diff --git a/.gitattributes b/.gitattributes
index fad7adb8395a3466d2c9a7ac5a6563291d8e1a38..f58c5c419141844cbb67b31d6268e6f72478898e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3242,3 +3242,5 @@ dataset/desktop_supplies/office_stationery/c26cbc0bfccb5e6396abfd69125519a6/eras
 dataset/desktop_supplies/office_stationery/c26cbc0bfccb5e6396abfd69125519a6/mesh/eraser_028.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mesh/pen_holder_037.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/pen_holder_037.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mesh/notebook_034.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/notebook_034.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9afb6534d0433693d42adbbbddf5ed429830cfcd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl notebook_034_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_034_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5979cd879d2be6f033d40e725adf50822fc4946c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d96fd386c5a6715d6d902e879f8f80cf2d011adb0f586228ca1bdf4fcbb69cda
+size 11731901
diff --git a/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mesh/notebook_034.glb b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mesh/notebook_034.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9f55eed2cc5e800f2c7c7d89f476d5541a124685
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mesh/notebook_034.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0c1040dbba42b678fe294c6e94c8cb91086732e40d17b2bcf25be1d77ad66a5
+size 14727736
diff --git a/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mesh/notebook_034.mtl b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mesh/notebook_034.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e225e665dc7a3dc6a8b8514a6ba0dae5adc37469
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mesh/notebook_034.mtl
@@ -0,0 +1,6 @@
+newmtl notebook_034_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/c5707e0cfa6a57e7bef46973d4d04f1e/mesh/notebook_034.obj b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mesh/notebook_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b37e535f419d489396fb53cbaeabe7d638cd4c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mesh/notebook_034.obj
@@ -0,0 +1,111318 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl notebook_034_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mesh/notebook_034_collision.obj b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mesh/notebook_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7bd093127b65987c9b70d6bb4fa43b2875f4e84
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mesh/notebook_034_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mesh/notebook_034_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mesh/notebook_034_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..5979cd879d2be6f033d40e725adf50822fc4946c
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/material_0.png
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index 0000000000000000000000000000000000000000..5979cd879d2be6f033d40e725adf50822fc4946c
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+version https://git-lfs.github.com/spec/v1
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+size 11731901
diff --git a/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034.obj b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034.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/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision.obj b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1601895c0f785a87468bdc21faf5fc4737ab4cbe
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision.obj
@@ -0,0 +1,2243 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_0.obj b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7282d4291ecf6fbdbcc76265bc9d7f57a8cb6d9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_0.obj
@@ -0,0 +1,214 @@
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diff --git a/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_1.obj b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e859d7710bca1cc7d68ca6241c8f0019b309ce02
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_1.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_10.obj b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30f68ff36253489e62f444d66b7efc31b017bda0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_10.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+f 17 22 23
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+f 17 24 25
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+f 19 26 34
+f 19 34 47
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+f 19 27 28
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+f 22 32 23
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+f 24 32 33
+f 26 35 36
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+f 30 40 31
+f 31 40 41
+f 31 41 32
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+f 34 46 47
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+f 35 48 49
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+f 36 58 46
+f 37 47 46
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+f 39 46 50
+f 42 51 43
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+f 45 57 56
+f 46 58 50
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+
diff --git a/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_11.obj b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a13869f6b7a000745d3d0dd86d6235f86528d367
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_11.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.07020665 -0.10374505 -0.00031315
+v -0.06994094 -0.10374504 -0.00331308
+v -0.06987788 -0.10769897 -0.00331310
+v -0.07019314 -0.10451424 -0.00031315
+v -0.07006704 -0.04670309 -0.00031294
+v -0.06859883 -0.10374502 -0.00703628
+v -0.06993644 -0.04670308 -0.00174383
+v -0.06979231 -0.04670308 -0.00331287
+v -0.06904470 -0.04670307 -0.00546834
+v -0.06849975 -0.04670306 -0.00703607
+v -0.06984185 -0.10831974 -0.00031317
+v -0.07008055 -0.10769898 -0.00031317
+v -0.06837815 -0.10759774 -0.00736079
+v -0.06820701 -0.11043163 -0.00633780
+v -0.06865288 -0.11088371 -0.00331311
+v -0.02420126 -0.04670309 -0.00031294
+v -0.06756748 -0.10374502 -0.00893502
+v -0.06756298 -0.10621454 -0.00892982
+v -0.06794579 -0.04670306 -0.00811511
+v -0.06754046 -0.04670306 -0.00890354
+v -0.06872944 -0.11096469 -0.00031318
+v -0.06745939 -0.10885275 -0.00881906
+v -0.06484724 -0.11044511 -0.00974433
+v -0.06592363 -0.11109961 -0.00736080
+v -0.06557684 -0.11213197 -0.00331311
+v -0.02420126 -0.04670304 -0.01359240
+v -0.02420126 -0.10760452 -0.00031317
+v -0.06557684 -0.10374501 -0.01045323
+v -0.06640553 -0.04670305 -0.00978710
+v -0.06557684 -0.04670305 -0.01043087
+v -0.06592363 -0.10759773 -0.01003232
+v -0.06557684 -0.11221295 -0.00031318
+v -0.06234318 -0.10769894 -0.01215391
+v -0.05996522 -0.10980410 -0.01270255
+v -0.06142442 -0.11069476 -0.01089504
+v -0.05294394 -0.11562708 -0.00598856
+v -0.05368254 -0.11562709 -0.00331312
+v -0.05382666 -0.04670304 -0.01359891
+v -0.02420126 -0.04836963 -0.01359371
+v -0.04599471 -0.11089722 -0.00031318
+v -0.04990843 -0.11562710 -0.00068850
+v -0.04599471 -0.11562710 -0.00096087
+v -0.04392300 -0.11562710 -0.00134401
+v -0.02420126 -0.11107262 -0.00729043
+v -0.06264943 -0.09979106 -0.01227768
+v -0.06264042 -0.10374500 -0.01227769
+v -0.06389245 -0.04670305 -0.01150600
+v -0.06266745 -0.04670304 -0.01228661
+v -0.06266745 -0.04836963 -0.01228662
+v -0.06266745 -0.05232357 -0.01228532
+v -0.05260616 -0.11562710 -0.00107034
+v -0.04990843 -0.11143701 -0.00031318
+v -0.06038407 -0.10769893 -0.01283157
+v -0.05774038 -0.11000652 -0.01284199
+v -0.04990843 -0.11562707 -0.00687864
+v -0.05774038 -0.10769893 -0.01323555
+v -0.05547502 -0.04670304 -0.01352594
+v -0.05382666 -0.04836963 -0.01360023
+v -0.02420126 -0.10769893 -0.01362521
+v -0.04959317 -0.11141001 -0.00031318
+v -0.04354469 -0.11562709 -0.00331312
+v -0.02420126 -0.11204423 -0.01075951
+v -0.06069031 -0.09583037 -0.01293056
+v -0.06069031 -0.09979106 -0.01292928
+v -0.06068131 -0.10374500 -0.01292407
+v -0.06153251 -0.04670304 -0.01266192
+v -0.05774038 -0.10374500 -0.01341407
+v -0.05382666 -0.10769893 -0.01343234
+v -0.05382666 -0.11015496 -0.01294364
+v -0.02420126 -0.11065427 -0.01313131
+v -0.04599471 -0.11562708 -0.00656066
+v -0.05774038 -0.04670304 -0.01342298
+v -0.05382666 -0.05232357 -0.01360154
+v -0.05774038 -0.04836963 -0.01342430
+v -0.02420126 -0.10940601 -0.01334502
+v -0.05382666 -0.10374500 -0.01359912
+v -0.04366179 -0.11562708 -0.00567058
+v -0.02420126 -0.11145721 -0.01178121
+v -0.05774038 -0.09979106 -0.01341797
+v -0.06070833 -0.05232357 -0.01293301
+v -0.05774038 -0.05232357 -0.01342431
+v -0.06070833 -0.04670304 -0.01293299
+v -0.05899242 -0.04670304 -0.01321708
+f 1 2 3
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+f 1 11 21
+f 1 21 32
+f 1 32 52
+f 1 52 60
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+f 1 40 27
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+f 38 58 57
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+f 40 60 41
+f 41 60 52
+f 43 61 62
+f 43 62 44
+f 45 63 64
+f 45 64 46
+f 45 50 49
+f 45 49 63
+f 46 64 65
+f 46 65 53
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+f 49 66 63
+f 53 65 67
+f 53 67 56
+f 54 56 68
+f 54 68 69
+f 54 69 55
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+f 56 67 68
+f 57 58 73
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+f 57 74 72
+f 58 59 73
+f 59 75 68
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+f 59 76 73
+f 61 77 62
+f 62 77 71
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+f 63 79 64
+f 63 66 80
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+f 64 79 67
+f 64 67 65
+f 66 82 80
+f 67 79 76
+f 67 76 68
+f 68 75 70
+f 68 70 69
+f 70 78 71
+f 72 74 83
+f 73 81 74
+f 73 76 81
+f 74 81 83
+f 76 79 81
+f 80 82 83
+f 80 83 81
+
diff --git a/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_2.obj b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d7fdf62cf922619bb1e750431007ea0837a8fc7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_2.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.02419675 -0.11204398 -0.01075941
+v -0.02419675 -0.11145560 -0.01178055
+v -0.01857337 -0.11258708 -0.01075941
+v -0.02419675 -0.11097724 0.01476903
+v -0.02419675 -0.11065386 -0.01313197
+v -0.01857337 -0.11105473 -0.01319863
+v -0.01465658 -0.11274872 -0.01075941
+v 0.03296595 -0.11160442 0.01558715
+v 0.03296595 -0.11142337 0.01600833
+v 0.03296595 -0.11075096 0.01674767
+v 0.01827240 -0.10983284 0.01723855
+v -0.02419675 -0.10914103 0.01527203
+v -0.02419675 -0.10940601 -0.01334406
+v -0.01465658 -0.11116464 -0.01321075
+v -0.02419675 -0.10769909 -0.01362283
+v -0.01857337 -0.10769909 -0.01369555
+v 0.03296595 -0.11075085 -0.01313500
+v 0.03296595 -0.11098361 -0.01275927
+v 0.03296595 -0.11220562 -0.01075941
+v 0.02679421 -0.10974233 0.01719007
+v 0.02058891 -0.10980698 0.01722946
+v 0.03296595 -0.10877249 0.01707493
+v 0.01827240 -0.10949663 0.01723855
+v -0.02419675 -0.10769920 0.01565988
+v -0.01465658 -0.10769909 -0.01371676
+v 0.03233926 -0.10769909 -0.01362586
+v 0.03296595 -0.10819048 -0.01354708
+v -0.02419675 -0.10597925 -0.01362282
+v -0.02419675 -0.04669630 -0.01359230
+v 0.02679421 -0.10961948 0.01719007
+v 0.02058891 -0.10949663 0.01722946
+v 0.03296595 -0.04669640 0.01329968
+v -0.02419675 -0.04669640 0.01382691
+v 0.02450569 -0.04669630 -0.01359230
+v 0.03296595 -0.04669630 -0.01358624
+v 0.03296595 -0.10769909 -0.01362283
+f 1 2 3
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+f 1 15 13
+f 1 13 5
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+f 26 36 27
+f 26 35 36
+f 29 33 32
+f 29 32 35
+f 29 35 34
+f 30 32 33
+f 30 33 31
+
diff --git a/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_3.obj b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22c292220ea0fe34ceba54550c1c01b9fd556f4d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_3.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.03296595 -0.07056961 -0.01357855
+v 0.04801497 -0.07056961 -0.01357855
+v 0.03296595 -0.07056971 0.01331692
+v 0.03296595 -0.05293982 -0.01358715
+v 0.04018034 -0.04835160 -0.01359003
+v 0.06759339 -0.07056961 -0.01357566
+v 0.06759339 -0.07056972 0.01580714
+v 0.03296595 -0.06750651 0.01331693
+v 0.03296595 -0.04835160 -0.01358714
+v 0.06759339 -0.05626595 -0.01358139
+v 0.03626303 0.04262393 -0.01358680
+v 0.04018034 0.04658110 -0.01358679
+v 0.04409765 0.04262393 -0.01358680
+v 0.06759339 -0.00089182 -0.01358118
+v 0.06999683 -0.07056961 -0.01339077
+v 0.03296595 -0.01670747 0.01331423
+v 0.06866657 -0.07056972 0.01540558
+v 0.07161272 0.06373751 0.01592318
+v 0.03296595 0.06373752 0.01330586
+v 0.03296595 0.06373762 -0.01358384
+v 0.07151070 -0.05230877 -0.01328092
+v 0.04018034 0.06373762 -0.01358384
+v 0.06759339 0.06373762 -0.01357517
+v 0.06759339 0.04262393 -0.01357813
+v 0.07151070 -0.00483585 -0.01328075
+v 0.07151070 -0.07056961 -0.01327233
+v 0.07034367 -0.07056971 0.01474981
+v 0.07226969 0.06373751 0.01559096
+v 0.07369788 -0.04835160 -0.01280136
+v 0.07368971 -0.07056961 -0.01279277
+v 0.07151070 0.06373762 -0.01327184
+v 0.07295930 0.06373762 -0.01295406
+v 0.07368971 0.04658110 -0.01279523
+v 0.07099656 -0.07056971 0.01351914
+v 0.07397535 0.05449534 0.01432849
+v 0.07393862 0.06373752 0.01473296
+v 0.07464864 -0.00483586 -0.01075876
+v 0.07465272 -0.04835161 -0.01075892
+v 0.07427323 -0.07056962 -0.01154478
+v 0.07368971 0.06373762 -0.01279228
+v 0.07202485 -0.07056970 0.01158070
+v 0.07464048 0.06373761 -0.01075851
+v 0.07291849 -0.07056969 0.00785694
+v 0.07442421 -0.07056963 -0.00771123
+v 0.07464048 -0.07056962 -0.01075900
+v 0.07432220 0.06373761 -0.01144029
+f 1 2 6
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+f 18 23 22
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+f 18 20 19
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+f 24 31 25
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+f 27 34 35
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+f 27 36 28
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+f 29 39 30
+f 29 33 40
+f 29 40 37
+f 32 40 33
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+f 35 44 45
+f 35 45 38
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+f 37 40 46
+f 37 46 42
+f 38 45 39
+
diff --git a/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_4.obj b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb5f32fe799214528b4a353e214a892bec8b245e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_4.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.07464235 -0.07056962 -0.01075747
+v 0.07450767 -0.07056963 -0.00888998
+v 0.07466276 -0.09979314 -0.01075758
+v 0.07427502 -0.07056962 -0.01154627
+v 0.07442195 -0.07056963 -0.00771096
+v 0.07443420 -0.09979315 -0.00770828
+v 0.07422604 -0.10374747 -0.00798423
+v 0.07416890 -0.10373927 -0.01091646
+v 0.07362606 -0.10241297 -0.01274214
+v 0.07369544 -0.09979313 -0.01280066
+v 0.07368728 -0.07056961 -0.01279497
+v 0.07291996 -0.07056969 0.00785605
+v 0.07291996 -0.07605908 0.00785603
+v 0.07291587 -0.08001340 0.00785602
+v 0.07290771 -0.08397182 0.00785600
+v 0.07289139 -0.08792614 0.00785599
+v 0.07281792 -0.09979321 0.00785594
+v 0.07381789 -0.10621994 -0.00847481
+v 0.07381789 -0.10621993 -0.00978205
+v 0.07252813 -0.10374753 0.00785593
+v 0.07310770 -0.10504918 -0.01226273
+v 0.07049553 -0.10662109 -0.01292889
+v 0.07168734 -0.10373926 -0.01307104
+v 0.07151183 -0.09979313 -0.01328007
+v 0.07151183 -0.07056961 -0.01327160
+v 0.07202202 -0.07056970 0.01157987
+v 0.07165060 -0.08744313 0.01484930
+v 0.07162611 -0.08792616 0.01484930
+v 0.07089960 -0.10692000 0.00785592
+v 0.06995677 -0.10994503 -0.00852777
+v 0.07153223 -0.10773862 -0.01094993
+v 0.06995677 -0.10994502 -0.00963990
+v 0.07105878 -0.09173312 0.01484928
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diff --git a/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_5.obj b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7681c939425dc723831c22b3a1fb1d92a650ad08
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_5.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_6.obj b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1df890693c50672758467fadf4e4951c3e408363
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_6.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_7.obj b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5896f437191ffd8718e1829ed35222219addc2e7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_7.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.07027054 -0.10374420 0.00041229
+v -0.07020289 -0.10374420 -0.00031184
+v -0.07019387 -0.10451408 -0.00031184
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+v -0.04207876 -0.10996743 0.01738615
+v -0.04520867 -0.10910773 0.01731339
+v -0.04207876 -0.10869071 0.01738615
+v -0.03816411 -0.10863939 0.01737229
+f 1 2 3
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+f 47 66 49
+f 47 67 65
+f 49 66 68
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+
diff --git a/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_8.obj b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..673b6088a71cdbcb2cebd9463a49e582b098ff50
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_8.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.05368513 -0.11562813 -0.00331290
+v -0.05294455 -0.11562812 -0.00598757
+v -0.05361862 -0.11957420 -0.00331292
+v -0.05260603 -0.11957421 -0.00107090
+v -0.05260900 -0.11562814 -0.00107028
+v -0.04990975 -0.11562811 -0.00687711
+v -0.05264971 -0.12352962 -0.00563858
+v -0.05288201 -0.11957419 -0.00575551
+v -0.05316593 -0.12352963 -0.00331293
+v -0.05238465 -0.12352964 -0.00117090
+v -0.04990975 -0.11957421 -0.00068976
+v -0.04990975 -0.11562814 -0.00068732
+v -0.04599440 -0.11562812 -0.00655898
+v -0.04990975 -0.12352962 -0.00608456
+v -0.05223871 -0.12582076 -0.00541256
+v -0.05229530 -0.12587274 -0.00331294
+v -0.05206697 -0.12568045 -0.00133209
+v -0.04990975 -0.12352964 -0.00088610
+v -0.04599440 -0.11957421 -0.00097577
+v -0.04599440 -0.11562814 -0.00096121
+v -0.04365849 -0.11562812 -0.00566884
+v -0.04386696 -0.12226243 -0.00534772
+v -0.04590406 -0.12356081 -0.00563494
+v -0.04714994 -0.12581244 -0.00538954
+v -0.04990975 -0.12597149 -0.00551437
+v -0.04990975 -0.12624698 -0.00331294
+v -0.04990975 -0.12578335 -0.00126604
+v -0.04744379 -0.12570228 -0.00132361
+v -0.04608077 -0.12329055 -0.00119089
+v -0.04393546 -0.11957421 -0.00135631
+v -0.04392156 -0.11562814 -0.00134356
+v -0.04397815 -0.12181232 -0.00139692
+v -0.04354531 -0.11562813 -0.00331290
+v -0.04377960 -0.11957419 -0.00543618
+v -0.04386597 -0.12228115 -0.00331293
+v -0.04501059 -0.12425835 -0.00331294
+v -0.04367934 -0.11957420 -0.00331292
+v -0.04696827 -0.12588209 -0.00331294
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 20
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+f 30 33 31
+f 30 32 33
+f 32 36 35
+f 32 35 37
+f 32 37 33
+f 33 37 34
+
diff --git a/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_9.obj b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cecdb185105d959333fe93729243e83fbcc2287
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/mesh/notebook_034_collision_9.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.05382811 -0.09185970 0.01484967
+v 0.07103190 -0.09185970 0.01484967
+v 0.06759498 -0.09185972 0.01891479
+v 0.06306941 -0.07056971 0.01484975
+v 0.07105982 -0.09173256 0.01484967
+v 0.07106156 -0.09185972 0.01852388
+v 0.06761068 -0.09185972 0.01891598
+v 0.06759498 -0.07056972 0.01580791
+v 0.06519437 -0.07056972 0.01531231
+v 0.07009678 -0.07056971 0.01484975
+v 0.07162682 -0.08792266 0.01484969
+v 0.07105807 -0.09185972 0.01853662
+v 0.07165125 -0.08743914 0.01484969
+v 0.07157623 -0.08792267 0.01530588
+v 0.07129185 -0.08348335 0.01484970
+v 0.06979670 -0.08120534 0.01730582
+v 0.06866793 -0.07056972 0.01540785
+v 0.07079289 -0.08792268 0.01798212
+f 1 2 6
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+f 1 7 3
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+
diff --git a/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/notebook_034.xml b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/notebook_034.xml
new file mode 100644
index 0000000000000000000000000000000000000000..163b05d1be31f94dcb79616fcfd8578eb1d8e703
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/mjcf/notebook_034.xml
@@ -0,0 +1,38 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="notebook_034">
+  <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_034.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/notebook_034_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/notebook_034_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/notebook_034_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/notebook_034_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/notebook_034_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/notebook_034_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/notebook_034_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/notebook_034_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/notebook_034_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/notebook_034_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/notebook_034_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/notebook_034_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="notebook_034">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" 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/c5707e0cfa6a57e7bef46973d4d04f1e/notebook_034.urdf b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/notebook_034.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c55ec92a33c4242737a44327c29b734daf3cfddc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/notebook_034.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="notebook_034">
+   <link name="notebook_034">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/notebook_034.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_034_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</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>1.000000</scale>
+         <uuid>c5707e0cfa6a57e7bef46973d4d04f1e</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>notebook</category>
+         <name>worn notebook</name>
+         <color>beige,brown</color>
+         <shape>cuboid</shape>
+         <material>paper</material>
+         <description>old beige notebook with curled cover and stained pages</description>
+         <min_height>0.0459</min_height>
+         <max_height>0.0459</max_height>
+         <real_height>0.0459</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.6</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611144547</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.069493 -0.125911 -0.012573</min>
+            <max>0.075507 0.112221 0.033295</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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
diff --git a/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/notebook_034.usd b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/notebook_034.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c20d8e62cc01af4d2beaab0167672a02bbadac04
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/notebook_034.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d3706afb30616fea3bdee24e085ff207acdc49df6bede4698bce97e52cdc1d2
+size 4693835
diff --git a/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/textures/material_0.png b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5979cd879d2be6f033d40e725adf50822fc4946c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c5707e0cfa6a57e7bef46973d4d04f1e/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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