diff --git a/.gitattributes b/.gitattributes
index 07d15a4c36b237e565d089360357dd920e117d45..14c4ac5d25465cb99eed20b276929b9074a235ae 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3304,7 +3304,5 @@ dataset/desktop_supplies/office_tools/00b7ae58aedc506f9f51e909ed0ef283/mesh/stap
 dataset/desktop_supplies/office_tools/00b7ae58aedc506f9f51e909ed0ef283/staples_box_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/marker_026.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mesh/marker_026.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mesh/scotch_tape_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/scotch_tape_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/06014c6b986c5d06ac2410e58547ae68/mesh/scotch_tape_004.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/06014c6b986c5d06ac2410e58547ae68/scotch_tape_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mesh/staples_box_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/staples_box_004.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mesh/material.mtl b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..985936de8d367fdb9121db9c7477a90739dcf762
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl staples_box_004_geometry_Looks_material_0
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+Ns 1.00000000
+map_Kd staples_box_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mesh/material_0.png b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..15545260e00dd4c081125ce441bd1fac77ec3d80
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1ac9eeb0a68497f638b16228b6489cd52adede9fd6f9b7fe5dd5916ddc4e9fd
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diff --git a/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mesh/staples_box_004.glb b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mesh/staples_box_004.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mesh/staples_box_004.glb
@@ -0,0 +1,3 @@
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+size 11092804
diff --git a/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mesh/staples_box_004.mtl b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mesh/staples_box_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ad483e590843f50cf54a16a890e3e9544b06a097
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mesh/staples_box_004.mtl
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+newmtl staples_box_004_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
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diff --git a/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mesh/staples_box_004.obj b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mesh/staples_box_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed89b321c6f0404d7d4568e8a2f66e6b9854cc72
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mesh/staples_box_004.obj
@@ -0,0 +1,104618 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl staples_box_004_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mesh/staples_box_004_collision.obj b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mesh/staples_box_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e9866c58d4a7cebd74c145701219386b27f1dfd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mesh/staples_box_004_collision.obj
@@ -0,0 +1,4133 @@
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diff --git a/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision.obj b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..443302c627a2d045f7c9bec56e0f66ba87b5193e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision.obj
@@ -0,0 +1,4133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision_0.obj b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52262e17061df96f36cf5d961b74ed41a8ab7cbf
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision_1.obj b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9f203a07f82213effaa50f95a4108a2156aabfd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision_2.obj b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23835fd46c82f1841a2e771d7c9a8c9382fcc319
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision_3.obj b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b19bec07eacaa944a1657da4d7973099f8855768
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision_3.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision_4.obj b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f52ecaee9c1afab74296bf5823ff744115b8e914
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision_4.obj
@@ -0,0 +1,676 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision_5.obj b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ee4a86e4c9dc9dba1618353a531db366402493b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision_5.obj
@@ -0,0 +1,238 @@
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+
diff --git a/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision_6.obj b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bb06f6f70d94eb970d7a16fb9aa648b583d0ec9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision_6.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision_7.obj b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c07957c9ea979f98965dd45ac242531f117ce687
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision_7.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01544739 -0.02120035 0.00109373
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+
diff --git a/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision_8.obj b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dc473e3bc9608faa9da6fb366520f88dcf3a63d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/mesh/staples_box_004_collision_8.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/staples_box_004.xml b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/staples_box_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1ebb66c4ac2e323ce320aef4371cd5edbbe7b73b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mjcf/staples_box_004.xml
@@ -0,0 +1,32 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="staples_box_004">
+  <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_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/staples_box_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/staples_box_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/staples_box_004_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/staples_box_004_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/staples_box_004_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/staples_box_004_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/staples_box_004_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/staples_box_004_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/staples_box_004_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="staples_box_004">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/staples_box_004.urdf b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/staples_box_004.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..772296bbc3aa1423b2f2f7e6a00c7a87d21010f1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/staples_box_004.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="staples_box_004">
+   <link name="staples_box_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/staples_box_004.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_004_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>03587363ddc3518b8286e46ad1f96795</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>compact rectangular box for storing staples</description>
+         <min_height>0.0271</min_height>
+         <max_height>0.0271</max_height>
+         <real_height>0.0271</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506211845</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>4</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/03587363ddc3518b8286e46ad1f96795/staples_box_004.usd b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/staples_box_004.usd
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diff --git a/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/video.mp4 b/dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/video.mp4
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