diff --git a/.gitattributes b/.gitattributes
index 9965950e4595c9008831e6219413c5387f4db22e..570949a495e3de8f6a35f0a1887c4975c2def417 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3075,9 +3075,5 @@ dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/mesh
 dataset/desktop_supplies/office_stationery/031b8e0abca354a3bf75dd1738b2cd24/stapler_032.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/03d73bac73445546afe65d9b5912808e/mesh/notebook_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/03d73bac73445546afe65d9b5912808e/notebook_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/09574888ab0f5c90a2719e5219dcdaf2/mesh/sharpener_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/09574888ab0f5c90a2719e5219dcdaf2/sharpener_002.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/09b4f19c0be9527883c97921b7f5d736/09b4f19c0be9527883c97921b7f5d736.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/08c8e389dce0551ab57fac48919eb2a8/08c8e389dce0551ab57fac48919eb2a8.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/08c8e389dce0551ab57fac48919eb2a8/mesh/book.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/08c8e389dce0551ab57fac48919eb2a8/mesh/book_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/correction_tape_036.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mesh/correction_tape_036.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/correction_tape_036.urdf b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/correction_tape_036.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4684ada0a40323545654ab8e068b5cdf5f240a9e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/correction_tape_036.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="correction_tape_036">
+   <link name="correction_tape_036">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/correction_tape_036.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_036_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>0aff603ad739511bb9e0aee0be57b25a</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>correction_tape</category>
+         <name>plus whipper</name>
+         <color>gray,purple</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact gray and purple correction tape dispenser with rounded rectangular body</description>
+         <min_height>0.0359</min_height>
+         <max_height>0.0359</max_height>
+         <real_height>0.0359</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611142232</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.029162 -0.046409 -0.017502</min>
+            <max>0.029222 0.053591 0.018435</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/0aff603ad739511bb9e0aee0be57b25a/correction_tape_036.usd b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/correction_tape_036.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9f395052dc1064808c17016cd11bdd3fa835596a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/correction_tape_036.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb3098f7b6d12de881abfba5ee67ba44c4bebb1882162f4ba87aa734bfdbcce9
+size 4977360
diff --git a/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mesh/correction_tape_036.glb b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mesh/correction_tape_036.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ffc700a829355f18cb048fe814db299774fe1390
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mesh/correction_tape_036.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fc98cbcf5d41fde41eb0d11287a86fca7ea18201ade708da696dcc32a327019
+size 14611436
diff --git a/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mesh/correction_tape_036.mtl b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mesh/correction_tape_036.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6f920ff9e0f8e36cbdc88f3bbadc48593a0dae6a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mesh/correction_tape_036.mtl
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+newmtl correction_tape_036_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/0aff603ad739511bb9e0aee0be57b25a/mesh/correction_tape_036.obj b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mesh/correction_tape_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19eab8100417557e8fcb135dedf3a30578c5cbec
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mesh/correction_tape_036.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl correction_tape_036_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mesh/correction_tape_036_collision.obj b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mesh/correction_tape_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0c34ad8e853064fed5c561fc55a9e430f481f19
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mesh/correction_tape_036_collision.obj
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+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" 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/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036.obj b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ba1a751840bb920960a6ef4d4a58bd08627c0e7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036.obj
@@ -0,0 +1,118808 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision.obj b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8206e648cbc24749a7b0d907829706e8b1ac0974
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision.obj
@@ -0,0 +1,10172 @@
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diff --git a/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_0.obj b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea403ad0d2a011451369428552d1fc1c02069387
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_1.obj b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e95fd51ecd3d04690a7452c2b45d4aeb47ab5744
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_1.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_10.obj b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45a2b66bb8f6ef591cf47c807c791d5c04977a04
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_10.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_11.obj b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bab19d4e6215d00818fc30834e1fa940f33d20b4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_11.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_12.obj b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96c8acfd9221154d2f5b36cbc14c28fd9727d136
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_12.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+v -0.02855229 -0.01567164 0.01081329
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+
diff --git a/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_13.obj b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd18799239b560b79c938e2fb5e7c720ae45731a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_13.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.00558620 -0.02101874 0.00704836
+v 0.00017032 -0.02101874 0.00950992
+v 0.00573319 -0.01567163 0.00704838
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+
diff --git a/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_14.obj b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23608f07123c4fb4a3ae3fe70573e281decad981
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_14.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v -0.00332937 -0.03431512 0.01146228
+v 0.00034098 -0.03696991 0.01146227
+v 0.00034098 -0.03622160 0.00653811
+v -0.00334664 -0.03431512 0.01095506
+v -0.02835400 -0.03431512 0.01146228
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diff --git a/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_2.obj b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c40bf378eabb877c325945beebf7f0677d3141ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_2.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_3.obj b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea02cfb52985a6acf879ce2f0d676c5b429fbef4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_3.obj
@@ -0,0 +1,2923 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_4.obj b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d03e8bcd611232ff737a613cb122aa33b441b9d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_5.obj b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b62d7fa3772dd3bdb8db6e95e5cec55b77db0f47
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_6.obj b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d4df9a4128d1ad356aa6a9e9eb675cdd78d9c7d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_6.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_7.obj b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91b34769dcbf10d7bb467325da4e2f748eeff582
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_7.obj
@@ -0,0 +1,2128 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_8.obj b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..221aad4007e11a37b09907cf16fc1a50a4b80748
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_8.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_9.obj b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a7128466b17fd416f903339fc883949c09a0f05
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_collision_9.obj
@@ -0,0 +1,205 @@
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diff --git a/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d04eb177eca482862e51a152ecba055dfe4213f5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mjcf/mesh/correction_tape_036_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/0aff603ad739511bb9e0aee0be57b25a/textures/material_0.png b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/textures/material_0.png
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index 0000000000000000000000000000000000000000..d04eb177eca482862e51a152ecba055dfe4213f5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 11171907
diff --git a/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/video.mp4 b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..54bd41a81e703862dcef1e26b3ead0877ace4996
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/video.mp4
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+version https://git-lfs.github.com/spec/v1
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