diff --git a/.gitattributes b/.gitattributes
index 805b852ae17751d59bc0ac5e8ae8f966e6309259..3fc14fe038f8a5842499bfb24258425f2048f517 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3304,5 +3304,5 @@ dataset/desktop_supplies/office_tools/00b7ae58aedc506f9f51e909ed0ef283/mesh/stap
 dataset/desktop_supplies/office_tools/00b7ae58aedc506f9f51e909ed0ef283/staples_box_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/marker_026.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mesh/marker_026.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/mesh/notebook_035.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/ffc09ec371f75505bc9d28147ef8f86a/notebook_035.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mesh/stamp_029.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/stamp_029.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mesh/material.mtl b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..afe68ce6f242422688b720a20f614e12de4d0abb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl stamp_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 stamp_029_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mesh/material_0.png b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..984f3e6f07183912875287c72b6ca68b9539077f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e1e2554603a4d1e3733951239686106fd9a50d10bfc74f5863fb6a1892286b8
+size 10593504
diff --git a/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mesh/stamp_029.glb b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mesh/stamp_029.glb
new file mode 100644
index 0000000000000000000000000000000000000000..649517fba71ea135c25e821e1a1989719e263428
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mesh/stamp_029.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62a3c660a5e915b7aebc261126329ac381d4769ada197e108f118a1629708a82
+size 13937120
diff --git a/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mesh/stamp_029.mtl b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mesh/stamp_029.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9adfbb1c7e5fe3f73247566e8535f948b2de4be5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mesh/stamp_029.mtl
@@ -0,0 +1,6 @@
+newmtl stamp_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/069eaaeab1bc5698b8b171c6e75d94ba/mesh/stamp_029.obj b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mesh/stamp_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..651f83178e907507ddb40787d67a51a5a1e0d6ac
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mesh/stamp_029.obj
@@ -0,0 +1,108294 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stamp_029_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mesh/stamp_029_collision.obj b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mesh/stamp_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da465604efc187d5f6fdbcd827b761ebf3bf48f5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mesh/stamp_029_collision.obj
@@ -0,0 +1,12027 @@
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diff --git a/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mesh/stamp_029_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mesh/stamp_029_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..984f3e6f07183912875287c72b6ca68b9539077f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mesh/stamp_029_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10593504
diff --git a/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..984f3e6f07183912875287c72b6ca68b9539077f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e1e2554603a4d1e3733951239686106fd9a50d10bfc74f5863fb6a1892286b8
+size 10593504
diff --git a/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029.obj b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfcc525d608b0f84f80bf32f73a53fdb75f8c86e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl stamp_029_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision.obj b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4357a55fc67f57bbca1e36bc63e4c750bf851e8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision.obj
@@ -0,0 +1,12027 @@
+# https://github.com/mikedh/trimesh
+
+o stamp_029_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_0.obj b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89ea6ace7209f1835950d91b3e74f6fc5f7ba098
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_1.obj b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8afe5a54c2d3035370976331ce7dd1d2dab2c911
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_2.obj b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..158e2d03fb124744ec217042238f4bfe659d913b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_3.obj b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..881ba6f0177a60273cb800350e68b3bbda4d4037
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_3.obj
@@ -0,0 +1,502 @@
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diff --git a/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_4.obj b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b276e27b42dc9db2bc8d1db656cf7ac9a009bec
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_4.obj
@@ -0,0 +1,1150 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_5.obj b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b20fdac1db7c7dcdd4aad97fde31280a477be77d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_6.obj b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cb90328c91f7a4e868b8b1a82e72c13b763497e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_7.obj b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fedaf3b72f88b93af1134bf920b0c9d573addbe7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_8.obj b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31e07b50230ef9c03ac7b98a55918ac4b8795df5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_9.obj b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7df5d3ab32e05fe0fb9701fc0ecdeb50c1476e4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/mesh/stamp_029_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/stamp_029.xml b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/stamp_029.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1b7fb22d1b48f17913d0b2acfdcd71ef4341e86d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/mjcf/stamp_029.xml
@@ -0,0 +1,34 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="stamp_029">
+  <asset>
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+    <mesh name="collision_mesh_0_5" file="mesh/stamp_029_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/stamp_029_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/stamp_029_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/stamp_029_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/stamp_029_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="stamp_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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/stamp_029.urdf b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/stamp_029.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..432454deafdd7350f7b221261320edcda7f806fd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/stamp_029.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="stamp_029">
+   <link name="stamp_029">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/stamp_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/stamp_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="0.1300" />
+         <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>069eaaeab1bc5698b8b171c6e75d94ba</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>stamp</category>
+         <name>self-inking stamp</name>
+         <color>gray,purple</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cylindrical self-inking stamp with purple cap and gray base</description>
+         <min_height>0.0880</min_height>
+         <max_height>0.0880</max_height>
+         <real_height>0.0880</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609174826</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.022474 -0.022371 -0.039557</min>
+            <max>0.022526 0.022395 0.048429</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/069eaaeab1bc5698b8b171c6e75d94ba/stamp_029.usd b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/stamp_029.usd
new file mode 100644
index 0000000000000000000000000000000000000000..68125ab3b5f95080183fafb3ee253b062cb25729
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/stamp_029.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7471fb4e72c8ccdbcb4639d88fd37ee4a0bbc7c9ce47931b368972d53ef0ba8e
+size 4908736
diff --git a/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/textures/material_0.png b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..984f3e6f07183912875287c72b6ca68b9539077f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e1e2554603a4d1e3733951239686106fd9a50d10bfc74f5863fb6a1892286b8
+size 10593504
diff --git a/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/video.mp4 b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9b4603ad789de03bd5563e1f61bf224bb86c4dc3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/069eaaeab1bc5698b8b171c6e75d94ba/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a40072560f7f935f715a9b0d03046864362aad6659d4b0c86a204457837cd450
+size 160303