diff --git a/.gitattributes b/.gitattributes
index 85c2d8011101d3367e85953216dd12682b46f759..b14a953f586bd1209b6f4472274f885e24ccf9d6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3407,5 +3407,5 @@ dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/mesh/stap
 dataset/desktop_supplies/office_tools/990537f99e985749b34a4d5d5c80d931/staples_box_039.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/mesh/staples_box_013.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/9bbcc67fb1a953f689739764a30db3b6/staples_box_013.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/mesh/scissors_014.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/9f81f262f6c05a5aba38c1094743795e/scissors_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mesh/scotch_tape_028.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/scotch_tape_028.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mesh/material.mtl b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..409dbc9a27f5c12cf85e98a2caae2d5a05ed6d2d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl scotch_tape_028_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_028_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mesh/material_0.png b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..13bd8d951618c37fee7641e57ce7fe4bdcf6bc4b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4136a91b64f7af2f928fb678efbe265e8157c5b9fc20c9a1b48b3614c2fe7d3d
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diff --git a/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mesh/scotch_tape_028.glb b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mesh/scotch_tape_028.glb
new file mode 100644
index 0000000000000000000000000000000000000000..187229a2f88baac8a7631ed57da6a68ecd3da3e5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mesh/scotch_tape_028.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfe52a7025bd69ea57d765391c3cbc23f48ffa6f84f517825ee888d7b38daee9
+size 12431416
diff --git a/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mesh/scotch_tape_028.mtl b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mesh/scotch_tape_028.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0d0634cbff57549222e3626fa4ba31c638cfe3a6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mesh/scotch_tape_028.mtl
@@ -0,0 +1,6 @@
+newmtl scotch_tape_028_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/a0741f7b25565a2184b6792d520f4311/mesh/scotch_tape_028.obj b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mesh/scotch_tape_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d785d6c208b39473a990423ea7ee7fe1b8dc9f90
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mesh/scotch_tape_028.obj
@@ -0,0 +1,109928 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl scotch_tape_028_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mesh/scotch_tape_028_collision.obj b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mesh/scotch_tape_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54db1d3c0dc95883d010858eaa1b75ab9fb27be6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mesh/scotch_tape_028_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mesh/scotch_tape_028_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mesh/scotch_tape_028_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028.obj b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028.obj
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diff --git a/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision.obj b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2ceeec31e3551c7240492079cef091dfc5bd4f3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision.obj
@@ -0,0 +1,13272 @@
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diff --git a/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_0.obj b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3431690c2416f2a15b19f26415c8b5e44608a674
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_1.obj b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a7d5e43cc97da8e4b51a9551e60cb45639d1093
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_2.obj b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b19f70cbf3091c3d1368178d96509b720aad717
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_3.obj b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f03e700c9b06728d8d22180d88f4381d0d64bc6a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_4.obj b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04d02a84a5906340614f4165bdfd02bf55901e6d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_5.obj b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2a9a951059929fde3fa86e412b2316f521f120f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_5.obj
@@ -0,0 +1,2068 @@
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diff --git a/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_6.obj b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecf72ebb27d7823995d184fa2e00edf9c56b47bb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_7.obj b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea6a110c486ba0a289a29acab74b3a84d3676749
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_7.obj
@@ -0,0 +1,772 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_8.obj b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa55643b10565279783a7404e96c28e3cfbf8e46
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_9.obj b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..375489af26b6808d43ca94df9630b0da06d666e2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/mesh/scotch_tape_028_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/scotch_tape_028.xml b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/scotch_tape_028.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b14613bc79a95ec5f2ab9528a50caf324d86fdec
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/mjcf/scotch_tape_028.xml
@@ -0,0 +1,34 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="scotch_tape_028">
+  <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_028.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/scotch_tape_028_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/scotch_tape_028_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/scotch_tape_028_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/scotch_tape_028_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/scotch_tape_028_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/scotch_tape_028_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/scotch_tape_028_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/scotch_tape_028_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/scotch_tape_028_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/scotch_tape_028_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="scotch_tape_028">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/scotch_tape_028.urdf b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/scotch_tape_028.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..321bb7cf04a6adf8fd743e567b944da8b48af87e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/scotch_tape_028.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="scotch_tape_028">
+   <link name="scotch_tape_028">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/scotch_tape_028.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_028_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0650" />
+         <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>a0741f7b25565a2184b6792d520f4311</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>scotch_tape</category>
+         <name>purple tape roll</name>
+         <color>purple,beige</color>
+         <shape>ring</shape>
+         <material>plastic</material>
+         <description>purple adhesive tape roll with cardboard inner core</description>
+         <min_height>0.0179</min_height>
+         <max_height>0.0179</max_height>
+         <real_height>0.0179</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.09</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609173957</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.025144 -0.024516 -0.008894</min>
+            <max>0.024856 0.024809 0.008977</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/a0741f7b25565a2184b6792d520f4311/scotch_tape_028.usd b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/scotch_tape_028.usd
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+size 4937484
diff --git a/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/textures/material_0.png b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/textures/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/video.mp4 b/dataset/desktop_supplies/office_tools/a0741f7b25565a2184b6792d520f4311/video.mp4
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