diff --git a/.gitattributes b/.gitattributes
index ce4d64c748b03956c8096ba0c6388a9d8596abe8..2a49fcbc87ac34a8529a00af032ae97a60f25a09 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3260,5 +3260,5 @@ dataset/desktop_supplies/office_stationery/cf4ee4a4db8b5abf9ed5808fa0194a3d/eras
 dataset/desktop_supplies/office_stationery/cf4ee4a4db8b5abf9ed5808fa0194a3d/mesh/eraser_037.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/d01b3170c53158369d6d871c4e083329/marker_029.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/d01b3170c53158369d6d871c4e083329/mesh/marker_029.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/d036ab39a3445b6a8b56e818486833de/eraser_026.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/d036ab39a3445b6a8b56e818486833de/mesh/eraser_026.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mesh/notebook_040.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/notebook_040.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d286f7ad3259bcd43db2bafd50dba26049fa5bdd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl notebook_040_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 notebook_040_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0a5e592ae63b7548cbadf4681539d88553964d3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a59d3ce354572edc1578d0aa17fbd189f07615b325b7401523ec4ae891254c3b
+size 11744022
diff --git a/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mesh/notebook_040.glb b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mesh/notebook_040.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1f52e5e02a063214a53f715b9b0d10575a6bda50
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mesh/notebook_040.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:622b23014f8520cc0f3f417644f82c2c62de69f5bd16e6887df6dc56bd018e7a
+size 14826756
diff --git a/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mesh/notebook_040.mtl b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mesh/notebook_040.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c1491444f4cb2e69dc071694b038cd31b671968b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mesh/notebook_040.mtl
@@ -0,0 +1,6 @@
+newmtl notebook_040_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/cefca0a6ef5d5ec996cc792894e80e7b/mesh/notebook_040.obj b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mesh/notebook_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..911463170f245fd7e2900373de7a408121d4a3ff
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mesh/notebook_040.obj
@@ -0,0 +1,116970 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl notebook_040_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mesh/notebook_040_collision.obj b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mesh/notebook_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f0891a616d26443fa14ec623696c517724acde7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mesh/notebook_040_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mesh/notebook_040_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mesh/notebook_040_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..a0a5e592ae63b7548cbadf4681539d88553964d3
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/material_0.png
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+++ b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/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/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040.obj b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040.obj
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diff --git a/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040_collision.obj b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9985f024829e0ac055e79a9d3e9b441e6e94107
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040_collision.obj
@@ -0,0 +1,2986 @@
+# https://github.com/mikedh/trimesh
+
+o notebook_040_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040_collision_0.obj b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a784ac0e73ecf0092b973632f35202b83b08c878
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040_collision_1.obj b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ac5cda627004944bb1b5e3a5a7987b2d5c6122d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040_collision_1.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040_collision_2.obj b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0aa7d4a0da8a4c3651acb776160672efed018db2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040_collision_2.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040_collision_3.obj b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60c008d2976748eede6b411d0fb113c1124687e4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040_collision_3.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040_collision_4.obj b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64574d9273491e512263c4c933db3a6c4486724e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040_collision_4.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v 0.02320373 0.04527159 0.01784896
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+
diff --git a/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040_collision_5.obj b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d213ef3335f5216082009fe4b5bdf4d6342bef6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040_collision_5.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.02625711 0.01060390 0.01071773
+v 0.02172872 0.01060390 0.01216475
+v 0.02787822 0.01008053 0.01071773
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diff --git a/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040_collision_6.obj b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7154edb1d1ccdd0ecd827bc1c2f7ed674c8c32e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040_collision_6.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040_collision_7.obj b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d417327b24addbea4032a25d9f3510b387761f0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/mesh/notebook_040_collision_7.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/notebook_040.xml b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/notebook_040.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b0a1080d7c796e8b77b8b36a76c95e0c36a79959
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mjcf/notebook_040.xml
@@ -0,0 +1,30 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="notebook_040">
+  <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/notebook_040.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/notebook_040_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/notebook_040_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/notebook_040_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/notebook_040_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/notebook_040_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/notebook_040_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/notebook_040_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/notebook_040_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="notebook_040">
+      <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/cefca0a6ef5d5ec996cc792894e80e7b/notebook_040.urdf b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/notebook_040.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..856a15cebbf58b809abe3389775d3129b8578a08
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/notebook_040.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="notebook_040">
+   <link name="notebook_040">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/notebook_040.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/notebook_040_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>cefca0a6ef5d5ec996cc792894e80e7b</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>notebook</category>
+         <name>bear notebook</name>
+         <color>blue,white</color>
+         <shape>cuboid</shape>
+         <material>paper</material>
+         <description>blue notebook with raised white bear decoration and printed text</description>
+         <min_height>0.0397</min_height>
+         <max_height>0.0397</max_height>
+         <real_height>0.0397</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611144742</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.071575 -0.106134 -0.011826</min>
+            <max>0.073425 0.103122 0.027849</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>11</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_stationery/cefca0a6ef5d5ec996cc792894e80e7b/notebook_040.usd b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/notebook_040.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d234d53db6621a0d808e28822ea1be1df6cb6e6d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/notebook_040.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c1eb484a40485f2590489add481e3db28465eb5cfa4ac953f1f062c4215c3cd
+size 4756912
diff --git a/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/textures/material_0.png b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a59d3ce354572edc1578d0aa17fbd189f07615b325b7401523ec4ae891254c3b
+size 11744022
diff --git a/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/video.mp4 b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3e72e0741b56fe1650e65cead2c5921131f7dd9bce77c8bb9377b274388fe6b
+size 437061