diff --git a/.gitattributes b/.gitattributes
index e390365d671cb22bfe9a3dcc58f714ea6ec391dc..7d2a13dd75ed32877f3c710dfd52ac9ccccf5f25 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3464,3 +3464,4 @@ dataset/desktop_supplies/office_tools/ed1c4abcb6bf5d59a4aed549b4dd6a13/mesh/stap
dataset/desktop_supplies/office_tools/ed1c4abcb6bf5d59a4aed549b4dd6a13/staples_box_037.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/ec8887011ed85518b6caa512e3018803/mesh/staples_box_013.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/ec8887011ed85518b6caa512e3018803/staples_box_013.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/efd706825eb8547caec9bef24489ea0e.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/efd706825eb8547caec9bef24489ea0e.urdf b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/efd706825eb8547caec9bef24489ea0e.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2b450dce8bcc934767e83b93db173e451084f58c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/efd706825eb8547caec9bef24489ea0e.urdf
@@ -0,0 +1,57 @@
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+ 0.50
+ 0.40
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+ v0.1.5
+ tape
+ cylindrical yellow adhesive tape with a hollow center
+ 0.1
+ 0.15
+ 0.125
+ 0.2
+ 0.4
+ 20251014185058
+ mesh/tape_56_gs.ply
+
+
+
+
+ NO: Inconsistent geometry; inner hole misaligned and cylindrical body lacks structural coherence.
+ YES
+ 4.500935196876526
+ NO
+ NO: {"summary":"Tape roll hole is segmented, but the annular end faces are incorrectly merged with the side body; this cannot be fixed by merging.","merge_groups":[]}
+
+
+ 2
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/efd706825eb8547caec9bef24489ea0e.usd b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/efd706825eb8547caec9bef24489ea0e.usd
new file mode 100644
index 0000000000000000000000000000000000000000..86618b6f89cf20fecb0da5979eb7c0439dfb8319
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/efd706825eb8547caec9bef24489ea0e.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fabcff9675dfcb585e4bd61971b97cf042120850a2df8f9b8a43d203a16e189
+size 969014
diff --git a/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mesh/material.mtl b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/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/efd706825eb8547caec9bef24489ea0e/mesh/material_0.png b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c2a7ada7f1a68e52aafde9156c90d5b1ecdfcd5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22302708e2370c55ee4010ac11b3ac33aa0a06362bfd9752ce50b049113fc19f
+size 776012
diff --git a/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mesh/tape_56.glb b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mesh/tape_56.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0c98668a1d872aa029a5ef8be11c9db207bd3e29
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mesh/tape_56.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2713d7b475e5df9e9be92b9413c71b5d1ce37624306f93b66fa7c21e801c13d1
+size 1413388
diff --git a/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mesh/tape_56.obj b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mesh/tape_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b2b4fa151de8f62f68899859d5039e3d72626fa
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mesh/tape_56.obj
@@ -0,0 +1,58038 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mesh/tape_56_collision.obj b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mesh/tape_56_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..681fc52bf8db902efd8889fad62122ef278ec6e4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mesh/tape_56_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision.obj b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..651217a7f9c2af147ecb2bee24e8d2e0407a241f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision.obj
@@ -0,0 +1,7235 @@
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diff --git a/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision_0.obj b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0814a6e62efc0cba95a8877f603d2399a3ce4a6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision_1.obj b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9f5fea794ee1391548be71225bddd013d8f2209
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision_2.obj b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21e1f6b7e20a3681f26e7b6851734965d902dc59
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision_3.obj b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3d13b10800735b2addd2c97cbcc10ceddac0306
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision_4.obj b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8321ffd399f1496ebf0c7b7d2ea97630f503e62
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision_5.obj b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08f93afd6cff75a2388a5071b97259f800caeafb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision_5.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision_6.obj b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cb789c9bd67cd773f8b53f39f1fbe66dae223e7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision_6.obj
@@ -0,0 +1,1141 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision_7.obj b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87e043bda15444d7e2b1b64f170372083ad76695
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision_7.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision_8.obj b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c61c0c2c8988826437b244918d4c7781b93397c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/mjcf/mesh/tape_56_collision_8.obj
@@ -0,0 +1,1120 @@
+# https://github.com/mikedh/trimesh
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