diff --git a/.gitattributes b/.gitattributes
index 27419abbd3e181771db139ae9bb909a71ee3e3a2..3e7591a2f1f7e9de4ec93b8bd45a460db3cc80f4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3223,3 +3223,6 @@ dataset/desktop_supplies/office_stationery/ae68db4ede73506f975ac91bed633e12/mesh
 dataset/desktop_supplies/office_stationery/ae68db4ede73506f975ac91bed633e12/sharpener_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b3837771a46f511eac30e011616b5483/mesh/notebook_023.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b3837771a46f511eac30e011616b5483/notebook_023.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/b3bb48dd95d755d0884989fd25a9947b.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mesh/open_notebook.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mesh/open_notebook_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/b3bb48dd95d755d0884989fd25a9947b.urdf b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/b3bb48dd95d755d0884989fd25a9947b.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8d0d5ecdd16d67a9b798d1d480186a852b8cb1f4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/b3bb48dd95d755d0884989fd25a9947b.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="0.4000" />
+         <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>0.281875</scale>
+         <version>v0.1.7</version>
+         <category>open notebook</category>
+         <description>flat open notebook with visible spine and pages</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>0.5</max_mass>
+         <generate_time>20260120022542</generate_time>
+         <gs_model>mesh/open_notebook_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.589094161987305</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>6</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/b3bb48dd95d755d0884989fd25a9947b/b3bb48dd95d755d0884989fd25a9947b.usd b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/b3bb48dd95d755d0884989fd25a9947b.usd
new file mode 100644
index 0000000000000000000000000000000000000000..39feefe57766db9d37caddf93b86c1602d19cfda
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/b3bb48dd95d755d0884989fd25a9947b.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c78986103de458523cf9673f681d63f7d4edd513eb40912efb4f4680e5ce1ed
+size 325644
diff --git a/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/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/b3bb48dd95d755d0884989fd25a9947b/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc2486682801ac0d670bfaa79a85c102c04473e4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7cba9c3669199f81b11abcc10943fd2c67e797c3d65be4c2d76c19b3a4e96ae
+size 958759
diff --git a/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mesh/open_notebook.glb b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mesh/open_notebook.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c98f32e643827066816b53ede894ecd95a7677bd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mesh/open_notebook.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daec393291e00a719bf2be935d9300f1cc986b676b49a35dc1f1b0f09c046be9
+size 1181396
diff --git a/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mesh/open_notebook.obj b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mesh/open_notebook.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2b6429b0f43c933549905e489b30614323ff547
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mesh/open_notebook.obj
@@ -0,0 +1,20288 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mesh/open_notebook_collision.obj b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mesh/open_notebook_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..810390a73b3d1142c5a2b6ed698f0dccdaf0f3e5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mesh/open_notebook_collision.obj
@@ -0,0 +1,3561 @@
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diff --git a/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mesh/open_notebook_gs.ply b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mesh/open_notebook_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c4362bd726e84a312b8de5a7f1aafd53b0e0b094
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mesh/open_notebook_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db8d1a8571e56d5f427566044ca67d4972c857e748f32411a585382ab0a06944
+size 2315401
diff --git a/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/b3bb48dd95d755d0884989fd25a9947b.xml b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/b3bb48dd95d755d0884989fd25a9947b.xml
new file mode 100644
index 0000000000000000000000000000000000000000..16235c94214aa1eadcf635d9d2eb66480062d3cd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/b3bb48dd95d755d0884989fd25a9947b.xml
@@ -0,0 +1,28 @@
+<?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" />
+    <mesh name="collision_mesh_0_5" file="mesh/open_notebook_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/open_notebook_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="open_notebook">
+      <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" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" 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/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc2486682801ac0d670bfaa79a85c102c04473e4
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+++ b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:b7cba9c3669199f81b11abcc10943fd2c67e797c3d65be4c2d76c19b3a4e96ae
+size 958759
diff --git a/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/open_notebook.obj b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/open_notebook.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24da8e6e8096f0eec6c3b30621c2e6b7fe8b97fe
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/open_notebook.obj
@@ -0,0 +1,20288 @@
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diff --git a/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/open_notebook_collision.obj b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/open_notebook_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f516f9dd7cb4a3898a925d6e83f216f26fd37a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/open_notebook_collision.obj
@@ -0,0 +1,3561 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/open_notebook_collision_0.obj b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/open_notebook_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8b3a5e0e9444dbf562c114702f166979cfd4dd0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/open_notebook_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/open_notebook_collision_1.obj b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/open_notebook_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d10993c4c1f2ba1e787550903fccef94c7b499fb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/open_notebook_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/open_notebook_collision_2.obj b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/open_notebook_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f85792b467c8879c55c180426afcf661f367720e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/open_notebook_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/open_notebook_collision_3.obj b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/open_notebook_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f81a147889ab8170cb10832c08bba686053c189
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/open_notebook_collision_3.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/open_notebook_collision_4.obj b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/open_notebook_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1c2afdfe055ffe92d7d8168d0a0dcb4015472bf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/open_notebook_collision_4.obj
@@ -0,0 +1,655 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/open_notebook_collision_5.obj b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/open_notebook_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76367559c07e4e76b2e3432f7e70022071670e7b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/open_notebook_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/open_notebook_collision_6.obj b/dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mjcf/mesh/open_notebook_collision_6.obj
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index 0000000000000000000000000000000000000000..7fc1daf0f03fb1fe97dabcb40aab81520c066275
--- /dev/null
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