diff --git a/.gitattributes b/.gitattributes
index b2abc5b78a25e41feacde254edeeab3da2e5ba69..6412fe49332ed32fa61b82d2451b745d6988c5eb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3472,3 +3472,5 @@ dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mesh/stam
 dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/stamp_008.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/fa14aebd594e58b5bc7cf2a5e7213c79/mesh/stamp_024.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/fa14aebd594e58b5bc7cf2a5e7213c79/stamp_024.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mesh/scotch_tape_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/scotch_tape_006.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mesh/material.mtl b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fde65e85f6db6a1b12cc04d422a2262981c4425a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl scotch_tape_006_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mesh/material_0.png b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..60ac0fa21f5fe6e96e262c6bc3cabbde74c06a91
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/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/f7d5ada778195dae9f107e5010d077ab/mesh/scotch_tape_006.glb b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mesh/scotch_tape_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..677ecde724d934d47c2c92477399e028d758081f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mesh/scotch_tape_006.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mesh/scotch_tape_006.mtl b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mesh/scotch_tape_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..92a5e23df7b9d6c65686032bc8101c2968cc7dc5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mesh/scotch_tape_006.mtl
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+newmtl scotch_tape_006_geometry_Looks_material_0
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+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/f7d5ada778195dae9f107e5010d077ab/mesh/scotch_tape_006.obj b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mesh/scotch_tape_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b4b3e61cc41b7062ca550deec08be51da1f91e8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mesh/scotch_tape_006.obj
@@ -0,0 +1,107380 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl scotch_tape_006_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mesh/scotch_tape_006_collision.obj b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mesh/scotch_tape_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..763983dcdcf9bcae1374bb8079972df54970780e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mesh/scotch_tape_006_collision.obj
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006.obj b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl scotch_tape_006_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision.obj b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f4158cb08ba3daa64c16d9811fe22cf6393d5d8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision.obj
@@ -0,0 +1,11198 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_0.obj b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84a4d84a6c82106fd4fb33e2e57184fc33a7d05e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_0.obj
@@ -0,0 +1,916 @@
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diff --git a/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_1.obj b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb2e9f99ef5bbbe4d32e697b28f7e774fe33ce17
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_10.obj b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a70199e36ab2bdc4efcaf2f215890914e758edb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_11.obj b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7af1df214f7783c36e8db0b93d814f26336ef86
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_11.obj
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diff --git a/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_2.obj b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6c9f2ce397f7d2646e15463f86fdfe979d1e138
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_3.obj b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b509109c7a14463f19ee90d36fda229bb2c08823
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_4.obj b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8caaeb920bd94a2ed6a8b1e7b9be2328d1943c75
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_5.obj b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19ef985cbb56bc2097cc3f8e73b7928395472d1a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_6.obj b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c403d79d7093e9e70d63fb8e6cf97e46f8d058b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_7.obj b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..308d474880c7f53903f1441e7dc3af30e656f691
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_8.obj b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fda77c108a74fbee70b7fa5dda84dbc06c85aabf
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_9.obj b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b9ab881358ceb95870c71b396a011e83d759c4e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/mesh/scotch_tape_006_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/scotch_tape_006.xml b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/scotch_tape_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a3423612c7dad70dff2f78af9a91441d1c92641b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/mjcf/scotch_tape_006.xml
@@ -0,0 +1,38 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="scotch_tape_006">
+  <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_006.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/scotch_tape_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/scotch_tape_006_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/scotch_tape_006_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/scotch_tape_006_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/scotch_tape_006_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/scotch_tape_006_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/scotch_tape_006_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/scotch_tape_006_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/scotch_tape_006_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/scotch_tape_006_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/scotch_tape_006_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/scotch_tape_006_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="scotch_tape_006">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_11" 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/f7d5ada778195dae9f107e5010d077ab/scotch_tape_006.urdf b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/scotch_tape_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e3dfb76f24c01717a6f437ff7ff394f82dcafb6c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/scotch_tape_006.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="scotch_tape_006">
+   <link name="scotch_tape_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/scotch_tape_006.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_006_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>f7d5ada778195dae9f107e5010d077ab</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>scotch_tape</category>
+         <name>green tape</name>
+         <color>green</color>
+         <shape>ring</shape>
+         <material>plastic</material>
+         <description>green adhesive tape with circular patterns</description>
+         <min_height>0.0481</min_height>
+         <max_height>0.0481</max_height>
+         <real_height>0.0481</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506211152</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/scotch_tape_006.usd b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/scotch_tape_006.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/scotch_tape_006.usd
@@ -0,0 +1,3 @@
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+oid sha256:0f0277edd0cca75b95dfb4087e527dad4beea3c8cf06581b0938e8f151ad0b10
+size 4827492
diff --git a/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/textures/material_0.png b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..60ac0fa21f5fe6e96e262c6bc3cabbde74c06a91
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11605530
diff --git a/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/video.mp4 b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f7d5ada778195dae9f107e5010d077ab/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 270462