diff --git a/.gitattributes b/.gitattributes
index e3ed8c7c88b43486f677dd480e6feb1613800e0c..f966df08589dbbb833570a6af45facf9f5e19c3d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3230,5 +3230,5 @@ dataset/desktop_supplies/office_stationery/b4b1c7ff57de5e7bbb352458eb655350/mark
 dataset/desktop_supplies/office_stationery/b4b1c7ff57de5e7bbb352458eb655350/mesh/marker_014.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mesh/sharpener_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/sharpener_015.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/mesh/notebook_021.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/b614f3f35a285e11a99a92e396ff8f82/notebook_021.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/correction_tape_040.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mesh/correction_tape_040.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/correction_tape_040.urdf b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/correction_tape_040.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bae1af8c71f4fd8b566aa57c6f19bd68248d47a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/correction_tape_040.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="correction_tape_040">
+   <link name="correction_tape_040">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/correction_tape_040.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/correction_tape_040_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0250" />
+         <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>b7d6a466ff5552c99ff8944716202af3</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>correction_tape</category>
+         <name>white correction tape</name>
+         <color>white,red</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>white pen-shaped correction tape dispenser with red logo</description>
+         <min_height>0.0241</min_height>
+         <max_height>0.0241</max_height>
+         <real_height>0.0241</real_height>
+         <min_mass>0.015</min_mass>
+         <max_mass>0.035</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611142400</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.010443 -0.056753 -0.012279</min>
+            <max>0.010449 0.043247 0.011819</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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_stationery/b7d6a466ff5552c99ff8944716202af3/correction_tape_040.usd b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/correction_tape_040.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/correction_tape_040.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:228b28dd327b64a24ee63f57431e44b786ca2a6916f0a63145f6811043388be9
+size 4794679
diff --git a/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mesh/correction_tape_040.glb b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mesh/correction_tape_040.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3d70fea7cc2059d75db414f7e5211f6bdeadb925
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mesh/correction_tape_040.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:322916c490d6593bc0f10ae2f8001f37f4803a586336216a8f2aa1b5e02cf2a4
+size 9873656
diff --git a/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mesh/correction_tape_040.mtl b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mesh/correction_tape_040.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9d0bb25efd2fdd91728b8db0e79a4438551a1ac5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mesh/correction_tape_040.mtl
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+newmtl correction_tape_040_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_stationery/b7d6a466ff5552c99ff8944716202af3/mesh/correction_tape_040.obj b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mesh/correction_tape_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f8e8e6b1ec2d3d36a107717c989d0dbdac4f756
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mesh/correction_tape_040.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mesh/correction_tape_040_collision.obj b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mesh/correction_tape_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63b07ded3c969abfc969da1bd1e51ebb79c8c7b8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mesh/correction_tape_040_collision.obj
@@ -0,0 +1,4094 @@
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diff --git a/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mesh/correction_tape_040_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mesh/correction_tape_040_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..632df7e33306baba63741ae867180416a05084e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mesh/correction_tape_040_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57731cb4fe68526002adf7f09676ec87a838097b624ce062d8f45b2fbd526c30
+size 6715444
diff --git a/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8af00ccd3046ab062dd91e1f53dea763de96ffaa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl correction_tape_040_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 correction_tape_040_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..632df7e33306baba63741ae867180416a05084e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57731cb4fe68526002adf7f09676ec87a838097b624ce062d8f45b2fbd526c30
+size 6715444
diff --git a/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mjcf/correction_tape_040.xml b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mjcf/correction_tape_040.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8659c5382930b3e6c6fa0dadb66d01eacb9e00a2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mjcf/correction_tape_040.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="correction_tape_040">
+  <asset>
+    <material name="material_0" texture="texture_0_correction_tape_040_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_correction_tape_040_geometry_Looks_material_0" type="2d" file="mesh/correction_tape_040_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/correction_tape_040.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/correction_tape_040_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/correction_tape_040_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/correction_tape_040_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="correction_tape_040">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mjcf/mesh/correction_tape_040.obj b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mjcf/mesh/correction_tape_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b324c2fe55c2674d8ef2e13d1c079650e2dec999
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mjcf/mesh/correction_tape_040.obj
@@ -0,0 +1,104160 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl correction_tape_040_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mjcf/mesh/correction_tape_040_collision.obj b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mjcf/mesh/correction_tape_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a14b6038b93f59fed8aa8eb60de0cc54b65ee5d4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mjcf/mesh/correction_tape_040_collision.obj
@@ -0,0 +1,4094 @@
+# https://github.com/mikedh/trimesh
+
+o correction_tape_040_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mjcf/mesh/correction_tape_040_collision_0.obj b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mjcf/mesh/correction_tape_040_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e4c451ce5047a08829af7dbd1a4f6eefa25ee9b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mjcf/mesh/correction_tape_040_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mjcf/mesh/correction_tape_040_collision_1.obj b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mjcf/mesh/correction_tape_040_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6c96a8f29dd277f19ad1259fde154561fbae23a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mjcf/mesh/correction_tape_040_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mjcf/mesh/correction_tape_040_collision_2.obj b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mjcf/mesh/correction_tape_040_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c553cbc307804a34e0bcc7d540a90df92b74734
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b7d6a466ff5552c99ff8944716202af3/mjcf/mesh/correction_tape_040_collision_2.obj
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