diff --git a/.gitattributes b/.gitattributes
index 4373005cfcc77545a3e45f121b78ef0a2d8428c2..805b852ae17751d59bc0ac5e8ae8f966e6309259 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3304,3 +3304,5 @@ dataset/desktop_supplies/office_tools/00b7ae58aedc506f9f51e909ed0ef283/mesh/stap
 dataset/desktop_supplies/office_tools/00b7ae58aedc506f9f51e909ed0ef283/staples_box_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/marker_026.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mesh/marker_026.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mesh/notebook_035.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/notebook_035.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9e9f8e392c9faa17c7e0c50208ac7e8932161da6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl notebook_035_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_035_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cda324bbb0b945992ef862cd8d45723c8460bc3c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a41b0e20beef2bb05a5775fdbe20731239b72afedf5111def6c0ec224bd56800
+size 10827384
diff --git a/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mesh/notebook_035.glb b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mesh/notebook_035.glb
new file mode 100644
index 0000000000000000000000000000000000000000..bc0c32938d7ae87daf51fbbc99250c89bfd37975
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mesh/notebook_035.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2b06d7b2549c236fdd3d15276bb406eb9ef4c2e8b4f7f9d80c0e9282b9d3230
+size 13846836
diff --git a/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mesh/notebook_035.mtl b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mesh/notebook_035.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..79838998d72de92c6306a08b911756d0377af0c2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mesh/notebook_035.mtl
@@ -0,0 +1,6 @@
+newmtl notebook_035_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/ffc09ec371f75505bc9d28147ef8f86a/mesh/notebook_035.obj b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mesh/notebook_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45b4deecc5f86c5d063af24642b0c5938ceafdba
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mesh/notebook_035.obj
@@ -0,0 +1,117534 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl notebook_035_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mesh/notebook_035_collision.obj b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mesh/notebook_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45001931f3a63b1058d02db8833b991586946018
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mesh/notebook_035_collision.obj
@@ -0,0 +1,1206 @@
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diff --git a/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mesh/notebook_035_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mesh/notebook_035_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cda324bbb0b945992ef862cd8d45723c8460bc3c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mesh/notebook_035_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a41b0e20beef2bb05a5775fdbe20731239b72afedf5111def6c0ec224bd56800
+size 10827384
diff --git a/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cda324bbb0b945992ef862cd8d45723c8460bc3c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a41b0e20beef2bb05a5775fdbe20731239b72afedf5111def6c0ec224bd56800
+size 10827384
diff --git a/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mjcf/mesh/notebook_035.obj b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mjcf/mesh/notebook_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a6720383d1380d195311beedb56d970a7bf30a2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mjcf/mesh/notebook_035.obj
@@ -0,0 +1,117534 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl notebook_035_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mjcf/mesh/notebook_035_collision.obj b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mjcf/mesh/notebook_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..530979b2d22ef3573215a34202085fa535870f68
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mjcf/mesh/notebook_035_collision.obj
@@ -0,0 +1,1206 @@
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diff --git a/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mjcf/mesh/notebook_035_collision_0.obj b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mjcf/mesh/notebook_035_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc38d99966fcdab2420cad4a133382b0c2064cc0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mjcf/mesh/notebook_035_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mjcf/mesh/notebook_035_collision_1.obj b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mjcf/mesh/notebook_035_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..429325e783659391a736aff9019272dbe63df942
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mjcf/mesh/notebook_035_collision_1.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mjcf/mesh/notebook_035_collision_2.obj b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mjcf/mesh/notebook_035_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e59c3fd25247807628b3a61b95768b765a9c823
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mjcf/mesh/notebook_035_collision_2.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mjcf/mesh/notebook_035_collision_3.obj b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mjcf/mesh/notebook_035_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc70c2785a96b385c3a0b50161e8ab90b31db249
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mjcf/mesh/notebook_035_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mjcf/notebook_035.xml b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mjcf/notebook_035.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2107edb2db51ace092cde901fba79be20a8496b8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mjcf/notebook_035.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="notebook_035">
+  <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_035.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/notebook_035_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/notebook_035_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/notebook_035_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/notebook_035_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="notebook_035">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/notebook_035.urdf b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/notebook_035.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9b12c437bc7b335d8b9beea0553a5c4b07e52a3f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/notebook_035.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="notebook_035">
+   <link name="notebook_035">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/notebook_035.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_035_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1400" />
+         <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>ffc09ec371f75505bc9d28147ef8f86a</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>notebook</category>
+         <name>spiral notebook</name>
+         <color>beige,green</color>
+         <shape>cuboid</shape>
+         <material>paper</material>
+         <description>small plaid spiral notebook with beige pages and cover</description>
+         <min_height>0.0177</min_height>
+         <max_height>0.0177</max_height>
+         <real_height>0.0177</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611144606</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.070913 -0.095277 -0.006996</min>
+            <max>0.074087 0.096354 0.010720</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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_stationery/ffc09ec371f75505bc9d28147ef8f86a/notebook_035.usd b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/notebook_035.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5a99cbfe9f355574d1e79d576cdabe1e9e4cea32
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/notebook_035.usd
@@ -0,0 +1,3 @@
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