diff --git a/.gitattributes b/.gitattributes
index 93301b695d9a097a160bd5f0d7896f2f3e00d59b..461483bb39b7c74d271df45ba80416ae5be93be7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3230,3 +3230,5 @@ dataset/desktop_supplies/office_stationery/b4b1c7ff57de5e7bbb352458eb655350/mark
 dataset/desktop_supplies/office_stationery/b4b1c7ff57de5e7bbb352458eb655350/mesh/marker_014.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mesh/sharpener_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/sharpener_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mesh/notebook_012.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/notebook_012.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..52030c6d3ef2733e32ea2f31118ef216ce4eb547
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl notebook_012_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_012_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d067bb7355e0e337dbe07c49767aca7543316eb9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c47badbc4a0e5606445f1100465d549d836ded8843403024171e87519a81e83
+size 10828288
diff --git a/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mesh/notebook_012.glb b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mesh/notebook_012.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d185ecee6f9745b912f860dce9eee9c1b4c03180
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mesh/notebook_012.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c35d976a0552efb6407f591b8eda439b490e7b017437e025b348602939974f8
+size 13698884
diff --git a/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mesh/notebook_012.mtl b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mesh/notebook_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b4cfd95158f6c89fec7bc266d65f7fb8916b58e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mesh/notebook_012.mtl
@@ -0,0 +1,6 @@
+newmtl notebook_012_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/b76c4412b24e545daab5f39fe4001ce7/mesh/notebook_012.obj b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mesh/notebook_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a34d70902832506aee92b4087bd3493da38f0eaa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mesh/notebook_012.obj
@@ -0,0 +1,112598 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl notebook_012_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mesh/notebook_012_collision.obj b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mesh/notebook_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a4c7238de14ae354568b8feaf8789b51e88a436
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mesh/notebook_012_collision.obj
@@ -0,0 +1,1164 @@
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diff --git a/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mesh/notebook_012_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mesh/notebook_012_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d067bb7355e0e337dbe07c49767aca7543316eb9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mesh/notebook_012_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c47badbc4a0e5606445f1100465d549d836ded8843403024171e87519a81e83
+size 10828288
diff --git a/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d067bb7355e0e337dbe07c49767aca7543316eb9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c47badbc4a0e5606445f1100465d549d836ded8843403024171e87519a81e83
+size 10828288
diff --git a/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mjcf/mesh/notebook_012.obj b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mjcf/mesh/notebook_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d11f847cc0a2f6515e22273c0fbd18d62b94746
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mjcf/mesh/notebook_012.obj
@@ -0,0 +1,112598 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl notebook_012_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mjcf/mesh/notebook_012_collision.obj b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mjcf/mesh/notebook_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c10235f0d36438707de8c8f57d229adb8c9ffd8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mjcf/mesh/notebook_012_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mjcf/mesh/notebook_012_collision_0.obj b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mjcf/mesh/notebook_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c10235f0d36438707de8c8f57d229adb8c9ffd8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mjcf/mesh/notebook_012_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mjcf/notebook_012.xml b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mjcf/notebook_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..470d3406aaa6248858dbc6fcc0af3bae8ea6b1e5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mjcf/notebook_012.xml
@@ -0,0 +1,16 @@
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+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/notebook_012.urdf b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/notebook_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..53c770dab898996ca522e1b818124703420b8f7b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/notebook_012.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="notebook_012">
+   <link name="notebook_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/notebook_012.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_012_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>b76c4412b24e545daab5f39fe4001ce7</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>notebook</category>
+         <name>spiral notebook</name>
+         <color>pink,blue</color>
+         <shape>cuboid</shape>
+         <material>paper</material>
+         <description>pink pocket notebook with dark bottom band and rounded corners</description>
+         <min_height>0.0175</min_height>
+         <max_height>0.0175</max_height>
+         <real_height>0.0175</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518175958</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.056736 -0.075167 -0.008373</min>
+            <max>0.056647 0.074833 0.009094</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <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/b76c4412b24e545daab5f39fe4001ce7/notebook_012.usd b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/notebook_012.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3b7144ec4c453da57c6b1860f584614b1868475d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/notebook_012.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f01aab05fe9870461c4f59bdf6122f0106858bea7e245cbad6764ea55b90ba71
+size 4626980
diff --git a/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/textures/material_0.png b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d067bb7355e0e337dbe07c49767aca7543316eb9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c47badbc4a0e5606445f1100465d549d836ded8843403024171e87519a81e83
+size 10828288
diff --git a/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/video.mp4 b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f8c37f8cddfa3867abd043dd9fcac0fdad600aa0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e7e8a9c0c76dea1027735f003a9e9ccee5c449dfac3fdd473a3365db949990d
+size 399024