diff --git a/.gitattributes b/.gitattributes
index 1be1fc1f4ee4f964d2962ae6e7f8ad98733b7714..1f97457dbc4b14ea682e6e0caaff8e23a97c3e17 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3306,7 +3306,5 @@ dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mark
 dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mesh/marker_026.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/mesh/staples_box_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/03587363ddc3518b8286e46ad1f96795/staples_box_004.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/0880c863a1b253ec832ae0f4f4883fe5/mesh/scotch_tape_001.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/0880c863a1b253ec832ae0f4f4883fe5/scotch_tape_001.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/08f5a04a67195da19b14f051928fad51/mesh/scissors_008.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/08f5a04a67195da19b14f051928fad51/scissors_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mesh/sticky_notes_050.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/sticky_notes_050.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mesh/material.mtl b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3b0a097c93597366725f6ca1164dc9881cd88d13
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sticky_notes_050_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_050_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mesh/material_0.png b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a854a42fa679f076398fd4d663446fa68cc0848c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d349d67241cb5aebf24a78b3531a7d9d6e459285758923ded74048b3b615efaf
+size 12593441
diff --git a/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mesh/sticky_notes_050.glb b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mesh/sticky_notes_050.glb
new file mode 100644
index 0000000000000000000000000000000000000000..528449766e507360cca140d123a0f773323f0bd7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mesh/sticky_notes_050.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f610ce795aecf50922e0b0c453c69622ea064bf5681d84b39d779c65102bb03
+size 15810240
diff --git a/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mesh/sticky_notes_050.mtl b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mesh/sticky_notes_050.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4808a0c9e1a48bf0dfa8199aab59e027478fa63b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mesh/sticky_notes_050.mtl
@@ -0,0 +1,6 @@
+newmtl sticky_notes_050_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/08d56bf1fcd15ca6a755f8a2d328e93c/mesh/sticky_notes_050.obj b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mesh/sticky_notes_050.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b448ae171b848c54fba9893a169c9f4cfb02db45
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mesh/sticky_notes_050.obj
@@ -0,0 +1,105048 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sticky_notes_050_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mesh/sticky_notes_050_collision.obj b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mesh/sticky_notes_050_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0327139c954a0edaef3db91d979d98c00571cc53
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mesh/sticky_notes_050_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision.obj b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed738c3f34f85516b6a5783f411ba1be4f8c5060
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision.obj
@@ -0,0 +1,5632 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_0.obj b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dab7bfc90d9f3f70ba348b9ca1e4d5750ef3dd1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_1.obj b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..779f3ec9fb8a3705487e21a7651c07a6d18508c5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_1.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_10.obj b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb4aca5e0b6aaa88c52f39f92216ada0698ec09d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_10.obj
@@ -0,0 +1,616 @@
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diff --git a/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_2.obj b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f849578499593d92b33ecf9088b46c9a94642b7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_3.obj b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4358dc4d413a9112e92d1ca37db5ce36789f9290
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_3.obj
@@ -0,0 +1,475 @@
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diff --git a/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_4.obj b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33939efc3c445b9bdae2153fce740810570ad911
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_4.obj
@@ -0,0 +1,355 @@
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diff --git a/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_5.obj b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1a84c68171f19bde22eb8de97fc3f8aae205bfe
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_6.obj b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1487b4b012a8097c296a3834077c12beece96fef
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_7.obj b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..203b07d187836a58b86fbcdb992d6ddefd688bff
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_8.obj b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0330255d24881e262688dbe4df1778595bbc7310
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_8.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_9.obj b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dcd457d4e90ae0296de812860edfe4f76b884c0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/mesh/sticky_notes_050_collision_9.obj
@@ -0,0 +1,931 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/sticky_notes_050.xml b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/sticky_notes_050.xml
new file mode 100644
index 0000000000000000000000000000000000000000..242b4c9a9a8fd2965a9899ccd86f9fe3ef9cda5c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/mjcf/sticky_notes_050.xml
@@ -0,0 +1,36 @@
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+    <mesh name="collision_mesh_0_6" file="mesh/sticky_notes_050_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sticky_notes_050_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sticky_notes_050_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sticky_notes_050_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sticky_notes_050_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sticky_notes_050">
+      <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/08d56bf1fcd15ca6a755f8a2d328e93c/sticky_notes_050.urdf b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/sticky_notes_050.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..936e1fd919a896c677337127c4082a0f248858b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/sticky_notes_050.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sticky_notes_050">
+   <link name="sticky_notes_050">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sticky_notes_050.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_050_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0250" />
+         <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>08d56bf1fcd15ca6a755f8a2d328e93c</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>sticky_notes</category>
+         <name>leaf sticky notes</name>
+         <color>green</color>
+         <shape>flat</shape>
+         <material>paper</material>
+         <description>green leaf-shaped sticky note pad with printed veins and stem</description>
+         <min_height>0.0150</min_height>
+         <max_height>0.0150</max_height>
+         <real_height>0.0150</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.04</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611152318</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.019716 -0.034526 -0.007530</min>
+            <max>0.020135 0.039578 0.007470</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/08d56bf1fcd15ca6a755f8a2d328e93c/sticky_notes_050.usd b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/sticky_notes_050.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/sticky_notes_050.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aac55f34797db4cac8560e3b20991ac54f71e903a0b18a3ce5c34a7a07a1e173
+size 4835925
diff --git a/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/textures/material_0.png b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a854a42fa679f076398fd4d663446fa68cc0848c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d349d67241cb5aebf24a78b3531a7d9d6e459285758923ded74048b3b615efaf
+size 12593441
diff --git a/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/video.mp4 b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c666a08a8507754c49b4608b2cf9817e6e21c206
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/08d56bf1fcd15ca6a755f8a2d328e93c/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8738c42297c2113568cef9b1d0c5fdf997bdc9f3024d4ef48534895395d01b81
+size 402316