diff --git a/.gitattributes b/.gitattributes
index 630efbf9a974425b5e51fe454c7f3dabfd0f2d74..33d088d2f418588ba698d1cd80448a79de5ee6f2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3429,3 +3429,5 @@ dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/cutter_kn
 dataset/desktop_supplies/office_tools/bdbb927fddbd5197ae81990707561c8e/mesh/cutter_knife_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/baf2ccd0253959a18bad21b394f796ee/mesh/staples_box_016.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/baf2ccd0253959a18bad21b394f796ee/staples_box_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mesh/scotch_tape_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/scotch_tape_002.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mesh/material.mtl b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e23ee16003090a384508a363f132f28741962dab
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl scotch_tape_002_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_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mesh/material_0.png b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb57ff196a5d2cce01d8220df313bd9692c3f32b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9962af2c180f2d7f0515a8dab91648ada90c71f46323748a1465206717c9d112
+size 12594054
diff --git a/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mesh/scotch_tape_002.glb b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mesh/scotch_tape_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..68e0a1cdaaca145ba02d9d6ff5ecb0e1cc4eaf67
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mesh/scotch_tape_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa0b4950788363ba23844af6d3b43bd244cddd21fc11a693ef7940f34a0ec146
+size 15486104
diff --git a/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mesh/scotch_tape_002.mtl b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mesh/scotch_tape_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..177a2cbbccd0567c5b57814b1cf291eb64f720cb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mesh/scotch_tape_002.mtl
@@ -0,0 +1,6 @@
+newmtl scotch_tape_002_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/bafa2e672b155ab09b39d8436a9ac19c/mesh/scotch_tape_002.obj b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mesh/scotch_tape_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c1c164f95f0fad399268eae2593559dee8fc565
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mesh/scotch_tape_002.obj
@@ -0,0 +1,111410 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl scotch_tape_002_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mesh/scotch_tape_002_collision.obj b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mesh/scotch_tape_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9de022ce057e04d5ab8965b1a9699a325430ab2b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mesh/scotch_tape_002_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002.obj b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002.obj
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diff --git a/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision.obj b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec548a4a34af5c67118259ed7c6de2b6f8096ad1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision.obj
@@ -0,0 +1,9227 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_0.obj b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3d9263081736909ae293eeda2ec5ca74a999f48
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_1.obj b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5270621c0e23102c5446ffd50cb2cf88497e4f2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_10.obj b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0bcd582bd0ffbac2431b041b64386cc6fe9f0fd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_11.obj b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2acedcd328a632b5bd7cdfea13511b90e4a031c6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_11.obj
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diff --git a/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_2.obj b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edc4342fc007e8cd9aaaf988ea570642d0ea6da6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_3.obj b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7476f98666aaebb7f294a5d50ac2ed4dd00c43c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_4.obj b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7ae71417b17a36ed4fc04a7f90a392b12799b42
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_5.obj b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4a2babb8fb3afe130de448a371ab41abead23fb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_5.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_6.obj b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9de302151e58ebe7f0de6d8ef00bd337daa050e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_6.obj
@@ -0,0 +1,619 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_7.obj b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2555cf4fe114694c9ffc5d0f6389b9b4e284a7e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_7.obj
@@ -0,0 +1,565 @@
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diff --git a/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_8.obj b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40e4bc8c6f6374ec06b752a4fe955ace3624c2a4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_9.obj b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6045c4ea2cf3a6b35fc8e866cd459003b3ef9ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/mesh/scotch_tape_002_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/scotch_tape_002.xml b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/scotch_tape_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6df8479522b490358d993146714c7b09f00aede6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mjcf/scotch_tape_002.xml
@@ -0,0 +1,38 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="scotch_tape_002">
+  <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_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/scotch_tape_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/scotch_tape_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/scotch_tape_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/scotch_tape_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/scotch_tape_002_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/scotch_tape_002_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/scotch_tape_002_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/scotch_tape_002_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/scotch_tape_002_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/scotch_tape_002_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/scotch_tape_002_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/scotch_tape_002_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="scotch_tape_002">
+      <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/bafa2e672b155ab09b39d8436a9ac19c/scotch_tape_002.urdf b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/scotch_tape_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f7f834a9cc202696e7bac6104ed63b9345db07bc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/scotch_tape_002.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="scotch_tape_002">
+   <link name="scotch_tape_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/scotch_tape_002.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_002_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>bafa2e672b155ab09b39d8436a9ac19c</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>scotch_tape</category>
+         <name>blue tape roll</name>
+         <color>blue</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cylindrical blue tape roll with hollow center</description>
+         <min_height>0.0564</min_height>
+         <max_height>0.0564</max_height>
+         <real_height>0.0564</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506211003</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/bafa2e672b155ab09b39d8436a9ac19c/scotch_tape_002.usd b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/scotch_tape_002.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/scotch_tape_002.usd
@@ -0,0 +1,3 @@
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+size 4632167
diff --git a/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/textures/material_0.png b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/textures/material_0.png
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/video.mp4 b/dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/video.mp4
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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+size 188835