diff --git a/.gitattributes b/.gitattributes
index a14ab5057cb4df610e110d88fc814a11ced6461f..a7c8075bec0faf24ad481d49263f4d1a035f19c2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3374,3 +3374,5 @@ dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/mesh/stap
 dataset/desktop_supplies/office_tools/716a8b94a0f956e1b282cca69c9b2801/staples_box_006.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/732d0f6c945e57e0b995eadc2171a483/mesh/scotch_tape_014.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/732d0f6c945e57e0b995eadc2171a483/scotch_tape_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mesh/sticky_notes_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/sticky_notes_013.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mesh/material.mtl b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fae0db45d81694fc1b57ad4b62b391ba4d2105e3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sticky_notes_013_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_013_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mesh/material_0.png b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..32d411f1a406ad7084da629e347ccc258781a702
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cefb5ab340907addae2b271250817016f2fb113331819357f3b9751236c61288
+size 10498077
diff --git a/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mesh/sticky_notes_013.glb b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mesh/sticky_notes_013.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ca9a6e504d169e2af8f232158c2128b054af9f67
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mesh/sticky_notes_013.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be85885dda577d762e0c3b965cd012b053b7ca3c8fa831de16e7d2b64e1c77fc
+size 13056372
diff --git a/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mesh/sticky_notes_013.mtl b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mesh/sticky_notes_013.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..14839d20376661a1df2973975e4bce583ca16a88
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mesh/sticky_notes_013.mtl
@@ -0,0 +1,6 @@
+newmtl sticky_notes_013_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/73979aff9c575ee28f4e833cd1d31104/mesh/sticky_notes_013.obj b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mesh/sticky_notes_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7587e02565c0887570342f866871ba199ff82e32
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mesh/sticky_notes_013.obj
@@ -0,0 +1,103954 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sticky_notes_013_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mesh/sticky_notes_013_collision.obj b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mesh/sticky_notes_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f40d40d611f21f60a85d64a8ad2089bdd0513d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mesh/sticky_notes_013_collision.obj
@@ -0,0 +1,3622 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013.obj b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013.obj
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diff --git a/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013_collision.obj b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7936ac4f9c586f62aa76453f8adfd70cad85637f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013_collision.obj
@@ -0,0 +1,3622 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013_collision_0.obj b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5487f6bc76a91e342e6f26c8ea12cb5957bd30b8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013_collision_1.obj b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b96be2798490b82ba3a181b14617e42290f47d70
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013_collision_2.obj b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ceca43d1ee7c96ae73aa0063f37a217666a397a7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013_collision_3.obj b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..106a8b736d54f8f01a2a707e95eb6e49416cccc5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013_collision_3.obj
@@ -0,0 +1,484 @@
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diff --git a/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013_collision_4.obj b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..322e13554cdee1f5ca4d5ab148f2341c3cf0a3b2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013_collision_5.obj b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..163d6b990db1578580af7421c87ddce95e3c7c87
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013_collision_5.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013_collision_6.obj b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35c4ba1df293986b855a55e3d2bcf37aae7e49da
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013_collision_6.obj
@@ -0,0 +1,526 @@
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diff --git a/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013_collision_7.obj b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..121484661a7909cf547cde300a44745ee22f1af7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/mesh/sticky_notes_013_collision_7.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/sticky_notes_013.xml b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/sticky_notes_013.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3658f2319647907a49af0a810c2061d2482fd678
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/mjcf/sticky_notes_013.xml
@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sticky_notes_013">
+  <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_013.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sticky_notes_013_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sticky_notes_013_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sticky_notes_013_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sticky_notes_013_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sticky_notes_013_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sticky_notes_013_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sticky_notes_013_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sticky_notes_013_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sticky_notes_013">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/sticky_notes_013.urdf b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/sticky_notes_013.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bb42cf26e9b32fec80b87ce175a5a767d8458849
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/sticky_notes_013.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sticky_notes_013">
+   <link name="sticky_notes_013">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sticky_notes_013.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_013_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>73979aff9c575ee28f4e833cd1d31104</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>sticky_notes</category>
+         <name>pastel sticky notes</name>
+         <color>pink,green</color>
+         <shape>cuboid</shape>
+         <material>paper</material>
+         <description>translucent plastic case holding multicolor rectangular sticky note pads</description>
+         <min_height>0.0715</min_height>
+         <max_height>0.0715</max_height>
+         <real_height>0.0715</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518181433</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.035802 -0.034158 -0.036013</min>
+            <max>0.035636 0.034333 0.035465</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>1</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/73979aff9c575ee28f4e833cd1d31104/sticky_notes_013.usd b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/sticky_notes_013.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/sticky_notes_013.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:465ccc9f13bc65f39784e4822a01f13c96946b1b102b7c08e9cb1d2aef1906b2
+size 4423251
diff --git a/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/textures/material_0.png b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..32d411f1a406ad7084da629e347ccc258781a702
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cefb5ab340907addae2b271250817016f2fb113331819357f3b9751236c61288
+size 10498077
diff --git a/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/video.mp4 b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..148209d462d1ed85279ca9a54476b144bdd17a83
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/73979aff9c575ee28f4e833cd1d31104/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f981a6bebcac00531f2ef6a9eb74831499e474ed8a4f223361f986e9e13e7aa
+size 666738