diff --git a/.gitattributes b/.gitattributes
index 23fe0edde04da46a4cfcb9725a94c44e7519af08..21e3baa1ba8cf2db110461e0ccfd4ac56945d847 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3279,5 +3279,6 @@ dataset/desktop_supplies/office_stationery/e6592bd269bf5d139437e7ca619b7f96/mesh
 dataset/desktop_supplies/office_stationery/e6592bd269bf5d139437e7ca619b7f96/mesh/marker_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/glue_stick_021.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mesh/glue_stick_021.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/e61ffbb023ce52c78be33d97583c2774/correction_tape_002.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/e61ffbb023ce52c78be33d97583c2774/mesh/correction_tape_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/e8b5d40c3fae5039a359a6aa4a1f9bd8.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mesh/open_notebook.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mesh/open_notebook_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/e8b5d40c3fae5039a359a6aa4a1f9bd8.urdf b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/e8b5d40c3fae5039a359a6aa4a1f9bd8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dd70c81f08c1520841346574b8336a4922d9aaf3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/e8b5d40c3fae5039a359a6aa4a1f9bd8.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="0.6000" />
+         <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>0.210168</scale>
+         <version>v0.1.7</version>
+         <category>open notebook</category>
+         <description>open notebook with blue and red accents, slightly curved pages</description>
+         <min_height>0.02</min_height>
+         <max_height>0.04</max_height>
+         <real_height>0.03</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260120021918</generate_time>
+         <gs_model>mesh/open_notebook_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.104257106781006</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>NO: {"summary":"Pages and covers are inconsistently split; segmentation mixes visible surfaces with no clear functional boundaries.","merge_groups":[]}</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/e8b5d40c3fae5039a359a6aa4a1f9bd8/e8b5d40c3fae5039a359a6aa4a1f9bd8.usd b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/e8b5d40c3fae5039a359a6aa4a1f9bd8.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c1138b375d81e4bb25ca901446dca85a2d78df6c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/e8b5d40c3fae5039a359a6aa4a1f9bd8.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f12d7806603247df2ad4aceffd5c8759e99be678f3359584f60edcad2f33447b
+size 313132
diff --git a/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/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/e8b5d40c3fae5039a359a6aa4a1f9bd8/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e0576b4fe333c18d8e5432171ce410d0f6f1e275
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b881c9c215c10504a7fcaea9ffa820f1ce39b5a43bcd2912d124817943b876d
+size 1381373
diff --git a/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mesh/open_notebook.glb b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mesh/open_notebook.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7161657bf35d4d1c5414fb68a74d6a28434a6390
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mesh/open_notebook.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0160e0d41339e29c17ffcb5605b5b9fe0987e81b89f0bf64bbeb2ad406120b3
+size 1594600
diff --git a/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mesh/open_notebook.obj b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mesh/open_notebook.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1e7439be94bfed13481e5cd6703ede610dc1727
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mesh/open_notebook.obj
@@ -0,0 +1,19426 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v -0.01949490 0.00223579 -0.00130131
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diff --git a/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mesh/open_notebook_collision.obj b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mesh/open_notebook_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12679751770384276858f44e3789b7b97f7062ed
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mesh/open_notebook_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mesh/open_notebook_gs.ply b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mesh/open_notebook_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..14614efdbfaf440c651884343bd3473f986c12c6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mesh/open_notebook_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86f67bb812d50b545e45cc1873abd1b30e1f3cc21b7b93f7ffa043dbc70f2da1
+size 2839785
diff --git a/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mjcf/e8b5d40c3fae5039a359a6aa4a1f9bd8.xml b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mjcf/e8b5d40c3fae5039a359a6aa4a1f9bd8.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6635d7abb7da3efbf961377519c513f7e8360005
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mjcf/e8b5d40c3fae5039a359a6aa4a1f9bd8.xml
@@ -0,0 +1,24 @@
+<?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">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e0576b4fe333c18d8e5432171ce410d0f6f1e275
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+version https://git-lfs.github.com/spec/v1
+oid sha256:4b881c9c215c10504a7fcaea9ffa820f1ce39b5a43bcd2912d124817943b876d
+size 1381373
diff --git a/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mjcf/mesh/open_notebook.obj b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mjcf/mesh/open_notebook.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5413573c5586cd3013f8f145351c21a01945886
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mjcf/mesh/open_notebook.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mjcf/mesh/open_notebook_collision.obj b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mjcf/mesh/open_notebook_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abb03eb566cfaf4f33b36144783621996d0c6575
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mjcf/mesh/open_notebook_collision.obj
@@ -0,0 +1,4321 @@
+# https://github.com/mikedh/trimesh
+
+o open_notebook_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mjcf/mesh/open_notebook_collision_0.obj b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mjcf/mesh/open_notebook_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f02bf0789b34aa6455b067e951f21c870a11889f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mjcf/mesh/open_notebook_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mjcf/mesh/open_notebook_collision_1.obj b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mjcf/mesh/open_notebook_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cd6fb34e2c3117601f129ab2f125b56dc39693d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mjcf/mesh/open_notebook_collision_1.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mjcf/mesh/open_notebook_collision_2.obj b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mjcf/mesh/open_notebook_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f77846c2a8e4619f157bebc4f1dfe361983cd19
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mjcf/mesh/open_notebook_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mjcf/mesh/open_notebook_collision_3.obj b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mjcf/mesh/open_notebook_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f85d9b3b72d01a1f50021f02bc28a828003fd2ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mjcf/mesh/open_notebook_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mjcf/mesh/open_notebook_collision_4.obj b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mjcf/mesh/open_notebook_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c47ec6b2b21995994f594065054961abf67737ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mjcf/mesh/open_notebook_collision_4.obj
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