diff --git a/.gitattributes b/.gitattributes
index e355415cdf530ceee546da755f7ee15ae56f47ac..631795d8d141fc7ecc06ed8c539cdf52b3ae5e75 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3415,5 +3415,7 @@ dataset/desktop_supplies/office_tools/ab637408cea652c49cf189236c52f6e8/mesh/stic
 dataset/desktop_supplies/office_tools/ab637408cea652c49cf189236c52f6e8/sticky_notes_048.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/ab2056d72a145605bb59153ae4dae0a2/cutter_knife_017.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/ab2056d72a145605bb59153ae4dae0a2/mesh/cutter_knife_017.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/b172b007f8655544b81d76e3f51dcd7a/mesh/scotch_tape_024.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/b172b007f8655544b81d76e3f51dcd7a/scotch_tape_024.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/a8a4a7b4d1a45eba8de8f0789a658583/mesh/sticky_notes_019.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/a8a4a7b4d1a45eba8de8f0789a658583/sticky_notes_019.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mesh/scotch_tape_017.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/scotch_tape_017.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mesh/material.mtl b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..39f6c8578ee542766bf82f226f84022719c1744d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl scotch_tape_017_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_017_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mesh/material_0.png b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1944e66ae64e6d5afd074b6df547a4e11b036287
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d9bb327e49a29723369077412b09d9bc1c80a54b7e4e540122b36c419b6816e
+size 6013881
diff --git a/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mesh/scotch_tape_017.glb b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mesh/scotch_tape_017.glb
new file mode 100644
index 0000000000000000000000000000000000000000..99c07eaf0945327e7c6b793d77f0a33df8d911ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mesh/scotch_tape_017.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3185445ee6d02d76de0c17091cd6e30fafd5c500c285aaaa42e13ece58f4212
+size 9427972
diff --git a/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mesh/scotch_tape_017.mtl b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mesh/scotch_tape_017.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d1395c982e8d2d9dee0dd586bdbd58cd53d8f672
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mesh/scotch_tape_017.mtl
@@ -0,0 +1,6 @@
+newmtl scotch_tape_017_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/b46beb3ea4665b83b74bd318201b7220/mesh/scotch_tape_017.obj b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mesh/scotch_tape_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec6586cc6d86ec5876bdc1d3c116658b65c66017
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mesh/scotch_tape_017.obj
@@ -0,0 +1,113314 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl scotch_tape_017_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mesh/scotch_tape_017_collision.obj b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mesh/scotch_tape_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ceb14c9a40cff1d65a670181747544b7495198ed
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mesh/scotch_tape_017_collision.obj
@@ -0,0 +1,6598 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mesh/scotch_tape_017_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mesh/scotch_tape_017_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017.obj b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017.obj
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index 0000000000000000000000000000000000000000..a571a83e33f7873be5cca73c59ef92194b28a1b0
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diff --git a/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision.obj b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..159855ea0570179b746807a0a4f7173a4740ab57
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision.obj
@@ -0,0 +1,6598 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_0.obj b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11e9a4f16c5500bb36f6ba9804356cc288d45f75
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_0.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_1.obj b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6e4d53b59e1e2fbf3ad6f00d0c48ef8dd32c52d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_1.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_10.obj b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf73232842cf4ae348494bd0c0f4f3f17f1aba2f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_2.obj b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1bbf87edfbe1059741d80fc3d63baafd446853a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_3.obj b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0ee28f21c8b353b098b5344fe466c24925f758f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_4.obj b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f371eb5cda9b247dd73052c8d414a38a41efd470
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_5.obj b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eb2a230f2cb38113dcda3cbeac0cb1fe3516747
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_5.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_6.obj b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1ed81f20614a9d07325abdded085ef84fa73b7c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_6.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v 0.02160523 0.05453685 -0.00082229
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diff --git a/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_7.obj b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14eb555f53048b0bb75b3fbd3928b4c4584ffe38
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_7.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_8.obj b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..003624090ea56c13835731854faff418ff64bd09
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_8.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_9.obj b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89f5f38536fe3a40a2c94d6e9d245b02dbcce4dc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/mesh/scotch_tape_017_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/scotch_tape_017.xml b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/scotch_tape_017.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6d960c1a963c89092eac9f01f2354331b0647acc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/mjcf/scotch_tape_017.xml
@@ -0,0 +1,36 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="scotch_tape_017">
+  <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_017.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/scotch_tape_017_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/scotch_tape_017_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/scotch_tape_017_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/scotch_tape_017_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/scotch_tape_017_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/scotch_tape_017_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/scotch_tape_017_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/scotch_tape_017_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/scotch_tape_017_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/scotch_tape_017_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/scotch_tape_017_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="scotch_tape_017">
+      <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/b46beb3ea4665b83b74bd318201b7220/scotch_tape_017.urdf b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/scotch_tape_017.urdf
new file mode 100644
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+++ b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/scotch_tape_017.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="scotch_tape_017">
+   <link name="scotch_tape_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/scotch_tape_017.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_017_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>b46beb3ea4665b83b74bd318201b7220</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>scotch_tape</category>
+         <name>gray tape roll</name>
+         <color>gray,brown</color>
+         <shape>ring</shape>
+         <material>plastic</material>
+         <description>gray adhesive tape roll with cardboard inner core</description>
+         <min_height>0.1087</min_height>
+         <max_height>0.1087</max_height>
+         <real_height>0.1087</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609173500</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.025402 -0.054301 -0.054271</min>
+            <max>0.024545 0.054264 0.054420</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/b46beb3ea4665b83b74bd318201b7220/scotch_tape_017.usd b/dataset/desktop_supplies/office_tools/b46beb3ea4665b83b74bd318201b7220/scotch_tape_017.usd
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