diff --git a/.gitattributes b/.gitattributes
index 33cd5abf877525bdbc1ea18ab29e70fb9b22b9fb..69c50c9bbe9d7132901c3ac182e6399ed626efa9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3085,3 +3085,4 @@ dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mesh
 dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/sharpener_040.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
+dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/1695ee4d1917544cb55ab8477ede5060.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/1695ee4d1917544cb55ab8477ede5060.urdf b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/1695ee4d1917544cb55ab8477ede5060.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..65177e45986852dd6e5ea19ec9f576e434a57937
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/1695ee4d1917544cb55ab8477ede5060.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="notebook_7">
+   <link name="notebook_7">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/notebook_7.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_7_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>0.157335</scale>
+         <version>v0.1.5</version>
+         <category>notebook</category>
+         <description>rectangular notebook with rounded edges and visible spine</description>
+         <min_height>0.018</min_height>
+         <max_height>0.025</max_height>
+         <real_height>0.0215</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20251014144040</generate_time>
+         <gs_model>mesh/notebook_7_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: Object appears incomplete with missing geometry or structural gaps.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.596489071846008</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</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/1695ee4d1917544cb55ab8477ede5060/1695ee4d1917544cb55ab8477ede5060.usd b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/1695ee4d1917544cb55ab8477ede5060.usd
new file mode 100644
index 0000000000000000000000000000000000000000..80bcf670fef80ced7e30d2a1573412712dc8c9b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/1695ee4d1917544cb55ab8477ede5060.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b522525f91bd4ed2fe66b9549128dc1a8aa49eaa82591adc7d2816a570313aa6
+size 589912
diff --git a/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/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/1695ee4d1917544cb55ab8477ede5060/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..448e1c949b1da4a8f317489372248747994ac550
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ad3b28601d23c158152fe9235aa02a92c4d6ecae9c9c5d01e24143d9c01556d
+size 704895
diff --git a/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mesh/notebook_7.glb b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mesh/notebook_7.glb
new file mode 100644
index 0000000000000000000000000000000000000000..98a6f9e8f8a5a9c564495df1015381922778f4db
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mesh/notebook_7.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bb419a1042bdd2911966af1d5598cf77783bfa2f4a4a9eaf608735ab88efb0f
+size 1097720
diff --git a/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mesh/notebook_7.obj b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mesh/notebook_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf9c61fd3e074a41014bb5cdcd82c7391ba80a49
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mesh/notebook_7.obj
@@ -0,0 +1,35790 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mesh/notebook_7_collision.obj b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mesh/notebook_7_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e48938eb51333f340a065950d8652c627568cdec
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mesh/notebook_7_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mesh/notebook_7_gs.ply b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mesh/notebook_7_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..261a1635b5fdf850745b3beb81229163b6a74e20
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
+oid sha256:92eb79e27218053563efba3de15fb7959dfc7ae90856d6dadc58e864946d7219
+size 21541994
diff --git a/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mjcf/1695ee4d1917544cb55ab8477ede5060.xml b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mjcf/1695ee4d1917544cb55ab8477ede5060.xml
new file mode 100644
index 0000000000000000000000000000000000000000..72f204c6c86f0764c08c61597ce36971256efc13
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mjcf/1695ee4d1917544cb55ab8477ede5060.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="notebook_7">
+  <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" />
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+    <mesh name="collision_mesh_0_0" file="mesh/notebook_7_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/notebook_7_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/notebook_7_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/notebook_7_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/notebook_7_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="notebook_7">
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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" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mjcf/mesh/notebook_7.obj b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mjcf/mesh/notebook_7.obj
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index 0000000000000000000000000000000000000000..fe4abc4050c9f7c63a20d9522b0655106922cbd8
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+++ b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mjcf/mesh/notebook_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mjcf/mesh/notebook_7_collision.obj b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mjcf/mesh/notebook_7_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2481b1887ba00316ee8408fdd2b0698964f90e35
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mjcf/mesh/notebook_7_collision.obj
@@ -0,0 +1,2512 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mjcf/mesh/notebook_7_collision_0.obj b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mjcf/mesh/notebook_7_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4c325c9a17ec0ff49c330bf485972cfeb0f89cb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mjcf/mesh/notebook_7_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mjcf/mesh/notebook_7_collision_1.obj b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mjcf/mesh/notebook_7_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0bb70e0341fb55891d9253ac5382ac7b642127a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mjcf/mesh/notebook_7_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mjcf/mesh/notebook_7_collision_2.obj b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mjcf/mesh/notebook_7_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e865e72a78c5eab4b6837f8cdf9661360dd96e1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mjcf/mesh/notebook_7_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mjcf/mesh/notebook_7_collision_3.obj b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mjcf/mesh/notebook_7_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acae29dbfa9f57b5efae4cf412bc8aaf4f2dff86
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mjcf/mesh/notebook_7_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mjcf/mesh/notebook_7_collision_4.obj b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/mjcf/mesh/notebook_7_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/video.mp4 b/dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/video.mp4
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