diff --git a/.gitattributes b/.gitattributes
index e01605557f828022fe611e541b3eb6bbd3197af5..7fe11012607bc505075dda2f38410cb39f030f83 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3417,3 +3417,5 @@ dataset/desktop_supplies/office_tools/abeac151f86b57a88c03b97196495670/mesh/stam
 dataset/desktop_supplies/office_tools/abeac151f86b57a88c03b97196495670/stamp_017.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/ac403a08cf5f547295d2c32246594264/mesh/scissors_021.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/ac403a08cf5f547295d2c32246594264/scissors_021.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mesh/scotch_tape_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/scotch_tape_010.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mesh/material.mtl b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8ed040da7e1aba1a5a95fbf03025037615c3138a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl scotch_tape_010_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_010_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mesh/material_0.png b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..113646a0eb58a0b378cf886cff86fec844bc1694
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2373c334a794e29dbef72cb6b4e81a2be005bc91e3ea25c1cfd0a0ac68c621f0
+size 8387373
diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mesh/scotch_tape_010.glb b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mesh/scotch_tape_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e0bd1ba9908ec7523a7c449d029719067fbe6118
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mesh/scotch_tape_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0f6e17aab573547dd80dc05e10e5d8f4a3a284b60c41947f65c16c35b498c53
+size 11328128
diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mesh/scotch_tape_010.mtl b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mesh/scotch_tape_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b2d14a4c70d57ef8d39de11ea56bc85760df98b5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mesh/scotch_tape_010.mtl
@@ -0,0 +1,6 @@
+newmtl scotch_tape_010_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/a6f9851682925b53a2f2b6239857ab61/mesh/scotch_tape_010.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mesh/scotch_tape_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ada65bbac04d871364516fdd5b270da7404e11b9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mesh/scotch_tape_010.obj
@@ -0,0 +1,106044 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl scotch_tape_010_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mesh/scotch_tape_010_collision.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mesh/scotch_tape_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ce4621e9311d81a676f260e7677ba19316eb603
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mesh/scotch_tape_010_collision.obj
@@ -0,0 +1,15369 @@
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diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..420e4fa17f66fd48f54cf7dce6133a1a5387cd9b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_0.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6517ee3804bdf0fdc9f1157a69554ebf5d662d7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_0.obj
@@ -0,0 +1,661 @@
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diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_1.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adcdda45e6f2f8571b5c94e4282c9e04168d5b13
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_10.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfa6175b312abd079979c888c64701d3c7ef1048
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_11.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9df1f3c33cf3b3e483df7c997a92f3e7ea2628a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_11.obj
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diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_12.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46f4e0563205ed167a69caa3a9640c174c8232ba
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_12.obj
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diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_13.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18e05b76a1521f8df75641fa0975c77f17b7b12a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_13.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_14.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eb6e588a5a51278d22f058052f9167a53006de7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_14.obj
@@ -0,0 +1,580 @@
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diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_15.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e7671cdff6d98011b11d585209d32fde9ea4db8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_15.obj
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diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_16.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf26d872ef997883d614e9e41aa040b5e7c54a68
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_16.obj
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diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_17.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93d4f67416b9976ccbb2ba1f44f6dcd694d087d6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_17.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_18.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0791e28250a0ca336d9daec31888293cf75e51ee
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_18.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_19.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7bebbf7f86eee36a9a1c46a9d00123f1efd018a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_19.obj
@@ -0,0 +1,532 @@
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diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_2.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53695203c3e11d1d3fa5dfad410a51e2fc8c7a30
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_2.obj
@@ -0,0 +1,601 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_20.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e2d809cefe0150b5cdbee7c01cd357bf864fa1a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_20.obj
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diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_21.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0520ade7c66fad2bd960f067f4e9dc1cc934ae99
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_21.obj
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diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_22.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0007792470acfe6b91f73b02c3f9f5f8f37b522
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_22.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_23.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bee4ae96cb717150d1e250ebc067706cca4573b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_23.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_24.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cee78f5abe3c147a94714b0b1661ecb39727b750
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_24.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+v -0.05493598 0.01859218 0.02630804
+v -0.05498685 0.01859219 0.02337941
+v -0.05498454 0.01859219 0.02448077
+v -0.05497452 0.01859219 0.02512219
+f 1 2 3
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+f 1 15 20
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+f 1 30 44
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+f 1 21 16
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+f 59 63 60
+
diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_25.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f11872929536d9ea22212028e534b4855d0e940
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_25.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.01633055 0.02594779 0.00267416
+v -0.01633356 0.02594778 0.00418415
+v -0.02218267 0.01859227 0.00192567
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+v -0.02218870 0.01859226 0.00418412
+v -0.01634863 0.02594778 0.00643933
+v -0.02218568 0.01859228 -0.00066289
+v -0.01633356 0.02594780 -0.00066286
+v -0.02221280 0.01859225 0.00729562
+v -0.01637575 0.02594777 0.00869452
+v -0.02222486 0.01859225 0.00869449
+v -0.04711296 0.01859228 -0.00066289
+v -0.04711296 0.02594780 -0.00066286
+v -0.01638479 0.02594777 0.00938741
+v -0.02225801 0.01859224 0.01094967
+v -0.04711296 0.01859217 0.03119402
+v -0.04711296 0.02594770 0.02725238
+v -0.01640889 0.02594776 0.01094970
+v -0.01644506 0.02594775 0.01320488
+v -0.02229718 0.01859223 0.01320485
+v -0.04706474 0.01859217 0.03127900
+v -0.04711296 0.02409711 0.02891924
+v -0.04356010 0.02476172 0.03234778
+v -0.04318342 0.02594768 0.03157645
+v -0.01648725 0.02594774 0.01546333
+v -0.02233937 0.01859222 0.01546330
+v -0.04647712 0.01859216 0.03215165
+v -0.04597387 0.02029008 0.03238044
+v -0.04206844 0.02594768 0.03245564
+v -0.01649930 0.02594774 0.01603857
+v -0.02236046 0.01859222 0.01640460
+v -0.04614866 0.01859216 0.03242947
+v -0.04607935 0.01913365 0.03241966
+v -0.04468412 0.02120889 0.03244582
+v -0.04198407 0.02594768 0.03246545
+v -0.01655053 0.02594773 0.01824146
+v -0.02239060 0.01859221 0.01771522
+v -0.04518736 0.01859216 0.03250464
+v -0.04481972 0.01913365 0.03251444
+v -0.04021818 0.02594768 0.03257004
+v -0.01659272 0.02594773 0.01997043
+v -0.02251415 0.01859220 0.02244456
+v -0.04481972 0.01859216 0.03252752
+v -0.04251744 0.02143572 0.03256675
+v -0.04305987 0.01859216 0.03257981
+v -0.04021818 0.02373634 0.03258637
+v -0.03791590 0.02373634 0.03262232
+v -0.03800631 0.02594768 0.03260272
+v -0.01665901 0.02594772 0.02222561
+v -0.01673435 0.02594771 0.02448079
+v -0.01682776 0.02594770 0.02699091
+v -0.02268592 0.01859218 0.02673922
+v -0.04021818 0.01859216 0.03262230
+v -0.04021818 0.01913365 0.03261903
+v -0.03561362 0.02594768 0.03263540
+v -0.03791590 0.01913365 0.03265172
+v -0.03561362 0.02143572 0.03266807
+v -0.03331135 0.02373634 0.03268442
+v -0.01691214 0.02594769 0.02899443
+v -0.02277632 0.01859217 0.02899440
+v -0.03791590 0.01859216 0.03265499
+v -0.03340175 0.02594768 0.03266482
+v -0.03615605 0.01859216 0.03267786
+v -0.03385377 0.01859216 0.03270728
+v -0.03101510 0.02143572 0.03272690
+v -0.03101510 0.02373634 0.03271057
+v -0.01692420 0.02594769 0.02909248
+v -0.01823505 0.02475453 0.03043577
+v -0.02294507 0.01859217 0.02960558
+v -0.03110550 0.02594768 0.03269097
+v -0.03331135 0.01859216 0.03271381
+v -0.02871282 0.02594768 0.03271384
+v -0.02880322 0.02594768 0.03271384
+v -0.03155752 0.01859216 0.03269094
+v -0.02650095 0.02594768 0.03267136
+v -0.01761126 0.02594769 0.03100448
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+v -0.02487067 0.01859216 0.03245235
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+v -0.01981108 0.02594768 0.03245564
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+v -0.02292699 0.02022888 0.03239678
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+v -0.02462055 0.01859216 0.03243600
+v -0.01972671 0.02594768 0.03245238
+v -0.01803917 0.02594768 0.03147513
+v -0.01869008 0.02594768 0.03208958
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+f 79 85 80
+f 81 86 82
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+f 82 84 83
+f 82 86 87
+f 82 87 85
+
diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_26.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db97df575e8822b870405a6e7730fed7c7ab50f3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_26.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.02343126 0.03583563 -0.03096623
+v -0.02700130 0.03583563 -0.03096024
+v -0.02410863 0.04444909 -0.03094522
+v -0.02343126 0.04444909 -0.03094522
+v -0.02343126 0.03583552 -0.00033784
+v -0.02871049 0.03583563 -0.03095724
+v -0.03101184 0.03583563 -0.03095124
+v -0.03101184 0.03754673 -0.03094524
+v -0.03213482 0.03757038 -0.03091526
+v -0.03110897 0.03995079 -0.03087627
+v -0.02878291 0.04221768 -0.03087626
+v -0.02638954 0.04442544 -0.03087926
+v -0.02343126 0.04667695 -0.03089724
+v -0.02343126 0.04791494 -0.00033779
+v -0.03213482 0.03583552 -0.00033784
+v -0.03213482 0.03583563 -0.03093326
+v -0.03213482 0.03948015 -0.03084929
+v -0.03040604 0.04149752 -0.03083430
+v -0.02401065 0.04665093 -0.03087925
+v -0.02343126 0.04761232 -0.03084927
+v -0.03213482 0.04791494 -0.00033779
+v -0.02343126 0.04791505 -0.03069336
+v -0.03213482 0.04678101 -0.02973398
+v -0.03194056 0.04078683 -0.03072037
+v -0.02806379 0.04364143 -0.03083429
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+v -0.03104592 0.04791505 -0.02968300
+v -0.03213482 0.04791505 -0.02937420
+f 1 2 3
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+f 1 20 22
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+f 1 14 5
+f 1 5 15
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+f 9 17 10
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+f 14 28 21
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+f 19 25 20
+f 20 25 26
+f 20 26 23
+f 20 23 27
+f 20 27 22
+f 23 26 25
+f 23 28 27
+
diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_27.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc67ff15485043fd5dd26b20bc54a80bb40ac3c4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_27.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.02343126 0.05581682 -0.00033776
+v -0.02407796 0.05545356 -0.00033777
+v -0.02343126 0.04791696 -0.00033779
+v -0.02343126 0.05658170 -0.02288853
+v -0.02410863 0.05620228 -0.02288853
+v -0.02522480 0.05478574 -0.00033777
+v -0.03213482 0.04791696 -0.00033779
+v -0.02343126 0.04791707 -0.03069471
+v -0.02343126 0.05660723 -0.02514390
+v -0.02410863 0.05622951 -0.02514390
+v -0.02589024 0.05519333 -0.02514391
+v -0.02586383 0.05517715 -0.02288854
+v -0.02640998 0.05402179 -0.00033777
+v -0.02701493 0.05445999 -0.02288854
+v -0.03213482 0.04984471 -0.00033779
+v -0.03213482 0.04791707 -0.02937536
+v -0.03104592 0.04791707 -0.02968439
+v -0.03101184 0.04905365 -0.02999343
+v -0.02410863 0.05365523 -0.02985375
+v -0.02343126 0.05364247 -0.02970815
+v -0.02343126 0.05660299 -0.02739927
+v -0.02410863 0.05622867 -0.02739927
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+v -0.02704134 0.05447786 -0.02514391
+v -0.02811576 0.05288947 -0.00033778
+v -0.02871049 0.05336341 -0.02514391
+v -0.02894054 0.05315923 -0.02266865
+v -0.03193204 0.05001571 -0.00033779
+v -0.03213482 0.05079676 -0.02283803
+v -0.03213482 0.04904429 -0.02967251
+v -0.02871049 0.05135486 -0.02980027
+v -0.02644151 0.05375902 -0.02941099
+v -0.02343126 0.05570463 -0.02928916
+v -0.02410863 0.05551067 -0.02921785
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+v -0.02989652 0.05253056 -0.02857007
+v -0.02705839 0.05448723 -0.02739928
+v -0.02926346 0.05207362 -0.00033778
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+v -0.02871049 0.05337788 -0.02739928
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+v -0.02988630 0.05252289 -0.02327484
+v -0.03077667 0.05092599 -0.00033778
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+v -0.03106126 0.05167046 -0.02514392
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+v -0.02991782 0.05254587 -0.02739929
+v -0.03213482 0.05084101 -0.02514392
+f 1 2 6
+f 1 6 13
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+f 1 38 43
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+f 1 15 7
+f 1 7 3
+f 1 3 8
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+f 41 45 42
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+f 45 50 53
+f 45 53 46
+f 47 49 48
+
diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_3.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..304c5a99b5d1911d530eee11a33340f13cd5769b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_3.obj
@@ -0,0 +1,1210 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_4.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d955979406b64df815b8d983bb4b3e564a170e75
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_5.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48e4d099f0aa6a26ac11f629397e64c17e29676f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_6.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33851ec62dcb59870a0a57a595a23beb4a1824ea
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_7.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4a044a108b36edcfaf370c51ad6be7c61874d1c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_8.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30c9a529784c9e1252729194fe98448da9903517
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_9.obj b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..429109e2a75703188e89582b332a67b1059ede9a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/mesh/scotch_tape_010_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/scotch_tape_010.xml b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/scotch_tape_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b3dd261a99b77f596903110b94512568720b8f4f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/mjcf/scotch_tape_010.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_0" file="mesh/scotch_tape_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/scotch_tape_010_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/scotch_tape_010_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/scotch_tape_010_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/scotch_tape_010_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/scotch_tape_010_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/scotch_tape_010_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/scotch_tape_010_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/scotch_tape_010_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/scotch_tape_010_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/scotch_tape_010_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/scotch_tape_010_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/scotch_tape_010_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/scotch_tape_010_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/scotch_tape_010_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/scotch_tape_010_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/scotch_tape_010_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/scotch_tape_010_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/scotch_tape_010_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/scotch_tape_010_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/scotch_tape_010_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/scotch_tape_010_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/scotch_tape_010_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/scotch_tape_010_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/scotch_tape_010_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/scotch_tape_010_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/scotch_tape_010_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/scotch_tape_010_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="scotch_tape_010">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" 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/a6f9851682925b53a2f2b6239857ab61/scotch_tape_010.urdf b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/scotch_tape_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..327970c14f45813fd5ccc682237402ef55f06ba6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/scotch_tape_010.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="scotch_tape_010">
+   <link name="scotch_tape_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/scotch_tape_010.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_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>a6f9851682925b53a2f2b6239857ab61</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>scotch_tape</category>
+         <name>decorative tape</name>
+         <color>gray,purple</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>colorful cylindrical tape with swirling patterns</description>
+         <min_height>0.0635</min_height>
+         <max_height>0.0635</max_height>
+         <real_height>0.0635</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506211351</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>2</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/a6f9851682925b53a2f2b6239857ab61/scotch_tape_010.usd b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/scotch_tape_010.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/scotch_tape_010.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e22989b73418cef1dfeeabb59307cee60f104bcd77595439e0c4fefc0395b802
+size 4658351
diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/textures/material_0.png b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 8387373
diff --git a/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/video.mp4 b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a6f9851682925b53a2f2b6239857ab61/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5204b91c7bf927e69ebb86517317c36259bbf35a10b6ca431a778f533e37212f
+size 227214