diff --git a/.gitattributes b/.gitattributes
index c34765be672459adf62d4aefc732b617fe94d188..33cd5abf877525bdbc1ea18ab29e70fb9b22b9fb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3083,5 +3083,5 @@ dataset/desktop_supplies/office_stationery/14c4811adf3c5990a993c8492c5f9734/mesh
 dataset/desktop_supplies/office_stationery/14c4811adf3c5990a993c8492c5f9734/mesh/eraser_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mesh/sharpener_040.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/sharpener_040.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mesh/notebook_009.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/notebook_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mesh/notebook_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/notebook_030.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a5579f35e4a652e0abca9a1fe89246f5162733c5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl notebook_030_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_030_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..105e212c2ca2d4b0e09f93e372e8d749d12f606f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60f78b5aedb2e8b4dca9ab9df4ec7863cd15a62111f82beb7b204371cca25d72
+size 15672158
diff --git a/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mesh/notebook_030.glb b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mesh/notebook_030.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a6b4b668087e67076944ec63ce2b70f8fe470f0e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mesh/notebook_030.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:372b598543b52f475b5934ccb393be14d81f6ba42168293a80b9307c2440b9af
+size 19149016
diff --git a/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mesh/notebook_030.mtl b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mesh/notebook_030.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..631eb0b74ea773398e828f2acc0c8e8ee95ed14f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mesh/notebook_030.mtl
@@ -0,0 +1,6 @@
+newmtl notebook_030_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/12d68d6860575dab88fa805ad1b2ea19/mesh/notebook_030.obj b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mesh/notebook_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19370bec103b925de79c61e591fcb12018a748a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mesh/notebook_030.obj
@@ -0,0 +1,112586 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl notebook_030_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mesh/notebook_030_collision.obj b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mesh/notebook_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e905cc24c9d1c84ff5784eeef8149d42fa7ab68
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mesh/notebook_030_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mesh/notebook_030_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mesh/notebook_030_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..105e212c2ca2d4b0e09f93e372e8d749d12f606f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mesh/notebook_030_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60f78b5aedb2e8b4dca9ab9df4ec7863cd15a62111f82beb7b204371cca25d72
+size 15672158
diff --git a/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..105e212c2ca2d4b0e09f93e372e8d749d12f606f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60f78b5aedb2e8b4dca9ab9df4ec7863cd15a62111f82beb7b204371cca25d72
+size 15672158
diff --git a/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mjcf/mesh/notebook_030.obj b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mjcf/mesh/notebook_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0774d39fbc3b53864187b93f8c38f2d87174362
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mjcf/mesh/notebook_030.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl notebook_030_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mjcf/mesh/notebook_030_collision.obj b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mjcf/mesh/notebook_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..383a8deb3aff81df7679f5108914080ed55c9a02
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mjcf/mesh/notebook_030_collision.obj
@@ -0,0 +1,1528 @@
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diff --git a/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mjcf/mesh/notebook_030_collision_0.obj b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mjcf/mesh/notebook_030_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68add6b206181e332d2d50c3d9045fc9cdc19f93
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mjcf/mesh/notebook_030_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mjcf/mesh/notebook_030_collision_1.obj b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mjcf/mesh/notebook_030_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45f7d791fe96508de3d5c2eca597cebad97e94a9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mjcf/mesh/notebook_030_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mjcf/notebook_030.xml b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mjcf/notebook_030.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1b58ae4f861d8f83b52f223eb7c5a4b13bca851c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mjcf/notebook_030.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="notebook_030">
+  <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_030.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/notebook_030_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/notebook_030_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="notebook_030">
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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" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+</mujoco>
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diff --git a/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/notebook_030.urdf b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/notebook_030.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9e63b6936f3f6b47bf901f52a4aa7e58fab5a02c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/notebook_030.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="notebook_030">
+   <link name="notebook_030">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/notebook_030.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_030_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
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+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
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+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
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+         <uuid>12d68d6860575dab88fa805ad1b2ea19</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>notebook</category>
+         <name>black notebook</name>
+         <color>black,brown</color>
+         <shape>cuboid</shape>
+         <material>paper</material>
+         <description>slim rectangular notebook with rounded spine and dark textured covers</description>
+         <min_height>0.0249</min_height>
+         <max_height>0.0249</max_height>
+         <real_height>0.0249</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.6</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611144428</generate_time>
+         <gs_model>""</gs_model>
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+            <max>0.072778 0.105238 0.012645</max>
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+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
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+            <geometry>
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+         </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/12d68d6860575dab88fa805ad1b2ea19/notebook_030.usd b/dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/notebook_030.usd
new file mode 100644
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