diff --git a/.gitattributes b/.gitattributes
index b78e6d591ecac6fa703d69b55755665696b34ed0..c34765be672459adf62d4aefc732b617fe94d188 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3083,5 +3083,5 @@ dataset/desktop_supplies/office_stationery/14c4811adf3c5990a993c8492c5f9734/mesh
 dataset/desktop_supplies/office_stationery/14c4811adf3c5990a993c8492c5f9734/mesh/eraser_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mesh/sharpener_040.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/sharpener_040.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/1523c83b6ffc5841a02464937a7edde5/eraser_036.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/1523c83b6ffc5841a02464937a7edde5/mesh/eraser_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mesh/notebook_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/notebook_009.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a48b96d9650744ac3eeb94c9bc7912ac0da8bc50
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl notebook_009_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_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e90dcaacddb52e0cb13e299b6e2db178c687439
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36a7ba0d297527a6aecd9cd74e5d960539a1b42ac3b02a2a3ff9c34b53bbc926
+size 14846153
diff --git a/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mesh/notebook_009.glb b/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mesh/notebook_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3e7840ec30b277e789a0140182d7e8a202579f54
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mesh/notebook_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:448297c421694ae09faf0d15a00834a70164b99450673aea357e7ec7671ccbb0
+size 17726168
diff --git a/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mesh/notebook_009.mtl b/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mesh/notebook_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dbea0dc9748cc33c612acb8a0959d2cc0d9d5240
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mesh/notebook_009.mtl
@@ -0,0 +1,6 @@
+newmtl notebook_009_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/14d741c259d15af3a7087d9bccf64d89/mesh/notebook_009.obj b/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mesh/notebook_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d05ef7f1e69c46614111879534467e9189a82cb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mesh/notebook_009.obj
@@ -0,0 +1,111658 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl notebook_009_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mesh/notebook_009_collision.obj b/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mesh/notebook_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f001d7dc3a7f06b3c0106db82bd602e04027c61
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mesh/notebook_009_collision.obj
@@ -0,0 +1,1378 @@
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diff --git a/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mesh/notebook_009_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mesh/notebook_009_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e90dcaacddb52e0cb13e299b6e2db178c687439
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mesh/notebook_009_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36a7ba0d297527a6aecd9cd74e5d960539a1b42ac3b02a2a3ff9c34b53bbc926
+size 14846153
diff --git a/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e90dcaacddb52e0cb13e299b6e2db178c687439
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36a7ba0d297527a6aecd9cd74e5d960539a1b42ac3b02a2a3ff9c34b53bbc926
+size 14846153
diff --git a/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mjcf/mesh/notebook_009.obj b/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mjcf/mesh/notebook_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0bd40a95728a95c30fd24b6295783aff304f761
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mjcf/mesh/notebook_009.obj
@@ -0,0 +1,111658 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl notebook_009_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mjcf/mesh/notebook_009_collision.obj b/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mjcf/mesh/notebook_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12486a31abc8e5cebd38e1b42d6ba592b89dc046
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mjcf/mesh/notebook_009_collision.obj
@@ -0,0 +1,1378 @@
+# https://github.com/mikedh/trimesh
+
+o notebook_009_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mjcf/mesh/notebook_009_collision_0.obj b/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mjcf/mesh/notebook_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..037d5d0ceece32621102d878ec9f8bdb2809fba4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mjcf/mesh/notebook_009_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mjcf/mesh/notebook_009_collision_1.obj b/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mjcf/mesh/notebook_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7e684abff9af0b7deae06821720fd69106892e4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mjcf/mesh/notebook_009_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mjcf/notebook_009.xml b/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mjcf/notebook_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8eb6ddee2f2e86a783af4e93c085d92b127692be
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/mjcf/notebook_009.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="notebook_009">
+  <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_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/notebook_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/notebook_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="notebook_009">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/notebook_009.urdf b/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/notebook_009.urdf
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/14d741c259d15af3a7087d9bccf64d89/notebook_009.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="notebook_009">
+   <link name="notebook_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/notebook_009.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_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4500" />
+         <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>1.000000</scale>
+         <uuid>14d741c259d15af3a7087d9bccf64d89</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>notebook</category>
+         <name>stitched notebook</name>
+         <color>gray,blue</color>
+         <shape>flat</shape>
+         <material>paper</material>
+         <description>rectangular notebook with stitched binding and textured cover</description>
+         <min_height>0.0222</min_height>
+         <max_height>0.0222</max_height>
+         <real_height>0.0222</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.6</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427233411</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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
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