diff --git a/.gitattributes b/.gitattributes
index d0bebdb280b42f73fd20e2229b26a435e022c071..3eab38efea301aaed8f0d44cd07e8c4fe200e9fd 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3347,3 +3347,5 @@ dataset/desktop_supplies/office_tools/37ea5b8d7a6a54c4b720b2eea0a44c43/mesh/scot
 dataset/desktop_supplies/office_tools/37ea5b8d7a6a54c4b720b2eea0a44c43/scotch_tape_027.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/38a726eeeb1a57ea96ae2addd0613f47/cutter_knife_014.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/38a726eeeb1a57ea96ae2addd0613f47/mesh/cutter_knife_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mesh/sticky_notes_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/sticky_notes_005.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mesh/material.mtl b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..df36232948a7bf2d4f67b5ad76eceec1e0d79e7b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sticky_notes_005_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_005_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mesh/material_0.png b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..942d983286ac4b82faa146421286a254a8b7bf25
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3570c670d0d3417bf9f9992fa4963e40d401be6f37616ad35b2a0b2c9f2c35a3
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diff --git a/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mesh/sticky_notes_005.glb b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mesh/sticky_notes_005.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d52ee5a0fa9afc977830e1b4182daf802fd56562
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mesh/sticky_notes_005.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da92f3e3c6639737b88210a519270850557f9c22a8bda0ca699d1c409cbadbe7
+size 12009316
diff --git a/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mesh/sticky_notes_005.mtl b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mesh/sticky_notes_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..122b8ac948ba16c611a3e5dbe746499838111f97
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mesh/sticky_notes_005.mtl
@@ -0,0 +1,6 @@
+newmtl sticky_notes_005_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/3a8b028be5af5cbd8c598c815adbb610/mesh/sticky_notes_005.obj b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mesh/sticky_notes_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddef35bc2193d6c97b537af6ae119680701920b2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mesh/sticky_notes_005.obj
@@ -0,0 +1,115852 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sticky_notes_005_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mesh/sticky_notes_005_collision.obj b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mesh/sticky_notes_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6859034a1eb9da316b407926956244fed2321ac0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mesh/sticky_notes_005_collision.obj
@@ -0,0 +1,3506 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mesh/sticky_notes_005_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mesh/sticky_notes_005_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..942d983286ac4b82faa146421286a254a8b7bf25
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mesh/sticky_notes_005_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3570c670d0d3417bf9f9992fa4963e40d401be6f37616ad35b2a0b2c9f2c35a3
+size 9095285
diff --git a/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..942d983286ac4b82faa146421286a254a8b7bf25
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3570c670d0d3417bf9f9992fa4963e40d401be6f37616ad35b2a0b2c9f2c35a3
+size 9095285
diff --git a/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005.obj b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cde7968172a1b50613527e5999e7c56d0bb37c1a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sticky_notes_005_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision.obj b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4cfb26dba7f1f7ce7b827b7bc951196b146d70c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision.obj
@@ -0,0 +1,3506 @@
+# https://github.com/mikedh/trimesh
+
+o sticky_notes_005_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision_0.obj b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2297578ede488ed1fe37086946717217bfcb5dd8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision_0.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision_1.obj b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..921c7cce7c001c0bdc4274bfc816d49cca94ed73
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision_1.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision_2.obj b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e416e08e6a20f5435d242ebe9d2fc6b3bbd7f170
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision_2.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision_3.obj b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f782f202981950832979709fa764719bdb7a3a72
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision_3.obj
@@ -0,0 +1,724 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision_4.obj b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0378d27266450a929c22852a610cfcc8797ac51c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision_5.obj b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed099084ab2ac3789e8fb79b0eb02803898952a7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision_5.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision_6.obj b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a1b8e4835e5534291697b1d1d64e0345a54a7d6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision_6.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision_7.obj b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4453367de1144f4bf971e25a08e42b360b62cd9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision_7.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision_8.obj b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52607197aca1f5980ccf4eca6eafc4ab145611a2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/mesh/sticky_notes_005_collision_8.obj
@@ -0,0 +1,508 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/sticky_notes_005.xml b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/sticky_notes_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cf2eff0bac00f8f9e56495c2cf8d2e6c398879b6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/mjcf/sticky_notes_005.xml
@@ -0,0 +1,32 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sticky_notes_005">
+  <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_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sticky_notes_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sticky_notes_005_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sticky_notes_005_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sticky_notes_005_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sticky_notes_005_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sticky_notes_005_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sticky_notes_005_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sticky_notes_005_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sticky_notes_005_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sticky_notes_005">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/sticky_notes_005.urdf b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/sticky_notes_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..282d640fa2068a7b84372657fddd5e2704e884f8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/3a8b028be5af5cbd8c598c815adbb610/sticky_notes_005.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sticky_notes_005">
+   <link name="sticky_notes_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sticky_notes_005.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_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>3a8b028be5af5cbd8c598c815adbb610</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>sticky_notes</category>
+         <name>colored sticky notes</name>
+         <color>green,yellow</color>
+         <shape>cuboid</shape>
+         <material>paper</material>
+         <description>rectangular stack of sticky notes with multiple colors</description>
+         <min_height>0.0579</min_height>
+         <max_height>0.0579</max_height>
+         <real_height>0.0579</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506212412</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>5</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
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