diff --git a/.gitattributes b/.gitattributes
index c1a62f9f63a5747edef07246518706080a1fe296..dfd412cf81235d005b3aa68c1a88e189faff867e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3361,5 +3361,5 @@ dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/mesh/stam
 dataset/desktop_supplies/office_tools/5b66fdd36af359fd9d93da4fe38c3eff/stamp_028.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/5cc6c2132cad55d3ab05ae64d98543fc/mesh/sticky_notes_020.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/5cc6c2132cad55d3ab05ae64d98543fc/sticky_notes_020.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/5cd88ea5bb0a50589ca511e1816b9a36/mesh/sticky_notes_001.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/5cd88ea5bb0a50589ca511e1816b9a36/sticky_notes_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mesh/scotch_tape_021.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/scotch_tape_021.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mesh/material.mtl b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..042fc1727d3674a4257b231c4bfd0ddf60778bf6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl scotch_tape_021_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_021_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mesh/material_0.png b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7abaefeb59eb05684372b383e14dc01a93263b1b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f408210ddc9c3971e08a60283998540889873d3a6ce48b8548aa34145d302cd
+size 10903526
diff --git a/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mesh/scotch_tape_021.glb b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mesh/scotch_tape_021.glb
new file mode 100644
index 0000000000000000000000000000000000000000..36d99f61c1d2560432b203abce9179a1cb2d09e3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mesh/scotch_tape_021.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:070e440be533eb04d7ea66792560c7a6e4eb692c63c00f37587c66f505742af2
+size 14399180
diff --git a/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mesh/scotch_tape_021.mtl b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mesh/scotch_tape_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2a7230602b63f9683dd2f0a4941c0bfba2f24272
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mesh/scotch_tape_021.mtl
@@ -0,0 +1,6 @@
+newmtl scotch_tape_021_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/5c3de860cc1053868e8333c4c2f8dd4b/mesh/scotch_tape_021.obj b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mesh/scotch_tape_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0c3d6b7da18a65461cf7cc8f1ffe69211d78ca5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mesh/scotch_tape_021.obj
@@ -0,0 +1,118042 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl scotch_tape_021_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mesh/scotch_tape_021_collision.obj b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mesh/scotch_tape_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..833dde21eed467c7c2969929b5793dd4c674c85e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mesh/scotch_tape_021_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mesh/scotch_tape_021_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mesh/scotch_tape_021_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7abaefeb59eb05684372b383e14dc01a93263b1b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mesh/scotch_tape_021_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f408210ddc9c3971e08a60283998540889873d3a6ce48b8548aa34145d302cd
+size 10903526
diff --git a/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7abaefeb59eb05684372b383e14dc01a93263b1b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f408210ddc9c3971e08a60283998540889873d3a6ce48b8548aa34145d302cd
+size 10903526
diff --git a/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021.obj b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5c304da31348c2672c4bb96e905547ed8e9ded3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl scotch_tape_021_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision.obj b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..564cf1192b757fb7b55b2989d99c31de783329a6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision.obj
@@ -0,0 +1,9961 @@
+# https://github.com/mikedh/trimesh
+
+o scotch_tape_021_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_0.obj b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..225de0dcb86cf842e9292b6b44446c696d050ed7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_0.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_1.obj b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..489dac1263bf58e618c6999805ba6621dd01b829
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_1.obj
@@ -0,0 +1,568 @@
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diff --git a/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_10.obj b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b1ba2aa2b61643b57dbd72c62d008647df2cc70
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_2.obj b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca2dc8fc152e17d22ccdd409b37855dfc36acd3b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_3.obj b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58ff798becc1696137ce779b254bbb792dfbe0a7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_4.obj b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5f6d0f45b8b2f4d42d69f1fc5eb5407c4034713
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_4.obj
@@ -0,0 +1,508 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_5.obj b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a70b36fb87968a7d2eaee04ab0fb42d85a4c4c78
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_5.obj
@@ -0,0 +1,616 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_6.obj b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f22563783ef3c95eaa264b3a8614aecd3930859
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_7.obj b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5a1cc2403d4fb5b370102c48a0299b529ab763a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_8.obj b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af3852084ec238575b5a78f249430fd3c50c65c0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_9.obj b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60e780d9a855d531b5bf0e0299260e944336a2d3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/mesh/scotch_tape_021_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/scotch_tape_021.xml b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/scotch_tape_021.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2152661235a478a68f6d4404eeb3b031aedd219e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/mjcf/scotch_tape_021.xml
@@ -0,0 +1,36 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="scotch_tape_021">
+  <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_021.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/scotch_tape_021_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/scotch_tape_021_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/scotch_tape_021_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/scotch_tape_021_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/scotch_tape_021_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/scotch_tape_021_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/scotch_tape_021_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/scotch_tape_021_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/scotch_tape_021_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/scotch_tape_021_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/scotch_tape_021_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="scotch_tape_021">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/scotch_tape_021.urdf b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/scotch_tape_021.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9f18e448770eeb99f4f62fec3f8efb9e63de0021
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/scotch_tape_021.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="scotch_tape_021">
+   <link name="scotch_tape_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/scotch_tape_021.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_021_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <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>5c3de860cc1053868e8333c4c2f8dd4b</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>scotch_tape</category>
+         <name>patterned tape</name>
+         <color>green,pink</color>
+         <shape>ring</shape>
+         <material>plastic</material>
+         <description>green decorative tape roll with cartoon animal and candy prints</description>
+         <min_height>0.0190</min_height>
+         <max_height>0.0190</max_height>
+         <real_height>0.0190</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609173645</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.025014 -0.025085 -0.009372</min>
+            <max>0.024986 0.025083 0.009638</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>11</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/5c3de860cc1053868e8333c4c2f8dd4b/scotch_tape_021.usd b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/scotch_tape_021.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/scotch_tape_021.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cfed6f1d63ee0c1d1496aa1621164d020794e1b06229a2e643e4dbf803cd7b4
+size 5014715
diff --git a/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/textures/material_0.png b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7abaefeb59eb05684372b383e14dc01a93263b1b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f408210ddc9c3971e08a60283998540889873d3a6ce48b8548aa34145d302cd
+size 10903526
diff --git a/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/video.mp4 b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8153c7357cd25d294fc0f2fbef9277fc8601cd3b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/5c3de860cc1053868e8333c4c2f8dd4b/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bf748f10474cf558cd58d20b9b83a5b3b31d8d86b459e3afc63be72523fe85e
+size 384423