diff --git a/.gitattributes b/.gitattributes
index f4efe7eed509dc5d10e266caaeddb02d1f3ba68d..e69ab355f4cf81b23162d70b0c7997b3ab5180aa 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3421,5 +3421,5 @@ dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/cutter_kn
 dataset/desktop_supplies/office_tools/b4e6e51392d75c8da524c08b73e2b24d/mesh/cutter_knife_020.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/b8715916ab1b5c498e57c2e5806e44c7/magnifier_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/b8715916ab1b5c498e57c2e5806e44c7/mesh/magnifier_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/b97e5eb9ecab5650a9d0c6def70ef307/mesh/stamp_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/b97e5eb9ecab5650a9d0c6def70ef307/stamp_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mesh/scotch_tape_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/scotch_tape_016.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mesh/material.mtl b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a441ca12f8984e637ff05fec7bfa49ba5838930b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl scotch_tape_016_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_016_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mesh/material_0.png b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..08c97a759967c402e8afa2d4f4d4c3a6f6a5b22c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01d2f68da2ef5fc347feaf695306a73930f62b3f55696c1f4d9ead69f5ecb977
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diff --git a/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mesh/scotch_tape_016.glb b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mesh/scotch_tape_016.glb
new file mode 100644
index 0000000000000000000000000000000000000000..46131b7e6916466b520e8bcaba27fac684a167a4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mesh/scotch_tape_016.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc22b5a892a1e58162c70b32753eff922c2c4446a01e14b187749ecf2a8d2232
+size 12639300
diff --git a/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mesh/scotch_tape_016.mtl b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mesh/scotch_tape_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4060d047c3a861fd17d6186e943579d8863ac2f8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mesh/scotch_tape_016.mtl
@@ -0,0 +1,6 @@
+newmtl scotch_tape_016_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/b88146f38bc8516eab44a31c14d7cc76/mesh/scotch_tape_016.obj b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mesh/scotch_tape_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d7ffbe2f366532c1f0c34cb3e7ce63221bc0360
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mesh/scotch_tape_016.obj
@@ -0,0 +1,107494 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl scotch_tape_016_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mesh/scotch_tape_016_collision.obj b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mesh/scotch_tape_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8f4957735f660347f91abb4485bb98e5006ee7e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mesh/scotch_tape_016_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mesh/scotch_tape_016_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mesh/scotch_tape_016_geometry_Looks_material_0.png
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..08c97a759967c402e8afa2d4f4d4c3a6f6a5b22c
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+++ b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01d2f68da2ef5fc347feaf695306a73930f62b3f55696c1f4d9ead69f5ecb977
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diff --git a/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016.obj b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a6e26b709636c3a650538895cd7c5d68eaed3cb
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diff --git a/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision.obj b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5ad38533fd3fab7088c7f42c8a2ed56085aa078
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision.obj
@@ -0,0 +1,7419 @@
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diff --git a/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_0.obj b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0012c8542f6eb132e8cf5a1212049dea673c134a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_1.obj b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61803eb526f450d0c87e6d24cb2371b7afbcd72c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_1.obj
@@ -0,0 +1,475 @@
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diff --git a/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_2.obj b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e67434fbf2af0593ec36a59b8e5f53ff72d4b45c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_2.obj
@@ -0,0 +1,1156 @@
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diff --git a/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_3.obj b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6ae21eff7750ae90bcd2b991c72f62a34d475bd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_4.obj b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9247f02df92665157f1a0297ffa29f4c4c5f8152
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_5.obj b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55f1e46584e75ebe9488d5af315453b340fad431
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_5.obj
@@ -0,0 +1,1255 @@
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diff --git a/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_6.obj b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5a80306ff5ffb53d693e0f75a6326710d63997c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_7.obj b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77f6f91772e7c4d057495046722e0849ded9fa11
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_8.obj b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94a04bae5aa1da7240922c2fbb2d18caf7af16bd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_8.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_9.obj b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b37af05b8cc5f7c5b0f316737ee585fcfaadaf0e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/mesh/scotch_tape_016_collision_9.obj
@@ -0,0 +1,1150 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/scotch_tape_016.xml b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/scotch_tape_016.xml
new file mode 100644
index 0000000000000000000000000000000000000000..88189d6b643e6ef7b21142dad2cd6d9cbe4b14b6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/mjcf/scotch_tape_016.xml
@@ -0,0 +1,34 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="scotch_tape_016">
+  <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_016.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/scotch_tape_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/scotch_tape_016_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/scotch_tape_016_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/scotch_tape_016_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/scotch_tape_016_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/scotch_tape_016_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/scotch_tape_016_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/scotch_tape_016_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/scotch_tape_016_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/scotch_tape_016_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="scotch_tape_016">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/scotch_tape_016.urdf b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/scotch_tape_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c7b0fca2a932ae20b3bfd93729111ca489d7e71c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/scotch_tape_016.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="scotch_tape_016">
+   <link name="scotch_tape_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/scotch_tape_016.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_016_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1000" />
+         <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>b88146f38bc8516eab44a31c14d7cc76</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 brown cardboard core</description>
+         <min_height>0.0474</min_height>
+         <max_height>0.0474</max_height>
+         <real_height>0.0474</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.15</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609173431</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.055097 -0.055320 -0.023746</min>
+            <max>0.055407 0.055228 0.023623</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/b88146f38bc8516eab44a31c14d7cc76/scotch_tape_016.usd b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/scotch_tape_016.usd
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+++ b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/scotch_tape_016.usd
@@ -0,0 +1,3 @@
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+size 4824452
diff --git a/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/textures/material_0.png b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/textures/material_0.png
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/video.mp4 b/dataset/desktop_supplies/office_tools/b88146f38bc8516eab44a31c14d7cc76/video.mp4
new file mode 100644
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--- /dev/null
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+size 100250