diff --git a/.gitattributes b/.gitattributes
index 50b7a30b7904288b3097489e994e5da67e85280d..e0f17b06aa59af4ec152b9dcc1a8fafb256d4664 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5339,5 +5339,6 @@ dataset/desktop_supplies/office_stationery/5cb90cfd30bc57b59457b9d7af4d7aa6/mesh
 dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/5d3916ba0ecb5822ad9af922b9e06941.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mesh/sharpener_034.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/sharpener_034.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mesh/sharpener_008.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/sharpener_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/ballpoint_pen_030.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mesh/ballpoint_pen_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/5dd2748b096c59c4b5848998d6916a1b.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/5dd2748b096c59c4b5848998d6916a1b.urdf b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/5dd2748b096c59c4b5848998d6916a1b.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..256d9f6b96d709a737a3e7ff73464234708c0ca0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/5dd2748b096c59c4b5848998d6916a1b.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="notebook_14">
+   <link name="notebook_14">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/notebook_14.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_14_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</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>0.123506</scale>
+         <version>v0.1.5</version>
+         <category>notebook</category>
+         <description>hardcover notebook with brown edges and white pages</description>
+         <min_height>0.018</min_height>
+         <max_height>0.025</max_height>
+         <real_height>0.0215</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20251014151804</generate_time>
+         <gs_model>mesh/notebook_14_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.650992035865784</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</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/5dd2748b096c59c4b5848998d6916a1b/5dd2748b096c59c4b5848998d6916a1b.usd b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/5dd2748b096c59c4b5848998d6916a1b.usd
new file mode 100644
index 0000000000000000000000000000000000000000..fdb2bf772cf080cf836770bde86397f7a84168e8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/5dd2748b096c59c4b5848998d6916a1b.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6a7af74c3fd4e0129eae200a563f45dd7a95ed78f92a467adb09510c118b78d
+size 818428
diff --git a/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/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/5dd2748b096c59c4b5848998d6916a1b/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..777fa817cfc97668ca426d7a65ebbe710a654c5c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95c959fd375a737e271c30395ab927f7a06f4d1dbe966df806ff99a354d1a8a7
+size 839939
diff --git a/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mesh/notebook_14.glb b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mesh/notebook_14.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1332b40468f84a03784a261ada28a70ca08964e5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mesh/notebook_14.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:859e91064f98f479ca6336d41290effdeb3299569e845258fba882bf727e52ec
+size 1380364
diff --git a/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mesh/notebook_14.obj b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mesh/notebook_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..150f7cf455fa4ebfa3887dd4cea4186c395f055d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mesh/notebook_14.obj
@@ -0,0 +1,49242 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mesh/notebook_14_collision.obj b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mesh/notebook_14_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6329411068eb0b1397f1cdb6449cdc0abcce770b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mesh/notebook_14_collision.obj
@@ -0,0 +1,3988 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mesh/notebook_14_gs.ply b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mesh/notebook_14_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..74ea74a0c76aa63b496b575ec62cbd268a3034b6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mesh/notebook_14_gs.ply
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+version https://git-lfs.github.com/spec/v1
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+size 25043562
diff --git a/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mjcf/5dd2748b096c59c4b5848998d6916a1b.xml b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mjcf/5dd2748b096c59c4b5848998d6916a1b.xml
new file mode 100644
index 0000000000000000000000000000000000000000..296a5b7f5f3885780efd6cb01bd728ab305469ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mjcf/5dd2748b096c59c4b5848998d6916a1b.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_1" file="mesh/notebook_14_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/notebook_14_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/notebook_14_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/notebook_14_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 839939
diff --git a/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mjcf/mesh/notebook_14.obj b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mjcf/mesh/notebook_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bb4e7ca0518022e7941874db4a8e976f29890f4
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diff --git a/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mjcf/mesh/notebook_14_collision.obj b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mjcf/mesh/notebook_14_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..888202ada1574756a0583f8ae63048fe15d09cac
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mjcf/mesh/notebook_14_collision.obj
@@ -0,0 +1,3988 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mjcf/mesh/notebook_14_collision_0.obj b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mjcf/mesh/notebook_14_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..582c2e532b51f1e62cb7fc1011dab537a2310d3b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mjcf/mesh/notebook_14_collision_0.obj
@@ -0,0 +1,847 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mjcf/mesh/notebook_14_collision_1.obj b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mjcf/mesh/notebook_14_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b51d6ad17bee4f19c4c0f78cfb3bbd0c36fd3c12
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mjcf/mesh/notebook_14_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mjcf/mesh/notebook_14_collision_2.obj b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mjcf/mesh/notebook_14_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11c1e61ec93e31e420865b3b76ada71fd6a5bf81
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mjcf/mesh/notebook_14_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mjcf/mesh/notebook_14_collision_3.obj b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mjcf/mesh/notebook_14_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a52bffb8ca0af6f8e04b38f899a1138e7222495
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/mjcf/mesh/notebook_14_collision_3.obj
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