diff --git a/.gitattributes b/.gitattributes
index 21e3baa1ba8cf2db110461e0ccfd4ac56945d847..9019abb583c1bb79eb9f3d8cde8d3f83688c5263 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3282,3 +3282,5 @@ dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mesh
 dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/e8b5d40c3fae5039a359a6aa4a1f9bd8.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mesh/open_notebook.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mesh/open_notebook_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mesh/notebook_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/notebook_013.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a5bf6f77592b831efb0b0aac6cc1c7e4c91fa646
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl notebook_013_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_013_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..67baca2b4b07bb512f7cc623b254545626d8620d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:381ab771997935a615fcd28b7f1753744b6208e938baed1984ff9c61f0edcf27
+size 9245074
diff --git a/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mesh/notebook_013.glb b/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mesh/notebook_013.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f05e2cd9ae6287dbb69aeb497cedf3e8c20b9829
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mesh/notebook_013.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a02d863d5afe2b72044bfb59a73d0435d072727c9e14b3471c467a591469203
+size 12352428
diff --git a/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mesh/notebook_013.mtl b/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mesh/notebook_013.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2188bdbf6ac736b0504df45a258b83645e3c64c3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mesh/notebook_013.mtl
@@ -0,0 +1,6 @@
+newmtl notebook_013_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/ebd974558dd4545fa08590cad7148bed/mesh/notebook_013.obj b/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mesh/notebook_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aefac16f72c67081806982bca02d640928846c18
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mesh/notebook_013.obj
@@ -0,0 +1,111028 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl notebook_013_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mesh/notebook_013_collision.obj b/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mesh/notebook_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f511c31c85d9904df3da0a71999ed957dcdcee26
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mesh/notebook_013_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mesh/notebook_013_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mesh/notebook_013_geometry_Looks_material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mesh/notebook_013_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:381ab771997935a615fcd28b7f1753744b6208e938baed1984ff9c61f0edcf27
+size 9245074
diff --git a/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..67baca2b4b07bb512f7cc623b254545626d8620d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:381ab771997935a615fcd28b7f1753744b6208e938baed1984ff9c61f0edcf27
+size 9245074
diff --git a/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mjcf/mesh/notebook_013.obj b/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mjcf/mesh/notebook_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f8fb47e1da5f07961b8918a70b45aa2971b12ac
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mjcf/mesh/notebook_013.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl notebook_013_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mjcf/mesh/notebook_013_collision.obj b/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mjcf/mesh/notebook_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae5c568be7be7c234062b1840d429a863f16f154
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mjcf/mesh/notebook_013_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mjcf/mesh/notebook_013_collision_0.obj b/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mjcf/mesh/notebook_013_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae5c568be7be7c234062b1840d429a863f16f154
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mjcf/mesh/notebook_013_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mjcf/notebook_013.xml b/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mjcf/notebook_013.xml
new file mode 100644
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--- /dev/null
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+    <mesh name="collision_mesh_0_0" file="mesh/notebook_013_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
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diff --git a/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/notebook_013.urdf b/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/notebook_013.urdf
new file mode 100644
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--- /dev/null
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="notebook_013">
+   <link name="notebook_013">
+      <visual>
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+         <geometry>
+            <mesh filename="mesh/notebook_013.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_013_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
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+            <mu2>0.50</mu2>
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+      </collision>
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+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
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+         <uuid>ebd974558dd4545fa08590cad7148bed</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>notebook</category>
+         <name>a4 notebook</name>
+         <color>gray,blue</color>
+         <shape>cuboid</shape>
+         <material>paper</material>
+         <description>gray a4 notebook with blue title band</description>
+         <min_height>0.0164</min_height>
+         <max_height>0.0164</max_height>
+         <real_height>0.0164</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518180013</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
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+            <max>0.052893 0.075160 0.008216</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
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+         <part_count>9</part_count>
+         <visual_seg>
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+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
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+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
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diff --git a/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/notebook_013.usd b/dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/notebook_013.usd
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