diff --git a/.gitattributes b/.gitattributes
index 3fc14fe038f8a5842499bfb24258425f2048f517..e6e3003f7b186f15e0ee0f9bcab488adde0034eb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3304,5 +3304,5 @@ dataset/desktop_supplies/office_tools/00b7ae58aedc506f9f51e909ed0ef283/mesh/stap
 dataset/desktop_supplies/office_tools/00b7ae58aedc506f9f51e909ed0ef283/staples_box_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/marker_026.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mesh/marker_026.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mesh/stamp_029.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/stamp_029.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mesh/scotch_tape_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/scotch_tape_003.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mesh/material.mtl b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..686b15aea98c8ca40ca56ca9b4027b87129e5bac
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl scotch_tape_003_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_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mesh/material_0.png b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a2b44c2e273c1eaf1b50f85ec8e5c217e6aa84c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e698701c29af85a71772da87e7d3f93495fe327fe2ea44f2d11a285efef6836
+size 8048157
diff --git a/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mesh/scotch_tape_003.glb b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mesh/scotch_tape_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2f160b12736d93fd34f2f4cb569c4c6541100818
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mesh/scotch_tape_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9778900
diff --git a/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mesh/scotch_tape_003.mtl b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mesh/scotch_tape_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..930b3029e8b6760fe2b96057566791de5391b868
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mesh/scotch_tape_003.mtl
@@ -0,0 +1,6 @@
+newmtl scotch_tape_003_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/056125ada2355fdaaf993868659e62ff/mesh/scotch_tape_003.obj b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mesh/scotch_tape_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48db9d893dfd66b7d75e61fbba8a189f90b3f340
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mesh/scotch_tape_003.obj
@@ -0,0 +1,55090 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl scotch_tape_003_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mesh/scotch_tape_003_collision.obj b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mesh/scotch_tape_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b736407b75ea8243ba3fc0e2608ddbb52ddb117f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mesh/scotch_tape_003_collision.obj
@@ -0,0 +1,11460 @@
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diff --git a/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mesh/scotch_tape_003_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mesh/scotch_tape_003_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a2b44c2e273c1eaf1b50f85ec8e5c217e6aa84c
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+++ b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mesh/scotch_tape_003_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 8048157
diff --git a/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a2b44c2e273c1eaf1b50f85ec8e5c217e6aa84c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 8048157
diff --git a/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003.obj b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003.obj
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index 0000000000000000000000000000000000000000..3020c2eb76883d4fa0f99f2fc246aed7cc5366ca
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+++ b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003.obj
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diff --git a/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision.obj b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..004060a5082aa82d01f577ceae0444b3f8f31a87
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision.obj
@@ -0,0 +1,11460 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_0.obj b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7ec9ac09e0e608b642cae09700b2379dc9da9c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_1.obj b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..263644272ec6c5562a056260cc8d488143c6c0b7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_2.obj b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40d260a3528cbafd54f977912886c3a9f5a096f1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_3.obj b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a7f797f91142b744c9f7d969ac8c5151de68169
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_4.obj b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18032fca694fd0bc3ab91f12c7c355df3af6d227
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_5.obj b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c693162ae05cc8dc800d42550c78c2001c136a52
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_6.obj b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4670dd07e70431a6d3c62859711bd33083a200d6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_7.obj b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7340f8312f756d50b695b91c6e3c5df42011e7a7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_8.obj b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07f4ee419f4624d0cd3453f1389da07f9401bfb8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_8.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_9.obj b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..344da737877789ec8556804b30983b2f8fb4c814
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/mesh/scotch_tape_003_collision_9.obj
@@ -0,0 +1,1798 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/scotch_tape_003.xml b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/scotch_tape_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7f3e9171a87f61b9a2a3f1b29720febdf2b6776d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/mjcf/scotch_tape_003.xml
@@ -0,0 +1,34 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="scotch_tape_003">
+  <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_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/scotch_tape_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/scotch_tape_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/scotch_tape_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/scotch_tape_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/scotch_tape_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/scotch_tape_003_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/scotch_tape_003_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/scotch_tape_003_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/scotch_tape_003_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/scotch_tape_003_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="scotch_tape_003">
+      <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/056125ada2355fdaaf993868659e62ff/scotch_tape_003.urdf b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/scotch_tape_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..421cd835957b5a5e11d62da8c07c7374f19f8c3e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/scotch_tape_003.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="scotch_tape_003">
+   <link name="scotch_tape_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/scotch_tape_003.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_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1000" />
+         <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>056125ada2355fdaaf993868659e62ff</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>scotch_tape</category>
+         <name>gray tape roll</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cylindrical gray tape roll with visible inner hollow core</description>
+         <min_height>0.0383</min_height>
+         <max_height>0.0383</max_height>
+         <real_height>0.0383</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.15</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506211029</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>3</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/056125ada2355fdaaf993868659e62ff/scotch_tape_003.usd b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/scotch_tape_003.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/scotch_tape_003.usd
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+size 2573163
diff --git a/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/textures/material_0.png b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/textures/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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+size 8048157
diff --git a/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/video.mp4 b/dataset/desktop_supplies/office_tools/056125ada2355fdaaf993868659e62ff/video.mp4
new file mode 100644
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--- /dev/null
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+size 118963