diff --git a/.gitattributes b/.gitattributes
index 8283caf24d7a17cb45f2a97fad8644362dfc5853..fa5d64be1c0aa656e149efdfc2a880152f15206a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3272,3 +3272,6 @@ dataset/desktop_supplies/office_stationery/d8380724ed0c5739921064fd501cbae8/mesh
dataset/desktop_supplies/office_stationery/d8380724ed0c5739921064fd501cbae8/sharpener_007.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/daa00b2d2fa6593d9a00989d9a43a2a7/mesh/stapler_034.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/daa00b2d2fa6593d9a00989d9a43a2a7/stapler_034.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/e10016f581985309bd6b12e417f972bb.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mesh/open_notebook.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mesh/open_notebook_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/e10016f581985309bd6b12e417f972bb.urdf b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/e10016f581985309bd6b12e417f972bb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8b18778f71eb68391257c75ea9c4b6c9614a3d0b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/e10016f581985309bd6b12e417f972bb.urdf
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+ mesh/open_notebook_gs.ply
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+ YES
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+ affordance/affordance_annot.json
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diff --git a/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/e10016f581985309bd6b12e417f972bb.usd b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/e10016f581985309bd6b12e417f972bb.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8739d9410fa6fd39d514d8e82d614aa04fe9cd30
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/e10016f581985309bd6b12e417f972bb.usd
@@ -0,0 +1,3 @@
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+size 1002767
diff --git a/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
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+newmtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mesh/material_0.png
new file mode 100644
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--- /dev/null
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diff --git a/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mesh/open_notebook.glb b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mesh/open_notebook.glb
new file mode 100644
index 0000000000000000000000000000000000000000..26a5638dabb136555674ac8b75c2f44725774cb1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mesh/open_notebook.glb
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mesh/open_notebook.obj b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mesh/open_notebook.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aa70bc96506e650a977a0d39bddc7da3d4851fc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mesh/open_notebook.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+
+o open_notebook.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mesh/open_notebook_collision.obj b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mesh/open_notebook_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d448f2485d0dcd2a34c6ee4999f2240949f0b350
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mesh/open_notebook_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision.obj b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90a65da73398e45ca7945ebb75294556d6f7abd5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision.obj
@@ -0,0 +1,4875 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_0.obj b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98e3cc08db5a7f8898a09d33c1a8eeb86d1d2ffb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_1.obj b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b87ff6b0e8825b2f40ba410b025e5b456d7f7cb8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_1.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_10.obj b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e1e26768e117538282667d17890e0f1d08cddbf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_10.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_11.obj b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f395aedadedb57b17eb3ae9ee7cff671390fb3f6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_11.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_12.obj b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0136c74a3eff7c86fc5964e244652def03be76b6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_12.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_13.obj b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..164daa2776c85890ed13664ba2416f3767fecfe4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_13.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.11600403 -0.10216909 -0.01250162
+v -0.11429896 -0.10527363 -0.01280813
+v -0.11429896 -0.10657297 -0.01302825
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diff --git a/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_14.obj b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd574aa21704d793d427f5c43da20c7418eef1f8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_14.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_15.obj b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0055969a76532ccbaf0d6f3accd72be5cdd803e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_15.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_16.obj b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b22487869fc650dab211f8eda559fb99f6c3cbb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_16.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.11586043 0.08333390 -0.01360885
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diff --git a/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_17.obj b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eae04b0bbfbbf195b078194bb485ffe9a186f90f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_17.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_18.obj b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a24b0c378d037bcb17f4bcf07784eeba460f5925
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_18.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_2.obj b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2806e5c4f640653086f1f8aa854c86a9ef2ab0da
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_2.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_3.obj b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fa742dc60c22bbb8042840de3e2ba0ba5c9dee3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_3.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_4.obj b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..116430b52b5b41d9575904ff7de7041541fce425
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_4.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_5.obj b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16ad61e436b1f7e1216a677b685277c2adc4f5a1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_5.obj
@@ -0,0 +1,238 @@
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diff --git a/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_6.obj b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24477aa504e08a4b382f7a5a5a6a717d9d5996c2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_6.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_7.obj b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e411b4e3c4d99f0a95dfaded8e63386b5f882e98
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_7.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_8.obj b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..486092369a261d4cdee4978df45e21f8c68b896b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_8.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_9.obj b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cefbc644157999b80f41005098f08cb1224641d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mjcf/mesh/open_notebook_collision_9.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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