diff --git a/.gitattributes b/.gitattributes
index 04c04553c39093d61869f001c20ca369cf9aa728..b12482506ca85d5b47e1f14bf78f75ea1429b047 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5394,3 +5394,5 @@ dataset/desktop_supplies/office_tools/0d880e1f14cb5574acfaacbf4786e865/mesh/glue
 dataset/desktop_supplies/office_tools/0d880e1f14cb5574acfaacbf4786e865/mesh/glue_stick_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/1e546ae440f15062b218a332c0115a6c/mesh/sticky_notes_024.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/1e546ae440f15062b218a332c0115a6c/sticky_notes_024.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mesh/staples_box_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/staples_box_003.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mesh/material.mtl b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..469602b8986a156f883e05ebb35dc41c38956a11
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl staples_box_003_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_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mesh/material_0.png b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dab2cabd74b9805b04b9cdd2943c5291051fff01
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3cf35ae51bd4e07ee66f612b4e0eb1472e3f9b60b1c5f3cee00388c3d0c380c
+size 8197486
diff --git a/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mesh/staples_box_003.glb b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mesh/staples_box_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3d960f62bab604ebc8aad73f0b9d625eea4ea044
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mesh/staples_box_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b155e1feb2463d274580c5c855159afcf6fe50531db56bb1e0ce0e83aea40bba
+size 11332324
diff --git a/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mesh/staples_box_003.mtl b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mesh/staples_box_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a19b4a6f00cd5c73222577988bd9fb5531dc929a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mesh/staples_box_003.mtl
@@ -0,0 +1,6 @@
+newmtl staples_box_003_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/217046436750577499017efba05e6fb2/mesh/staples_box_003.obj b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mesh/staples_box_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..287cb6f57e41458fd603e1d4b861cc8b5d428ecc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mesh/staples_box_003.obj
@@ -0,0 +1,108250 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl staples_box_003_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mesh/staples_box_003_collision.obj b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mesh/staples_box_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..958beab05ba88e585dad5fb180630f9820d336ef
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mesh/staples_box_003_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mesh/staples_box_003_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mesh/staples_box_003_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003.obj b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003.obj
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diff --git a/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003_collision.obj b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a12e80e1142a31a1ea60cf5c58248ac522209996
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003_collision.obj
@@ -0,0 +1,5707 @@
+# https://github.com/mikedh/trimesh
+
+o staples_box_003_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003_collision_0.obj b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b86bac194d099b59cc36ff0f9aa37fa0c5f1d427
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003_collision_1.obj b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f11f971205eb7ab93415f4be7d3c42d6545eed9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003_collision_1.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003_collision_2.obj b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e768887efbb9052a04d5802d45c7265731491258
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003_collision_2.obj
@@ -0,0 +1,706 @@
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diff --git a/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003_collision_3.obj b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b743fb7e831083bf73db580c6a8237745e166ffa
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003_collision_4.obj b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c4a504a4bbe095e6b0581ae96fe22d05370d19d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003_collision_5.obj b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bf9157e5d9ce5865ce6a34dc2d73753c7108f20
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003_collision_6.obj b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c1fa67690f04c80de5d2020a84fb890f75aee61
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003_collision_7.obj b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14983044484c4f0b3261fc22270b291066cacaee
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/mesh/staples_box_003_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/staples_box_003.xml b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/staples_box_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..767b987130ccceaab97bbd54babf3e2acd46cd0d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/mjcf/staples_box_003.xml
@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="staples_box_003">
+  <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_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/staples_box_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/staples_box_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/staples_box_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/staples_box_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/staples_box_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/staples_box_003_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/staples_box_003_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/staples_box_003_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="staples_box_003">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/staples_box_003.urdf b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/staples_box_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e718e0b1a2d9ea9ad181f2c569a6bd2ad32bc6f7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/staples_box_003.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="staples_box_003">
+   <link name="staples_box_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/staples_box_003.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_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</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>217046436750577499017efba05e6fb2</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>rectangular gray box with lid and clasp for storing staples</description>
+         <min_height>0.0325</min_height>
+         <max_height>0.0325</max_height>
+         <real_height>0.0325</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506211824</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/217046436750577499017efba05e6fb2/staples_box_003.usd b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/staples_box_003.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/staples_box_003.usd
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+size 4790804
diff --git a/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/textures/material_0.png b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/textures/material_0.png
@@ -0,0 +1,3 @@
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diff --git a/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/video.mp4 b/dataset/desktop_supplies/office_tools/217046436750577499017efba05e6fb2/video.mp4
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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+size 211198