diff --git a/.gitattributes b/.gitattributes
index dbd63888da0cfbd78784583427eed46f1bd606a1..bab120cd5c248a595050d121af48ac60b258c102 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3376,3 +3376,5 @@ dataset/desktop_supplies/office_tools/75d1ef560e0d50f1ac8cc216e34e548d/magnifier
 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
diff --git a/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mesh/material.mtl b/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..61915063e30d8190ed5e39a1fb582aa97842bb24
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl staples_box_018_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_018_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mesh/material_0.png b/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..321fac2b492f1328e1453804471e436630a6d2ef
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0823b504ef0fa9dfd4ac407284154351af529bea005607e4830a54146092b894
+size 13243139
diff --git a/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mesh/staples_box_018.glb b/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mesh/staples_box_018.glb
new file mode 100644
index 0000000000000000000000000000000000000000..75d569b3c7c575ebca6c2692347f14f487fba8c7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mesh/staples_box_018.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90da04d9ca78b00dbb2a3caa5295f1bd94537b598f744b578daf81837bb11119
+size 16319760
diff --git a/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mesh/staples_box_018.mtl b/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mesh/staples_box_018.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..23b1c4000fab98a2373aba5c4d4b129178dd26e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mesh/staples_box_018.mtl
@@ -0,0 +1,6 @@
+newmtl staples_box_018_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/7cb65cadf17c5deab01d1e9e7029adbd/mesh/staples_box_018.obj b/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mesh/staples_box_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3780d0d2a1b2a73132db2b4fac255fc890200fa1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mesh/staples_box_018.obj
@@ -0,0 +1,107602 @@
+# 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/7cb65cadf17c5deab01d1e9e7029adbd/mesh/staples_box_018_collision.obj b/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mesh/staples_box_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c5b20e91aeb0fa9a379630f842546b450504b77
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mesh/staples_box_018_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mesh/staples_box_018_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mesh/staples_box_018_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..321fac2b492f1328e1453804471e436630a6d2ef
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mesh/staples_box_018_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0823b504ef0fa9dfd4ac407284154351af529bea005607e4830a54146092b894
+size 13243139
diff --git a/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..321fac2b492f1328e1453804471e436630a6d2ef
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0823b504ef0fa9dfd4ac407284154351af529bea005607e4830a54146092b894
+size 13243139
diff --git a/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mjcf/mesh/staples_box_018.obj b/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mjcf/mesh/staples_box_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d13b0bdc540bec5873f3822d5584e657c8131602
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mjcf/mesh/staples_box_018.obj
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+# 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/7cb65cadf17c5deab01d1e9e7029adbd/mjcf/mesh/staples_box_018_collision.obj b/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mjcf/mesh/staples_box_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5234be84c10afc2ed6f74ecebd95a28a65190549
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mjcf/mesh/staples_box_018_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mjcf/mesh/staples_box_018_collision_0.obj b/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mjcf/mesh/staples_box_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5234be84c10afc2ed6f74ecebd95a28a65190549
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mjcf/mesh/staples_box_018_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mjcf/staples_box_018.xml b/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mjcf/staples_box_018.xml
new file mode 100644
index 0000000000000000000000000000000000000000..761bb8927e16e95c00ffe32bf7bbe91e3a719f36
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/mjcf/staples_box_018.xml
@@ -0,0 +1,16 @@
+<?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" />
+  </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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/staples_box_018.urdf b/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/staples_box_018.urdf
new file mode 100644
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+++ b/dataset/desktop_supplies/office_tools/7cb65cadf17c5deab01d1e9e7029adbd/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>7cb65cadf17c5deab01d1e9e7029adbd</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>staples_box</category>
+         <name>staples box</name>
+         <color>gray,orange</color>
+         <shape>cuboid</shape>
+         <material>paper</material>
+         <description>small rectangular staples box with gray body and orange label</description>
+         <min_height>0.0111</min_height>
+         <max_height>0.0111</max_height>
+         <real_height>0.0111</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609175123</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.024918 -0.014256 -0.005477</min>
+            <max>0.025082 0.014130 0.005631</max>
+         </aabb>
+         <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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
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