diff --git a/.gitattributes b/.gitattributes
index d9e7247be7d626a5f0ebb5bb4dd89065530bf046..4f173d2bcd0ca116052191578b150a313f32743a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3190,3 +3190,5 @@ dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh
 dataset/desktop_supplies/office_stationery/8412916f3ae6508cbd1065fbc9cbcc61/8412916f3ae6508cbd1065fbc9cbcc61.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mesh/sharpener_013.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/sharpener_013.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mesh/notebook_029.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/notebook_029.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0b7285fac06ca73f412a507d52ee1db5d0666409
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl notebook_029_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 notebook_029_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1325cb79879d0ec2f5e6213a8caa11ea816ff23a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7527c2e17bcc59a67c42de31d721a23b0b422dd6cb23d11adce1fb6121868a9
+size 18131835
diff --git a/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mesh/notebook_029.glb b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mesh/notebook_029.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2599477aee628dc0c4696ce219da0e5395814d1e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mesh/notebook_029.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:282e002d183a7bf951275aa8789e24d87abd096af360517d258a259a19876c82
+size 21468564
diff --git a/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mesh/notebook_029.mtl b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mesh/notebook_029.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7fdb36e1aee7e627bbe788306d3e2a13b3f5c867
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mesh/notebook_029.mtl
@@ -0,0 +1,6 @@
+newmtl notebook_029_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_stationery/8647a348a0185b748fac613504e13bac/mesh/notebook_029.obj b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mesh/notebook_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4afdc85bde13a9908f999c837af13fd070095a4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mesh/notebook_029.obj
@@ -0,0 +1,116970 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl notebook_029_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mesh/notebook_029_collision.obj b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mesh/notebook_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c91faa5e8021a7c6556a5127c5851662709a2f78
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mesh/notebook_029_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mesh/notebook_029_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mesh/notebook_029_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1325cb79879d0ec2f5e6213a8caa11ea816ff23a
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 18131835
diff --git a/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1325cb79879d0ec2f5e6213a8caa11ea816ff23a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7527c2e17bcc59a67c42de31d721a23b0b422dd6cb23d11adce1fb6121868a9
+size 18131835
diff --git a/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029.obj b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029.obj
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index 0000000000000000000000000000000000000000..490ffec296cb1bb8021982f03c20b0c61234eb73
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+++ b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029.obj
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+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision.obj b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d43380b3586b7c542c191b400fed62c59d886a7f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision.obj
@@ -0,0 +1,4109 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_0.obj b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bac20af73ea1d78b415beb50aa5962f64675f7b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_1.obj b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2198d6fd3f08953db6be88663c87f7dcdd9d3d1d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_1.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_10.obj b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2466c032263c405183ff5d868ff0cfaa8ade1cbf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_10.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_11.obj b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e008877b5cc0721967701ef33ee649260cf2c4a5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_11.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_2.obj b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..894882964f5103e0310d2a4ea5e15d32f73a1701
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_2.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_3.obj b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab0bac984199da86c4a79425dbd1f0fcec9705b9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_3.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_4.obj b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7612f4e28fd5d14ad2a05aa718e9b15024c0489b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_4.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_5.obj b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e2a6e4df4481c61c7c2fba8d880c7954b8ea82e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_5.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_6.obj b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b120ee38de00ccc3767e91bc547737c9a3ed279e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_6.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_7.obj b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6d61297a9ca73be9601ed03e7472d7bfacdd0e5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_8.obj b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6591b66206685144702133bc78a62c2c35ddbdf8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_8.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_9.obj b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ade83457437f237fed2f9ed16543747d1866035
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/mesh/notebook_029_collision_9.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/notebook_029.xml b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/notebook_029.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ab2e5e77b8e6dfdaaa957396d37436a0002337e9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/mjcf/notebook_029.xml
@@ -0,0 +1,38 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="notebook_029">
+  <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/notebook_029.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/notebook_029_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/notebook_029_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/notebook_029_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/notebook_029_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/notebook_029_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/notebook_029_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/notebook_029_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/notebook_029_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/notebook_029_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/notebook_029_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_11" file="mesh/notebook_029_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="notebook_029">
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/notebook_029.urdf b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/notebook_029.urdf
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/notebook_029.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="notebook_029">
+   <link name="notebook_029">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/notebook_029.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/notebook_029_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>8647a348a0185b748fac613504e13bac</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>notebook</category>
+         <name>denim notebook</name>
+         <color>blue,gray</color>
+         <shape>cuboid</shape>
+         <material>paper</material>
+         <description>blue denim-covered notebook with strap, pocket, and orange stitched accents</description>
+         <min_height>0.0387</min_height>
+         <max_height>0.0387</max_height>
+         <real_height>0.0387</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611144406</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.071809 -0.102032 -0.018129</min>
+            <max>0.073191 0.101651 0.020539</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</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>NO: {"summary":"Cover, pages, straps, corners, and patch are merged or mislabeled; issues are not fixable by merging alone.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
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