diff --git a/.gitattributes b/.gitattributes
index e69ab355f4cf81b23162d70b0c7997b3ab5180aa..6a9279e5767c99a22a6d81483326ca2708551e79 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3423,3 +3423,5 @@ dataset/desktop_supplies/office_tools/b8715916ab1b5c498e57c2e5806e44c7/magnifier
 dataset/desktop_supplies/office_tools/b8715916ab1b5c498e57c2e5806e44c7/mesh/magnifier_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mesh/scotch_tape_016.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/scotch_tape_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mesh/scotch_tape_019.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/scotch_tape_019.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mesh/material.mtl b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8c669299926546b37ff78f31ce3901daf326b6f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl scotch_tape_019_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 scotch_tape_019_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mesh/material_0.png b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..75aa82f3ad24a8fe7492365c1cac3f8b8b867e42
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34353be5784506493e9ad22b280ac9b15c1e25d6e6d601d60dae8edf17d84725
+size 9743328
diff --git a/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mesh/scotch_tape_019.glb b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mesh/scotch_tape_019.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c9453b050337193458cd809dcdd2f6565339b199
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mesh/scotch_tape_019.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48d579cb1a2ccf729b951843bf3f27b5b3735f68f70cbd057cfb99e79f194cec
+size 12402896
diff --git a/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mesh/scotch_tape_019.mtl b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mesh/scotch_tape_019.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8a9484172adb5912c64d70b1ec49283e5b0b847f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mesh/scotch_tape_019.mtl
@@ -0,0 +1,6 @@
+newmtl scotch_tape_019_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/ba84e64d3b785ad79a59510daed871cc/mesh/scotch_tape_019.obj b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mesh/scotch_tape_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba3c919cbefcb669aaf275994a2873b0dce8f4b0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mesh/scotch_tape_019.obj
@@ -0,0 +1,110040 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl scotch_tape_019_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mesh/scotch_tape_019_collision.obj b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mesh/scotch_tape_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f5d6a0e1554db30510bc682a1a757b544675629
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mesh/scotch_tape_019_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mesh/scotch_tape_019_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mesh/scotch_tape_019_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..75aa82f3ad24a8fe7492365c1cac3f8b8b867e42
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mesh/scotch_tape_019_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9743328
diff --git a/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..75aa82f3ad24a8fe7492365c1cac3f8b8b867e42
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019.obj b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019.obj
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index 0000000000000000000000000000000000000000..1ec5a2612b4ccc879a1ebfe9b5c1ee5969a2cc45
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision.obj b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82a0a1b1bd09f06859a68fb10d6f557e6fc5aced
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision.obj
@@ -0,0 +1,9342 @@
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diff --git a/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_0.obj b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b930c06d34f93c5a6385963c3616fb8b33c5bc5b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_1.obj b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c9b5bcd43570138b38bf17a9350b6e14a8eaec8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_2.obj b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac96bd2f288462a8f2fc68ffbfaa24338524267d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_3.obj b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1289b1b980fa6859d8a2da053955c57ba57f6b64
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_4.obj b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da1d657d4bf0fa84f9e5fb01ee587d9a5cd67d10
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_5.obj b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eae6e5527af38153db525214b3306df6871f03e5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_6.obj b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9b02fb7a0b4673f40041a702bb4c76163f6b778
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_7.obj b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b51c3e4cedcafcb7fcdee6335c226c42ac7dc238
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_8.obj b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c69f2fe291336a35b950bffadc2b7e6acdf56f6c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_9.obj b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a391c158fbeef6764713b55e7e2b22182d9c814
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/mesh/scotch_tape_019_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/scotch_tape_019.xml b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/scotch_tape_019.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2a770ed48a22fb4730b7ab2ac605320d04f398ee
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/mjcf/scotch_tape_019.xml
@@ -0,0 +1,34 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="scotch_tape_019">
+  <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/scotch_tape_019.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/scotch_tape_019_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/scotch_tape_019_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/scotch_tape_019_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/scotch_tape_019_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/scotch_tape_019_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/scotch_tape_019_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/scotch_tape_019_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/scotch_tape_019_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/scotch_tape_019_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/scotch_tape_019_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="scotch_tape_019">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/scotch_tape_019.urdf b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/scotch_tape_019.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c406ca436b891b6f9f84e9b6faa7294716574213
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/scotch_tape_019.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="scotch_tape_019">
+   <link name="scotch_tape_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/scotch_tape_019.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/scotch_tape_019_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <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>ba84e64d3b785ad79a59510daed871cc</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>scotch_tape</category>
+         <name>gray tape roll</name>
+         <color>gray,brown</color>
+         <shape>ring</shape>
+         <material>plastic</material>
+         <description>gray transparent adhesive tape roll with cardboard inner core</description>
+         <min_height>0.0496</min_height>
+         <max_height>0.0496</max_height>
+         <real_height>0.0496</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609173551</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.054758 -0.054670 -0.024787</min>
+            <max>0.054624 0.054677 0.024794</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_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_tools/ba84e64d3b785ad79a59510daed871cc/scotch_tape_019.usd b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/scotch_tape_019.usd
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diff --git a/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/textures/material_0.png b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/textures/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/video.mp4 b/dataset/desktop_supplies/office_tools/ba84e64d3b785ad79a59510daed871cc/video.mp4
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