diff --git a/.gitattributes b/.gitattributes
index 1ea16a454d6bfb8afb21d4ed5a82d9eb2a1756f6..f4b3ab3042c90a4e759ff39b234745affe29dcb4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3462,3 +3462,5 @@ dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/cutter_kn
 dataset/desktop_supplies/office_tools/eda9872f5a6c5b279a37d31441e92617/mesh/cutter_knife_028.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/ed1c4abcb6bf5d59a4aed549b4dd6a13/mesh/staples_box_037.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/ed1c4abcb6bf5d59a4aed549b4dd6a13/staples_box_037.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mesh/scotch_tape_022.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/scotch_tape_022.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mesh/material.mtl b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6ad64ca191b8e6ef5e576a25f2c9b74016d1c7f9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl scotch_tape_022_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_022_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mesh/material_0.png b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..25ea136809f2ea98fba63a14b08aea5a452e6efe
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/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/eea34939059a5facba06fc01a41ea367/mesh/scotch_tape_022.glb b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mesh/scotch_tape_022.glb
new file mode 100644
index 0000000000000000000000000000000000000000..02f3bfe9362d670f53e5a2b9a30b9a0ec2b3b845
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+++ b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mesh/scotch_tape_022.glb
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+size 18438816
diff --git a/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mesh/scotch_tape_022.mtl b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mesh/scotch_tape_022.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..84fa17881d264f73908f77ab57ac8469ff344db0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mesh/scotch_tape_022.mtl
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+newmtl scotch_tape_022_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/eea34939059a5facba06fc01a41ea367/mesh/scotch_tape_022.obj b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mesh/scotch_tape_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2405e476e852ac17fa6350765feae9c51145a37b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mesh/scotch_tape_022.obj
@@ -0,0 +1,108274 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl scotch_tape_022_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mesh/scotch_tape_022_collision.obj b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mesh/scotch_tape_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08c9fdf974fce9bdb2275ce9aa6634ec30f96536
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mesh/scotch_tape_022_collision.obj
@@ -0,0 +1,9076 @@
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diff --git a/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mesh/scotch_tape_022_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mesh/scotch_tape_022_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022.obj b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022.obj
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+++ b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022.obj
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diff --git a/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision.obj b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76791d0e48c4d7ee9a8c345007ba6eb0b4699660
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision.obj
@@ -0,0 +1,9076 @@
+# https://github.com/mikedh/trimesh
+
+o scotch_tape_022_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_0.obj b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2379bfbcd3a9c3b4b231fdddeec28809c9b499c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_1.obj b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef1557221214bcd4f81e75ff3fd5d91824ce7c11
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_10.obj b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..617d037234836ea559a6ca2569d71617fb43cdca
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_2.obj b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcf9561be782812927f7b6ca574178b1369a1be8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_3.obj b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a9e34e82ed533c643bd577942f53bdf2c100266
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_4.obj b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10e8e0c4c7a0de89f18fbf786c4b7b511e890c16
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_5.obj b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e30e66a86b47c4b2dad624e7fc9b06f66711e1a2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_5.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_6.obj b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9855edc9649a93e811f925da79755f04c428e14f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_6.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_7.obj b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a337139389f4db790c92343e33abbdbe145d296
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_8.obj b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d84a9548fac663bed274ff4bf0765c4f52ea651a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_9.obj b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1267001804f10d4d0d03466dd2abcb109f826fb5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/mesh/scotch_tape_022_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/scotch_tape_022.xml b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/scotch_tape_022.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c379b0b731a6a39cb6f98288aeab2945ff8a0b5f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/mjcf/scotch_tape_022.xml
@@ -0,0 +1,36 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="scotch_tape_022">
+  <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_022.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/scotch_tape_022_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/scotch_tape_022_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/scotch_tape_022_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/scotch_tape_022_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/scotch_tape_022_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/scotch_tape_022_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/scotch_tape_022_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/scotch_tape_022_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/scotch_tape_022_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/scotch_tape_022_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/scotch_tape_022_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="scotch_tape_022">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_10" 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/eea34939059a5facba06fc01a41ea367/scotch_tape_022.urdf b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/scotch_tape_022.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6d44673e3d71722021f41d86bd7e33e36e1034c6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/scotch_tape_022.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="scotch_tape_022">
+   <link name="scotch_tape_022">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/scotch_tape_022.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_022_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>eea34939059a5facba06fc01a41ea367</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>scotch_tape</category>
+         <name>pink tape roll</name>
+         <color>pink,white</color>
+         <shape>ring</shape>
+         <material>plastic</material>
+         <description>translucent pink adhesive tape roll with white printed text</description>
+         <min_height>0.0209</min_height>
+         <max_height>0.0209</max_height>
+         <real_height>0.0209</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609173711</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.025011 -0.024625 -0.010187</min>
+            <max>0.024989 0.024735 0.010690</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/eea34939059a5facba06fc01a41ea367/scotch_tape_022.usd b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/scotch_tape_022.usd
new file mode 100644
index 0000000000000000000000000000000000000000..723a8228a926a6dad3fc9a0821cca68e37a8f926
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/scotch_tape_022.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ac600113c62091e3896f498c9c25414b13805e12dd8d02cb847b500d45b259c
+size 4709086
diff --git a/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/textures/material_0.png b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..25ea136809f2ea98fba63a14b08aea5a452e6efe
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e1a264f558ade7280f0432f06dafcfbcdc10fb35cdcea6b8bced47e7e1e94e2
+size 15384573
diff --git a/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/video.mp4 b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2ec116e3f517b4482817c151db11480bbdd2458e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/eea34939059a5facba06fc01a41ea367/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfecf7c10e24ac26140bde61e24db86c7beae347925de67727b78aeaa631f3f5
+size 430767