diff --git a/.gitattributes b/.gitattributes
index 70a254213cb44e1f75dfe8c0c4bfc8d83bb9f8b6..ffd0bd4dc7239c130b5adefa0181a46643ad0af7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3136,7 +3136,5 @@ dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mark
 dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mesh/marker_021.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/495590f0a67f5eeda90b208d290794dc/eraser_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/495590f0a67f5eeda90b208d290794dc/mesh/eraser_033.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/49028440f3205069a0e71d09a1d4a4e0/mesh/notebook_032.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/49028440f3205069a0e71d09a1d4a4e0/notebook_032.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/mesh/notebook_018.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/4c843c6b1dad505f8123d9207e33e47f/notebook_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/correction_tape_031.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mesh/correction_tape_031.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/correction_tape_031.urdf b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/correction_tape_031.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6c17d2a976f3ddf1dbe9bbce6be18f493d0eac1a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/correction_tape_031.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="correction_tape_031">
+   <link name="correction_tape_031">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/correction_tape_031.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/correction_tape_031_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>517a6d1c6cd355749b3c0b16fc10655d</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>correction_tape</category>
+         <name>blue correction tape</name>
+         <color>blue,transparent</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>compact blue plastic correction tape dispenser with clear tip</description>
+         <min_height>0.0235</min_height>
+         <max_height>0.0235</max_height>
+         <real_height>0.0235</real_height>
+         <min_mass>0.015</min_mass>
+         <max_mass>0.035</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611142100</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.028894 -0.054413 -0.011725</min>
+            <max>0.032096 0.045587 0.011740</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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_stationery/517a6d1c6cd355749b3c0b16fc10655d/correction_tape_031.usd b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/correction_tape_031.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/correction_tape_031.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:758a3381a7cf614123ce4292603c22b3395101bac41ec68522634f42b59c08ce
+size 4978906
diff --git a/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mesh/correction_tape_031.glb b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mesh/correction_tape_031.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cda22c242f1c2bd0e5c8f1d3fadc43e9ad1baaed
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mesh/correction_tape_031.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9298930f4b7800242263e5ae30350aca79a3d2b0c04a21dec05f5d388a19704f
+size 13663228
diff --git a/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mesh/correction_tape_031.mtl b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mesh/correction_tape_031.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8fc2651adaffeead516c62402f4b792fa35dbfba
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mesh/correction_tape_031.mtl
@@ -0,0 +1,6 @@
+newmtl correction_tape_031_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_stationery/517a6d1c6cd355749b3c0b16fc10655d/mesh/correction_tape_031.obj b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mesh/correction_tape_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..214824f661cfdc0113c8101b60ceaa6f8dc8aaf5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mesh/correction_tape_031.obj
@@ -0,0 +1,111514 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mesh/correction_tape_031_collision.obj b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mesh/correction_tape_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..370f65c460d3856558854d097575be9792100b5c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mesh/correction_tape_031_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mesh/correction_tape_031_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mesh/correction_tape_031_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..789345c95ef30e6b3abb6d5041528a02fcc111d1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mesh/correction_tape_031_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2ae6aa24d91a8672c7d5db5ed14e27988993c3233ab9ce8d29e538082eeb1dd
+size 10211407
diff --git a/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..99379453027e05ebcd35fa15133cfc93bd5a07ba
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl correction_tape_031_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 correction_tape_031_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..789345c95ef30e6b3abb6d5041528a02fcc111d1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2ae6aa24d91a8672c7d5db5ed14e27988993c3233ab9ce8d29e538082eeb1dd
+size 10211407
diff --git a/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/correction_tape_031.xml b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/correction_tape_031.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3f6b3a0b37f11fd157f6860712213d42404a7b23
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/correction_tape_031.xml
@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="correction_tape_031">
+  <asset>
+    <material name="material_0" texture="texture_0_correction_tape_031_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_correction_tape_031_geometry_Looks_material_0" type="2d" file="mesh/correction_tape_031_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/correction_tape_031.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/correction_tape_031_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/correction_tape_031_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/correction_tape_031_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/correction_tape_031_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/correction_tape_031_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/correction_tape_031_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/correction_tape_031_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/correction_tape_031_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="correction_tape_031">
+      <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_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031.obj b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9292cda9ce63df1c150bbe4daea8fe7d20a32ed
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031.obj
@@ -0,0 +1,111514 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl correction_tape_031_geometry_Looks_material_0
+v 0.025133 0.005586 -0.011590
+v 0.025133 0.005586 -0.011590
+v 0.025722 0.009353 -0.011581
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+v -0.011333 0.035486 -0.011512
+v 0.008964 0.015215 -0.011713
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diff --git a/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_collision.obj b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18b1b60c0ee844f0f272d70363691cae2dec0b6c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_collision.obj
@@ -0,0 +1,11194 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_collision_0.obj b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c678dfede6c6c8b377b2659ce15b892dc6dee2a8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_collision_1.obj b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..234921e7815c52d92470663fd669a0d78702a490
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_collision_2.obj b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2a874d232a88107f07eaf96bfd732d225e208fd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_collision_3.obj b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99e904cc07916c3769feb687f9451b26e8bd26d8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_collision_4.obj b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..add789ea78b68645c109d165011bcda8eb7f2f5a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_collision_4.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_collision_5.obj b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c846b206c3bb0710e53bc1197813f17c715b3692
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_collision_5.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_collision_6.obj b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c1a78b3ebc9a5593ff5fe1fa74cef154150efd9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_collision_6.obj
@@ -0,0 +1,193 @@
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diff --git a/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_collision_7.obj b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c55e95a788815db77ea03875fa00f4fd6ebfbb4f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_collision_7.obj
@@ -0,0 +1,181 @@
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diff --git a/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..789345c95ef30e6b3abb6d5041528a02fcc111d1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/mjcf/mesh/correction_tape_031_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/textures/material_0.png b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/textures/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/textures/material_0.png
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+size 10211407
diff --git a/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/video.mp4 b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/video.mp4
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/517a6d1c6cd355749b3c0b16fc10655d/video.mp4
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