diff --git a/.gitattributes b/.gitattributes
index c03d80c3bb95791a9fe129502494bc52c16ccfbf..2cf782894986dde603798a4590cdc556388c1321 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3264,5 +3264,5 @@ dataset/desktop_supplies/office_stationery/d59a58393ab35897b6b52dd120259968/mesh
 dataset/desktop_supplies/office_stationery/d59a58393ab35897b6b52dd120259968/mesh/marker_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/d311bbd5dfa35189bb311ce1de491cde/marker_022.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/d311bbd5dfa35189bb311ce1de491cde/mesh/marker_022.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/glue_stick_027.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mesh/glue_stick_027.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mesh/notebook_028.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/notebook_028.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0da50a5ec7bad397229c6ae3fc86edb42f25a556
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl notebook_028_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_028_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bc7ff841c64a96b54a20f2be927e97fd8f7f181
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e02d9534a8d55a37f4e9d653622a4e43c03cd1fa062380836d2079f20d81b9f
+size 8648959
diff --git a/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mesh/notebook_028.glb b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mesh/notebook_028.glb
new file mode 100644
index 0000000000000000000000000000000000000000..425a8fedfa8fe53c226eefe763296e9cbc0a4ecb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mesh/notebook_028.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81d9405b4d0b60b01ecc1fa322094c9a2dfa2157669905d52b08cd427884885e
+size 11093912
diff --git a/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mesh/notebook_028.mtl b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mesh/notebook_028.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..aa06d8c32fd1cd57f58940642e7752e43b498ecb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mesh/notebook_028.mtl
@@ -0,0 +1,6 @@
+newmtl notebook_028_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/d604a13248ea58cb8219090f8016ed60/mesh/notebook_028.obj b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mesh/notebook_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62995e639917f1339b62ae54874bac1ee3e1b758
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mesh/notebook_028.obj
@@ -0,0 +1,104542 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl notebook_028_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mesh/notebook_028_collision.obj b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mesh/notebook_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..858e5a00bd8e04e98d3382f398ec4572e82b3117
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mesh/notebook_028_collision.obj
@@ -0,0 +1,2277 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mesh/notebook_028_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mesh/notebook_028_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bc7ff841c64a96b54a20f2be927e97fd8f7f181
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mesh/notebook_028_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e02d9534a8d55a37f4e9d653622a4e43c03cd1fa062380836d2079f20d81b9f
+size 8648959
diff --git a/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bc7ff841c64a96b54a20f2be927e97fd8f7f181
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e02d9534a8d55a37f4e9d653622a4e43c03cd1fa062380836d2079f20d81b9f
+size 8648959
diff --git a/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mjcf/mesh/notebook_028.obj b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mjcf/mesh/notebook_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1fa1a7d0dca18e6e94445c55fa9ec91f2e91c35
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mjcf/mesh/notebook_028.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl notebook_028_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mjcf/mesh/notebook_028_collision.obj b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mjcf/mesh/notebook_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7945f84d8593255b2ec230169cf02ffaade13378
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mjcf/mesh/notebook_028_collision.obj
@@ -0,0 +1,2277 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mjcf/mesh/notebook_028_collision_0.obj b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mjcf/mesh/notebook_028_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccfc7d7995c05d594cab8160c15c87b87a21a184
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mjcf/mesh/notebook_028_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mjcf/mesh/notebook_028_collision_1.obj b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mjcf/mesh/notebook_028_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df7877856bf8ab85283a0f7a1f100ef9a611bd5e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mjcf/mesh/notebook_028_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mjcf/mesh/notebook_028_collision_2.obj b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mjcf/mesh/notebook_028_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1bf634dc14b1f981fd4db6bd2ea019d7af06acd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mjcf/mesh/notebook_028_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mjcf/mesh/notebook_028_collision_3.obj b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mjcf/mesh/notebook_028_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..580d4785c155204e99b540c3f6aa90ff19dace2d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mjcf/mesh/notebook_028_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mjcf/notebook_028.xml b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mjcf/notebook_028.xml
new file mode 100644
index 0000000000000000000000000000000000000000..36013e9a0443961c5f840221ba9da56fb71d052c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/mjcf/notebook_028.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="notebook_028">
+  <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_028.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/notebook_028_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/notebook_028_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/notebook_028_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/notebook_028_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="notebook_028">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/notebook_028.urdf b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/notebook_028.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..be109173f887da95915d5c425f4f935e46aff343
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/notebook_028.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="notebook_028">
+   <link name="notebook_028">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/notebook_028.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_028_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>d604a13248ea58cb8219090f8016ed60</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>notebook</category>
+         <name>white notebook</name>
+         <color>white,brown</color>
+         <shape>cuboid</shape>
+         <material>paper</material>
+         <description>white rectangular notebook with rounded spine and marbled stains</description>
+         <min_height>0.0316</min_height>
+         <max_height>0.0316</max_height>
+         <real_height>0.0316</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611144349</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.071689 -0.121232 -0.015787</min>
+            <max>0.073311 0.102056 0.015807</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/notebook_028.usd b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/notebook_028.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/notebook_028.usd
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+version https://git-lfs.github.com/spec/v1
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+size 4357347
diff --git a/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/textures/material_0.png b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/textures/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/video.mp4 b/dataset/desktop_supplies/office_stationery/d604a13248ea58cb8219090f8016ed60/video.mp4
new file mode 100644
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@@ -0,0 +1,3 @@
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