diff --git a/.gitattributes b/.gitattributes
index e845b4a66e776a64db1c84e25a1e902effa968d2..5ab092611cb5eb762e1a80883da12247e7540e05 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3335,3 +3335,5 @@ dataset/desktop_supplies/office_tools/243944bd29d7583d85e523ef0d0109f2/mesh/stic
 dataset/desktop_supplies/office_tools/243944bd29d7583d85e523ef0d0109f2/sticky_notes_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/2852f855d4fe55a694dcbb2712884a93/magnifier_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/2852f855d4fe55a694dcbb2712884a93/mesh/magnifier_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mesh/staples_box_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/staples_box_002.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mesh/material.mtl b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..002059974b2362ae5a7c3088cc1f634a1f8ad302
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl staples_box_002_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd staples_box_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef204d29b824d915c3403be7908cbc68300db8c4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 7827040
diff --git a/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mesh/staples_box_002.glb b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mesh/staples_box_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8dd59dffb0f1551a3396b8d24db10a36bf2626fb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mesh/staples_box_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10599992
diff --git a/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mesh/staples_box_002.mtl b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mesh/staples_box_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..50cb3ee7f343e5d5c5d31925ea9c7c947aa44f32
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mesh/staples_box_002.mtl
@@ -0,0 +1,6 @@
+newmtl staples_box_002_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/28a9bce500bc5e7298aae0029ed14daf/mesh/staples_box_002.obj b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mesh/staples_box_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..513eb2e0991b1d5410f36a86fe1af28cbec082fc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mesh/staples_box_002.obj
@@ -0,0 +1,105142 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl staples_box_002_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mesh/staples_box_002_collision.obj b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mesh/staples_box_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13d8cea2ad4c9c72325cf4f7377225e52d724629
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mesh/staples_box_002_collision.obj
@@ -0,0 +1,3389 @@
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diff --git a/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mesh/staples_box_002_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mesh/staples_box_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef204d29b824d915c3403be7908cbc68300db8c4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mesh/staples_box_002_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d18a0d40021a71a295af25b29a5629e5e0147fe50b590e14f0225c1c8627066
+size 7827040
diff --git a/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef204d29b824d915c3403be7908cbc68300db8c4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d18a0d40021a71a295af25b29a5629e5e0147fe50b590e14f0225c1c8627066
+size 7827040
diff --git a/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mjcf/mesh/staples_box_002.obj b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mjcf/mesh/staples_box_002.obj
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index 0000000000000000000000000000000000000000..d22706b59f6108dcf2b6b1cc1d1552eb27c7fcd0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mjcf/mesh/staples_box_002.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl staples_box_002_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mjcf/mesh/staples_box_002_collision.obj b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mjcf/mesh/staples_box_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38e67b043d3779d6d9506203517a705433048c88
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mjcf/mesh/staples_box_002_collision.obj
@@ -0,0 +1,3389 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mjcf/mesh/staples_box_002_collision_0.obj b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mjcf/mesh/staples_box_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5436a8e36348b8885eccd448a07aece295d07083
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mjcf/mesh/staples_box_002_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mjcf/mesh/staples_box_002_collision_1.obj b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mjcf/mesh/staples_box_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4850e48d42b337bdcd8a70b6d1609652d337635
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mjcf/mesh/staples_box_002_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mjcf/mesh/staples_box_002_collision_2.obj b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mjcf/mesh/staples_box_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc3ff340d1948112409be43a0f80f84314aeefc2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mjcf/mesh/staples_box_002_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mjcf/staples_box_002.xml b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mjcf/staples_box_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5656cb496b2e7ba1c8a11549e6408a32ff5f0617
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/mjcf/staples_box_002.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="staples_box_002">
+  <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_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/staples_box_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/staples_box_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/staples_box_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="staples_box_002">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/staples_box_002.urdf b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/staples_box_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c3a5c9c67cecab3630c4b4aa0d86bc40776f273d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/staples_box_002.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="staples_box_002">
+   <link name="staples_box_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/staples_box_002.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_002_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>28a9bce500bc5e7298aae0029ed14daf</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>staples_box</category>
+         <name>gray staples box</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact gray box for storing staples</description>
+         <min_height>0.0244</min_height>
+         <max_height>0.0244</max_height>
+         <real_height>0.0244</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506211807</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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
diff --git a/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/staples_box_002.usd b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/staples_box_002.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b6b57c58177c87c93146b73d1a407fd161482917
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/staples_box_002.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d847a036ba9e4b33035a6275ebb70595bd68e6d50da0fbeb53400651f513809
+size 4564078
diff --git a/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/textures/material_0.png b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef204d29b824d915c3403be7908cbc68300db8c4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d18a0d40021a71a295af25b29a5629e5e0147fe50b590e14f0225c1c8627066
+size 7827040
diff --git a/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/video.mp4 b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c964084efece1f14159a6415fefce4a38e871f78
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/28a9bce500bc5e7298aae0029ed14daf/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7238023c2155ff03a8ca410e23b056902e8fdf8e424d2fd356048c83fd3976b5
+size 172311