diff --git a/.gitattributes b/.gitattributes
index 725b9fef6bace752c278cfcdd7f59f225c82ad9c..c322fcb3d4d428c6093c05c1c9bb55724e55c6b1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3314,7 +3314,5 @@ dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/cutter_kn
 dataset/desktop_supplies/office_tools/0ff3bae42d4f52d5a9666dfff54c3900/mesh/cutter_knife_026.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/0f6727591e0c5a07b2f810375a966b12/cutter_knife_027.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/0f6727591e0c5a07b2f810375a966b12/mesh/cutter_knife_027.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/0ce93da77e1653439b4263effdc63116/mesh/scissors_018.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/0ce93da77e1653439b4263effdc63116/scissors_018.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/mesh/staples_box_018.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/0b238e87266e59e691520be64880f525/staples_box_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mesh/scotch_tape_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/scotch_tape_005.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mesh/material.mtl b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2517945e4248f7a172c33923fbd345ceaeb2e094
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl scotch_tape_005_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mesh/material_0.png b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/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/0e5b5c67bb0659a58dcee4fd4dd75086/mesh/scotch_tape_005.glb b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mesh/scotch_tape_005.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8e84285b67cb8fc7675d0c29ae78c01cab065854
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mesh/scotch_tape_005.glb
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diff --git a/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mesh/scotch_tape_005.mtl b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mesh/scotch_tape_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fe4da33da04ee97e325ef6974c5c7fcc82e9519b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mesh/scotch_tape_005.mtl
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+newmtl scotch_tape_005_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
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diff --git a/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mesh/scotch_tape_005.obj b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mesh/scotch_tape_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fdec120d1d4da8be12a7b9b9405d1b2704988e9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mesh/scotch_tape_005.obj
@@ -0,0 +1,109830 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl scotch_tape_005_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mesh/scotch_tape_005_collision.obj b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mesh/scotch_tape_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..367c412769390f8a4208430196d97fc4fab0eac1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mesh/scotch_tape_005_collision.obj
@@ -0,0 +1,8624 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005.obj b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005.obj
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diff --git a/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision.obj b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cdd353ae5fa879162100c8695810a1a318ea354
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision.obj
@@ -0,0 +1,8624 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_0.obj b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e07449adf9f631fee4090dfc08a6ab717363a9f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_0.obj
@@ -0,0 +1,589 @@
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diff --git a/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_1.obj b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7966d476d926a6fa84dc2833c8c174d0838769b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_10.obj b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf09857734fd5f75eec88d18e36c12f8b44963d8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_10.obj
@@ -0,0 +1,1255 @@
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diff --git a/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_11.obj b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fbe47810620ac91be1f86452489e55d99fbdaec
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_2.obj b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b21310a2d33f7912ef83467d320c6c8b3f875b11
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_3.obj b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4088fdc03b58e53b2c0b20b40ac3376785779aad
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_4.obj b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bda30dc3e8c86717ba8deccc7c7111565257243a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_4.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_5.obj b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0c831ee24403e19408e639018f0f7a3beedc347
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_5.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_6.obj b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75694273cb3f8bde11f2237efece2959c3e78f0a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_7.obj b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..477431db05c4cdbbdaa3589498c7a846d6db96a2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_7.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_8.obj b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73e847c118cd7125b5fbb0a4a0a6650fb6ed6abc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_8.obj
@@ -0,0 +1,523 @@
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diff --git a/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_9.obj b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70bde4cccbfb028ba3cf7c250696bdf177e1ea9c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/mesh/scotch_tape_005_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/scotch_tape_005.xml b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/scotch_tape_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..eb5ee507a53e5f6bdad4b90f9e691c9766577a30
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/mjcf/scotch_tape_005.xml
@@ -0,0 +1,38 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="scotch_tape_005">
+  <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_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/scotch_tape_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/scotch_tape_005_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/scotch_tape_005_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/scotch_tape_005_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/scotch_tape_005_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/scotch_tape_005_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/scotch_tape_005_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/scotch_tape_005_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/scotch_tape_005_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/scotch_tape_005_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/scotch_tape_005_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/scotch_tape_005_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="scotch_tape_005">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/scotch_tape_005.urdf b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/scotch_tape_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7d27213b9c04facc06c94df860cd401526c27076
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/scotch_tape_005.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="scotch_tape_005">
+   <link name="scotch_tape_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/scotch_tape_005.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_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>0e5b5c67bb0659a58dcee4fd4dd75086</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>scotch_tape</category>
+         <name>transparent tape</name>
+         <color>transparent,brown</color>
+         <shape>ring</shape>
+         <material>plastic</material>
+         <description>cylindrical roll of transparent adhesive tape</description>
+         <min_height>0.0310</min_height>
+         <max_height>0.0310</max_height>
+         <real_height>0.0310</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506211125</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>3</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/0e5b5c67bb0659a58dcee4fd4dd75086/scotch_tape_005.usd b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/scotch_tape_005.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/scotch_tape_005.usd
@@ -0,0 +1,3 @@
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+size 4540860
diff --git a/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/textures/material_0.png b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/textures/material_0.png
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/video.mp4 b/dataset/desktop_supplies/office_tools/0e5b5c67bb0659a58dcee4fd4dd75086/video.mp4
new file mode 100644
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--- /dev/null
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