diff --git a/.gitattributes b/.gitattributes
index 6b5eb223d092bfcaa4ed50a3eebe87c45cd67dd4..693e15ea2dedc1ce4f0e2ddcfda0c3d9368913e1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3252,3 +3252,5 @@ dataset/desktop_supplies/office_stationery/ced56538dab75e5eaa8567d1cdd9b12a/mesh
 dataset/desktop_supplies/office_stationery/ced56538dab75e5eaa8567d1cdd9b12a/mesh/marker_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/cd4c41958cb458bc842999d05db57409/marker_039.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/cd4c41958cb458bc842999d05db57409/mesh/marker_039.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/correction_tape_023.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mesh/correction_tape_023.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/correction_tape_023.urdf b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/correction_tape_023.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..13e6158625d69b5d42c4512546c83bcabcabd61a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/correction_tape_023.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="correction_tape_023">
+   <link name="correction_tape_023">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/correction_tape_023.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/correction_tape_023_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0400" />
+         <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>cc7bc20e82f85f6ba2a7bf8dd249f485</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>correction_tape</category>
+         <name>beige correction tape</name>
+         <color>beige</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>beige cylindrical correction tape dispenser with tapered nozzle</description>
+         <min_height>0.0303</min_height>
+         <max_height>0.0303</max_height>
+         <real_height>0.0303</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.06</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611141815</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.013315 -0.056861 -0.015227</min>
+            <max>0.014055 0.043139 0.015033</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/correction_tape_023.usd b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/correction_tape_023.usd
new file mode 100644
index 0000000000000000000000000000000000000000..d4a77bda45004b7b27401ece75a5f09b349a9971
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/correction_tape_023.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fca08a30cf0751f37462fe7f3396de1c92df14ae06cdc71e188339dd5ee2d470
+size 4736512
diff --git a/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mesh/correction_tape_023.glb b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mesh/correction_tape_023.glb
new file mode 100644
index 0000000000000000000000000000000000000000..012c2c43081dac355420d7abfe1cf1a65b4d4f97
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mesh/correction_tape_023.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9147b46c05bbf4bc2f143a236069bab2e7c0ebc76385f8a221ec225259091dc
+size 10842608
diff --git a/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mesh/correction_tape_023.mtl b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mesh/correction_tape_023.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..21cadd50b77545f9c06554dbdac32ffdab2e69ce
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mesh/correction_tape_023.mtl
@@ -0,0 +1,6 @@
+newmtl correction_tape_023_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_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mesh/correction_tape_023.obj b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mesh/correction_tape_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c39ab72cbfd325dc1ec029a60b3ac5ddaf8d3bd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mesh/correction_tape_023.obj
@@ -0,0 +1,107352 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl correction_tape_023_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mesh/correction_tape_023_collision.obj b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mesh/correction_tape_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7023b592059dd2406d048eb7f44ffda5ea2fba3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mesh/correction_tape_023_collision.obj
@@ -0,0 +1,5205 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mesh/correction_tape_023_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mesh/correction_tape_023_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bcc03787e204496668b4e09f3bb0e8bed04608e7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mesh/correction_tape_023_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec49ed30531357e08d71ee21b9ebb2855a2ca200f981962d392b600003772737
+size 7771911
diff --git a/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..39650eaaa9b7379e1678d022a02c5c79f51042ea
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl correction_tape_023_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 correction_tape_023_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bcc03787e204496668b4e09f3bb0e8bed04608e7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec49ed30531357e08d71ee21b9ebb2855a2ca200f981962d392b600003772737
+size 7771911
diff --git a/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mjcf/correction_tape_023.xml b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mjcf/correction_tape_023.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2b2d63ca68f337e6f3a7863a1e9bb9e8996db4cc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mjcf/correction_tape_023.xml
@@ -0,0 +1,22 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="correction_tape_023">
+  <asset>
+    <material name="material_0" texture="texture_0_correction_tape_023_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_correction_tape_023_geometry_Looks_material_0" type="2d" file="mesh/correction_tape_023_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/correction_tape_023.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/correction_tape_023_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/correction_tape_023_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/correction_tape_023_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/correction_tape_023_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="correction_tape_023">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mjcf/mesh/correction_tape_023.obj b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mjcf/mesh/correction_tape_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f8a9cf158cef7e36b218808400ef4590baa608e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mjcf/mesh/correction_tape_023.obj
@@ -0,0 +1,107352 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl correction_tape_023_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mjcf/mesh/correction_tape_023_collision.obj b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mjcf/mesh/correction_tape_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f432819b1582a628b3f3703f5e8e30addf21a799
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mjcf/mesh/correction_tape_023_collision.obj
@@ -0,0 +1,5205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mjcf/mesh/correction_tape_023_collision_0.obj b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mjcf/mesh/correction_tape_023_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb4b69a31084c2d9ee0ce83cbaa2c8752c91f238
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mjcf/mesh/correction_tape_023_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mjcf/mesh/correction_tape_023_collision_1.obj b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mjcf/mesh/correction_tape_023_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29345c283d212ae0c34129869311e90d00b278f2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mjcf/mesh/correction_tape_023_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mjcf/mesh/correction_tape_023_collision_2.obj b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mjcf/mesh/correction_tape_023_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20ed3fe2e6e3782de8f970ddd0e2f443879b24ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mjcf/mesh/correction_tape_023_collision_2.obj
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