diff --git a/.gitattributes b/.gitattributes
index 3c34b068e771a93f15bc85f4be7376ba1ba39726..ab9515f2e7c11e01ddca127939788bec8d88776b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3192,3 +3192,4 @@ dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/86a4
 dataset/desktop_supplies/office_stationery/86c8b37f313c509f9b24374b4686a528/86c8b37f313c509f9b24374b4686a528.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mesh/sharpener_019.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/sharpener_019.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/8af5bde76e975b6fb69407dcf4e6ca74.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/8af5bde76e975b6fb69407dcf4e6ca74.urdf b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/8af5bde76e975b6fb69407dcf4e6ca74.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c909b39b1610314e27155afabe7f3d9c95286492
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/8af5bde76e975b6fb69407dcf4e6ca74.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="notebook_2">
+   <link name="notebook_2">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/notebook_2.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/notebook_2_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</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>0.143203</scale>
+         <version>v0.1.5</version>
+         <category>notebook</category>
+         <description>closed notebook with orange cover and black elastic band</description>
+         <min_height>0.02</min_height>
+         <max_height>0.04</max_height>
+         <real_height>0.03</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20251014141719</generate_time>
+         <gs_model>mesh/notebook_2_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.699952125549316</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/8af5bde76e975b6fb69407dcf4e6ca74.usd b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/8af5bde76e975b6fb69407dcf4e6ca74.usd
new file mode 100644
index 0000000000000000000000000000000000000000..91adaaca91c62250916b7025c3f7cfaca4a9964c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/8af5bde76e975b6fb69407dcf4e6ca74.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f981d4bc27a947d29bff9e963fb025422278e23874a24c2d9087cec8f33adf14
+size 720712
diff --git a/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6cc5750020a2575f9c4fa312ff5d2daf51f8bade
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1df6088385a49b3777ba7606eeaa11281125d822f904037eae2a1d9c5876b051
+size 1221856
diff --git a/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mesh/notebook_2.glb b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mesh/notebook_2.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a2a910eb6382fbdd5c94caa456b2c0bafd404e95
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mesh/notebook_2.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3cf8861c4711e5ac628fde03a8c332788c01abeff28d60938be304d383fbf29
+size 1715412
diff --git a/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mesh/notebook_2.obj b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mesh/notebook_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2120816976885550d6ecf67c45940000d0429620
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mesh/notebook_2.obj
@@ -0,0 +1,45170 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mesh/notebook_2_collision.obj b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mesh/notebook_2_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77451789665597a2be9ec2d242607e89f91ff14e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mesh/notebook_2_collision.obj
@@ -0,0 +1,3624 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mesh/notebook_2_gs.ply b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mesh/notebook_2_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..aa90d4cb0f2df773c34560bb3b42295f09137de3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mesh/notebook_2_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9260dcdbaa818b19bced35be54ca095d958aabdff2d824cbd352ccf0179c6b4f
+size 19604842
diff --git a/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/8af5bde76e975b6fb69407dcf4e6ca74.xml b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/8af5bde76e975b6fb69407dcf4e6ca74.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ad4370e6897974159f5edd375309ffd9caada449
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/8af5bde76e975b6fb69407dcf4e6ca74.xml
@@ -0,0 +1,40 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="notebook_2">
+  <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_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/notebook_2_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/notebook_2_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/notebook_2_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/notebook_2_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/notebook_2_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/notebook_2_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/notebook_2_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/notebook_2_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/notebook_2_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/notebook_2_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/notebook_2_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/notebook_2_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/notebook_2_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="notebook_2">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" 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/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6cc5750020a2575f9c4fa312ff5d2daf51f8bade
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1df6088385a49b3777ba7606eeaa11281125d822f904037eae2a1d9c5876b051
+size 1221856
diff --git a/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2.obj b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b01e99b48c566b863bacbfbd8b1e7e519d8b3f3a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2.obj
@@ -0,0 +1,45170 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision.obj b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60016cc2dddaede69cc5b057d30cdd1b18fc1a63
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision.obj
@@ -0,0 +1,3624 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_0.obj b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11c64b8c788620fa802f9a8308acb611c0565120
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_1.obj b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6912b69881e18c6c243b4e62aa1ab7def581e029
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_10.obj b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7302036f75a63a66250442bce42165c572bff2c5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_10.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.07197824 0.00094319 -0.01026667
+v -0.07126967 0.00263248 -0.01180335
+v -0.07138743 0.00094319 -0.01199953
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+v -0.07150316 -0.00103294 -0.01026667
+v -0.07137829 -0.00081445 -0.00802751
+v -0.07153868 0.00089409 -0.00788385
+v -0.07132957 0.00327834 -0.00865862
+v -0.07141585 0.00335825 -0.01010417
+v -0.06997740 0.00345933 -0.01263461
+v -0.06915108 0.00272778 -0.01395433
+v -0.07056517 0.00094320 -0.01311911
+v -0.07080372 0.00419086 -0.01074123
+v -0.06912976 -0.00074801 -0.01393749
+v -0.06986878 -0.00147475 -0.01253754
+v -0.06902926 -0.00273282 -0.01179544
+v -0.07052558 -0.00220052 -0.01026668
+v -0.06919981 -0.00272031 -0.00879438
+v -0.06992867 -0.00182802 -0.00803941
+v -0.07109710 -0.00035339 -0.00685344
+v -0.07109710 0.00008265 -0.00685344
+v -0.07084534 0.00164007 -0.00704168
+v -0.07104431 0.00447192 -0.00910843
+v -0.07060273 0.00327834 -0.00753905
+v -0.06906378 0.00498591 -0.00616384
+v -0.07104431 0.00447192 -0.00924912
+v -0.06922721 0.00476069 -0.01197375
+v -0.06836028 0.00428520 -0.01346586
+v -0.06753295 0.00341505 -0.01427732
+v -0.06747407 0.00094320 -0.01495205
+v -0.06938152 0.00094320 -0.01410593
+v -0.06994491 0.00498401 -0.01010416
+v -0.06815421 -0.00230543 -0.01328854
+v -0.06740910 -0.00147282 -0.01421393
+v -0.06657872 -0.00264425 -0.01373935
+v -0.06740910 -0.00276650 -0.01252763
+v -0.06160759 -0.00315248 -0.01326278
+v -0.06934294 -0.00280886 -0.01026668
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+v -0.06507733 -0.00085393 -0.00530485
+v -0.06160759 -0.00315248 -0.01280009
+v -0.06645893 -0.00015896 -0.00530485
+v -0.06733500 0.00089023 -0.00530485
+v -0.06865671 0.00277877 -0.00530484
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+v -0.06984746 0.00511972 -0.00822763
+v -0.06760096 0.00579831 -0.00530483
+v -0.06678479 0.00458456 -0.01380966
+v -0.06747407 0.00600046 -0.00802749
+v -0.06510981 0.00327836 -0.01489755
+v -0.06510981 0.00094321 -0.01538997
+v -0.06510981 -0.00139293 -0.01477075
+v -0.06510981 -0.00273858 -0.01389688
+v -0.06274454 -0.00279441 -0.01399497
+v -0.06160759 -0.00282906 -0.01399398
+v -0.06300036 -0.00072302 -0.00530485
+v -0.06469666 -0.00085008 -0.00530485
+v -0.06160759 -0.00141123 -0.01174789
+v -0.06191315 0.00121942 -0.00530485
+v -0.06197913 0.00075547 -0.00530485
+v -0.06255878 -0.00039864 -0.00530485
+v -0.06623662 0.00668098 -0.00530483
+v -0.06510981 0.00471546 -0.01400584
+v -0.06274454 0.00327837 -0.01500257
+v -0.06274454 0.00477514 -0.01409798
+v -0.06274454 0.00094321 -0.01542564
+v -0.06274454 -0.00139293 -0.01489162
+v -0.06160759 -0.00210137 -0.01446063
+v -0.06160759 0.00094319 -0.01142488
+v -0.06160759 0.00106832 -0.01143677
+v -0.06160759 0.00330338 -0.01166365
+v -0.06160759 0.00429289 -0.01204707
+v -0.06160759 0.00511396 -0.01270396
+v -0.06226134 0.00279032 -0.00530484
+v -0.06579199 0.00668098 -0.00530483
+v -0.06160759 0.00327836 -0.01496096
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+v -0.06160759 0.00094321 -0.01537412
+v -0.06160759 -0.00017913 -0.01514228
+v -0.06160759 -0.00139293 -0.01486388
+v -0.06481339 0.00597061 -0.00530483
+v -0.06377288 0.00493201 -0.00530483
+v -0.06351909 0.00461436 -0.00530483
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+f 40 63 46
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+f 40 43 42
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+f 68 80 81
+f 74 76 82
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+f 74 83 84
+f 74 84 75
+
diff --git a/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_11.obj b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6632fa27114925c6dac7f57f4098b517539a9fc8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_11.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.02148363 0.00094290 0.00979542
+v -0.02489359 0.00094290 0.00978655
+v -0.05564638 -0.00425609 0.00905043
+v -0.02148363 -0.00425609 0.00869421
+v -0.02148363 0.00327884 0.00946581
+v -0.05769310 0.00829721 0.00893963
+v -0.05564638 0.00327883 0.00958849
+v -0.04381553 0.00094290 0.00971560
+v -0.04854787 0.00094290 0.00969195
+v -0.05091404 0.00094290 0.00967717
+v -0.05328021 0.00094290 0.00963726
+v -0.05564638 0.00094290 0.00953823
+v -0.05773767 -0.00425609 0.00893071
+v -0.02148363 -0.00425604 -0.00530487
+v -0.02148363 0.00829721 0.00865879
+v -0.05564638 0.00829721 0.00892632
+v -0.05789369 0.00829721 0.00893076
+v -0.05942780 0.00561477 0.00923671
+v -0.05800884 0.00561477 0.00928845
+v -0.05800884 0.00327883 0.00955006
+v -0.05942780 0.00327884 0.00943181
+v -0.05942780 0.00115795 0.00913175
+v -0.05892262 -0.00425609 0.00794925
+v -0.02148363 0.00829726 -0.00530482
+v -0.05824657 -0.00425604 -0.00530487
+v -0.05929036 0.00829721 0.00861149
+v -0.05942780 0.00816205 0.00864992
+v -0.05942780 0.00769019 0.00886277
+v -0.05942780 0.00753782 0.00893076
+v -0.05942780 0.00656708 0.00909925
+v -0.05942780 0.00007170 0.00822715
+v -0.05921235 -0.00425609 0.00682885
+v -0.05828743 0.00829726 -0.00530482
+v -0.05921235 -0.00425608 0.00649184
+v -0.05942780 0.00113586 0.00092534
+v -0.05828743 0.00822231 -0.00530482
+v -0.05942780 0.00829721 0.00848437
+v -0.05942780 -0.00105018 0.00713927
+v -0.05942780 0.00327764 0.00092535
+v -0.05942780 0.00829722 0.00540992
+v -0.05942780 -0.00101454 0.00627902
+f 1 2 3
+f 1 3 4
+f 1 4 14
+f 1 14 24
+f 1 24 15
+f 1 15 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
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+f 18 22 21
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+f 22 31 32
+f 22 32 23
+f 25 34 35
+f 25 35 36
+f 26 37 27
+f 31 38 32
+f 32 38 34
+f 33 36 35
+f 33 35 39
+f 33 39 40
+f 34 38 41
+f 34 41 35
+
diff --git a/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_12.obj b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44dc29d81045ff823d7ea54a7e49927d26581143
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_12.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.05942870 -0.00105065 0.00713824
+v -0.05942870 -0.00101403 0.00627850
+v -0.05942870 0.00007117 0.00822733
+v -0.06177320 0.00194239 0.00890821
+v -0.06645769 -0.00015937 -0.00530485
+v -0.06507628 -0.00085387 -0.00530485
+v -0.06469502 -0.00085021 -0.00530485
+v -0.06300011 -0.00072302 -0.00530485
+v -0.06135309 -0.00034878 -0.00302425
+v -0.05942870 0.00113537 0.00092535
+v -0.05942870 0.00115822 0.00913179
+v -0.06037825 0.00146017 0.00907410
+v -0.06037825 0.00327924 0.00935106
+v -0.06188885 0.00327924 0.00897168
+v -0.06413035 0.00400852 0.00678339
+v -0.06637818 0.00432329 0.00230152
+v -0.06733586 0.00089016 -0.00530485
+v -0.06255831 -0.00039910 -0.00530485
+v -0.06161510 0.00019292 -0.00451724
+v -0.06118595 0.00096061 -0.00368059
+v -0.06150487 0.00175120 -0.00471486
+v -0.05942870 0.00327835 0.00092536
+v -0.05942870 0.00327924 0.00943184
+v -0.06037825 0.00561529 0.00920249
+v -0.06178404 0.00561529 0.00889812
+v -0.06296759 0.00561529 0.00792731
+v -0.06414661 0.00561529 0.00680792
+v -0.06491818 0.00561530 0.00540869
+v -0.06637818 0.00479911 0.00230152
+v -0.06865763 0.00277968 -0.00530484
+v -0.06197919 0.00075566 -0.00530485
+v -0.06150487 0.00215838 -0.00471486
+v -0.06191324 0.00121957 -0.00530485
+v -0.05942870 0.00829722 0.00541014
+v -0.05942870 0.00561529 0.00923711
+v -0.05942870 0.00656691 0.00909863
+v -0.05942870 0.00753775 0.00893131
+v -0.06037825 0.00721749 0.00892554
+v -0.06163407 0.00684233 0.00881014
+v -0.06401651 0.00688626 0.00664637
+v -0.06586953 0.00559334 0.00309635
+v -0.06613605 0.00635647 0.00157450
+v -0.06656791 0.00559335 0.00086911
+v -0.06864498 0.00327929 -0.00530484
+v -0.06226107 0.00279066 -0.00530484
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+v -0.06377258 0.00493181 -0.00530483
+v -0.06481337 0.00597036 -0.00530483
+v -0.06579093 0.00668042 -0.00530483
+v -0.06599150 0.00691467 -0.00514326
+v -0.06654894 0.00691467 -0.00514326
+v -0.05942870 0.00816270 0.00865002
+v -0.06030145 0.00829721 0.00767632
+v -0.06431014 0.00713881 0.00540870
+v -0.06635830 0.00685151 0.00008151
+v -0.06709012 0.00561532 -0.00130764
+v -0.06760057 0.00579834 -0.00530483
+v -0.06759244 0.00561533 -0.00354786
+v -0.06664019 0.00700433 -0.00354785
+v -0.06623543 0.00668042 -0.00530483
+v -0.06688141 0.00657336 -0.00530483
+v -0.06471761 0.00736208 0.00316992
+v -0.06649744 0.00695674 -0.00130763
+f 1 2 10
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+f 1 47 55
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+f 1 36 35
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+f 1 23 11
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+
diff --git a/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_2.obj b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13ec7c39fe930f3b704c25baff9b6429af5210b8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_2.obj
@@ -0,0 +1,1189 @@
+# https://github.com/mikedh/trimesh
+v 0.00821505 0.04424003 -0.00354627
+v -0.00122944 0.04421188 -0.00213114
+v 0.00112878 0.04421188 -0.00214426
+v 0.00821505 0.04420836 -0.00216176
+v 0.01295473 0.04423651 -0.00354627
+v 0.02241083 0.04419782 -0.00479079
+v 0.01295473 0.04419782 -0.00479298
+v 0.01058489 0.04419782 -0.00479298
+v 0.00821505 0.04419782 -0.00478860
+v 0.00585684 0.04419782 -0.00478423
+v -0.00122944 0.04422947 -0.00354627
+v -0.04381677 0.04417318 -0.00239360
+v -0.02962099 0.04418725 -0.00227331
+v -0.00359927 0.04421188 -0.00212676
+v -0.00359927 0.04404651 -0.00100909
+v 0.00821505 0.04403244 -0.00104409
+v 0.01295473 0.04420484 -0.00219238
+v 0.01531294 0.04423299 -0.00354627
+v 0.02715050 0.04419430 -0.00477767
+v 0.02478067 0.04391987 -0.00590627
+v 0.02241083 0.04391636 -0.00591065
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diff --git a/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_3.obj b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..989282966fc9b9df2111afa1d91b89c2b9729cf4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_3.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_4.obj b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a4d6d839dffc50b050ef481c970bb968b353b20
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_4.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.03424320 -0.00425610 0.01011680
+v 0.03424320 -0.01060914 0.00873601
+v 0.03425244 -0.01060603 0.00873601
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+v -0.05564177 -0.00840314 0.00910239
+v -0.05564177 -0.01060914 0.00912070
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+v -0.05613143 -0.00425609 0.00902226
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+v -0.05784063 -0.00840314 0.00895814
+v -0.05785910 -0.01060914 0.00896729
+v 0.03425244 -0.01060906 -0.01293033
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+v -0.05892158 -0.00425609 0.00794833
+v -0.05904168 -0.01060914 0.00818416
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+v -0.05921722 -0.01060914 0.00706444
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+f 33 39 36
+f 34 38 37
+f 34 37 35
+
diff --git a/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_5.obj b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c0c01fd28c6e23dfab6b18896ea37e4a2239be6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_5.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.05861676 -0.00139486 0.00700784
+v 0.05861676 -0.00376332 0.00767276
+v 0.05861676 0.00083028 0.00710262
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+v 0.05861676 -0.00385329 0.00787317
+v 0.06782901 -0.00546640 -0.00114676
+v 0.05861676 0.00094222 0.00711505
+v 0.06769240 -0.00191894 -0.00114675
+v 0.05861676 -0.00421421 0.00986171
+v 0.06974165 -0.00566308 -0.00114676
+v 0.06736777 -0.00626777 0.00541078
+v 0.06736777 -0.00595496 0.00317056
+v 0.05861676 0.00286398 0.00769453
+v 0.06777136 -0.00173273 -0.00114675
+v 0.06500392 -0.00612342 0.00988812
+v 0.06849455 -0.00725954 0.01284451
+v 0.06849455 -0.00725954 0.01327640
+v 0.05861676 -0.00396942 0.01038526
+v 0.07109779 -0.00509712 -0.00114676
+v 0.06867880 -0.00725954 0.01284451
+v 0.06736777 -0.00670193 0.00988812
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+f 60 64 61
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+
diff --git a/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_6.obj b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0246baf84f0f5baed4b22e5bc666b56e1c8e5c41
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_6.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.03424699 -0.00139302 0.01057217
+v 0.03424699 -0.00373018 0.01031560
+v 0.03425244 -0.00372649 0.01031560
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+v 0.03424699 0.00829721 0.00870323
+v 0.02478187 0.00829721 0.00869568
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+f 31 35 32
+f 32 35 34
+
diff --git a/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_7.obj b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ce1fadb4e8d7ab8e13445f4a3084217eb4f0bb4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_7.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.06973381 -0.00576067 -0.00354879
+v 0.06973381 -0.00568320 -0.00130893
+v 0.06783018 -0.00546594 -0.00114808
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diff --git a/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_8.obj b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1cbc120c2d82e4bfbcacfba52108b76207af843
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_8.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_9.obj b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6ce8c9ef334fc00bc33002ce919ce62251b9277
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/mjcf/mesh/notebook_2_collision_9.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.05955722 0.00829728 -0.01026699
+v -0.05925477 0.00829727 -0.00903286
+v -0.05954936 0.00829728 -0.01049273
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diff --git a/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/textures/material_0.png b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6cc5750020a2575f9c4fa312ff5d2daf51f8bade
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:1df6088385a49b3777ba7606eeaa11281125d822f904037eae2a1d9c5876b051
+size 1221856
diff --git a/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/video.mp4 b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d5ef5c36a2bb8ad1128e95f19655a24b4773535c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8af5bde76e975b6fb69407dcf4e6ca74/video.mp4
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+version https://git-lfs.github.com/spec/v1
+oid sha256:1a904925dccc92915f104ab5988257b5ca2d36feca0a45fd6086f50a5e46d857
+size 187919