diff --git a/.gitattributes b/.gitattributes
index a03fe6f2cd223ec3ceec6f5c94a300930d6189a1..fb70a236895adeacb5ab94a98a2dabd9b9dc76c8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3403,3 +3403,5 @@ dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mesh/scot
 dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/scotch_tape_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/cutter_knife_003.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/90c6a863286751cf88ad287c2ba25352/mesh/cutter_knife_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mesh/sticky_notes_027.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/sticky_notes_027.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mesh/material.mtl b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..139031bb6050c6cd79edb603da9049b69e6eb4fd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sticky_notes_027_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 sticky_notes_027_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mesh/material_0.png b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..24a13b06a0dd92a969b400803ed24699da399491
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cab594f7edda7398d7a8577e9f8289e3024d03d19d55b423ddc7830a6c2ae24
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diff --git a/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mesh/sticky_notes_027.glb b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mesh/sticky_notes_027.glb
new file mode 100644
index 0000000000000000000000000000000000000000..dcc575c842772dc765971e39dca28a72622a3bfb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mesh/sticky_notes_027.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8f16f0b482db6b60c71a9108e4384aa1ae0143601700350c204c45a9012de43
+size 15575528
diff --git a/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mesh/sticky_notes_027.mtl b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mesh/sticky_notes_027.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..56a161b6c793e4377d53e6b360dc75ff07fe7421
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mesh/sticky_notes_027.mtl
@@ -0,0 +1,6 @@
+newmtl sticky_notes_027_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_tools/a4d29046813d570a8ba0661d343fccef/mesh/sticky_notes_027.obj b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mesh/sticky_notes_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0f86e09f81ccc7952ac78680bc402c9ab365406
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mesh/sticky_notes_027.obj
@@ -0,0 +1,118346 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sticky_notes_027_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mesh/sticky_notes_027_collision.obj b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mesh/sticky_notes_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2d67a9864651fa6806da5db8cd27104c2bf9111
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mesh/sticky_notes_027_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/material_0.png
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index 0000000000000000000000000000000000000000..24a13b06a0dd92a969b400803ed24699da399491
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 12232271
diff --git a/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027.obj b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027.obj
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index 0000000000000000000000000000000000000000..09a17f38b605f2009a20327892a4a8f9e445fab8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sticky_notes_027_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision.obj b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76ecadae214e4d5f2c8db95b92dd660d46be83ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision.obj
@@ -0,0 +1,8539 @@
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diff --git a/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_0.obj b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13c9ecb851a0c228f829e21ec829bc5c65e7d98b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_0.obj
@@ -0,0 +1,742 @@
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diff --git a/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_1.obj b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a5ab611aafb1f0b3160087d5ad826f9f7df6e16
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_10.obj b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb99a7ba3a1597a78778ed9f22201ad1fd816ad4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_2.obj b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ead0971cbda51d2b4b9e18f6aef3f37eb4a1211
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_3.obj b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4078cbe8ff32364b0ba1d2b67eef035e5e5256c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_4.obj b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d59402ae7048f936150a8595a920a8bd2a080f05
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_5.obj b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e3b43bbc0b3fd51a0d5ca6c0322c038bbed7f4f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_6.obj b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70c5ca5abdb455cc03c1c86eefb0fe57ff76a928
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_7.obj b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e72ea83605cdb0984e56b6f6d895b84cba43efe
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_8.obj b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06f7e7da3e96e2999f37ca7176cd9fb234b47f36
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_9.obj b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adb6e7fda723f0b12d051bd5ad960f45c29dbaae
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/mesh/sticky_notes_027_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/sticky_notes_027.xml b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/sticky_notes_027.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fba2c70ad1b23dfb868a58edf5320a5ef5ca9c6c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/mjcf/sticky_notes_027.xml
@@ -0,0 +1,36 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sticky_notes_027">
+  <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/sticky_notes_027.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sticky_notes_027_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sticky_notes_027_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sticky_notes_027_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sticky_notes_027_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sticky_notes_027_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sticky_notes_027_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sticky_notes_027_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sticky_notes_027_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sticky_notes_027_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sticky_notes_027_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sticky_notes_027_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sticky_notes_027">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/sticky_notes_027.urdf b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/sticky_notes_027.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1ce083fd4d520a6b096d25b4364b5e26dc134558
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/sticky_notes_027.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sticky_notes_027">
+   <link name="sticky_notes_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sticky_notes_027.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/sticky_notes_027_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0850" />
+         <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>a4d29046813d570a8ba0661d343fccef</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>sticky_notes</category>
+         <name>cookie notes</name>
+         <color>brown,pink</color>
+         <shape>flat</shape>
+         <material>paper</material>
+         <description>square cookie-shaped sticky notes pad with colorful cartoon dessert print</description>
+         <min_height>0.0071</min_height>
+         <max_height>0.0071</max_height>
+         <real_height>0.0071</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.12</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611151859</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.024927 -0.030035 -0.003041</min>
+            <max>0.025073 0.030709 0.004027</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_tools/a4d29046813d570a8ba0661d343fccef/sticky_notes_027.usd b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/sticky_notes_027.usd
new file mode 100644
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@@ -0,0 +1,3 @@
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+size 4926703
diff --git a/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/textures/material_0.png b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/textures/material_0.png
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/video.mp4 b/dataset/desktop_supplies/office_tools/a4d29046813d570a8ba0661d343fccef/video.mp4
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