diff --git a/.gitattributes b/.gitattributes
index 17f384c9becb985fd7b64a6f093f8c0d2cffd9f9..70a254213cb44e1f75dfe8c0c4bfc8d83bb9f8b6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3138,5 +3138,5 @@ dataset/desktop_supplies/office_stationery/495590f0a67f5eeda90b208d290794dc/eras
 dataset/desktop_supplies/office_stationery/495590f0a67f5eeda90b208d290794dc/mesh/eraser_033.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/49028440f3205069a0e71d09a1d4a4e0/mesh/notebook_032.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/49028440f3205069a0e71d09a1d4a4e0/notebook_032.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/correction_tape_005.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mesh/correction_tape_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mesh/notebook_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/notebook_018.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5c9e221f091992bc4701cb3867a4ca93dd87b6d3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl notebook_018_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mesh/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mesh/notebook_018.glb b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mesh/notebook_018.glb
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mesh/notebook_018.glb
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diff --git a/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mesh/notebook_018.mtl b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mesh/notebook_018.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d573a2a72cfb1d1f133d874708845af33a6119e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mesh/notebook_018.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mesh/notebook_018.obj b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mesh/notebook_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d23619f684274e2edf5ec503875b5807bc191ad7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mesh/notebook_018.obj
@@ -0,0 +1,118662 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl notebook_018_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mesh/notebook_018_collision.obj b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mesh/notebook_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be4c344485978ac10dd66f447db0fa4a64f6b327
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mesh/notebook_018_collision.obj
@@ -0,0 +1,4006 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mesh/notebook_018_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mesh/notebook_018_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2025b98ce4d70064db91e17ffeeb06d85769b700
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 11750630
diff --git a/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/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_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018.obj b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018.obj
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index 0000000000000000000000000000000000000000..81d5c4797e053e5d236bb9d902028f6c2a2e0a10
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+++ b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018.obj
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diff --git a/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision.obj b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef084817cf5852debcfa1129c5d698a7319b03e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision.obj
@@ -0,0 +1,4006 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_0.obj b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bbbb625015f5e9212ff746ee530c018eecdda2c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_0.obj
@@ -0,0 +1,466 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_1.obj b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14e9ae162c5b91f610703782d3df6f714b977a9a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_10.obj b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af44692b2bc26597628afd9716eb99b7e441120d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_2.obj b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0aef897d8af3d487c17404af60e4ebdda185e0d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_2.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_3.obj b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16a39f9d9cb22591662eca43dda4a982fdf508c6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_3.obj
@@ -0,0 +1,529 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_4.obj b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bce60e62f63333f67bd443880e6a81d1ecdbfc6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_4.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_5.obj b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b064ffcecd8fb27ff4a0cc5ce7f74d98c3d063fe
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_5.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_6.obj b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57ca7732fa8a0711d1fa816174a549f22c59434a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_6.obj
@@ -0,0 +1,112 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_7.obj b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb17da0d0e8092b861c3bda7ae1917f33a23cf75
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_7.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_8.obj b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79ba4846034e0bdef8e5be1f0e6c41e51ab96b39
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_8.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_9.obj b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ccf0b5b7ae27d0e8a2ebb7afda1667c8b937419
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/mesh/notebook_018_collision_9.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/notebook_018.xml b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/notebook_018.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e7be3d1b1187452f6177f89a2e6fd870fa2f32d4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mjcf/notebook_018.xml
@@ -0,0 +1,36 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="notebook_018">
+  <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_018.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/notebook_018_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/notebook_018_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/notebook_018_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/notebook_018_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/notebook_018_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/notebook_018_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/notebook_018_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/notebook_018_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/notebook_018_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/notebook_018_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/notebook_018_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="notebook_018">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/notebook_018.urdf b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/notebook_018.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8f3999becbcba7cbe30dde77e3258d10104f5993
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/notebook_018.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="notebook_018">
+   <link name="notebook_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/notebook_018.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_018_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>4c843c6b1dad505f8123d9207e33e47f</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>notebook</category>
+         <name>green notebook</name>
+         <color>green,white</color>
+         <shape>cuboid</shape>
+         <material>leather</material>
+         <description>green leather-bound notebook with clasp and embossed circular emblem</description>
+         <min_height>0.0414</min_height>
+         <max_height>0.0414</max_height>
+         <real_height>0.0414</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518180202</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.052516 -0.075051 -0.020677</min>
+            <max>0.056761 0.074949 0.020755</max>
+         </aabb>
+         <tags>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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/notebook_018.usd b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/notebook_018.usd
new file mode 100644
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+size 4811594
diff --git a/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/textures/material_0.png b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/textures/material_0.png
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11750630
diff --git a/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/video.mp4 b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/video.mp4
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 406232