diff --git a/.gitattributes b/.gitattributes
index 7a68adefe331fefc4139ffad647f35a200a63e12..b25772f1e7e19ac569f19ba65f2931a5130937ab 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3113,3 +3113,4 @@ dataset/desktop_supplies/office_stationery/2a5731d4364350baba31a9de2410f8ee/mark
 dataset/desktop_supplies/office_stationery/2a5731d4364350baba31a9de2410f8ee/mesh/marker_034.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/2da7165c96f654c4b2960ee9d0e8bd5f/correction_tape_035.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/2da7165c96f654c4b2960ee9d0e8bd5f/mesh/correction_tape_035.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/341264b179e254438bfb333ca422e2c0.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/341264b179e254438bfb333ca422e2c0.urdf b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/341264b179e254438bfb333ca422e2c0.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a12ddb1ddeea4e793f35a34d27bccc191ae5eeaf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/341264b179e254438bfb333ca422e2c0.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="notebook_8">
+   <link name="notebook_8">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/notebook_8.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_8_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>0.179235</scale>
+         <version>v0.1.5</version>
+         <category>notebook</category>
+         <description>leather-bound notebook with strap and visible pages</description>
+         <min_height>0.03</min_height>
+         <max_height>0.05</max_height>
+         <real_height>0.04</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20251014144342</generate_time>
+         <gs_model>mesh/notebook_8_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.03623902797699</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/341264b179e254438bfb333ca422e2c0.usd b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/341264b179e254438bfb333ca422e2c0.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a697f661717f94b80db9e70940f06f8f4f8b79d6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/341264b179e254438bfb333ca422e2c0.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a939d03ccc81c8ae4738b4f75df06a9ab44ccb310249daede8dd3c47f6e17ae1
+size 895850
diff --git a/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/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/341264b179e254438bfb333ca422e2c0/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3fac4bc316721423dec2b938c64a1642fec45ccf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18ea684f5c9416d1e261c51d0ad3a7883afdd804ad1d0e88eee63b8b47bc078e
+size 1443133
diff --git a/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mesh/notebook_8.glb b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mesh/notebook_8.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cec71709a84ab126bf267e6eafa92c8a185ec4e7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mesh/notebook_8.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:740c7de4d4eeb0f80b08dcdffb8bfd28d93b31dc5959fec89868557f0f3085aa
+size 2059552
diff --git a/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mesh/notebook_8.obj b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mesh/notebook_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a87aee1ca9ae6044996b2a999f1e65cdda8c2ed
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mesh/notebook_8.obj
@@ -0,0 +1,56476 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mesh/notebook_8_collision.obj b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mesh/notebook_8_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0e0ff651bcd1cbdf3fee439a328023910071cc8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mesh/notebook_8_collision.obj
@@ -0,0 +1,4704 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mesh/notebook_8_gs.ply b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mesh/notebook_8_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..959c7838b679b7f8790549ad7d5cafa04a982b4a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mesh/notebook_8_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16ce7276f8d0bd7dd502fc3c6b1ebf221e8d4f2ab143773a7bb27154a0b6ef8d
+size 29659754
diff --git a/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/341264b179e254438bfb333ca422e2c0.xml b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/341264b179e254438bfb333ca422e2c0.xml
new file mode 100644
index 0000000000000000000000000000000000000000..10f1e2673c710582bbb35ffaa89583eb29e14727
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/341264b179e254438bfb333ca422e2c0.xml
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="notebook_8">
+  <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_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/notebook_8_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/notebook_8_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/notebook_8_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/notebook_8_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/notebook_8_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/notebook_8_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/notebook_8_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="notebook_8">
+      <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/341264b179e254438bfb333ca422e2c0/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3fac4bc316721423dec2b938c64a1642fec45ccf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:18ea684f5c9416d1e261c51d0ad3a7883afdd804ad1d0e88eee63b8b47bc078e
+size 1443133
diff --git a/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/mesh/notebook_8.obj b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/mesh/notebook_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a7a067ee1f2ba7230f664deab2c8e924169b61d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/mesh/notebook_8.obj
@@ -0,0 +1,56476 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/mesh/notebook_8_collision.obj b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/mesh/notebook_8_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10f197a3f3ba29f1b8d526cabd78e4f693c76e7a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/mesh/notebook_8_collision.obj
@@ -0,0 +1,4704 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/mesh/notebook_8_collision_0.obj b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/mesh/notebook_8_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2447cfd422e1d22bdf8cca019036e2fdf47e69ba
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/mesh/notebook_8_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/mesh/notebook_8_collision_1.obj b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/mesh/notebook_8_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..041764cb146a042aca63147b7f53f3131b385288
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/mesh/notebook_8_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/mesh/notebook_8_collision_2.obj b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/mesh/notebook_8_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62bc05d514a74e4d74b0ac0c6752fbee0497b14c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/mesh/notebook_8_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/mesh/notebook_8_collision_3.obj b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/mesh/notebook_8_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abd6119ab86d6a01bdcee03927319f8b99b284be
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/mesh/notebook_8_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/mesh/notebook_8_collision_4.obj b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/mesh/notebook_8_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a3cdd8cdf66db60c35902499817ab36d8382e51
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/mesh/notebook_8_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/mesh/notebook_8_collision_5.obj b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/mesh/notebook_8_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eec38331a33cd6b35cb1e2a4164e347f338f36da
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/mesh/notebook_8_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/mesh/notebook_8_collision_6.obj b/dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/mjcf/mesh/notebook_8_collision_6.obj
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