diff --git a/.gitattributes b/.gitattributes
index 68ed0aea05ba50879197eb81430055f8343b05ec..442f0faff68d16a7ab21f94fa68bf4bd4afb147d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3441,3 +3441,5 @@ dataset/desktop_supplies/office_tools/cb750a91f26d54c7b91f9f130bb15278/magnifier
 dataset/desktop_supplies/office_tools/cb750a91f26d54c7b91f9f130bb15278/mesh/magnifier_017.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/cc521d43af9851bcbbd6dc12618dd8da/mesh/sticky_notes_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/cc521d43af9851bcbbd6dc12618dd8da/sticky_notes_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mesh/staples_box_012.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/staples_box_012.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mesh/material.mtl b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5454ac7bfb91b0035c0d3e463b40dcfb8f44f0a1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl staples_box_012_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_012_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mesh/material_0.png b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd9c2ce9616672417ecf70ccd73952824f46c403
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5effc7992ca4e154685dd073cb60e65cabd440da2749511ffe9834548e67020b
+size 9065259
diff --git a/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mesh/staples_box_012.glb b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mesh/staples_box_012.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5f0d9ff8cf046909a5a273be874a245f4631298a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mesh/staples_box_012.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86183556b078890ab13d7400622c18750a0984fc7568aa47da1083ed3b40a6db
+size 12315816
diff --git a/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mesh/staples_box_012.mtl b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mesh/staples_box_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dc9867eb2b41aeee90ed4d8b7aaf1e0c719d2982
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mesh/staples_box_012.mtl
@@ -0,0 +1,6 @@
+newmtl staples_box_012_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/d41f410f37495e2e97ea589affdef924/mesh/staples_box_012.obj b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mesh/staples_box_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b221021a93000d45af7f34abd5b130bc7ce4ea6c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mesh/staples_box_012.obj
@@ -0,0 +1,111272 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl staples_box_012_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mesh/staples_box_012_collision.obj b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mesh/staples_box_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c14c33cae2084297d0b8d8fe86c07fc0e6f62dcc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mesh/staples_box_012_collision.obj
@@ -0,0 +1,3525 @@
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diff --git a/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mesh/staples_box_012_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mesh/staples_box_012_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..dd9c2ce9616672417ecf70ccd73952824f46c403
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mesh/staples_box_012_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5effc7992ca4e154685dd073cb60e65cabd440da2749511ffe9834548e67020b
+size 9065259
diff --git a/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/material_0.png
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:5effc7992ca4e154685dd073cb60e65cabd440da2749511ffe9834548e67020b
+size 9065259
diff --git a/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/staples_box_012.obj b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/staples_box_012.obj
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index 0000000000000000000000000000000000000000..2955057dac221ddd87cdcd8cd3c7333c817c3fe0
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+++ b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/staples_box_012.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl staples_box_012_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/staples_box_012_collision.obj b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/staples_box_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db8c1f58d6b5caec8a803cb63f89e8e8ba2641bd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/staples_box_012_collision.obj
@@ -0,0 +1,3525 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/staples_box_012_collision_0.obj b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/staples_box_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a30402689f971f8244f6a6f012b6edb6eb7f308
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/staples_box_012_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/staples_box_012_collision_1.obj b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/staples_box_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26d8215b281a36f1b3aae53b4d15767f47241410
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/staples_box_012_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/staples_box_012_collision_2.obj b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/staples_box_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce27d8948f89628b6c76f095c9793c5d3d037cd8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/staples_box_012_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/staples_box_012_collision_3.obj b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/staples_box_012_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61fb1ab4190925cf37d491f940039d9237b97dfa
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/staples_box_012_collision_3.obj
@@ -0,0 +1,487 @@
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diff --git a/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/staples_box_012_collision_4.obj b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/staples_box_012_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..862e47d996b925b25b04d420e4bac1ec23b42e3f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/staples_box_012_collision_4.obj
@@ -0,0 +1,301 @@
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diff --git a/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/staples_box_012_collision_5.obj b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/staples_box_012_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7233929b5bed6855bb2e4d1aa13944c48dd01a4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/staples_box_012_collision_5.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/staples_box_012_collision_6.obj b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/staples_box_012_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91fb0f56b938444a42864bae64f06f850be4bab6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/mesh/staples_box_012_collision_6.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/staples_box_012.xml b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/staples_box_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b9d326d8a5c3bb16f176d95e89736653dc4537dc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/mjcf/staples_box_012.xml
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="staples_box_012">
+  <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_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/staples_box_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/staples_box_012_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/staples_box_012_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/staples_box_012_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/staples_box_012_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/staples_box_012_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/staples_box_012_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="staples_box_012">
+      <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/d41f410f37495e2e97ea589affdef924/staples_box_012.urdf b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/staples_box_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b8d8fa46e1ce470da7a9443b97d7a07e69058ee3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/staples_box_012.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="staples_box_012">
+   <link name="staples_box_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/staples_box_012.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_012_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>d41f410f37495e2e97ea589affdef924</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>staples_box</category>
+         <name>gray staples box</name>
+         <color>gray,black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>small rectangular plastic staples storage box with hinged lid</description>
+         <min_height>0.0373</min_height>
+         <max_height>0.0373</max_height>
+         <real_height>0.0373</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518180911</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.025489 -0.059358 -0.020242</min>
+            <max>0.026147 0.059580 0.017048</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <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
diff --git a/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/staples_box_012.usd b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/staples_box_012.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/staples_box_012.usd
@@ -0,0 +1,3 @@
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+size 4858813
diff --git a/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/textures/material_0.png b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/textures/material_0.png
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/video.mp4 b/dataset/desktop_supplies/office_tools/d41f410f37495e2e97ea589affdef924/video.mp4
new file mode 100644
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