diff --git a/.gitattributes b/.gitattributes
index 1a74b58a3e4a5a313d2631df4c8a46508d92da7b..6b8b43666400e0e3f0aa053485fa0356f50721b3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3353,3 +3353,4 @@ dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/magnifier
 dataset/desktop_supplies/office_tools/45829307a0995bf5b4a644c03a21b059/mesh/magnifier_003.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/mesh/stamp_012.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/47747fceab015558832521c18827da6e/stamp_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/54d669528b185b42a044d62abccb0633.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/54d669528b185b42a044d62abccb0633.urdf b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/54d669528b185b42a044d62abccb0633.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e5b17241582b2578b89ad8e5f79d925a337b6207
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/54d669528b185b42a044d62abccb0633.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tape_58">
+   <link name="tape_58">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/tape_58.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/tape_58_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.90</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>0.153949</scale>
+         <version>v0.1.5</version>
+         <category>tape</category>
+         <description>pink adhesive tape with white polka dot pattern</description>
+         <min_height>0.05</min_height>
+         <max_height>0.07</max_height>
+         <real_height>0.06</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <generate_time>20251014185735</generate_time>
+         <gs_model>mesh/tape_58_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.154794692993164</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/54d669528b185b42a044d62abccb0633.usd b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/54d669528b185b42a044d62abccb0633.usd
new file mode 100644
index 0000000000000000000000000000000000000000..6aec929965304eb9dfed26af497533d7896e95b1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/54d669528b185b42a044d62abccb0633.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf40aa4fa42faefa77bfd98696e1461461c62e301e1c265fb810d59b38b07b88
+size 222535
diff --git a/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mesh/material.mtl b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mesh/material_0.png b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c4896e4063445c723d3149308fa301bbecc6d55e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e5297f2adf0102488fdf73871843212303a00e0228d0c801a4d11a2bfee053f
+size 1693046
diff --git a/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mesh/tape_58.glb b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mesh/tape_58.glb
new file mode 100644
index 0000000000000000000000000000000000000000..17ee2c189728b797d539747d9f66e1318b95f289
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mesh/tape_58.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d42605c1a99b60a88a39cbf1563d58cc6f379fc75f8d81a1686235259197cad0
+size 1841992
diff --git a/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mesh/tape_58.obj b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mesh/tape_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e548cb9845505c1d5d029b6af633141651bf4903
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mesh/tape_58.obj
@@ -0,0 +1,13504 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mesh/tape_58_collision.obj b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mesh/tape_58_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..682bf10b6f4ac507f571526ae9e4cd80db1a25b4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mesh/tape_58_collision.obj
@@ -0,0 +1,8715 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mesh/tape_58_gs.ply b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mesh/tape_58_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1e3f3e0c485d38bc46abecefacf7ee569c542379
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mesh/tape_58_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95a684d016833c12e20fb763a999b9438e41e9dac75ff30d3b76ab90425a6def
+size 37598314
diff --git a/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/54d669528b185b42a044d62abccb0633.xml b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/54d669528b185b42a044d62abccb0633.xml
new file mode 100644
index 0000000000000000000000000000000000000000..edc5422894a6e50ffc85abe51d463554f45933ba
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/54d669528b185b42a044d62abccb0633.xml
@@ -0,0 +1,34 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tape_58">
+  <asset>
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+    <mesh name="collision_mesh_0_0" file="mesh/tape_58_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tape_58_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tape_58_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tape_58_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tape_58_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tape_58_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tape_58_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tape_58_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tape_58_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tape_58_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tape_58">
+      <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/54d669528b185b42a044d62abccb0633/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
+oid sha256:5e5297f2adf0102488fdf73871843212303a00e0228d0c801a4d11a2bfee053f
+size 1693046
diff --git a/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58.obj b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b13dc48fc0cb82efe8b9a4150a58fcf6958bbd7b
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+++ b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58.obj
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diff --git a/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision.obj b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..675ac576abdf79dab26b49c4dcdfdc2ef65c2a81
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision.obj
@@ -0,0 +1,8715 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_0.obj b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9701ea2103abc0b9636dc0d3333e07d38c0679e4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_0.obj
@@ -0,0 +1,601 @@
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diff --git a/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_1.obj b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b566723e9748adeff93a3ade02f34a25f6ce8d62
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_1.obj
@@ -0,0 +1,538 @@
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diff --git a/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_2.obj b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37a41886f1d09302647bd69498e199cdf4b66db0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_3.obj b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9358c3fc92c629f35fc70697c9377140ed060977
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_4.obj b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6ea4500e9daff34cdc940e258f96bd6e7dbc886
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_5.obj b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8b2f948611f8bd132162c45543ddb8a04d4469d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_6.obj b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b04d0282db069bf085e212166927f8caee350a8e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_7.obj b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24bdd9d8f4777a78208b840c1638e4ca39a7089b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_7.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_8.obj b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b6278670921a8d65c9d82f0d8e8777acee0ec65
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_8.obj
@@ -0,0 +1,613 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_9.obj b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ba51e73b83817c334017f15963fd52318e91eb1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/54d669528b185b42a044d62abccb0633/mjcf/mesh/tape_58_collision_9.obj
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