diff --git a/.gitattributes b/.gitattributes
index 3419b776c5a57ddffad1383cd213d8e37eedc426..9445e187f09a2fb7a2e0d6ea4e6f5c37967e0c70 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3207,5 +3207,6 @@ dataset/desktop_supplies/office_stationery/955680a2de33595880995f90e4c2f6c9/mesh
 dataset/desktop_supplies/office_stationery/9645b5c681155ab8823d6e5f132e7dc6/9645b5c681155ab8823d6e5f132e7dc6.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/95c5382c15585f7db80de38e7e85ba11/glue_stick_022.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/95c5382c15585f7db80de38e7e85ba11/mesh/glue_stick_022.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/984eb5298f275f5b939f2733e1518951/mesh/notebook_017.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/984eb5298f275f5b939f2733e1518951/notebook_017.usd filter=lfs diff=lfs merge=lfs -text
+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
diff --git a/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/9adec9407d6b57e484c8a0bd2bdfa65f.urdf b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/9adec9407d6b57e484c8a0bd2bdfa65f.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..62ff3353b5e78bb03948e3b667f8ff1f022b558c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/9adec9407d6b57e484c8a0bd2bdfa65f.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="open_notebook">
+   <link name="open_notebook">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/open_notebook.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/open_notebook_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</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>0.211823</scale>
+         <version>v0.1.7</version>
+         <category>open notebook</category>
+         <description>partially open notebook with thin pages and a flexible spine</description>
+         <min_height>0.02</min_height>
+         <max_height>0.04</max_height>
+         <real_height>0.03</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.6</max_mass>
+         <generate_time>20260120022232</generate_time>
+         <gs_model>mesh/open_notebook_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: Object appears incomplete or truncated.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.522581100463867</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</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/9adec9407d6b57e484c8a0bd2bdfa65f/9adec9407d6b57e484c8a0bd2bdfa65f.usd b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/9adec9407d6b57e484c8a0bd2bdfa65f.usd
new file mode 100644
index 0000000000000000000000000000000000000000..803775feea298d310f11d8e4bb25754ad3ff66b6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/9adec9407d6b57e484c8a0bd2bdfa65f.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2e404ecadf8f947316ea621940e86bdbf014b7967bed848e1860040b889e84f
+size 404756
diff --git a/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/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/9adec9407d6b57e484c8a0bd2bdfa65f/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7a0fbf86ea389c7788bf3ef1ba2617a67d6f30b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f230b65e74dbe7b810d2ee1cb9320ee081d48802df9ddd0594eb81a972417c8e
+size 1197572
diff --git a/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mesh/open_notebook.glb b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mesh/open_notebook.glb
new file mode 100644
index 0000000000000000000000000000000000000000..afad1ad16fe7a1eaddbd12a30175381939b3fb8b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mesh/open_notebook.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b99e8ab83a0c8857bcd8058a2110bba3045f388e103874e1226477017dae1da
+size 1470916
diff --git a/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mesh/open_notebook.obj b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mesh/open_notebook.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80a4cfd1d0af2305d021bfd1dca38c2d43a92c5d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mesh/open_notebook.obj
@@ -0,0 +1,24918 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v 0.00210853 -0.00797903 -0.06802051
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diff --git a/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mesh/open_notebook_collision.obj b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mesh/open_notebook_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8915d670e6d6c52bde0ebc72f1e663e24fdc9d36
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mesh/open_notebook_gs.ply b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mesh/open_notebook_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..90a2885c344cd018ba7b41fbadd684deaba15fc0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mesh/open_notebook_gs.ply
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diff --git a/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/9adec9407d6b57e484c8a0bd2bdfa65f.xml b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/9adec9407d6b57e484c8a0bd2bdfa65f.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f9d63f7cd3a96174de9c4e064da0c04d0fd2a0f8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/9adec9407d6b57e484c8a0bd2bdfa65f.xml
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+</mujoco>
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diff --git a/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook.obj b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19923c406a28df60e853a422273c0999299ee9ef
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook_collision.obj b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88347d1281c4e8157715f0efde263d309a7ee942
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook_collision.obj
@@ -0,0 +1,4811 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook_collision_0.obj b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4376290b8e208674a408b5d341d6b5fea6bbeaf8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook_collision_1.obj b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..791c094e5ab67ccfb72e14a477a0384025f9da6e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook_collision_2.obj b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cdb1e1a6e91378d49a63ad3c8e3756a9b24633c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook_collision_3.obj b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b77eee942eb2cba3e7732ebf2aba9eb0425a2876
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook_collision_4.obj b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2b367d2048ed410ecb108f6e23e16fdfcbadb3b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook_collision_5.obj b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96edb22373195643af9070ba03af05c3ec6e6545
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook_collision_5.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook_collision_6.obj b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80506a70bb3aac2fdafe464db474366f18b38e8d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook_collision_6.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook_collision_7.obj b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46e21114bed1e34cebc71e7a957b34036201ad96
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mjcf/mesh/open_notebook_collision_7.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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