diff --git a/.gitattributes b/.gitattributes
index 9445e187f09a2fb7a2e0d6ea4e6f5c37967e0c70..e74da1096b927908e0dc6f44af52c2a370a104f5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3210,3 +3210,5 @@ dataset/desktop_supplies/office_stationery/95c5382c15585f7db80de38e7e85ba11/mesh
 dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/9adec9407d6b57e484c8a0bd2bdfa65f.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mesh/open_notebook.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mesh/open_notebook_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mesh/notebook_037.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/notebook_037.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..950a1a2d71db961524e13052bf134479fea3e6fc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl notebook_037_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_037_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dcdbe261354088058fd65ce73319033910240470
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:305e9ab8226d2c9dcfb6b6da4406cb5a8e9c3907fb900009130aded3dee3550a
+size 13176634
diff --git a/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mesh/notebook_037.glb b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mesh/notebook_037.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0eae8c74ed2e638656f65677c321502bc4b2e0bc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mesh/notebook_037.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:243ee818af55cec875d8ced8d26574fceab079906561fdb0fe1b5a8bcc04d371
+size 16643220
diff --git a/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mesh/notebook_037.mtl b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mesh/notebook_037.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dcdac67dd1c1c98364ced1ec40cea7f743b10672
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mesh/notebook_037.mtl
@@ -0,0 +1,6 @@
+newmtl notebook_037_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/9a37f9afb4585784a8475d77235e5f4f/mesh/notebook_037.obj b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mesh/notebook_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2b7d23b01b15a03aa6ffa7f87f1473a543e85ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mesh/notebook_037.obj
@@ -0,0 +1,135318 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl notebook_037_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mesh/notebook_037_collision.obj b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mesh/notebook_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff8fb92ee6b52d4de44408cae37f3941c9546b2a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mesh/notebook_037_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mesh/notebook_037_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mesh/notebook_037_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..dcdbe261354088058fd65ce73319033910240470
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13176634
diff --git a/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dcdbe261354088058fd65ce73319033910240470
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 13176634
diff --git a/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037.obj b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision.obj b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..170574388e6f6356ea5dd5ebc3388e786f6f97fe
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision.obj
@@ -0,0 +1,3822 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_0.obj b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8171a3ab9cf30643d5bc48f7a54068fd11c44559
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_1.obj b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..930834035b06705d4f2cde9c2e36f77f43ab0a86
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_2.obj b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cd83d33bbc6465d298cf7460228b2d1ee8673d2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_2.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_3.obj b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f30cd16e8ebf0154fca1b5f9fbcad3c90567cef
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_3.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
+v -0.07035593 -0.05861918 0.01091146
+v -0.07090816 -0.05861918 0.01068654
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+v -0.07035593 0.00403007 -0.01253537
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+
diff --git a/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_4.obj b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddc6b96e95e851645a3b7a4cf924b2119119d6f9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_4.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.00280385 0.06405982 0.01093704
+v 0.00280385 0.06206096 0.01285540
+v 0.00385575 0.06397279 0.01093703
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+
diff --git a/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_5.obj b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8d6a147ab17c5613dd34436cd36f98eaa712574
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_5.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.07035593 0.07592961 -0.00798687
+v -0.07619627 0.07692385 -0.00240188
+v -0.07606930 0.07702748 -0.00416720
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+
diff --git a/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_6.obj b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7c72444324f1e7a19a90e1dea09c158d8368a40
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_6.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v -0.07035593 0.04878438 0.01087158
+v -0.07035593 0.06369893 0.01074805
+v -0.07075806 0.06369893 0.01058327
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+v -0.07035593 0.02790401 0.01063120
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+
diff --git a/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_7.obj b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7282557023f70e77969873fb144038837f7ba198
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_7.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.03693793 0.03831183 0.01093694
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+
diff --git a/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_8.obj b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e1af9bf5836d552aaec1683b440722376745bda
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_8.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.02365072 0.01896323 0.01093687
+v 0.03328211 0.01896323 0.01093687
+v 0.02365072 0.01896322 0.01270416
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diff --git a/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_9.obj b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..694ebde674fb247be39750c50bc506d97927362a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/mesh/notebook_037_collision_9.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/notebook_037.xml b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/notebook_037.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0c5a5360d800ecb6f0e379fcb378a6f717cb7320
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mjcf/notebook_037.xml
@@ -0,0 +1,34 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="notebook_037">
+  <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_037.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/notebook_037_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/notebook_037_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/notebook_037_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/notebook_037_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/notebook_037_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/notebook_037_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/notebook_037_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/notebook_037_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/notebook_037_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/notebook_037_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="notebook_037">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/notebook_037.urdf b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/notebook_037.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2ea5113bc33ea33ec04636dcd9908ba103902a54
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/notebook_037.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="notebook_037">
+   <link name="notebook_037">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/notebook_037.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_037_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>9a37f9afb4585784a8475d77235e5f4f</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>notebook</category>
+         <name>spiral notebook</name>
+         <color>pink,black</color>
+         <shape>cuboid</shape>
+         <material>paper</material>
+         <description>small pink spiral notebook with cat graphic and dotted cover</description>
+         <min_height>0.0310</min_height>
+         <max_height>0.0310</max_height>
+         <real_height>0.0310</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611144640</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.077196 -0.090955 -0.013567</min>
+            <max>0.067804 0.090059 0.017424</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/notebook_037.usd b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/notebook_037.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/notebook_037.usd
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+version https://git-lfs.github.com/spec/v1
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+size 5020245
diff --git a/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/textures/material_0.png b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/textures/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/video.mp4 b/dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/video.mp4
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