diff --git a/.gitattributes b/.gitattributes
index 1cf5ea72b8095c4a8f5684bd6ca7c1a6bd8acca1..c46aa6d64577120781f6368ef7a7646cb285d0f3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3435,3 +3435,5 @@ dataset/desktop_supplies/office_tools/be65b7ab0bac513ea1e916913c8b9244/magnifier
 dataset/desktop_supplies/office_tools/be65b7ab0bac513ea1e916913c8b9244/mesh/magnifier_014.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/bda0199138895403a151e99d49ead903/mesh/sticky_notes_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/bda0199138895403a151e99d49ead903/sticky_notes_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mesh/scotch_tape_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/scotch_tape_009.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mesh/material.mtl b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bee07e2a48dd2376cc6830e47157b111ff38a6d9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl scotch_tape_009_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_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mesh/material_0.png b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..593fac81ac97d7f7ba630bc429c12e3954554378
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8de129788449d68aab7497a98975056803460c55d786bf0145565dc969cf1ed
+size 8398840
diff --git a/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mesh/scotch_tape_009.glb b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mesh/scotch_tape_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c6734aadf3ac0d435e002a94b36cc921fe9da4b6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mesh/scotch_tape_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb39e8e0fdbd27786fe4707318c54c42c839102ff93e5a8040be5352840488dc
+size 11661916
diff --git a/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mesh/scotch_tape_009.mtl b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mesh/scotch_tape_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..49a24b687ab5b0ad350ac3a450623d43cebe20cc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mesh/scotch_tape_009.mtl
@@ -0,0 +1,6 @@
+newmtl scotch_tape_009_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/c290590e40a255f999961e3554edd4db/mesh/scotch_tape_009.obj b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mesh/scotch_tape_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35d11790e69ef2ea042b300bca0dd690b200d660
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mesh/scotch_tape_009.obj
@@ -0,0 +1,113432 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl scotch_tape_009_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mesh/scotch_tape_009_collision.obj b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mesh/scotch_tape_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d47abe66584583d274f7db11b07848ebf34cd74a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mesh/scotch_tape_009_collision.obj
@@ -0,0 +1,10638 @@
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diff --git a/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mesh/scotch_tape_009_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mesh/scotch_tape_009_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009.obj b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009.obj
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diff --git a/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision.obj b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cacfd7e38f9168259baeb092753dba2f89b52d56
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision.obj
@@ -0,0 +1,10638 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_0.obj b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_0.obj
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_1.obj b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f64bdcd20e3fb74050e4a89754cd2083a73952d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_1.obj
@@ -0,0 +1,730 @@
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diff --git a/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_10.obj b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6fe47e082c20a76130218ff6c0fca3ed75f4d8f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_11.obj b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..927b4e373c2e299ea8bcca97905e2640ea4bc7b3
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_12.obj b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb7b00585585d80e505edc6dac547fc80ea6b270
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_12.obj
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diff --git a/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_2.obj b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e2004427637c3eb8061ef18f1f891a413ea1c26
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_3.obj b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38f35b58d9635299f987da60e798d033dc43ded7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_4.obj b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b1f49c0b098fe9cf15584c08e19951f208c69c6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_4.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_5.obj b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbf42d1344598a9430706fc6236dca6bbb82f498
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_5.obj
@@ -0,0 +1,640 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_6.obj b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8d53d867174fb6786520d3e438e219428841b5f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_7.obj b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee1da2747d45380fcb0fcba4785f22d4faace112
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_8.obj b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81bfb838c0f519ef48438eece9768d14be259dd8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_8.obj
@@ -0,0 +1,1660 @@
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diff --git a/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_9.obj b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77459cdbdbdcea5a122f9e9bb26cf3f60f4c8bf2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/mesh/scotch_tape_009_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/scotch_tape_009.xml b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/scotch_tape_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7819c0069184197a74e6b49bd246488dab697565
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mjcf/scotch_tape_009.xml
@@ -0,0 +1,40 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="scotch_tape_009">
+  <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_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/scotch_tape_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/scotch_tape_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/scotch_tape_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/scotch_tape_009_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/scotch_tape_009_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/scotch_tape_009_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/scotch_tape_009_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/scotch_tape_009_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/scotch_tape_009_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/scotch_tape_009_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/scotch_tape_009_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/scotch_tape_009_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/scotch_tape_009_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="scotch_tape_009">
+      <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" />
+      <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/c290590e40a255f999961e3554edd4db/scotch_tape_009.urdf b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/scotch_tape_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..22b60405591d5fa742e9dceb9b5d857c9028e006
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/scotch_tape_009.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="scotch_tape_009">
+   <link name="scotch_tape_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/scotch_tape_009.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_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>c290590e40a255f999961e3554edd4db</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>scotch_tape</category>
+         <name>adhesive tape roll</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cylindrical adhesive tape roll with visible tape extension</description>
+         <min_height>0.0527</min_height>
+         <max_height>0.0527</max_height>
+         <real_height>0.0527</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506211326</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>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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/scotch_tape_009.usd b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/scotch_tape_009.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/scotch_tape_009.usd
@@ -0,0 +1,3 @@
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+size 4865395
diff --git a/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/textures/material_0.png b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/textures/material_0.png
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/video.mp4 b/dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/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 196973