diff --git a/.gitattributes b/.gitattributes
index ccc7fedcd376e9fab5c749d986b9230db2d3b338..be9401059cb9f7cfcc6a5065e4f76a467c5be824 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3115,3 +3115,5 @@ dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mesh
 dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/sharpener_038.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/29f0624e6cb053789453087243f3c3ee/mesh/stapler_038.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/29f0624e6cb053789453087243f3c3ee/stapler_038.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mesh/notebook_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/notebook_005.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ca86c4258047eb31094725ca4d79639f40154c3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl notebook_005_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd notebook_005_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c494bc3538a9e0ad8ffedd737fb3a4e1e22a24c0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/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/2b7dcaebbd9a578ebe1c6fe45af51886/mesh/notebook_005.glb b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mesh/notebook_005.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a0fa953e641caa2856c5a2f1a5535ee5424a552b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mesh/notebook_005.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e677a2ed88b416ff9773e7bf59226bac6ab5d50ebda560ecbfbde0551cda33d
+size 15262784
diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mesh/notebook_005.mtl b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mesh/notebook_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0526f475b8e93d75a5ba1a5da8ceca30bf796988
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mesh/notebook_005.mtl
@@ -0,0 +1,6 @@
+newmtl notebook_005_geometry_Looks_material_0
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+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/2b7dcaebbd9a578ebe1c6fe45af51886/mesh/notebook_005.obj b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mesh/notebook_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac825ad1cdde6b73acd450dd2ea0a79a4d113fea
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mesh/notebook_005.obj
@@ -0,0 +1,124244 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl notebook_005_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mesh/notebook_005_collision.obj b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mesh/notebook_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..813007ea6e073099e8156cc36eb549c40993eb80
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mesh/notebook_005_collision.obj
@@ -0,0 +1,5824 @@
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diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mesh/notebook_005_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mesh/notebook_005_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c494bc3538a9e0ad8ffedd737fb3a4e1e22a24c0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mesh/notebook_005_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 11925972
diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c494bc3538a9e0ad8ffedd737fb3a4e1e22a24c0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:4232b5bcdeaebeb0c9965f9d7025d2ae796aa08117aaf0bbd922e1c0972f55ad
+size 11925972
diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005.obj b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ccf97b172881418cf6f2a4e742ee79c270e4d78
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005.obj
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diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision.obj b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8508a333740f0477d47b0a544685cd79d8698091
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision.obj
@@ -0,0 +1,5824 @@
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diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_0.obj b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bb3e43d62906496980375620b478d4889f69f5d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_1.obj b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99aa8f5dc776cefe56ccd2a6a23c8d512558ed24
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_10.obj b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0e85edaf7a6a2f4c434e882b22ffe1fc1faa1ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_10.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_11.obj b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ebfd355cdcc44a0285904b75960caa247267fa4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_11.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_12.obj b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa0c5ebf856349e0d50b3ed62f552bfc018ff513
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_12.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.04943571 0.00200457 0.00611668
+v -0.04943571 0.00200465 -0.01682399
+v -0.05683043 0.00200457 0.00611668
+v -0.04943571 -0.07748899 0.00611639
+v -0.05699470 -0.03078644 -0.01897711
+v -0.04992706 0.00200465 -0.01681906
+v -0.04943571 -0.07640564 -0.01766526
+v -0.05699470 0.00200462 -0.00732909
+v -0.05683117 0.00198013 0.00611668
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+v -0.04943571 -0.08120296 -0.01429397
+v -0.05699470 0.00200465 -0.01666616
+v -0.05527867 0.00200465 -0.01671795
+v -0.05473478 0.00200465 -0.01673274
+v -0.05260287 0.00200465 -0.01678207
+v -0.05205971 0.00200465 -0.01679440
+v -0.05699470 -0.04152947 -0.01907827
+v -0.04943571 -0.07646266 -0.01766526
+v -0.05683857 -0.00122893 0.00611667
+v -0.05699470 0.00182543 -0.00732909
+v -0.05699249 -0.06839935 0.00611642
+v -0.05205971 -0.07736681 0.00611639
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+v -0.05473478 -0.08082015 -0.01604745
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+v -0.05699470 -0.05496844 -0.01904132
+v -0.04943571 -0.07915045 -0.01717449
+v -0.05205971 -0.07646266 -0.01763813
+v -0.05699470 -0.06034407 -0.00752908
+v -0.05699470 -0.06839930 -0.00770175
+v -0.05699470 -0.07108710 -0.00788919
+v -0.05699470 -0.07394594 -0.00883869
+v -0.05699470 -0.07399481 -0.00886335
+v -0.05699470 -0.07915047 -0.01155154
+v -0.05696437 -0.07108715 0.00611641
+v -0.05473478 -0.07643016 0.00611639
+v -0.05699470 -0.08108079 -0.01429397
+v -0.05478509 -0.07639758 0.00611639
+v -0.05627174 -0.07535504 0.00611639
+v -0.05668909 -0.07382382 0.00611640
+v -0.05670019 -0.07377495 0.00611640
+v -0.05699470 -0.08083643 -0.01573671
+v -0.04943571 -0.08082829 -0.01614116
+v -0.05699470 -0.08078756 -0.01600799
+v -0.05699470 -0.07941109 -0.01685636
+v -0.05699470 -0.07915045 -0.01701666
+v -0.05473478 -0.07915045 -0.01707091
+v -0.05473478 -0.07646266 -0.01760360
+v -0.05699470 -0.07646266 -0.01756908
+v -0.05699470 -0.07687805 -0.01748769
+f 1 2 6
+f 1 6 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 8
+f 1 8 3
+f 1 3 9
+f 1 9 19
+f 1 19 21
+f 1 21 36
+f 1 36 42
+f 1 42 41
+f 1 41 40
+f 1 40 39
+f 1 39 37
+f 1 37 22
+f 1 22 10
+f 1 10 4
+f 1 4 11
+f 1 11 26
+f 1 26 44
+f 1 44 28
+f 1 28 18
+f 1 18 7
+f 1 7 2
+f 2 5 6
+f 2 7 5
+f 3 8 9
+f 4 10 11
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 5 7 17
+f 5 17 27
+f 5 27 50
+f 5 50 51
+f 5 51 47
+f 5 47 46
+f 5 46 45
+f 5 45 43
+f 5 43 38
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+f 5 23 35
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+f 5 34 33
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+f 5 20 8
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+f 7 18 17
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+f 10 22 23
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+f 11 25 26
+f 17 18 27
+f 18 28 29
+f 18 29 27
+f 20 30 21
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 23
+f 21 23 36
+f 22 37 23
+f 23 38 24
+f 23 37 39
+f 23 39 40
+f 23 40 41
+f 23 41 42
+f 23 42 36
+f 24 38 43
+f 24 43 25
+f 25 28 44
+f 25 44 26
+f 25 43 45
+f 25 45 46
+f 25 46 47
+f 25 47 48
+f 25 48 28
+f 27 29 49
+f 27 49 50
+f 28 48 51
+f 28 51 50
+f 28 50 49
+f 28 49 29
+f 47 51 48
+
diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_13.obj b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d54d42e7929bd1850a60f6bc8ecd004cc47574e3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_13.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.05780334 0.02026839 0.01895619
+v -0.05780334 0.00201234 0.01626818
+v -0.05419173 0.00201234 0.01640740
+v -0.05205950 0.00201234 0.01648879
+v -0.04943579 0.00201234 0.01655304
+v -0.05741097 0.02026839 0.01890479
+v -0.05780334 0.06057081 0.01893064
+v -0.05780334 0.00201237 0.00831571
+v -0.04943579 0.00201241 -0.00292441
+v -0.04943579 0.07669336 0.01752140
+v -0.04943579 0.07932704 0.01732008
+v -0.04943579 0.07938175 0.01731580
+v -0.05205950 0.07938175 0.01726440
+v -0.05741097 0.07669336 0.01739718
+v -0.05780334 0.07669336 0.01735006
+v -0.05649353 0.00201241 -0.00292441
+v -0.05780334 0.02564521 0.00841432
+v -0.05667702 0.06593986 -0.00292418
+v -0.05667456 0.06443155 -0.00292418
+v -0.04943579 0.07752183 -0.00292414
+v -0.04943579 0.08133552 0.01610570
+v -0.05205950 0.08132770 0.01607785
+v -0.05473483 0.08129645 0.01603074
+v -0.05473483 0.07938175 0.01719372
+v -0.05741097 0.07938175 0.01698596
+v -0.05780334 0.07898318 0.01699881
+v -0.05780334 0.02833360 0.00842718
+v -0.05780334 0.06078186 0.00863077
+v -0.05667292 0.06711994 -0.00292417
+v -0.05205950 0.07756872 -0.00292414
+v -0.04943579 0.08183570 0.01389109
+v -0.04943579 0.08182789 0.01393392
+v -0.05205950 0.08184351 0.01389109
+v -0.05473483 0.08180444 0.01389109
+v -0.05741097 0.08114796 0.01583583
+v -0.05780334 0.07938175 0.01685103
+v -0.05780334 0.08110107 0.01575873
+v -0.05780334 0.06862821 0.00902489
+v -0.05780334 0.06917527 0.00905915
+v -0.05780334 0.07131661 0.00921123
+v -0.05666146 0.06862825 -0.00292417
+v -0.05313340 0.07711544 -0.00292414
+v -0.05780334 0.08105420 0.01220335
+v -0.05741097 0.08110109 0.01214981
+v -0.05741097 0.08153092 0.01389109
+v -0.05780334 0.08139024 0.01426376
+v -0.05780334 0.07229349 0.00931833
+v -0.05780334 0.07405188 0.00961818
+v -0.05780334 0.07937396 0.01131236
+v -0.05660575 0.06980833 -0.00292416
+v -0.05455461 0.07648242 -0.00292414
+v -0.05780334 0.07974126 0.01149013
+v -0.05780334 0.08141368 0.01389109
+v -0.05530823 0.07552898 -0.00292414
+v -0.05589310 0.07473184 -0.00292415
+v -0.05605037 0.07413789 -0.00292415
+v -0.05624615 0.07338764 -0.00292415
+v -0.05642144 0.07216849 -0.00292415
+v -0.05653285 0.07131665 -0.00292416
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+f 1 6 7
+f 1 7 15
+f 1 15 26
+f 1 26 36
+f 1 36 37
+f 1 37 46
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+f 1 38 28
+f 1 28 27
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+f 1 17 8
+f 1 8 2
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+f 9 56 55
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+f 9 54 51
+f 9 51 42
+f 9 42 30
+f 9 30 20
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+f 13 23 24
+f 13 24 14
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 17 27 18
+f 18 28 29
+f 18 27 28
+f 20 30 31
+f 21 32 33
+f 21 33 22
+f 22 33 34
+f 22 34 23
+f 23 34 35
+f 23 35 25
+f 23 25 24
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+f 25 35 37
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+f 28 38 29
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+f 29 39 40
+f 29 40 41
+f 30 33 31
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+f 30 34 33
+f 31 33 32
+f 34 44 45
+f 34 45 35
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+f 41 48 49
+f 41 49 50
+f 42 51 43
+f 43 53 45
+f 43 45 44
+f 43 51 54
+f 43 54 55
+f 43 55 56
+f 43 56 57
+f 43 57 58
+f 43 58 59
+f 43 59 52
+f 45 53 46
+f 49 52 59
+f 49 59 50
+
diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_14.obj b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c41dee94bc3a4da9099c4a4b15cb254dabaea07e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_14.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.06445458 0.01614286 -0.01409546
+v -0.06445458 0.01627245 -0.01339314
+v -0.07093136 0.01833106 -0.00003821
+v -0.07297774 0.01833106 -0.00003821
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+v -0.07285310 0.01839246 -0.00404505
+v -0.07259730 0.01853229 -0.00660762
+v -0.07233220 0.01873237 -0.00844987
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+v -0.06970261 0.01872556 -0.01337332
+v -0.06722742 0.01866078 -0.01598632
+v -0.06445458 0.01875059 -0.01817973
+v -0.06445458 0.01641454 -0.01271063
+v -0.06964587 0.02015782 -0.00003821
+v -0.07395163 0.02026809 -0.00003821
+v -0.07395535 0.02026810 -0.00148248
+v -0.07370234 0.02026810 -0.00404505
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+v -0.06988492 0.02026814 -0.01363264
+v -0.06887940 0.02026814 -0.01491483
+v -0.07102903 0.02026813 -0.01173097
+v -0.06754089 0.02026815 -0.01627445
+v -0.06592797 0.02026815 -0.01755664
+v -0.06445458 0.01884949 -0.01824996
+v -0.06445458 0.01762518 -0.01181382
+v -0.06968493 0.02140143 -0.00003820
+v -0.06445458 0.02017605 -0.01082336
+v -0.06445458 0.02155834 -0.01081614
+v -0.06445458 0.02304636 -0.01081074
+v -0.07382512 0.02295424 -0.00003820
+v -0.07385210 0.02295425 -0.00148247
+v -0.07363258 0.02295425 -0.00404504
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+v -0.07108856 0.02476736 -0.00003819
+v -0.06445458 0.02775480 -0.01340931
+v -0.06445458 0.02295431 -0.01843363
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+f 45 60 61
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+f 47 63 62
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+f 59 61 63
+f 61 62 63
+
diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_15.obj b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0db29797d45230308a7424ba077d0fa373e4df01
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_15.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.06821940 -0.03078652 0.01564507
+v -0.06821940 -0.02962733 0.01531464
+v -0.06911090 -0.03078651 0.01474938
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+v -0.06821940 -0.04153251 0.01561987
+v -0.06821940 -0.02781652 0.01388725
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+v -0.07006647 -0.03078651 0.01346791
+v -0.07008383 -0.04153250 0.01348296
+v -0.06987248 -0.04347110 0.01318942
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+v -0.07036942 -0.02792811 0.01134108
+v -0.07244759 -0.02864990 0.00833363
+v -0.07210392 -0.03078650 0.00999753
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+v -0.07213924 -0.04289689 0.01006793
+v -0.07077536 -0.04373209 0.01108606
+v -0.06821940 -0.04423249 0.01398112
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+v -0.06966951 -0.02666991 0.01049403
+v -0.07171655 -0.02685890 0.00722325
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+v -0.07259547 -0.03078649 0.00871606
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+
diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_16.obj b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..061a195fa5c61a22270499cb1a256e651f51ed1b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_16.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+v -0.06628171 0.03370340 0.01739927
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+v -0.06983702 0.03196451 0.01315564
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+
diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_17.obj b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..901eb5cb1cb593c2111e94bd2b3d852ac8a2fc66
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_17.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.06445459 0.02888926 -0.01341123
+v -0.06972281 0.03213473 -0.01340762
+v -0.06726010 0.03206501 -0.01600629
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+v -0.07196326 0.03370358 -0.01014669
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+
diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_18.obj b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f596e5869bb657ea9b74bc41d4f1cbe882cc482
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_18.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.06445365 0.01483373 0.01188775
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+f 1 2 9
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diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_19.obj b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36fe1a453d745e28824c47166186fba8050f4612
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_19.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_2.obj b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0087044b14ff27b62c50d2224aa29df439342bb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_2.obj
@@ -0,0 +1,979 @@
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diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_3.obj b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3a57fd298c9118190db7142e63d1d0e9dda5d41
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_4.obj b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fabe3bd77d6eeee86a85de30c4d510d551aa08cc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_4.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_5.obj b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce4c558b7c613f8e0fc9036c534bbe781fcaa63b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_5.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_6.obj b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..051942ce35c82d0a08b6be93c64fad291ead3d4d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_6.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+v -0.06433801 -0.05769395 -0.01166436
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+v -0.07415791 -0.05496916 -0.00404633
+v -0.07363304 -0.05496915 -0.00660894
+v -0.07247597 -0.05687469 -0.00916986
+v -0.07219728 -0.05644907 -0.01058653
+v -0.06994418 -0.05697394 -0.01368891
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+v -0.06433801 -0.05310463 -0.01852806
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+
diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_7.obj b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..343870ce7409728f25ea3decf5fe9d03883806ad
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_7.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.06445365 0.06057216 0.01845144
+v -0.06445365 0.06262985 0.01811663
+v -0.06475647 0.06251591 0.01808767
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+v -0.06445365 0.04982568 0.01844779
+v -0.06445365 0.06288008 0.01796822
+v -0.06445365 0.06537568 0.01597015
+v -0.06490305 0.06525728 0.01579821
+v -0.06572182 0.06351907 0.01668865
+v -0.06748954 0.06273264 0.01586879
+v -0.06637953 0.06057217 0.01746688
+v -0.06502167 0.04982568 0.01823965
+v -0.06445365 0.04817908 0.01819078
+v -0.06445365 0.06561922 0.01483718
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+v -0.06989665 0.06264998 0.01323363
+v -0.06917625 0.06057218 0.01482992
+v -0.06783768 0.06057217 0.01618550
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+v -0.06635928 0.04982569 0.01745779
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+v -0.06445365 0.06561922 0.01401550
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+v -0.07214946 0.06197526 0.01008991
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+
diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_8.obj b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed4b95f4db58aca96004a33f79d72beaa18aa1d3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_8.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v -0.07161186 0.06479722 -0.00003804
+v -0.06445461 0.06555506 -0.01202352
+v -0.06445461 0.06583573 -0.01439145
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+v -0.07213480 0.06460881 -0.00790927
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diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_9.obj b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..727b1636e5645ee95be2db514802409ce5c9079d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/mesh/notebook_005_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/notebook_005.xml b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/notebook_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ef0341d72651f8d3a58dcbbebd4cd8b028f762a9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mjcf/notebook_005.xml
@@ -0,0 +1,54 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="notebook_005">
+  <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_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/notebook_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/notebook_005_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/notebook_005_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/notebook_005_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/notebook_005_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/notebook_005_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/notebook_005_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/notebook_005_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/notebook_005_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/notebook_005_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/notebook_005_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/notebook_005_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/notebook_005_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/notebook_005_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/notebook_005_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/notebook_005_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/notebook_005_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/notebook_005_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/notebook_005_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/notebook_005_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="notebook_005">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" 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/2b7dcaebbd9a578ebe1c6fe45af51886/notebook_005.urdf b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/notebook_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..aea5fcd4bfa303ec7c009afd2366947e9456c6eb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/notebook_005.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="notebook_005">
+   <link name="notebook_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/notebook_005.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_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>2b7dcaebbd9a578ebe1c6fe45af51886</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>notebook</category>
+         <name>spiral notebook</name>
+         <color>brown,white</color>
+         <shape>flat</shape>
+         <material>paper</material>
+         <description>brown spiral notebook with white pages</description>
+         <min_height>0.0389</min_height>
+         <max_height>0.0389</max_height>
+         <real_height>0.0389</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427233246</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>11</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
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+size 4923582
diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/textures/material_0.png b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/textures/material_0.png
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/video.mp4 b/dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/video.mp4
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 641474