diff --git a/.gitattributes b/.gitattributes
index a969299367649408f2fdb4dadf55d426eff11a78..8b8ee72a983f56e08b10244a3ceb406a358c3faa 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3462,8 +3462,5 @@ dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/cutter_kn
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 dataset/desktop_supplies/office_tools/ed1c4abcb6bf5d59a4aed549b4dd6a13/staples_box_037.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/ec8887011ed85518b6caa512e3018803/mesh/staples_box_013.glb filter=lfs diff=lfs merge=lfs -text
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-dataset/desktop_supplies/office_tools/ef4fe23ce126577382ae64fdb79b00b8/stamp_030.usd filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mesh/material.mtl b/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b4bae5d4ebbdef3898b8018d870363ebee9f3b2d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mesh/material.mtl
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+
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mesh/material_0.png b/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mesh/material_0.png
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..7c24dde892fcdbc5c5beb24db5f727e039d1995f
--- /dev/null
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+newmtl staples_box_020_geometry_Looks_material_0
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+d 1.000000
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diff --git a/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mesh/staples_box_020.obj b/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mesh/staples_box_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8f7c53e7795e0acf2733b1b2363d7fe0b60adef
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mesh/staples_box_020.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mesh/staples_box_020_collision.obj b/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mesh/staples_box_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2606bb6e430f74c7be6c4cf05fa4836213735030
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mesh/staples_box_020_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mesh/staples_box_020_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mesh/staples_box_020_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 16490328
diff --git a/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 16490328
diff --git a/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mjcf/mesh/staples_box_020.obj b/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mjcf/mesh/staples_box_020.obj
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+++ b/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mjcf/mesh/staples_box_020.obj
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diff --git a/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mjcf/mesh/staples_box_020_collision.obj b/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mjcf/mesh/staples_box_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92a0420ee74575937baa5f0837943e5c92d48916
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mjcf/mesh/staples_box_020_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mjcf/mesh/staples_box_020_collision_0.obj b/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mjcf/mesh/staples_box_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92a0420ee74575937baa5f0837943e5c92d48916
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mjcf/mesh/staples_box_020_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mjcf/staples_box_020.xml b/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mjcf/staples_box_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..775cde19566126e88fff16ce404326a4c87f87c0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mjcf/staples_box_020.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="staples_box_020">
+  <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_020.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/staples_box_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="staples_box_020">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/staples_box_020.urdf b/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/staples_box_020.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b4e7aaa323cabb4518638e3412f3ccce6d95ad84
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/staples_box_020.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="staples_box_020">
+   <link name="staples_box_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/staples_box_020.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_020_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <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>edb7cbdd129359e194ef456421b34698</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>staples_box</category>
+         <name>blue staples box</name>
+         <color>blue,black</color>
+         <shape>cuboid</shape>
+         <material>paper</material>
+         <description>small rectangular cardboard staples box with blue printed top</description>
+         <min_height>0.0120</min_height>
+         <max_height>0.0120</max_height>
+         <real_height>0.0120</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609175201</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.024866 -0.014248 -0.005900</min>
+            <max>0.025134 0.014107 0.006106</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/staples_box_020.usd b/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/staples_box_020.usd
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diff --git a/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/textures/material_0.png b/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/textures/material_0.png
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/video.mp4 b/dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/video.mp4
new file mode 100644
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