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl staples_box_039_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mesh/material_0.png b/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/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/990537f99e985749b34a4d5d5c80d931/mesh/staples_box_039.glb b/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mesh/staples_box_039.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mesh/staples_box_039.glb
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diff --git a/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mesh/staples_box_039.mtl b/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mesh/staples_box_039.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c798c2b5d4d960c539cd36e7080406bd3439e547
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mesh/staples_box_039.mtl
@@ -0,0 +1,6 @@
+newmtl staples_box_039_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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+d 1.000000
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diff --git a/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mesh/staples_box_039.obj b/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mesh/staples_box_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8457f403356a748ad52191e8e22cd6de8f12b1ed
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mesh/staples_box_039.obj
@@ -0,0 +1,116388 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl staples_box_039_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mesh/staples_box_039_collision.obj b/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mesh/staples_box_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50f184f203d3a1c26dda7487bf6b7238892dc8f7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mesh/staples_box_039_collision.obj
@@ -0,0 +1,1170 @@
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diff --git a/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mesh/staples_box_039_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mesh/staples_box_039_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mjcf/mesh/staples_box_039.obj b/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mjcf/mesh/staples_box_039.obj
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+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mjcf/mesh/staples_box_039_collision.obj b/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mjcf/mesh/staples_box_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65400bd672764730e3a53bb211eea8434d11da29
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mjcf/mesh/staples_box_039_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mjcf/mesh/staples_box_039_collision_0.obj b/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mjcf/mesh/staples_box_039_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65400bd672764730e3a53bb211eea8434d11da29
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mjcf/staples_box_039.xml b/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mjcf/staples_box_039.xml
new file mode 100644
index 0000000000000000000000000000000000000000..81454813df62b790bc15d19f0d3700c87e8afa53
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mjcf/staples_box_039.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="staples_box_039">
+  <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_039.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/staples_box_039_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="staples_box_039">
+      <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/990537f99e985749b34a4d5d5c80d931/staples_box_039.urdf b/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/staples_box_039.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1a7e43d1755a3228d7be92c4ad6eb2a06013f338
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/staples_box_039.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="staples_box_039">
+   <link name="staples_box_039">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/staples_box_039.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_039_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>990537f99e985749b34a4d5d5c80d931</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>staples_box</category>
+         <name>plastic staples box</name>
+         <color>gray,orange</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>small rectangular transparent plastic box containing metal staples</description>
+         <min_height>0.0300</min_height>
+         <max_height>0.0300</max_height>
+         <real_height>0.0300</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611151637</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.008218 -0.041763 -0.015254</min>
+            <max>0.009622 0.041753 0.014746</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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>NO: {"summary":"Label side is separated, but true lid/body boundary 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/990537f99e985749b34a4d5d5c80d931/staples_box_039.usd b/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/staples_box_039.usd
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diff --git a/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/textures/material_0.png b/dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/textures/material_0.png
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