diff --git a/.gitattributes b/.gitattributes
index 3151044b8a2f5cc453129322715b11fdfe23d8e6..ab02dd5fdee8e4268a1bae3483d0f0a188fda3db 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3272,3 +3272,5 @@ dataset/desktop_supplies/office_stationery/d8380724ed0c5739921064fd501cbae8/mesh
 dataset/desktop_supplies/office_stationery/d8380724ed0c5739921064fd501cbae8/sharpener_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/dd16e44ba3c75b43b6fc416f3b05da9c/dd16e44ba3c75b43b6fc416f3b05da9c.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/e10c9ac27c785067aadb50379cfaea97/e10c9ac27c785067aadb50379cfaea97.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/correction_tape_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mesh/correction_tape_008.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/correction_tape_008.urdf b/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/correction_tape_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f47574b52c685b1e970a54eeb93fbf422108d7ac
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/correction_tape_008.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="correction_tape_008">
+   <link name="correction_tape_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/correction_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/correction_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="0.0750" />
+         <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>e0483f880e215663bf69c7f427071cc7</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>correction_tape</category>
+         <name>compact correction tape</name>
+         <color>blue</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>teardrop-shaped correction tape with visible gear mechanism</description>
+         <min_height>0.0287</min_height>
+         <max_height>0.0287</max_height>
+         <real_height>0.0287</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427232326</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>9</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_stationery/e0483f880e215663bf69c7f427071cc7/correction_tape_008.usd b/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/correction_tape_008.usd
new file mode 100644
index 0000000000000000000000000000000000000000..afe923febec6b3e4ba219573b6d348a747825464
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+++ b/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/correction_tape_008.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe72f8b3f309a7b12cf45dc8688456b5fb1b436643a39a7c89e9996ac3c14295
+size 4852178
diff --git a/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mesh/correction_tape_008.glb b/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mesh/correction_tape_008.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mesh/correction_tape_008.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 14527036
diff --git a/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mesh/correction_tape_008.mtl b/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mesh/correction_tape_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..947e015672fd603647d00fbdb3e840812c3d40f7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mesh/correction_tape_008.mtl
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+newmtl correction_tape_008_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/e0483f880e215663bf69c7f427071cc7/mesh/correction_tape_008.obj b/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mesh/correction_tape_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae926da59965cfae0543df3fae604081435fd9bf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mesh/correction_tape_008.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl correction_tape_008_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mesh/correction_tape_008_collision.obj b/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mesh/correction_tape_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6badef8903d7411bf76e9296c63a474393fdf188
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mesh/correction_tape_008_collision.obj
@@ -0,0 +1,5193 @@
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diff --git a/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mesh/correction_tape_008_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mesh/correction_tape_008_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3b857c5acc78b988c7e8472a18993f702f896b5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mesh/correction_tape_008_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36e0a3b21ecd9b05b691de01f01e2f42c568bc6d0d9a68f7e115d252e6c4cd85
+size 11289192
diff --git a/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf11cb61250526c550f2cab80596511e9b74028e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl correction_tape_008_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_008_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3b857c5acc78b988c7e8472a18993f702f896b5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36e0a3b21ecd9b05b691de01f01e2f42c568bc6d0d9a68f7e115d252e6c4cd85
+size 11289192
diff --git a/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mjcf/correction_tape_008.xml b/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mjcf/correction_tape_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2082ec8c111f12a599c6cab77f5fb37fbc6fa4c8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mjcf/correction_tape_008.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="correction_tape_008">
+  <asset>
+    <material name="material_0" texture="texture_0_correction_tape_008_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_correction_tape_008_geometry_Looks_material_0" type="2d" file="mesh/correction_tape_008_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/correction_tape_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/correction_tape_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="correction_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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mjcf/mesh/correction_tape_008.obj b/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mjcf/mesh/correction_tape_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53f8467302597dd4ab53e1a8c167981ff145f162
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mjcf/mesh/correction_tape_008.obj
@@ -0,0 +1,116704 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl correction_tape_008_geometry_Looks_material_0
+v 0.023741 0.004656 0.000873
+v 0.023741 0.004656 0.000873
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diff --git a/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mjcf/mesh/correction_tape_008_collision.obj b/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mjcf/mesh/correction_tape_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9642aae7dbb479b4d20960efafc48afbc135f2ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mjcf/mesh/correction_tape_008_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mjcf/mesh/correction_tape_008_collision_0.obj b/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mjcf/mesh/correction_tape_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9642aae7dbb479b4d20960efafc48afbc135f2ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mjcf/mesh/correction_tape_008_collision_0.obj
@@ -0,0 +1,5191 @@
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