diff --git a/.gitattributes b/.gitattributes
index 08508d0c43be20f28822cc4d6c85eda760e8a009..2ae6d4b485581324667e4518d4d59a028dc046a2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3318,3 +3318,5 @@ dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mesh/scot
 dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/scotch_tape_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/16b3caf83ace5ce1a4ce6465f121a10f/mesh/sticky_notes_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/16b3caf83ace5ce1a4ce6465f121a10f/sticky_notes_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mesh/staples_box_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/staples_box_005.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mesh/material.mtl b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..575b2c38c584385a031edcdc0d74300c02cd257d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl staples_box_005_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_005_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mesh/material_0.png b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7c10357e88702086572785de7fc32ea7ead296e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8651d962f8578adb5055b3011b14342e8c058bda718bbb852c70b9ece526bc1
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diff --git a/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mesh/staples_box_005.glb b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mesh/staples_box_005.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6ca3ba271036801bcd761f9f1f5fbd9fd2cb72bc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mesh/staples_box_005.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11063292
diff --git a/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mesh/staples_box_005.mtl b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mesh/staples_box_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b2ef9570d807e3e198c62eced4d2ee960e8dc743
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mesh/staples_box_005.mtl
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+newmtl staples_box_005_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
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mesh/staples_box_005.obj b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mesh/staples_box_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43b20583254d6b7f319c6a329ec7dc0db2b95706
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mesh/staples_box_005.obj
@@ -0,0 +1,105838 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl staples_box_005_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mesh/staples_box_005_collision.obj b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mesh/staples_box_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a91b06b5d5cf0327dcd8d58e43daa85247e71983
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mesh/staples_box_005_collision.obj
@@ -0,0 +1,3546 @@
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diff --git a/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mjcf/mesh/staples_box_005_collision.obj b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mjcf/mesh/staples_box_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d74ff1d51553836e09512b590180582c537d489
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mjcf/mesh/staples_box_005_collision.obj
@@ -0,0 +1,3546 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mjcf/mesh/staples_box_005_collision_0.obj b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mjcf/mesh/staples_box_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c59850b80ec4941aae1a3ae5d99c8a8bcc2372fa
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mjcf/mesh/staples_box_005_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mjcf/mesh/staples_box_005_collision_1.obj b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mjcf/mesh/staples_box_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dabb24704ab3a7b2c0986cd0fe241caed189d561
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mjcf/mesh/staples_box_005_collision_1.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mjcf/mesh/staples_box_005_collision_2.obj b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mjcf/mesh/staples_box_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34979257f9b727f6d16056d8181eb8002315ebab
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mjcf/mesh/staples_box_005_collision_2.obj
@@ -0,0 +1,709 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mjcf/mesh/staples_box_005_collision_3.obj b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mjcf/mesh/staples_box_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daf5f72d616c4e3585c3a777bf9e93b2c7e8cd14
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mjcf/mesh/staples_box_005_collision_3.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mjcf/mesh/staples_box_005_collision_4.obj b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mjcf/mesh/staples_box_005_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65ba983e0b551d8c9393f335727eae35b6837874
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mjcf/mesh/staples_box_005_collision_4.obj
@@ -0,0 +1,712 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mjcf/mesh/staples_box_005_collision_5.obj b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mjcf/mesh/staples_box_005_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f843fe4503289cddbbbf25af4b28f5405e0dc25d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mjcf/mesh/staples_box_005_collision_5.obj
@@ -0,0 +1,760 @@
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diff --git a/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mjcf/mesh/staples_box_005_collision_6.obj b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mjcf/mesh/staples_box_005_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..590c0f999f3787e349a072dff5322cde07f8a363
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mjcf/mesh/staples_box_005_collision_6.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mjcf/staples_box_005.xml b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mjcf/staples_box_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b70c88289bb633868a2bee204eca33358aaff7aa
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/mjcf/staples_box_005.xml
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="staples_box_005">
+  <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_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/staples_box_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/staples_box_005_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/staples_box_005_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/staples_box_005_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/staples_box_005_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/staples_box_005_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/staples_box_005_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="staples_box_005">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/staples_box_005.urdf b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/staples_box_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c45f571037273ea78da7c702909be7f6ff144dec
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/staples_box_005.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="staples_box_005">
+   <link name="staples_box_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/staples_box_005.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_005_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>16505600cdf6522da87e7c3051aefbd6</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 with a secure lid</description>
+         <min_height>0.0186</min_height>
+         <max_height>0.0186</max_height>
+         <real_height>0.0186</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506211907</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/16505600cdf6522da87e7c3051aefbd6/staples_box_005.usd b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/staples_box_005.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7ca0ee31636edd642abc0a7c1e521ec4dcb67d14
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/staples_box_005.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7b5b428e75cb147ace54be604add15c3687781e5fc22ec3efd494aa8d1fdea8
+size 4571829
diff --git a/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/textures/material_0.png b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7c10357e88702086572785de7fc32ea7ead296e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8651d962f8578adb5055b3011b14342e8c058bda718bbb852c70b9ece526bc1
+size 8288729
diff --git a/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/video.mp4 b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2bad090decfb599949916091b8495f51151748bf
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/16505600cdf6522da87e7c3051aefbd6/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76921f43a2851838ae7202e0d46e2f74add07672f913c739b5ec911b73bca74c
+size 164146