diff --git a/.gitattributes b/.gitattributes
index ae8d1885734ae66e0ad2e586be28b9530c48d435..56019c2336a4733756a7ba6f1d8ce4007030776e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3359,5 +3359,7 @@ dataset/desktop_supplies/office_tools/56706e0c2dcb5814a07067ecb54c7e95/mesh/pen_
 dataset/desktop_supplies/office_tools/56706e0c2dcb5814a07067ecb54c7e95/mesh/pen_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mesh/stamp_028.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/stamp_028.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/5c886f0e866d556d9973d2aa36114da4/mesh/scotch_tape_018.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/5c886f0e866d556d9973d2aa36114da4/scotch_tape_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/5cc6c2132cad55d3ab05ae64d98543fc/mesh/sticky_notes_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/5cc6c2132cad55d3ab05ae64d98543fc/sticky_notes_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mesh/scotch_tape_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/scotch_tape_011.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mesh/material.mtl b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8b28d081278cd6c8eb83e27b3ad900c309792d8a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl scotch_tape_011_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_011_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mesh/material_0.png b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd4645b65914a35dfdcf9d0943c694bde368ca57
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50969b5bf6f3cae5aa61a0075d9b0a0713134d58eedfde7dffc15b07038c2036
+size 11734755
diff --git a/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mesh/scotch_tape_011.glb b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mesh/scotch_tape_011.glb
new file mode 100644
index 0000000000000000000000000000000000000000..bd59d5682dd8d7bf9f662be9de91cf9f3ca47e53
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mesh/scotch_tape_011.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0faab1cd1f0acd994c0dd0d0bffaa1273516c7c4afffc55b6bf1aed0a24ae88
+size 15165452
diff --git a/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mesh/scotch_tape_011.mtl b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mesh/scotch_tape_011.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9428a9e13ae75e66049d4f80c650ee6698ea53ca
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mesh/scotch_tape_011.mtl
@@ -0,0 +1,6 @@
+newmtl scotch_tape_011_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/5250c60c32245bbfbc84da67aa2289b0/mesh/scotch_tape_011.obj b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mesh/scotch_tape_011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e24dd3b77e57896e4bd9db66e8ecb042d02397d7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mesh/scotch_tape_011.obj
@@ -0,0 +1,105444 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl scotch_tape_011_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mesh/scotch_tape_011_collision.obj b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mesh/scotch_tape_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdce03b5fed305f67bb805a63c4cf7b53905b795
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mesh/scotch_tape_011_collision.obj
@@ -0,0 +1,5963 @@
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diff --git a/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mesh/scotch_tape_011_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mesh/scotch_tape_011_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011.obj b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision.obj b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfee101c1e565c2dda3e2a67c89d2bb5d79fc80d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision.obj
@@ -0,0 +1,5963 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_0.obj b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4249f3122009acffd57cbcca333009f13f0bd667
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_0.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_1.obj b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de33c7102f6b2e6f9e7a63a150aebbc8ebcf756a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_1.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_10.obj b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e4f6e80be9ff799029664ad9442c73af635422f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_11.obj b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f0cc84a300ed4403d5d8c638c6a4fe06498e28b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_11.obj
@@ -0,0 +1,625 @@
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diff --git a/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_2.obj b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3672a83a123207e54abb2c7a792f376d39ca5463
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_3.obj b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56d9a40fad30b6c7359eb422c746552746c9ab7c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_4.obj b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07b9e59e9df2fa49a6017ca4305c156b07c9d2aa
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_4.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_5.obj b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93a5791ee6f75ec0b91c2d2dc8cc0937ed6557e2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_5.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_6.obj b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45eaa8d4c39163f4c4f52d76ea5937fb25ff7f37
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_6.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_7.obj b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70e38f03196c055abd541e09e9ff9411eead8e46
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_7.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_8.obj b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8397233baf6eed7e9310d7e79a8c782d4355697
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_8.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_9.obj b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c295c3bf4fd341b9efaa7ebb730b330ba4f1390b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/mesh/scotch_tape_011_collision_9.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/scotch_tape_011.xml b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/scotch_tape_011.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b7e440b8b6c3aa8fbfc7f150bf97b44da097154a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/mjcf/scotch_tape_011.xml
@@ -0,0 +1,38 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="scotch_tape_011">
+  <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_011.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/scotch_tape_011_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/scotch_tape_011_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/scotch_tape_011_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/scotch_tape_011_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/scotch_tape_011_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/scotch_tape_011_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/scotch_tape_011_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/scotch_tape_011_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/scotch_tape_011_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/scotch_tape_011_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/scotch_tape_011_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/scotch_tape_011_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="scotch_tape_011">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/scotch_tape_011.urdf b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/scotch_tape_011.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a1d9a02b90130e9d148e2086b6c91dd9b64237ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/scotch_tape_011.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="scotch_tape_011">
+   <link name="scotch_tape_011">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/scotch_tape_011.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_011_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <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>5250c60c32245bbfbc84da67aa2289b0</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>scotch_tape</category>
+         <name>clear tape roll</name>
+         <color>transparent,brown</color>
+         <shape>ring</shape>
+         <material>plastic</material>
+         <description>transparent adhesive tape roll with brown cardboard core</description>
+         <min_height>0.0490</min_height>
+         <max_height>0.0490</max_height>
+         <real_height>0.0490</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609173214</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.054040 -0.054299 -0.024543</min>
+            <max>0.054593 0.054304 0.024492</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/5250c60c32245bbfbc84da67aa2289b0/scotch_tape_011.usd b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/scotch_tape_011.usd
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+size 4956123
diff --git a/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/textures/material_0.png b/dataset/desktop_supplies/office_tools/5250c60c32245bbfbc84da67aa2289b0/textures/material_0.png
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