diff --git a/.gitattributes b/.gitattributes
index 0bbee212f435b58d0a1d88befe393502b19df0e4..e777503f176a72c43300b5ca9573dd8923f57cde 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3148,3 +3148,5 @@ dataset/desktop_supplies/office_stationery/5927302548905cb6be3a6ee2591f45c6/mark
 dataset/desktop_supplies/office_stationery/5927302548905cb6be3a6ee2591f45c6/mesh/marker_038.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mesh/pen_holder_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/pen_holder_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mesh/notebook_019.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/notebook_019.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b192d6ded6fac7e639ce572e7a15e4623bebcb6e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl notebook_019_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_019_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..10a65eeb938bf75db45570faecde83160b0fc185
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d99389827f8c4a31700969844949d4b099c80bca4b715f30032254bccd0e900
+size 13296044
diff --git a/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mesh/notebook_019.glb b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mesh/notebook_019.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f9bca9f593a4b91d166ba6b33514acd275a3c5e3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mesh/notebook_019.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec6671eb7ef19a804025d93491e80c44fcb6be930562fe9b02a04b7c1ff0350a
+size 16693372
diff --git a/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mesh/notebook_019.mtl b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mesh/notebook_019.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d0bdf9e8b8fff3bc9b5891c255255c131dfa8a59
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mesh/notebook_019.mtl
@@ -0,0 +1,6 @@
+newmtl notebook_019_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/56fab4b6ded85bde91b5d0076630befe/mesh/notebook_019.obj b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mesh/notebook_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd36c582e5e7e193967829d0292ac2103e300748
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mesh/notebook_019.obj
@@ -0,0 +1,120264 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl notebook_019_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mesh/notebook_019_collision.obj b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mesh/notebook_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..811487dedd8678ae60e41a73e72aafdcd4b44838
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mesh/notebook_019_collision.obj
@@ -0,0 +1,3435 @@
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diff --git a/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mesh/notebook_019_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mesh/notebook_019_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..10a65eeb938bf75db45570faecde83160b0fc185
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mesh/notebook_019_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d99389827f8c4a31700969844949d4b099c80bca4b715f30032254bccd0e900
+size 13296044
diff --git a/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..10a65eeb938bf75db45570faecde83160b0fc185
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d99389827f8c4a31700969844949d4b099c80bca4b715f30032254bccd0e900
+size 13296044
diff --git a/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/notebook_019.obj b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/notebook_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfb6cc2feb8608b2a205d09e0a9a70e2aeed794f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/notebook_019.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl notebook_019_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/notebook_019_collision.obj b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/notebook_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e19a1fb7cc45618f11849625257aa0e8114db5d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/notebook_019_collision.obj
@@ -0,0 +1,3435 @@
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diff --git a/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/notebook_019_collision_0.obj b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/notebook_019_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6a9cda1a0a8fd5b3419f2ab19b332351cedb1e9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/notebook_019_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/notebook_019_collision_1.obj b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/notebook_019_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c21638231113ee12e61c88e1e83404653a19c23
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/notebook_019_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/notebook_019_collision_2.obj b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/notebook_019_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd719bc4856f1ea2529898be69b3dae0de65e7c3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/notebook_019_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/notebook_019_collision_3.obj b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/notebook_019_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..addd5bcfb46807df131bcc752054917cefb0e56f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/notebook_019_collision_3.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/notebook_019_collision_4.obj b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/notebook_019_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78bf8f1c3b19ddd4fe82bbe19f95535956693266
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/notebook_019_collision_4.obj
@@ -0,0 +1,679 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/notebook_019_collision_5.obj b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/notebook_019_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af0fa45e2b264356f3d9f0e4e059d3be1bec8bde
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/notebook_019_collision_5.obj
@@ -0,0 +1,151 @@
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diff --git a/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/notebook_019_collision_6.obj b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/notebook_019_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9fba7968bbf622170c09d50b4d0f10d31a60e1a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/mesh/notebook_019_collision_6.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/notebook_019.xml b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/notebook_019.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f40456fc52a871e3cac367f6b7049e907e7ec49f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mjcf/notebook_019.xml
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="notebook_019">
+  <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_019.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/notebook_019_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/notebook_019_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/notebook_019_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/notebook_019_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/notebook_019_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/notebook_019_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/notebook_019_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="notebook_019">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/notebook_019.urdf b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/notebook_019.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5006180919e82d473be5f89c52a8376b19aae69a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/notebook_019.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="notebook_019">
+   <link name="notebook_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/notebook_019.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_019_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1400" />
+         <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>56fab4b6ded85bde91b5d0076630befe</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>notebook</category>
+         <name>spiral notebook</name>
+         <color>red,silver</color>
+         <shape>cuboid</shape>
+         <material>paper</material>
+         <description>small red spiral notebook with elastic strap and rounded corners</description>
+         <min_height>0.0292</min_height>
+         <max_height>0.0292</max_height>
+         <real_height>0.0292</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518180226</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.060445 -0.074912 -0.015727</min>
+            <max>0.066738 0.075088 0.013423</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/56fab4b6ded85bde91b5d0076630befe/notebook_019.usd b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/notebook_019.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/notebook_019.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bdd5769ad74ec9aceab7cdde52665271e708d855b3144442b003108ea1395ff
+size 4940372
diff --git a/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/textures/material_0.png b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/textures/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
+oid sha256:7d99389827f8c4a31700969844949d4b099c80bca4b715f30032254bccd0e900
+size 13296044
diff --git a/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/video.mp4 b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a6aa9b095feecc40dbba3a9f36bc49f6528bb023
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/video.mp4
@@ -0,0 +1,3 @@
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