diff --git a/.gitattributes b/.gitattributes
index 9fdc7657697b965ddbfbf2f393ca8c6daa99aa1b..d046afe70a6ed37a299b2eada103b3cb07aef72f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3399,9 +3399,5 @@ dataset/desktop_supplies/office_tools/8a18548793525af8a445f9addd8cef13/mesh/scis
 dataset/desktop_supplies/office_tools/8a18548793525af8a445f9addd8cef13/scissors_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/8fb03f5a2e7b5e488e8df7acca2e1e1f/mesh/sticky_notes_006.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/8fb03f5a2e7b5e488e8df7acca2e1e1f/sticky_notes_006.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/9aaf1bc5ce28553fa0a9e32a68fda39b/mesh/scissors_025.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/9aaf1bc5ce28553fa0a9e32a68fda39b/scissors_025.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/cutter_knife_029.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/9a723d73452c588dabd758b04566e521/mesh/cutter_knife_029.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/9553d3c5e5445fd9937bdd69ac8de035/mesh/sticky_notes_053.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/9553d3c5e5445fd9937bdd69ac8de035/sticky_notes_053.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mesh/scotch_tape_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/scotch_tape_015.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mesh/material.mtl b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fa91833394026791399c58bfe844aeb446b6dcd5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl scotch_tape_015_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_015_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mesh/material_0.png b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d3b357cf018579b2c0bdb842ec6d47e1382af84
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f602a3d23d6711cc7f3cb449a26d7513b4e03fa09e06687599a8c0f2ae2a5d9c
+size 9701233
diff --git a/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mesh/scotch_tape_015.glb b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mesh/scotch_tape_015.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9612c3f1daba32535c44de2814b673013e61648a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mesh/scotch_tape_015.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8938ee344a32f618ef11b8b2a9aef58e6d06153916099ef6b6a22d9ab471924d
+size 12816516
diff --git a/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mesh/scotch_tape_015.mtl b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mesh/scotch_tape_015.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b14a5ba0c47f62f3ef8492c21961d3b1da9ee18e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mesh/scotch_tape_015.mtl
@@ -0,0 +1,6 @@
+newmtl scotch_tape_015_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/954d4c8c86f0504a8b9aa50613aed723/mesh/scotch_tape_015.obj b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mesh/scotch_tape_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a385ccb2d1a604954bd32e762937b41f34b68879
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mesh/scotch_tape_015.obj
@@ -0,0 +1,104974 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl scotch_tape_015_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mesh/scotch_tape_015_collision.obj b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mesh/scotch_tape_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a332e572d43c418b62b521beca2c9748ddc250ef
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mesh/scotch_tape_015_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision.obj b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94c1d025011f88892d9b185e944ad4d5d840873b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision.obj
@@ -0,0 +1,11602 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_0.obj b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b0a94b9b920bdf5b4b01c382c3d8a33adb0e629
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_1.obj b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..354f887488cc972e1c25264b677467e51828d0ca
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_10.obj b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7f5e796959deaa296f030f33708d72e8d3cbfdb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_2.obj b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe81e307a904d51c2bb83e95393afba08a4dad69
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_3.obj b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9577e8e30fd498b12a4eb96a946b612d70cbcaf5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_4.obj b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39d8a51761f58470250aacfa2b40f60b52a95088
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_5.obj b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..131e29cf1b641b7cc311b0a9fc43599d21606480
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_6.obj b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a6c297da65ecb03784d6a647d5487c7ca797f4b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_7.obj b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3054180faddcdc67fe2de7983eccae9f6fccadb3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_7.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_8.obj b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9b09adf06671a3bafb5e565f4d9b07d6e80e1ce
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_8.obj
@@ -0,0 +1,571 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_9.obj b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fccff3c3e203030b7f5a43f4748f33e7a582b886
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/mesh/scotch_tape_015_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/scotch_tape_015.xml b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/scotch_tape_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8b223d2bcde3d27e73e6431e4633e2828f7e4b27
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mjcf/scotch_tape_015.xml
@@ -0,0 +1,36 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="scotch_tape_015">
+  <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_015.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/scotch_tape_015_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/scotch_tape_015_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/scotch_tape_015_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/scotch_tape_015_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/scotch_tape_015_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/scotch_tape_015_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/scotch_tape_015_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/scotch_tape_015_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/scotch_tape_015_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/scotch_tape_015_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/scotch_tape_015_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="scotch_tape_015">
+      <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" />
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+      <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>
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diff --git a/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/scotch_tape_015.urdf b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/scotch_tape_015.urdf
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/scotch_tape_015.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="scotch_tape_015">
+   <link name="scotch_tape_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/scotch_tape_015.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_015_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>954d4c8c86f0504a8b9aa50613aed723</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>scotch_tape</category>
+         <name>gray tape roll</name>
+         <color>gray,transparent</color>
+         <shape>ring</shape>
+         <material>plastic</material>
+         <description>gray transparent adhesive tape roll with cardboard inner core</description>
+         <min_height>0.0509</min_height>
+         <max_height>0.0509</max_height>
+         <real_height>0.0509</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609173354</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.054729 -0.054906 -0.026444</min>
+            <max>0.054873 0.054833 0.024419</max>
+         </aabb>
+         <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/954d4c8c86f0504a8b9aa50613aed723/scotch_tape_015.usd b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/scotch_tape_015.usd
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/textures/material_0.png b/dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/textures/material_0.png
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