diff --git a/.gitattributes b/.gitattributes
index 1ac05042a25a78b1d9e830bd87cc0b30c0689bb9..1db0ed1ffa149ea31daa5f79ea23e39e3d4e730c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3355,3 +3355,5 @@ dataset/desktop_supplies/office_tools/4759aa9ba97d5f50a96719f29c51ce94/mesh/stam
 dataset/desktop_supplies/office_tools/4759aa9ba97d5f50a96719f29c51ce94/stamp_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/mesh/stamp_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/49b003e0ef2451e99e9c63359a8909f1/stamp_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/magnifier_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mesh/magnifier_006.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/magnifier_006.urdf b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/magnifier_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9c5e59a46524d71e32f05d3c1f9de1af6ab55e51
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/magnifier_006.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="magnifier_006">
+   <link name="magnifier_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/magnifier_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/magnifier_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="0.3000" />
+         <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>4c5769445f8a5334ac433ba070ef0400</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>magnifier</category>
+         <name>handheld magnifier</name>
+         <color>golden,transparent</color>
+         <shape>elongated</shape>
+         <material>metal</material>
+         <description>circular magnifier with a handle and attached loop</description>
+         <min_height>0.0146</min_height>
+         <max_height>0.0146</max_height>
+         <real_height>0.0146</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506210420</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>8</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/4c5769445f8a5334ac433ba070ef0400/magnifier_006.usd b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/magnifier_006.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e4199147a64462fc1dcca3cb574c41a72fd08527
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/magnifier_006.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08157eecbc242caaaed4406daf7c4383ac0e12e8584113cb73b65c71979902cc
+size 5008815
diff --git a/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mesh/magnifier_006.glb b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mesh/magnifier_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ef54d55bc76ab526f16d9da29258f372209b03c7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mesh/magnifier_006.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff976f703c2a71836e25ed3a3ea6cd557334af6e250044970bb9f94267fb7086
+size 14711740
diff --git a/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mesh/magnifier_006.mtl b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mesh/magnifier_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b8d06ff372b0bea9065f6232a26f88e6283cf337
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mesh/magnifier_006.mtl
@@ -0,0 +1,6 @@
+newmtl magnifier_006_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/4c5769445f8a5334ac433ba070ef0400/mesh/magnifier_006.obj b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mesh/magnifier_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e34c384fa9136bc553a4dd6cffc2c61e5617f2d6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mesh/magnifier_006.obj
@@ -0,0 +1,112784 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl magnifier_006_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mesh/magnifier_006_collision.obj b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mesh/magnifier_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0d1af3ea0a8024ec49ebb252f0fd4e6619e5b95
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mesh/magnifier_006_collision.obj
@@ -0,0 +1,5022 @@
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diff --git a/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mesh/magnifier_006_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mesh/magnifier_006_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..738eb896a0984db0886d55d0e3463efeb369540b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mesh/magnifier_006_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3c90c58ad3e90a21c1be9ae69b97e5f7ef72d2ca2c390024b0505a64b060dfc
+size 11213730
diff --git a/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mesh/material.mtl b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5cdc67386526f4b172ee64b51c6ff259bc994cc3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl magnifier_006_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 magnifier_006_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mesh/material_0.png b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..738eb896a0984db0886d55d0e3463efeb369540b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3c90c58ad3e90a21c1be9ae69b97e5f7ef72d2ca2c390024b0505a64b060dfc
+size 11213730
diff --git a/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/magnifier_006.xml b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/magnifier_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bc4fa40035abeabb5625e88f1effa2bf444150ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/magnifier_006.xml
@@ -0,0 +1,34 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="magnifier_006">
+  <asset>
+    <material name="material_0" texture="texture_0_magnifier_006_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_magnifier_006_geometry_Looks_material_0" type="2d" file="mesh/magnifier_006_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/magnifier_006.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/magnifier_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/magnifier_006_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/magnifier_006_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/magnifier_006_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/magnifier_006_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/magnifier_006_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/magnifier_006_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/magnifier_006_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/magnifier_006_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/magnifier_006_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="magnifier_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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006.obj b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae86775ccced850827318eb579de167dab13e845
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006.obj
@@ -0,0 +1,112784 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl magnifier_006_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision.obj b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52a01df537463f63f2232ce8ead276130a4e52ba
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision.obj
@@ -0,0 +1,5022 @@
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diff --git a/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_0.obj b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65989533fd7b351f0064a1d5c6e588006bb9cdbb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_1.obj b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12a55b81af815d62da13e1a9542f6365028cde51
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_2.obj b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7ba21bdad9dbe17c6e77dfd4f72a8330d0fa650
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_2.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_3.obj b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1851071e99cc45a5820b307d8638ef384a139a2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_3.obj
@@ -0,0 +1,811 @@
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diff --git a/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_4.obj b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bf75c87a5445b7b872f97158b100813147eb8a3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_5.obj b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13f11e1c0c78811a7869372924c65a6b2a223b83
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_5.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_6.obj b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10d851095668266e80ec0bae1f34ea6303923c29
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_6.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_7.obj b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a416052a24f5c508bf6b55892fdde5c98364f24
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_7.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_8.obj b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5947965b89b81a88603fd10133977b79296aa02c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_8.obj
@@ -0,0 +1,358 @@
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diff --git a/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_9.obj b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_9.obj
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_geometry_Looks_material_0.png
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+++ b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/mjcf/mesh/magnifier_006_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/textures/material_0.png b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/textures/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/video.mp4 b/dataset/desktop_supplies/office_tools/4c5769445f8a5334ac433ba070ef0400/video.mp4
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