diff --git a/.gitattributes b/.gitattributes
index 6b607b29fcf6ed1862bccc0ba30f94a8b9913527..de33c57df4452e667e20afb8f8fb8cd3c89a5981 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3125,3 +3125,5 @@ dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mesh
 dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/sharpener_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/mesh/stapler_028.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/428a6ec7df4f59a7995c030a275039dc/stapler_028.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mesh/notebook_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/notebook_004.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..560efba75961bf3393d2461ead8d6d59d69ae889
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl notebook_004_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_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..95c0f314b9c8ecbe95c43a388fe1bce1a853192b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3faae99ca6c6af85a7ecaf4df246c01a3efeaa80ceedecb12c0541eee77be931
+size 7826821
diff --git a/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mesh/notebook_004.glb b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mesh/notebook_004.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8c448793100e005f627af25560f62ce3860f4c04
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mesh/notebook_004.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f74a2a34b31ff8c8529066f4c99a6dad4d81ef85645e12d08187d6391843e10
+size 10668900
diff --git a/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mesh/notebook_004.mtl b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mesh/notebook_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e1f70bb65d14b162a684effe14af08275a1adb94
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mesh/notebook_004.mtl
@@ -0,0 +1,6 @@
+newmtl notebook_004_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/42c8f5c0a9a75b77b14f65ff57946c06/mesh/notebook_004.obj b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mesh/notebook_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99f0fa109800bb0e2bf8a0f2740d58659b28c065
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mesh/notebook_004.obj
@@ -0,0 +1,114964 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl notebook_004_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mesh/notebook_004_collision.obj b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mesh/notebook_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..132d98137ffb3464890eb768962a20d7d84ee65c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mesh/notebook_004_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mesh/notebook_004_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mesh/notebook_004_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..95c0f314b9c8ecbe95c43a388fe1bce1a853192b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mesh/notebook_004_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3faae99ca6c6af85a7ecaf4df246c01a3efeaa80ceedecb12c0541eee77be931
+size 7826821
diff --git a/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..95c0f314b9c8ecbe95c43a388fe1bce1a853192b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3faae99ca6c6af85a7ecaf4df246c01a3efeaa80ceedecb12c0541eee77be931
+size 7826821
diff --git a/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mjcf/mesh/notebook_004.obj b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mjcf/mesh/notebook_004.obj
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index 0000000000000000000000000000000000000000..7db548092303dff0bc665cb7a1472f426238b700
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mjcf/mesh/notebook_004.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl notebook_004_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mjcf/mesh/notebook_004_collision.obj b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mjcf/mesh/notebook_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..877bcff512051da15df4aaf15f37d25161b60140
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mjcf/mesh/notebook_004_collision.obj
@@ -0,0 +1,2125 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mjcf/mesh/notebook_004_collision_0.obj b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mjcf/mesh/notebook_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e9001e1de228ef84d24a8f46296d3cff5d70b51
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mjcf/mesh/notebook_004_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mjcf/mesh/notebook_004_collision_1.obj b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mjcf/mesh/notebook_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad09cc8bdd7d87b9ccd812cf936e8dd64835e7b9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mjcf/mesh/notebook_004_collision_1.obj
@@ -0,0 +1,967 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mjcf/notebook_004.xml b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mjcf/notebook_004.xml
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/mjcf/notebook_004.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="notebook_004">
+  <asset>
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+    <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_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/notebook_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="notebook_004">
+      <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" />
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+</mujoco>
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diff --git a/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/notebook_004.urdf b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/notebook_004.urdf
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+++ b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/notebook_004.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="notebook_004">
+   <link name="notebook_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/notebook_004.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_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
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+         <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>
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+         <scale>1.000000</scale>
+         <uuid>42c8f5c0a9a75b77b14f65ff57946c06</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>notebook</category>
+         <name>gray notebook</name>
+         <color>gray</color>
+         <shape>flat</shape>
+         <material>paper</material>
+         <description>slim gray notebook with rounded edges and printed text</description>
+         <min_height>0.0189</min_height>
+         <max_height>0.0189</max_height>
+         <real_height>0.0189</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427233228</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>6</part_count>
+         <visual_seg>
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+            <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>
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diff --git a/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/notebook_004.usd b/dataset/desktop_supplies/office_stationery/42c8f5c0a9a75b77b14f65ff57946c06/notebook_004.usd
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