diff --git a/.gitattributes b/.gitattributes
index f4be0fb94ff56ca108428551466dd78ab3d4e7b2..44f1163262b2cd55b3510237ae7938dbd5090b37 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3228,6 +3228,6 @@ dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mesh
 dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mesh/open_notebook_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b4b1c7ff57de5e7bbb352458eb655350/marker_014.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b4b1c7ff57de5e7bbb352458eb655350/mesh/marker_014.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/b3b0e0ccc05052069882bcf58adf7e67/b3b0e0ccc05052069882bcf58adf7e67.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/b3b0e0ccc05052069882bcf58adf7e67/mesh/eraser.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/b3b0e0ccc05052069882bcf58adf7e67/mesh/eraser_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/b7e8a778471458f1a75ca0dec9f4b0a5.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mesh/open_notebook.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mesh/open_notebook_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/b7e8a778471458f1a75ca0dec9f4b0a5.urdf b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/b7e8a778471458f1a75ca0dec9f4b0a5.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..21c0edae237772f779e5e3f7cf414d2ad25f3b3a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/b7e8a778471458f1a75ca0dec9f4b0a5.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="0.3000" />
+         <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>0.166073</scale>
+         <version>v0.1.7</version>
+         <category>open notebook</category>
+         <description>thin, flat notebook with a slightly curved cover and visible pages.</description>
+         <min_height>0.02</min_height>
+         <max_height>0.04</max_height>
+         <real_height>0.03</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260120021213</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>4.259125232696533</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/b7e8a778471458f1a75ca0dec9f4b0a5/b7e8a778471458f1a75ca0dec9f4b0a5.usd b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/b7e8a778471458f1a75ca0dec9f4b0a5.usd
new file mode 100644
index 0000000000000000000000000000000000000000..be816270e84a3748e4fb344983fd5d3986a413bc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/b7e8a778471458f1a75ca0dec9f4b0a5.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b163abdf2144f78ad13eef2050cb31c42c8ee2161f3604d92577afc4dab3d104
+size 461501
diff --git a/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/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/b7e8a778471458f1a75ca0dec9f4b0a5/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d631ff7cc0072f938d772ad2c88ac512e2bab18f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e87d4598a2681756e8983111fdddf2756c1be05821526a38f97650c5800b07a
+size 743007
diff --git a/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mesh/open_notebook.glb b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mesh/open_notebook.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c054212baebd5fbf7a9050d5e7f9499d39d6e053
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mesh/open_notebook.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0adcde491cb4bf5f7563cfa98716268d6d7840a48820061183a3d686a4f0947
+size 1059436
diff --git a/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mesh/open_notebook.obj b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mesh/open_notebook.obj
new file mode 100644
index 0000000000000000000000000000000000000000..611c019cf402a027784b93ef53004b3384e25b38
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mesh/open_notebook.obj
@@ -0,0 +1,28953 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mesh/open_notebook_collision.obj b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mesh/open_notebook_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d59e46cec5b5b70782030b634cf89d5052e59ce0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mesh/open_notebook_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mesh/open_notebook_gs.ply b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mesh/open_notebook_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d532ff7d7c3bea5034beaabe79e733a71eb6c76e
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
+oid sha256:988885a294c52572d5271abe773c966a171f4670864d3268f74c03112e8901fc
+size 2416201
diff --git a/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mjcf/b7e8a778471458f1a75ca0dec9f4b0a5.xml b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mjcf/b7e8a778471458f1a75ca0dec9f4b0a5.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6635d7abb7da3efbf961377519c513f7e8360005
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mjcf/b7e8a778471458f1a75ca0dec9f4b0a5.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="open_notebook">
+  <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/open_notebook.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/open_notebook_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/open_notebook_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/open_notebook_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/open_notebook_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/open_notebook_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="open_notebook">
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 743007
diff --git a/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mjcf/mesh/open_notebook.obj b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mjcf/mesh/open_notebook.obj
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index 0000000000000000000000000000000000000000..bb7855ea362e2d2f7997390feca8f9078d173f91
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diff --git a/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mjcf/mesh/open_notebook_collision.obj b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mjcf/mesh/open_notebook_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b41e56d5ffead2ba8fe5a7a9d262373a1d0d00f5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mjcf/mesh/open_notebook_collision.obj
@@ -0,0 +1,3280 @@
+# https://github.com/mikedh/trimesh
+
+o open_notebook_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mjcf/mesh/open_notebook_collision_0.obj b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mjcf/mesh/open_notebook_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f28c1e54b7f4d5583d46298b97a403925799d3ed
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mjcf/mesh/open_notebook_collision_0.obj
@@ -0,0 +1,520 @@
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diff --git a/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mjcf/mesh/open_notebook_collision_1.obj b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mjcf/mesh/open_notebook_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a345c729cbdfc63120023554e17f455ac5fc480
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mjcf/mesh/open_notebook_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mjcf/mesh/open_notebook_collision_2.obj b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mjcf/mesh/open_notebook_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8a52fbd408b45becf18408197e9a3294f7a1e41
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mjcf/mesh/open_notebook_collision_2.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mjcf/mesh/open_notebook_collision_3.obj b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mjcf/mesh/open_notebook_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89f0c44c83d808684a7f7dff295441c7cdb101d1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mjcf/mesh/open_notebook_collision_3.obj
@@ -0,0 +1,499 @@
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diff --git a/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mjcf/mesh/open_notebook_collision_4.obj b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/mjcf/mesh/open_notebook_collision_4.obj
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index 0000000000000000000000000000000000000000..bf938189097d658746783483b5758088be677330
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/textures/material_0.png b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/textures/material_0.png
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/textures/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/video.mp4 b/dataset/desktop_supplies/office_stationery/b7e8a778471458f1a75ca0dec9f4b0a5/video.mp4
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