diff --git a/.gitattributes b/.gitattributes
index 42047b370e1a44dfcf25f9547ba0c7b65964cedc..66044d834c0081209c588b42942ee293a3d40a93 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3188,5 +3188,4 @@ dataset/desktop_supplies/office_stationery/7c5f32ee66605d9aafb84c7e8ea45686/mesh
 dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/ballpoint_pen_034.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh/ballpoint_pen_034.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/8412916f3ae6508cbd1065fbc9cbcc61/8412916f3ae6508cbd1065fbc9cbcc61.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/817896fd76af5ca4af3c7a0226a8102b/eraser_040.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/817896fd76af5ca4af3c7a0226a8102b/mesh/eraser_040.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/81798c67c3b45f5ebfd9f6751dd072ee.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/81798c67c3b45f5ebfd9f6751dd072ee.urdf b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/81798c67c3b45f5ebfd9f6751dd072ee.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..75d64a63f58373987223de39d0ef45a2db6341f8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/81798c67c3b45f5ebfd9f6751dd072ee.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="notebook_13">
+   <link name="notebook_13">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/notebook_13.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/notebook_13_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4500" />
+         <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>0.167050</scale>
+         <version>v0.1.5</version>
+         <category>notebook</category>
+         <description>compact notebook with brown leather cover and elastic strap</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>0.6</max_mass>
+         <generate_time>20251014151042</generate_time>
+         <gs_model>mesh/notebook_13_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>NO: Geometry appears incomplete with missing sections and irregular edges.</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.559847116470337</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/81798c67c3b45f5ebfd9f6751dd072ee/81798c67c3b45f5ebfd9f6751dd072ee.usd b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/81798c67c3b45f5ebfd9f6751dd072ee.usd
new file mode 100644
index 0000000000000000000000000000000000000000..fc02d5069c07c7c4b854aeb7a1abae83e2c5b0b0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/81798c67c3b45f5ebfd9f6751dd072ee.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36f3e48dde46e77a77a164084d29b1adddfbc49b9f5b6af17c682c9bfb976759
+size 881518
diff --git a/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/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/81798c67c3b45f5ebfd9f6751dd072ee/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd5b8f7c3c2dbdd2e2c7d4d18c057ca47bfcfad7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75c550899224dee8f4ec3a07727f9f51cebe03285d04b5d865d111a931496190
+size 917840
diff --git a/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mesh/notebook_13.glb b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mesh/notebook_13.glb
new file mode 100644
index 0000000000000000000000000000000000000000..66b3c2a4cad0de03b4fd1f11b6aacb708168b08f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mesh/notebook_13.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb9f1ddb764404e7db6c69f5e3b331e7da043aa274b4626bf5131ed0aa1469a3
+size 1513004
diff --git a/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mesh/notebook_13.obj b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mesh/notebook_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..869605722bb7ea161726db9f4cf1d8a3778f76da
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mesh/notebook_13.obj
@@ -0,0 +1,54406 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mesh/notebook_13_collision.obj b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mesh/notebook_13_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db863e9dfa128a0835def457546cdc9aec69d389
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mesh/notebook_13_collision.obj
@@ -0,0 +1,3697 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/81798c67c3b45f5ebfd9f6751dd072ee.xml b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/81798c67c3b45f5ebfd9f6751dd072ee.xml
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+++ b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/mesh/notebook_13.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/mesh/notebook_13_collision.obj b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/mesh/notebook_13_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e084d6fce8f036aad57566c9a7c2f295f667656
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/mesh/notebook_13_collision.obj
@@ -0,0 +1,3697 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/mesh/notebook_13_collision_0.obj b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/mesh/notebook_13_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8167192dda5742b09dfec69d614fdf5ef05d5ff
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/mesh/notebook_13_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/mesh/notebook_13_collision_1.obj b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/mesh/notebook_13_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6b0d111bbbe33cc3c65911a339eadd5a74bd4bb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/mesh/notebook_13_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/mesh/notebook_13_collision_2.obj b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/mesh/notebook_13_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4627d0ad20cf526d39117dafa1a2c06322372b96
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/mesh/notebook_13_collision_2.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/mesh/notebook_13_collision_3.obj b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/mesh/notebook_13_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7021b03db3bed26f0eaedb9ca7bd48b7b119fe0c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/mesh/notebook_13_collision_3.obj
@@ -0,0 +1,475 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/mesh/notebook_13_collision_4.obj b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/mesh/notebook_13_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41dfbace79bf51f153ff59980141b88b4e6c3156
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/mesh/notebook_13_collision_4.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/mesh/notebook_13_collision_5.obj b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/mesh/notebook_13_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..202b8ecdac0d5710987a4826564467d9b7eeb543
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/mesh/notebook_13_collision_5.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/mesh/notebook_13_collision_6.obj b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/mesh/notebook_13_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b461d42e31d5e75063ea9947a79f7df95096e63
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/mesh/notebook_13_collision_6.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/mesh/notebook_13_collision_7.obj b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/mesh/notebook_13_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59326572437c608a0477147d2a1d76013940fc72
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/81798c67c3b45f5ebfd9f6751dd072ee/mjcf/mesh/notebook_13_collision_7.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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