diff --git a/.gitattributes b/.gitattributes
index 6eac6ec8fd66f7308677cae5da0e8e77359bd458..e3ed8c7c88b43486f677dd480e6feb1613800e0c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3230,5 +3230,5 @@ dataset/desktop_supplies/office_stationery/b4b1c7ff57de5e7bbb352458eb655350/mark
 dataset/desktop_supplies/office_stationery/b4b1c7ff57de5e7bbb352458eb655350/mesh/marker_014.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mesh/sharpener_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/sharpener_015.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/b7c6b4d474cc526ea539663ea18dc106/marker_023.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/b7c6b4d474cc526ea539663ea18dc106/mesh/marker_023.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mesh/notebook_021.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/notebook_021.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9c731fdccb12cad772c66b8c14891c250a7c5ce2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl notebook_021_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_021_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..368b8fc80079df1b2e7fa14f39a1971bdb317f26
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd81557146c28c61af0cc32b7e1ad77ae4190bab4543734f971d04622b54974a
+size 11485341
diff --git a/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mesh/notebook_021.glb b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mesh/notebook_021.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5c92c1af8187558bd3cf62d8b042636a2f0313ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mesh/notebook_021.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2d557fa055739c0f7732fd4b5514283871af88a0d187ce771ba7af85c91f656
+size 14613440
diff --git a/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mesh/notebook_021.mtl b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mesh/notebook_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c80b0771a040115ced3c41447676495ab125e3e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mesh/notebook_021.mtl
@@ -0,0 +1,6 @@
+newmtl notebook_021_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/b614f3f35a285e11a99a92e396ff8f82/mesh/notebook_021.obj b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mesh/notebook_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af80071fabb7c3a5e78268db6c0eaae4b620c70e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mesh/notebook_021.obj
@@ -0,0 +1,106986 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl notebook_021_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mesh/notebook_021_collision.obj b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mesh/notebook_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a791022795a2be1f3cfd4ea9c12f270cd43a65b8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mesh/notebook_021_collision.obj
@@ -0,0 +1,2537 @@
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diff --git a/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mesh/notebook_021_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mesh/notebook_021_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..368b8fc80079df1b2e7fa14f39a1971bdb317f26
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mesh/notebook_021_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd81557146c28c61af0cc32b7e1ad77ae4190bab4543734f971d04622b54974a
+size 11485341
diff --git a/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..368b8fc80079df1b2e7fa14f39a1971bdb317f26
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd81557146c28c61af0cc32b7e1ad77ae4190bab4543734f971d04622b54974a
+size 11485341
diff --git a/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mjcf/mesh/notebook_021.obj b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mjcf/mesh/notebook_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bec47f3893f47a8f8780d4573101812eb01b9bcc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mjcf/mesh/notebook_021.obj
@@ -0,0 +1,106986 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl notebook_021_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mjcf/mesh/notebook_021_collision.obj b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mjcf/mesh/notebook_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..583d61eeee4caefbe8c1f0ef2f4c8c44e8eeed5a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mjcf/mesh/notebook_021_collision.obj
@@ -0,0 +1,2537 @@
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diff --git a/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mjcf/mesh/notebook_021_collision_0.obj b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mjcf/mesh/notebook_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1874e036815d5bcabf0ef355d3fdf796d4340895
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mjcf/mesh/notebook_021_collision_0.obj
@@ -0,0 +1,1405 @@
+# https://github.com/mikedh/trimesh
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+v 0.04119130 -0.10913148 0.00815572
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+v 0.05207344 -0.11023632 -0.00805392
+v 0.05207344 -0.11069129 -0.00481149
+v 0.05207344 -0.11077796 -0.00156905
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diff --git a/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mjcf/mesh/notebook_021_collision_1.obj b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mjcf/mesh/notebook_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eca7011a1d3e8c8702685296c5ce3f3204b85199
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mjcf/mesh/notebook_021_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mjcf/mesh/notebook_021_collision_2.obj b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mjcf/mesh/notebook_021_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aba59946dde4c8ee6ae84e52dba402faa8da43ab
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mjcf/mesh/notebook_021_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mjcf/notebook_021.xml b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mjcf/notebook_021.xml
new file mode 100644
index 0000000000000000000000000000000000000000..93279bfead18c6e27bb6b43facc727511a2782f3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mjcf/notebook_021.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="notebook_021">
+  <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_021.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/notebook_021_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/notebook_021_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/notebook_021_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="notebook_021">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/notebook_021.urdf b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/notebook_021.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..aa71a2f2bcd82bc90bdec3c23c9bad6018657bd0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/notebook_021.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="notebook_021">
+   <link name="notebook_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/notebook_021.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_021_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>b614f3f35a285e11a99a92e396ff8f82</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>notebook</category>
+         <name>brown notebook</name>
+         <color>brown</color>
+         <shape>cuboid</shape>
+         <material>paper</material>
+         <description>slim brown notebook with rounded corners and elastic strap</description>
+         <min_height>0.0261</min_height>
+         <max_height>0.0261</max_height>
+         <real_height>0.0261</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611144129</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.072558 -0.110202 -0.012980</min>
+            <max>0.072442 0.110023 0.013096</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/notebook_021.usd b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/notebook_021.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/notebook_021.usd
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+version https://git-lfs.github.com/spec/v1
+oid sha256:dfae6e282cffa71d711d51550666bc4af911edd8405a0de527bb5ba8eea8ad58
+size 4781537
diff --git a/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/textures/material_0.png b/dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/textures/material_0.png
new file mode 100644
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