diff --git a/.gitattributes b/.gitattributes
index fdc84e7283ea58b1452aedf6656e1990c7c6eeb8..bdfb8f071086cd04e8669fc450614f0d9b543edd 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5371,3 +5371,5 @@ dataset/desktop_supplies/office_stationery/6ba1169f75f552409d6159398a4c08f9/mark
 dataset/desktop_supplies/office_stationery/6ba1169f75f552409d6159398a4c08f9/mesh/marker_037.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/6c71ad6e3eaa5d32bd23c4ad0b5de742/mesh/notebook_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/6c71ad6e3eaa5d32bd23c4ad0b5de742/notebook_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mesh/notebook_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/notebook_010.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9777b3fdb4b11298a3fb917dae24a7b4123239f1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl notebook_010_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_010_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..727828823cc0f661086c0bc1ecd423396974ffb5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d165b3df3834631297e7fd91991dc3921c1b290d018a509ba72a9540e6d18d61
+size 10161409
diff --git a/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mesh/notebook_010.glb b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mesh/notebook_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1699026598a85d98e95963f48efa829408f598cb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mesh/notebook_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7489a68da2050bb9a89c83a8b477b59759e511930950b14b135cde61db43ad12
+size 13342200
diff --git a/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mesh/notebook_010.mtl b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mesh/notebook_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba2ae57fc71b41dcefd60c92e05261117882fae8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mesh/notebook_010.mtl
@@ -0,0 +1,6 @@
+newmtl notebook_010_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/6c9d74a139ae5715a1f7d7d1d2a761d1/mesh/notebook_010.obj b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mesh/notebook_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6323c54d62080831a40912b98e173be56a5273aa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mesh/notebook_010.obj
@@ -0,0 +1,117804 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl notebook_010_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mesh/notebook_010_collision.obj b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mesh/notebook_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..848776b7f7b4996c3eaa2d1a49c6fae3339c8e04
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mesh/notebook_010_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mesh/notebook_010_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mesh/notebook_010_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..727828823cc0f661086c0bc1ecd423396974ffb5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mesh/notebook_010_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d165b3df3834631297e7fd91991dc3921c1b290d018a509ba72a9540e6d18d61
+size 10161409
diff --git a/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..727828823cc0f661086c0bc1ecd423396974ffb5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d165b3df3834631297e7fd91991dc3921c1b290d018a509ba72a9540e6d18d61
+size 10161409
diff --git a/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mjcf/mesh/notebook_010.obj b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mjcf/mesh/notebook_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a140561a7e92a30ba7e2d223d1e2809203929ed
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mjcf/mesh/notebook_010.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl notebook_010_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mjcf/mesh/notebook_010_collision.obj b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mjcf/mesh/notebook_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a50d6d4df49d77b447464a08c65ce04e55b95b6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mjcf/mesh/notebook_010_collision.obj
@@ -0,0 +1,2601 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mjcf/mesh/notebook_010_collision_0.obj b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mjcf/mesh/notebook_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae491fa17381c8f81de242d5193071d5aa2fcf12
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mjcf/mesh/notebook_010_collision_0.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mjcf/mesh/notebook_010_collision_1.obj b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mjcf/mesh/notebook_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..064714ffcc0df5775c4fe2afc2dbebd266ebb56b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mjcf/mesh/notebook_010_collision_1.obj
@@ -0,0 +1,946 @@
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diff --git a/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mjcf/mesh/notebook_010_collision_2.obj b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mjcf/mesh/notebook_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e653828733f150368d6343edea677276befc3fef
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mjcf/mesh/notebook_010_collision_2.obj
@@ -0,0 +1,1120 @@
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diff --git a/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mjcf/mesh/notebook_010_collision_3.obj b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mjcf/mesh/notebook_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3655b7148050837e631fc0796d8f4704152569c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mjcf/mesh/notebook_010_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mjcf/notebook_010.xml b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mjcf/notebook_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2678b103fc2a300b520e64fa8057d35a2b6e00bc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mjcf/notebook_010.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="notebook_010">
+  <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_010.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/notebook_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/notebook_010_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/notebook_010_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/notebook_010_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="notebook_010">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/notebook_010.urdf b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/notebook_010.urdf
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/notebook_010.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="notebook_010">
+   <link name="notebook_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/notebook_010.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_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>6c9d74a139ae5715a1f7d7d1d2a761d1</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>notebook</category>
+         <name>pink notebook</name>
+         <color>pink,golden</color>
+         <shape>flat</shape>
+         <material>paper</material>
+         <description>compact pink notebook with golden text and rounded edges</description>
+         <min_height>0.0298</min_height>
+         <max_height>0.0298</max_height>
+         <real_height>0.0298</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427233429</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>8</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/notebook_010.usd b/dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/notebook_010.usd
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