diff --git a/.gitattributes b/.gitattributes
index 81105c498637150b0acec746b7db0803796e6981..8a23e6e565bba2da8d2df8cdb03b69ef78b11b10 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3422,3 +3422,5 @@ dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/scotch_ta
 dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/mesh/scissors_006.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/af8ea18beaf85cb38d663974c33d292a/scissors_006.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/ac7eb02676265076be8a4f611e952510/ac7eb02676265076be8a4f611e952510.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mesh/scotch_tape_029.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/scotch_tape_029.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mesh/material.mtl b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..127720699dc3a1c2f9af1fb6147d818c951c9779
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl scotch_tape_029_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_029_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mesh/material_0.png b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..64dcb4bd265a07eb1a4ddec57daa306a554f9647
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cd08f0e7f877b2bb6d1e6ab3906d5e589622c264b35ab4c9cd5db84d6ca7ee0
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diff --git a/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mesh/scotch_tape_029.glb b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mesh/scotch_tape_029.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3f7082c30d516875a5ef5298e59c7968ffc7442c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mesh/scotch_tape_029.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ca6bd484953988bf2ba7a8c914173943a171f239905d0d4fba943975c44e778
+size 16133440
diff --git a/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mesh/scotch_tape_029.mtl b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mesh/scotch_tape_029.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8ab5e67d95cfdf45f15721269fdb428fe5b0ec13
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mesh/scotch_tape_029.mtl
@@ -0,0 +1,6 @@
+newmtl scotch_tape_029_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/a7649e6653db57678000f9d8caf062c2/mesh/scotch_tape_029.obj b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mesh/scotch_tape_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48bfea2a8c8becf25a100a278ad2f5c1a507813f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mesh/scotch_tape_029.obj
@@ -0,0 +1,119422 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl scotch_tape_029_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mesh/scotch_tape_029_collision.obj b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mesh/scotch_tape_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f78939089eee0d668bc4bdb3d2b6a7b453f690ed
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mesh/scotch_tape_029_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mesh/scotch_tape_029_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mesh/scotch_tape_029_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_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..64dcb4bd265a07eb1a4ddec57daa306a554f9647
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+++ b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:5cd08f0e7f877b2bb6d1e6ab3906d5e589622c264b35ab4c9cd5db84d6ca7ee0
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diff --git a/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029.obj b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029.obj
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diff --git a/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision.obj b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22139ee609f1d4b06bca78b0bfd6c1d5a71dd521
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision.obj
@@ -0,0 +1,10183 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_0.obj b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9dbba799ae5191d672bf61a994d7fa20e2aa985
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_1.obj b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43584796253e7ec5ddef762a7733f8032113b50d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_10.obj b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f306451f5644d1fd1c8f2084ce232a2cfe8132db
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_2.obj b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e572754c091557579f69eacd1d81170835a2ca4a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_3.obj b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6faa7fc6e68486c04bfe339471c9c8e42b292f1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_4.obj b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47f81e345c6487c7d05736c42edf12b1d4f34098
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_5.obj b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e88ac4e870b66cf36fcedf8c35c3f31dcfc4f1d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_6.obj b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7b4b8c8ce6878f1634d8f6616470e6feb945a5f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_7.obj b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9f99f3165738fc65a1237d84af69475c3afeb08
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_8.obj b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e5fefe706d7225db489fe9f67dea5a75678e4ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_9.obj b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bedbd8fbba41953b9e688d1316f08122f849be20
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/mesh/scotch_tape_029_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/scotch_tape_029.xml b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/scotch_tape_029.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c9a13cf72f7a33c84de3cb39cff79bd0607e8b63
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/mjcf/scotch_tape_029.xml
@@ -0,0 +1,36 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="scotch_tape_029">
+  <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_029.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/scotch_tape_029_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/scotch_tape_029_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/scotch_tape_029_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/scotch_tape_029_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/scotch_tape_029_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/scotch_tape_029_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/scotch_tape_029_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/scotch_tape_029_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/scotch_tape_029_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/scotch_tape_029_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/scotch_tape_029_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="scotch_tape_029">
+      <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/a7649e6653db57678000f9d8caf062c2/scotch_tape_029.urdf b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/scotch_tape_029.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a35b931e7b7be29fae01603c294863992e32c4cb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/scotch_tape_029.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="scotch_tape_029">
+   <link name="scotch_tape_029">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/scotch_tape_029.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_029_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0700" />
+         <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>a7649e6653db57678000f9d8caf062c2</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>scotch_tape</category>
+         <name>yellow tape roll</name>
+         <color>yellow,white</color>
+         <shape>ring</shape>
+         <material>plastic</material>
+         <description>translucent yellow adhesive tape roll with white cardboard core</description>
+         <min_height>0.0231</min_height>
+         <max_height>0.0231</max_height>
+         <real_height>0.0231</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609174021</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.025033 -0.025351 -0.011549</min>
+            <max>0.024967 0.025186 0.011597</max>
+         </aabb>
+         <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_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/a7649e6653db57678000f9d8caf062c2/scotch_tape_029.usd b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/scotch_tape_029.usd
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+++ b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/scotch_tape_029.usd
@@ -0,0 +1,3 @@
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+size 4920046
diff --git a/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/textures/material_0.png b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/textures/material_0.png
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/video.mp4 b/dataset/desktop_supplies/office_tools/a7649e6653db57678000f9d8caf062c2/video.mp4
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--- /dev/null
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@@ -0,0 +1,3 @@
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