diff --git a/.gitattributes b/.gitattributes
index 920362779469a47dbd2dea23cd3db76c93f3d09d..b64e74f62e4a83954f8c5fd4670859c38f888c8a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3117,3 +3117,4 @@ dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/glue
 dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mesh/glue_stick_040.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/eraser_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mesh/eraser_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/36d169bdcc7353c3bffa8295722dc653.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/36d169bdcc7353c3bffa8295722dc653.urdf b/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/36d169bdcc7353c3bffa8295722dc653.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f4ccac1b96d34da24f523d655a2d752ce7a615a5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/36d169bdcc7353c3bffa8295722dc653.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="notebook_4">
+   <link name="notebook_4">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/notebook_4.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/notebook_4_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4500" />
+         <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>0.168874</scale>
+         <version>v0.1.5</version>
+         <category>notebook</category>
+         <description>thin golden notebook with slightly curved edges</description>
+         <min_height>0.015</min_height>
+         <max_height>0.025</max_height>
+         <real_height>0.02</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.6</max_mass>
+         <generate_time>20251014142644</generate_time>
+         <gs_model>mesh/notebook_4_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: Object appears flat and incomplete, lacking recognizable structure or functional geometry.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.713166832923889</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/36d169bdcc7353c3bffa8295722dc653.usd b/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/36d169bdcc7353c3bffa8295722dc653.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ef16b629963e7a31818e492c0249c6a4229994ed
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/36d169bdcc7353c3bffa8295722dc653.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:108c5ad10e234cbc637c23d3c343cd4cfb8933e07abe20a1e6b17719262b56ef
+size 764627
diff --git a/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..455994331ef22bde73dc50ee48bcbc7da58922c6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16fdedd1437b0deffeda2522eb58165277e345cc57f63eeebcfa54836e6df733
+size 823027
diff --git a/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mesh/notebook_4.glb b/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mesh/notebook_4.glb
new file mode 100644
index 0000000000000000000000000000000000000000..80410e59095c1bbdb2e7875f88a51ef145ec2d4d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mesh/notebook_4.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd8988cc794ce517b90a1d3245889d31c8639b7b9441aa351227db196f25b778
+size 1342196
diff --git a/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mesh/notebook_4.obj b/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mesh/notebook_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a3d4e9a0ab0bde9217cef8d4ef895be62322c14
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mesh/notebook_4.obj
@@ -0,0 +1,47452 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mesh/notebook_4_collision.obj b/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mesh/notebook_4_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ea9dd8028f9bc551e15668393a2d4274e129657
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mesh/notebook_4_collision.obj
@@ -0,0 +1,1144 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mesh/notebook_4_gs.ply b/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mesh/notebook_4_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8b63450220961e5cda118802ce6e4e4bb0acb4d9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mesh/notebook_4_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3d1701f435d79ec8275f29001e48faf8605c8fb3b3f5c84c4b8aa5051388892
+size 23964778
diff --git a/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mjcf/36d169bdcc7353c3bffa8295722dc653.xml b/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mjcf/36d169bdcc7353c3bffa8295722dc653.xml
new file mode 100644
index 0000000000000000000000000000000000000000..89e4bdab641a5bd7e259607cae890d5b048d2f91
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mjcf/36d169bdcc7353c3bffa8295722dc653.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="notebook_4">
+  <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_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/notebook_4_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/notebook_4_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="notebook_4">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:16fdedd1437b0deffeda2522eb58165277e345cc57f63eeebcfa54836e6df733
+size 823027
diff --git a/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mjcf/mesh/notebook_4.obj b/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mjcf/mesh/notebook_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd21916c0b2c3429ba6828cbee81d06fef43296f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mjcf/mesh/notebook_4.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mjcf/mesh/notebook_4_collision.obj b/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mjcf/mesh/notebook_4_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4b05c25027e7b7a8fb45c87bef373170c155512
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mjcf/mesh/notebook_4_collision.obj
@@ -0,0 +1,1144 @@
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diff --git a/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mjcf/mesh/notebook_4_collision_0.obj b/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mjcf/mesh/notebook_4_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37c0282f6feb3b57377862b862c64d818342f197
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mjcf/mesh/notebook_4_collision_0.obj
@@ -0,0 +1,571 @@
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diff --git a/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mjcf/mesh/notebook_4_collision_1.obj b/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mjcf/mesh/notebook_4_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0aac0cc7564414a872c4357adee8842839296adf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/mjcf/mesh/notebook_4_collision_1.obj
@@ -0,0 +1,571 @@
+# https://github.com/mikedh/trimesh
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