diff --git a/.gitattributes b/.gitattributes
index bd3c68b246703710000c3e30a2ceab9eb018a335..f902455d569878cd2748299fa59fb11b5a521791 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3320,5 +3320,5 @@ dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/magnifier
 dataset/desktop_supplies/office_tools/1680b4a45f095d4581a81076de2bc274/mesh/magnifier_029.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/1bea4263a0f258019e6d9585e4061bc4/mesh/sticky_notes_029.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/1bea4263a0f258019e6d9585e4061bc4/sticky_notes_029.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/1d6d7d390e3f52299a1c75ee8a30a871/mesh/scissors_013.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/1d6d7d390e3f52299a1c75ee8a30a871/scissors_013.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mesh/scotch_tape_026.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/scotch_tape_026.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mesh/material.mtl b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..638a9a09672ca7c8f3cd273403f95ba76ef949aa
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl scotch_tape_026_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd scotch_tape_026_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mesh/material_0.png b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..12d92a0a4a6d741c36f0dc0f2a4e56fe726aa1e4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf82bc82f2394bcb0b644b0671aa3c1c61b56aacc96e036cab3be01bb257f6fb
+size 11985910
diff --git a/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mesh/scotch_tape_026.glb b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mesh/scotch_tape_026.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e7193eaa042ff1486c8418a06747948aea8ef5a2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mesh/scotch_tape_026.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 15421176
diff --git a/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mesh/scotch_tape_026.mtl b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mesh/scotch_tape_026.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..161960bbdf8cb01a9ef2f698926c89f35332d673
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mesh/scotch_tape_026.mtl
@@ -0,0 +1,6 @@
+newmtl scotch_tape_026_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/1c78e3d436e5528ba336e78fdc019edb/mesh/scotch_tape_026.obj b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mesh/scotch_tape_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b2ecd350d9ac3572c1fc6fbb297eca0fdaa4aaf
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mesh/scotch_tape_026.obj
@@ -0,0 +1,111274 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl scotch_tape_026_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mesh/scotch_tape_026_collision.obj b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mesh/scotch_tape_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7731ab6d2c4b233b87ccbcfd00d3e4ce0c67926
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mesh/scotch_tape_026_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mesh/scotch_tape_026_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mesh/scotch_tape_026_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..12d92a0a4a6d741c36f0dc0f2a4e56fe726aa1e4
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 11985910
diff --git a/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..12d92a0a4a6d741c36f0dc0f2a4e56fe726aa1e4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:cf82bc82f2394bcb0b644b0671aa3c1c61b56aacc96e036cab3be01bb257f6fb
+size 11985910
diff --git a/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026.obj b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026.obj
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index 0000000000000000000000000000000000000000..41b8249cbd2e542c1fceab27f50a0e1484cd7ca3
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision.obj b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41b636ce97901d7c80a52fbaef82b0c55d7c9e49
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision.obj
@@ -0,0 +1,6079 @@
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diff --git a/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_0.obj b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bff8b3e16f23932aae8ba0071e5c243f3146b07
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_0.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_1.obj b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48f8f85073e10a1d1c5ed0306563caa20932b4e9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_1.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_10.obj b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f685ecb796925e24c2d9ba60dc726b7ed1bd522
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_2.obj b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8f4333160ef7f6a695a5b4cf3dbce382fcd1b89
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_3.obj b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ff10b538e89417ebf5d6d10ffe323011c72f83f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_4.obj b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67b2c83dd48fbfc2fc0e493763c9cc1f34f9420d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_5.obj b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ad0b9a300da669f32b39afb1388407331a98a9e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_5.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_6.obj b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d392a868eb2591eccd3dc2c603d3717c2b02bd85
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_6.obj
@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_7.obj b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4d3975d6fc2a84ba5a049614359119512462742
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_8.obj b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfd795e50364042aaebb3a14de19ea16082dbee8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_8.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_9.obj b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79b7acf88f7fb0b6ac8cb984e584db90d7359948
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/mesh/scotch_tape_026_collision_9.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/scotch_tape_026.xml b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/scotch_tape_026.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a5f7e66582381fa2011ff2653fa6965b406d8613
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mjcf/scotch_tape_026.xml
@@ -0,0 +1,36 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="scotch_tape_026">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/scotch_tape_026.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/scotch_tape_026_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/scotch_tape_026_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/scotch_tape_026_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/scotch_tape_026_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/scotch_tape_026_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/scotch_tape_026_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/scotch_tape_026_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/scotch_tape_026_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/scotch_tape_026_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/scotch_tape_026_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/scotch_tape_026_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="scotch_tape_026">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/scotch_tape_026.urdf b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/scotch_tape_026.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..36a651fc1f3ff847dc9b75a42b8a82c89260f58f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/scotch_tape_026.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="scotch_tape_026">
+   <link name="scotch_tape_026">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/scotch_tape_026.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_026_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0700" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>1c78e3d436e5528ba336e78fdc019edb</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>scotch_tape</category>
+         <name>blue tape roll</name>
+         <color>blue,brown</color>
+         <shape>ring</shape>
+         <material>plastic</material>
+         <description>translucent blue adhesive tape roll with brown cardboard core</description>
+         <min_height>0.0192</min_height>
+         <max_height>0.0192</max_height>
+         <real_height>0.0192</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609173909</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.024885 -0.025407 -0.009600</min>
+            <max>0.025115 0.025377 0.009601</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/1c78e3d436e5528ba336e78fdc019edb/scotch_tape_026.usd b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/scotch_tape_026.usd
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+++ b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/scotch_tape_026.usd
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diff --git a/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/textures/material_0.png b/dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/textures/material_0.png
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