diff --git a/.gitattributes b/.gitattributes
index dfd412cf81235d005b3aa68c1a88e189faff867e..fcdc5741e82596289aba8e0c72a552c4da63e0e4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3363,3 +3363,4 @@ dataset/desktop_supplies/office_tools/5cc6c2132cad55d3ab05ae64d98543fc/mesh/stic
 dataset/desktop_supplies/office_tools/5cc6c2132cad55d3ab05ae64d98543fc/sticky_notes_020.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mesh/scotch_tape_021.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/scotch_tape_021.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/61f6233fd1b650b9aa81cfc411cd0939.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/61f6233fd1b650b9aa81cfc411cd0939.urdf b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/61f6233fd1b650b9aa81cfc411cd0939.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a3e750abd1aa46be40e16d2480a57cf7c4acd32a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/61f6233fd1b650b9aa81cfc411cd0939.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="tape_54">
+   <link name="tape_54">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/tape_54.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/tape_54_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.065079</scale>
+         <version>v0.1.5</version>
+         <category>tape</category>
+         <description>cylindrical adhesive tape roll with smooth surface and hollow center</description>
+         <min_height>0.05</min_height>
+         <max_height>0.08</max_height>
+         <real_height>0.065</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20251014184343</generate_time>
+         <gs_model>mesh/tape_54_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.813571333885193</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/61f6233fd1b650b9aa81cfc411cd0939.usd b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/61f6233fd1b650b9aa81cfc411cd0939.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d1b383be10581af6232bad179e195d3e4a294b96
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/61f6233fd1b650b9aa81cfc411cd0939.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1793bc832eda3e74c06f1d3add4a7f3e0672b72d7f2f201a4e033014a7d7e6b
+size 467843
diff --git a/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mesh/material.mtl b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mesh/material_0.png b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..39cc23f01dda1b8a587c65283c5433104f2bd8b4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c15f9d0322da6a9bf86ab8b938f9994d9d7580ea7051940b2b602bad7365ac24
+size 645642
diff --git a/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mesh/tape_54.glb b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mesh/tape_54.glb
new file mode 100644
index 0000000000000000000000000000000000000000..fe99ccebfed7e879cde692c478a282ae95ccbf66
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mesh/tape_54.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5fce5945b1928d67abd914f14fc0efbe16628670893c04804292e8d5d377104
+size 960332
diff --git a/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mesh/tape_54.obj b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mesh/tape_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..026d18d0fc8e69d8f2e8854045d4342024188062
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mesh/tape_54.obj
@@ -0,0 +1,28706 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v -0.02339558 0.02965765 -0.01309977
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diff --git a/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mesh/tape_54_collision.obj b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mesh/tape_54_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bff998ab5b5a52a442142c91085a5d30eef66ad
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mesh/tape_54_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mesh/tape_54_gs.ply b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mesh/tape_54_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..dbecbef9e47c4947f2772b8a83566ae8035bb90c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mesh/tape_54_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4cee6899838b01f4a200d04ee7cc36d4fea5dd4163d11b79208b38d7d8a2f97
+size 53496938
diff --git a/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/61f6233fd1b650b9aa81cfc411cd0939.xml b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/61f6233fd1b650b9aa81cfc411cd0939.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bff149ad6e90af7d6582f3c369dd19ccf067c737
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/61f6233fd1b650b9aa81cfc411cd0939.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="tape_54">
+  <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/tape_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/tape_54_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/tape_54_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/tape_54_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/tape_54_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/tape_54_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/tape_54_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/tape_54_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/tape_54_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/tape_54_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/tape_54_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/tape_54_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/tape_54_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/tape_54_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="tape_54">
+      <joint type="free" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..39cc23f01dda1b8a587c65283c5433104f2bd8b4
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+++ b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:c15f9d0322da6a9bf86ab8b938f9994d9d7580ea7051940b2b602bad7365ac24
+size 645642
diff --git a/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54.obj b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdab05037abff32cb98c81cd02c8e1ae63ae7e6c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision.obj b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e94852f040d46c9182307ae981666ebbb806a99
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision.obj
@@ -0,0 +1,11616 @@
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diff --git a/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_0.obj b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60df873e0b520a745b385c8f93b81f410c769748
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_1.obj b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f8b2e8fb7eaef56cb0c8ce8deca4d5e2081c9f1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_10.obj b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4e5f2817075b3530f093a4f0dd7fd02d8106796
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_10.obj
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+v -0.02371501 -0.02196176 0.02198717
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diff --git a/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_11.obj b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eca0803fbc292036bc4013dfd414a5202a8a640f
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_12.obj b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d34a2dd6ee73a3fdae9a738c69aace1a42e64dc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_12.obj
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diff --git a/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_2.obj b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc157f6754ba048161fadd48c14da08ea74d3a3d
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+++ b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_3.obj b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8288f3b95a1d89f89b5c08e05bdf90106eab8509
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_4.obj b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffd80387c56971efce9e0952040312cf7b7bdef1
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_5.obj b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0d3868fa512306968003100e540deeb0ee884a9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_5.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_6.obj b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ed696c082ad977f445d373ec8af3691253f126d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_6.obj
@@ -0,0 +1,700 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_7.obj b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..523e7888d06e6f11d23a80bf5c7d9a065a41953c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_8.obj b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..beade7c110e6778dba2aa105ffd049ff2cf7ec99
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_9.obj b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3afb59cbccda60eaacab3ad496cc74fd96f64033
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/61f6233fd1b650b9aa81cfc411cd0939/mjcf/mesh/tape_54_collision_9.obj
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