diff --git a/.gitattributes b/.gitattributes
index 47e4fa9bcd7a2e22b1380c7d8e4576c1b0c85fa7..db7f3c33055eb0af730e11d97929d445a8910c6a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3105,3 +3105,5 @@ dataset/desktop_supplies/office_stationery/25a6ff2a66315c9680f240b1de65f146/mesh
 dataset/desktop_supplies/office_stationery/29c2c8c0f19555cc97b7f683ca821492/29c2c8c0f19555cc97b7f683ca821492.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/29c2c8c0f19555cc97b7f683ca821492/mesh/marker.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/29c2c8c0f19555cc97b7f683ca821492/mesh/marker_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/correction_tape_032.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mesh/correction_tape_032.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/correction_tape_032.urdf b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/correction_tape_032.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2864d061792c51d5f242ff1b2ab0d331e0fb838e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/correction_tape_032.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="correction_tape_032">
+   <link name="correction_tape_032">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/correction_tape_032.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_032_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>28589710654854b6a9b468892ce5931d</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>correction_tape</category>
+         <name>red correction tape</name>
+         <color>red,gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact red correction tape dispenser with gray center band</description>
+         <min_height>0.0455</min_height>
+         <max_height>0.0455</max_height>
+         <real_height>0.0455</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611142120</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.051415 -0.048780 -0.022776</min>
+            <max>0.051473 0.051220 0.022773</max>
+         </aabb>
+         <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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/correction_tape_032.usd b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/correction_tape_032.usd
new file mode 100644
index 0000000000000000000000000000000000000000..4f8b992701e1cb2ef6a4cf92f8dddb5544c14819
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/correction_tape_032.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f05e97ab8e3b6e3bc51f449a29667203b1d5f83ecb6be83321a7d5f0b7236605
+size 4817949
diff --git a/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mesh/correction_tape_032.glb b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mesh/correction_tape_032.glb
new file mode 100644
index 0000000000000000000000000000000000000000..547265a72e6deb13c483f45509f99f292e287620
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mesh/correction_tape_032.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:288956a6969e63011411240d7278f914d222c2053c2614a548d80aab8b3c0d98
+size 13446616
diff --git a/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mesh/correction_tape_032.mtl b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mesh/correction_tape_032.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6854e9cb888261eb9b76cb6802c5784bb2acbe64
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mesh/correction_tape_032.mtl
@@ -0,0 +1,6 @@
+newmtl correction_tape_032_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/28589710654854b6a9b468892ce5931d/mesh/correction_tape_032.obj b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mesh/correction_tape_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b88ca6a0568dcad609dfac1a84e8c4d94e66aed6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mesh/correction_tape_032.obj
@@ -0,0 +1,109862 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl correction_tape_032_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mesh/correction_tape_032_collision.obj b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mesh/correction_tape_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88affd0aa7022cce982b74d9f6a35523d5941110
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mesh/correction_tape_032_collision.obj
@@ -0,0 +1,12713 @@
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diff --git a/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mesh/correction_tape_032_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mesh/correction_tape_032_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3783ae164c9d225e477aa2b31ab7f0fab22335a9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mesh/correction_tape_032_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bc96dd8321a3d5b723333ad829749ffe8e5e4f452678186b6000e3bdfafa157
+size 10261258
diff --git a/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf76061cc5a5ff6e11746e103fa2b3fc2e5d8aa5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl correction_tape_032_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_032_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3783ae164c9d225e477aa2b31ab7f0fab22335a9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bc96dd8321a3d5b723333ad829749ffe8e5e4f452678186b6000e3bdfafa157
+size 10261258
diff --git a/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mjcf/correction_tape_032.xml b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mjcf/correction_tape_032.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8ddef3a99b5b56dd2784f7cdbef205d997ab3dd5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mjcf/correction_tape_032.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="correction_tape_032">
+  <asset>
+    <material name="material_0" texture="texture_0_correction_tape_032_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_correction_tape_032_geometry_Looks_material_0" type="2d" file="mesh/correction_tape_032_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/correction_tape_032.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/correction_tape_032_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/correction_tape_032_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/correction_tape_032_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="correction_tape_032">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mjcf/mesh/correction_tape_032.obj b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mjcf/mesh/correction_tape_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fa06666e8b9475a0de08f7681106e49a8f87905
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mjcf/mesh/correction_tape_032.obj
@@ -0,0 +1,109862 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl correction_tape_032_geometry_Looks_material_0
+v 0.051455 0.009205 -0.000511
+v 0.051455 0.009205 -0.000511
+v 0.051452 0.010327 0.002265
+v 0.051452 0.010327 0.002265
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diff --git a/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mjcf/mesh/correction_tape_032_collision.obj b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mjcf/mesh/correction_tape_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf777f34a29dc17acb6747400557453223eb4564
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mjcf/mesh/correction_tape_032_collision.obj
@@ -0,0 +1,12713 @@
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diff --git a/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mjcf/mesh/correction_tape_032_collision_0.obj b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mjcf/mesh/correction_tape_032_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3905c8b65ea8dd6bc0b74b0f561ea29acdfc2b5f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mjcf/mesh/correction_tape_032_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mjcf/mesh/correction_tape_032_collision_1.obj b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mjcf/mesh/correction_tape_032_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5850df76b5e7771e891a7b392f21650e09576f5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mjcf/mesh/correction_tape_032_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mjcf/mesh/correction_tape_032_collision_2.obj b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mjcf/mesh/correction_tape_032_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b7efe1ea4351253776d866fdc4bd07f056baaad
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mjcf/mesh/correction_tape_032_collision_2.obj
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