diff --git a/.gitattributes b/.gitattributes
index bff468af2c7536fe2e17a6b1bed730e22d639938..a7817a31b773a19e106192200a1cd2633ac0f31d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3468,5 +3468,5 @@ dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/cutter_kn
 dataset/desktop_supplies/office_tools/f694723fd83e58f9825512e918fe4e92/mesh/cutter_knife_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/fbd39759401659929d5c8fa5642196a7/mesh/sticky_notes_016.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/fbd39759401659929d5c8fa5642196a7/sticky_notes_016.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/fe35eece939c53bc99adcec5da8a4cc9/magnifier_015.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/fe35eece939c53bc99adcec5da8a4cc9/mesh/magnifier_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mesh/staples_box_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/staples_box_014.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mesh/material.mtl b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e669aa0e45fead40a2d2241ebe123c8f31834a53
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl staples_box_014_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_014_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mesh/material_0.png b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cacecc9be7009ba293cc5f83d5b6981cac65fb72
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f1f9da4fbc9cdce179b2f0e2251d9b6deb2e5a3b516092644311a920d20267f
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diff --git a/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mesh/staples_box_014.glb b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mesh/staples_box_014.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e06d9930af9e892161dc19ab8c71733b25ab9f76
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mesh/staples_box_014.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:036352054ed2d341174a13730a8892f2980816e3fbd692eea598348ab4a28747
+size 19294952
diff --git a/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mesh/staples_box_014.mtl b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mesh/staples_box_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3b7667e5dcbf3345b9ac626c9b1247c699675788
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mesh/staples_box_014.mtl
@@ -0,0 +1,6 @@
+newmtl staples_box_014_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/fe980940dea15ceb9fbd2a741dd019f3/mesh/staples_box_014.obj b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mesh/staples_box_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69c823725079dacbb157bd8c56b1f81c44ae9c49
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mesh/staples_box_014.obj
@@ -0,0 +1,103914 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl staples_box_014_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mesh/staples_box_014_collision.obj b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mesh/staples_box_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a563dd105f952ff3b1ef28a742a9b0219474eade
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mesh/staples_box_014_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mesh/staples_box_014_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mesh/staples_box_014_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mjcf/mesh/material_0.png
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+++ b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mjcf/mesh/staples_box_014.obj b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mjcf/mesh/staples_box_014.obj
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diff --git a/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mjcf/mesh/staples_box_014_collision.obj b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mjcf/mesh/staples_box_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b19828e5ecf10194e420a22dc056b00f77baedc3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mjcf/mesh/staples_box_014_collision.obj
@@ -0,0 +1,2527 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mjcf/mesh/staples_box_014_collision_0.obj b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mjcf/mesh/staples_box_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8db569c36fae83d579fd5715765631b7a3e850a6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mjcf/mesh/staples_box_014_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mjcf/mesh/staples_box_014_collision_1.obj b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mjcf/mesh/staples_box_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..581d61fcb25a45a92d89caeb80df7a802d18be6f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mjcf/mesh/staples_box_014_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mjcf/staples_box_014.xml b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mjcf/staples_box_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9866a8c96116f6f146cb2cd6caf2119fe6367148
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/mjcf/staples_box_014.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="staples_box_014">
+  <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_014.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/staples_box_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/staples_box_014_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="staples_box_014">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/staples_box_014.urdf b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/staples_box_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..719698455e95f00d13a7b4dd9da17a45451d7ea8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/staples_box_014.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="staples_box_014">
+   <link name="staples_box_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/staples_box_014.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_014_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0400" />
+         <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>fe980940dea15ceb9fbd2a741dd019f3</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>staples_box</category>
+         <name>blue staples box</name>
+         <color>blue</color>
+         <shape>cuboid</shape>
+         <material>paper</material>
+         <description>small blue rectangular staples box with printed white branding</description>
+         <min_height>0.0128</min_height>
+         <max_height>0.0128</max_height>
+         <real_height>0.0128</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.06</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609175010</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.025330 -0.013487 -0.006379</min>
+            <max>0.024670 0.013455 0.006377</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
diff --git a/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/staples_box_014.usd b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/staples_box_014.usd
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@@ -0,0 +1,3 @@
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+size 4635652
diff --git a/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/textures/material_0.png b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/textures/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/video.mp4 b/dataset/desktop_supplies/office_tools/fe980940dea15ceb9fbd2a741dd019f3/video.mp4
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@@ -0,0 +1,3 @@
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