diff --git a/.gitattributes b/.gitattributes
index f1ded3fd664dac0c27b5c7ea7a6e1cb59ddc1477..04d0a8e6e1ac9dc2a817a71c6837a27148a13549 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3323,3 +3323,5 @@ dataset/desktop_supplies/office_tools/1bea4263a0f258019e6d9585e4061bc4/sticky_no
 dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/mesh/scotch_tape_026.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/1c78e3d436e5528ba336e78fdc019edb/scotch_tape_026.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/21e5cda4f76a553eb73f475b0990a00f/21e5cda4f76a553eb73f475b0990a00f.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mesh/scotch_tape_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/scotch_tape_008.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mesh/material.mtl b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d6ae8f4d4d62726d5a5744e19dbd1958f828b050
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl scotch_tape_008_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd scotch_tape_008_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mesh/material_0.png b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d36fdc25f584a4a0ad13df13504ab2582e27108
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mesh/scotch_tape_008.glb b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mesh/scotch_tape_008.glb
new file mode 100644
index 0000000000000000000000000000000000000000..af3a62be466d8655a0afb954d0154407e8daf98a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mesh/scotch_tape_008.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 16970840
diff --git a/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mesh/scotch_tape_008.mtl b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mesh/scotch_tape_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5aa8e44ec834e4a1f0a1fc08527cab7e574ef917
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mesh/scotch_tape_008.mtl
@@ -0,0 +1,6 @@
+newmtl scotch_tape_008_geometry_Looks_material_0
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+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/1fb342babda1565288dbcc0026b9870e/mesh/scotch_tape_008.obj b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mesh/scotch_tape_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b08097ddfbd0ca13e5cf6cc0bbed917d8dd256da
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mesh/scotch_tape_008.obj
@@ -0,0 +1,115710 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl scotch_tape_008_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mesh/scotch_tape_008_collision.obj b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mesh/scotch_tape_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1a43ad051f2e871023c9d908f60677f70d1b98d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mesh/scotch_tape_008_collision.obj
@@ -0,0 +1,7963 @@
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diff --git a/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mesh/scotch_tape_008_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mesh/scotch_tape_008_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d36fdc25f584a4a0ad13df13504ab2582e27108
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mesh/scotch_tape_008_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e27cd04eb8ce73075a19a477cb441d074708b06a0991d1cb3c2a7c6900eb98bc
+size 14213722
diff --git a/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d36fdc25f584a4a0ad13df13504ab2582e27108
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e27cd04eb8ce73075a19a477cb441d074708b06a0991d1cb3c2a7c6900eb98bc
+size 14213722
diff --git a/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008.obj b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e3372e55a2a786f6dfbdc36feac7a2864c74e22
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision.obj b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17439ae8524e35aff5fdd9ff3fbcf027981fb516
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision.obj
@@ -0,0 +1,7963 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_0.obj b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d73d998e95bcb6f63b1a9140323135c0342026cc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_1.obj b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..390d91cf12bb9216e5adee8f7206a1d99cc543b7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_1.obj
@@ -0,0 +1,544 @@
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diff --git a/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_10.obj b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b9079377937a2587ea7c2a56521ca12eba5463e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_10.obj
@@ -0,0 +1,1063 @@
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diff --git a/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_2.obj b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e50e9f9efb1ff166648218fa3871a9bae25c400
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_3.obj b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0977e8abd238e96564006ca4b72eda223eab005
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_4.obj b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad8c45e6b87a9fd1fb3266ee9f4fe0dcf2485896
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_5.obj b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b9ab013f3edf9634c8534699f1d912bcda5a87a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_5.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_6.obj b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c001b42d7bf44a79f565de090f079285b38ea85
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_6.obj
@@ -0,0 +1,427 @@
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diff --git a/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_7.obj b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26ddb6a484f5bd695d4bf6f917a663257e12a538
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_7.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_8.obj b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86702328a27f35c5bc388c9ae8a406e7e6b388cd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_8.obj
@@ -0,0 +1,454 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_9.obj b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f2d90f4fab3d2348e1d8f0f73ccbd98b1836171
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/mesh/scotch_tape_008_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/scotch_tape_008.xml b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/scotch_tape_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0eecc96d7854e8eab3058391bb1b004fc359fa3c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/mjcf/scotch_tape_008.xml
@@ -0,0 +1,36 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="scotch_tape_008">
+  <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_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/scotch_tape_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/scotch_tape_008_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/scotch_tape_008_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/scotch_tape_008_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/scotch_tape_008_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/scotch_tape_008_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/scotch_tape_008_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/scotch_tape_008_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/scotch_tape_008_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/scotch_tape_008_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/scotch_tape_008_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="scotch_tape_008">
+      <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/1fb342babda1565288dbcc0026b9870e/scotch_tape_008.urdf b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/scotch_tape_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..018dcb43ee3aefc983eda201e6eb7cde1f1aef96
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/scotch_tape_008.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="scotch_tape_008">
+   <link name="scotch_tape_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/scotch_tape_008.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_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <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>1fb342babda1565288dbcc0026b9870e</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_tools</super_category>
+         <category>scotch_tape</category>
+         <name>gray tape roll</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cylindrical tape roll with hollow center and gray outer surface</description>
+         <min_height>0.0464</min_height>
+         <max_height>0.0464</max_height>
+         <real_height>0.0464</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260506211245</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>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/1fb342babda1565288dbcc0026b9870e/scotch_tape_008.usd b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/scotch_tape_008.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/scotch_tape_008.usd
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+size 4553131
diff --git a/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/textures/material_0.png b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/textures/material_0.png
new file mode 100644
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@@ -0,0 +1,3 @@
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diff --git a/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/video.mp4 b/dataset/desktop_supplies/office_tools/1fb342babda1565288dbcc0026b9870e/video.mp4
new file mode 100644
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@@ -0,0 +1,3 @@
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+size 244865