diff --git a/.gitattributes b/.gitattributes
index bb62d8bcc83f6bfdf5ccd8832d89b171c8f56a54..17f384c9becb985fd7b64a6f093f8c0d2cffd9f9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3138,3 +3138,5 @@ dataset/desktop_supplies/office_stationery/495590f0a67f5eeda90b208d290794dc/eras
 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/4bc83b67b90054ce8fedfa3b0c01fbc5/correction_tape_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mesh/correction_tape_005.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/correction_tape_005.urdf b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/correction_tape_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2000a18e7b73a1580673cb5234313a84179a800f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/correction_tape_005.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="correction_tape_005">
+   <link name="correction_tape_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/correction_tape_005.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_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>4bc83b67b90054ce8fedfa3b0c01fbc5</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>correction_tape</category>
+         <name>green correction tape</name>
+         <color>green,gray</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>compact green correction tape with transparent casing and visible internal mechanism</description>
+         <min_height>0.0301</min_height>
+         <max_height>0.0301</max_height>
+         <real_height>0.0301</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427232213</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>9</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/4bc83b67b90054ce8fedfa3b0c01fbc5/correction_tape_005.usd b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/correction_tape_005.usd
new file mode 100644
index 0000000000000000000000000000000000000000..2c99023e631955e42835468c3c02b3c13556ce09
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/correction_tape_005.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72cabc70f183c5a5d1ef1462661d70a0504fc3587f033278067a19f6115de9ca
+size 5008476
diff --git a/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mesh/correction_tape_005.glb b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mesh/correction_tape_005.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d7258178d990c2b9e3b52b2f57a4adf597442a5b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mesh/correction_tape_005.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74a45bfb4267c654a6a9f98502bd047b43e2258a53af7e5d326d43b32ded8cc3
+size 17038196
diff --git a/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mesh/correction_tape_005.mtl b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mesh/correction_tape_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..26d24bc96ead96ef8814d9e3da17ad3d03bfa613
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mesh/correction_tape_005.mtl
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+newmtl correction_tape_005_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/4bc83b67b90054ce8fedfa3b0c01fbc5/mesh/correction_tape_005.obj b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mesh/correction_tape_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edbcc794d229f8995fd8f0c38333101354bf4fdc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mesh/correction_tape_005.obj
@@ -0,0 +1,120076 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl correction_tape_005_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mesh/correction_tape_005_collision.obj b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mesh/correction_tape_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8e075dc947962438ea81ad05e05b9c3ef189387
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mesh/correction_tape_005_collision.obj
@@ -0,0 +1,6385 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mesh/correction_tape_005_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mesh/correction_tape_005_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3a890f2e0c7d570df3a376c8d9b189f8bb229de
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mesh/correction_tape_005_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2e72f59d3d55ed690226e9b0a998ea693d11cc99245cc32db56a8a35ebd1e8c
+size 13540659
diff --git a/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c42fefd723d5764a9a3ea46a8e9d8ecfe72b6e55
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl correction_tape_005_geometry_Looks_material_0
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+Ns 1.00000000
+map_Kd correction_tape_005_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3a890f2e0c7d570df3a376c8d9b189f8bb229de
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2e72f59d3d55ed690226e9b0a998ea693d11cc99245cc32db56a8a35ebd1e8c
+size 13540659
diff --git a/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/correction_tape_005.xml b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/correction_tape_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5e4997aa55597b99fad7ce42d252150622440bca
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/correction_tape_005.xml
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+    <mesh name="visual_mesh_0" file="mesh/correction_tape_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/correction_tape_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/correction_tape_005_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/correction_tape_005_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/correction_tape_005_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/correction_tape_005_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/correction_tape_005_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/correction_tape_005_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/correction_tape_005_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="correction_tape_005">
+      <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/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005.obj b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..587bfba7d910e7d501a375e5d7d2b1db3e08eae8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005.obj
@@ -0,0 +1,120076 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl correction_tape_005_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_collision.obj b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fa976cf22e1c89b8a0aa555c64237c25fb231b6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_collision.obj
@@ -0,0 +1,6385 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_collision_0.obj b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e7411c72d54d0f1c35ebc00ad99ac75fa9358c9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_collision_1.obj b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77fb24e0cbe267a00da53cfb9aa1d71e34071ccc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_collision_2.obj b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee64e73c0e17d37100aa615ba0ce9f85a9f8e3ed
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_collision_3.obj b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..141a1329e0334c8eca1af0758a0dca2466feb927
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_collision_4.obj b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..898f08f0d91e2f69c4863cb5b4992dcbfa225815
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_collision_4.obj
@@ -0,0 +1,487 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_collision_5.obj b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b6174e83ffbb6b7a450b62ed19bca5d1375e0f3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_collision_5.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_collision_6.obj b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79cdbfb10817267cfbdc1d4f9fc47770780a1915
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_collision_6.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_collision_7.obj b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb7ac756884aebc227b65b9014008d35bdd937c4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_collision_7.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3a890f2e0c7d570df3a376c8d9b189f8bb229de
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/mjcf/mesh/correction_tape_005_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13540659
diff --git a/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/textures/material_0.png b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3a890f2e0c7d570df3a376c8d9b189f8bb229de
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/textures/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/4bc83b67b90054ce8fedfa3b0c01fbc5/video.mp4 b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4bc83b67b90054ce8fedfa3b0c01fbc5/video.mp4
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+version https://git-lfs.github.com/spec/v1
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