diff --git a/.gitattributes b/.gitattributes
index 77e7b955576bdfd5f3296e8233b11ced1cfa2942..a639c88008d958975a5a49666689f5721ee0486e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5357,3 +5357,5 @@ dataset/desktop_supplies/office_stationery/6720c193e28b504fb02db5cb4e1e3852/mesh
 dataset/desktop_supplies/office_stationery/6720c193e28b504fb02db5cb4e1e3852/stapler_029.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/ballpoint_pen_038.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mesh/ballpoint_pen_038.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/correction_tape_033.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mesh/correction_tape_033.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/correction_tape_033.urdf b/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/correction_tape_033.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bbf5bae67c7c44c775c94d006b6bd9c9cb29694b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/correction_tape_033.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="correction_tape_033">
+   <link name="correction_tape_033">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/correction_tape_033.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_033_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0250" />
+         <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>68fdc76234f05236b96519e8460af2d4</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>correction_tape</category>
+         <name>blue correction tape</name>
+         <color>blue</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>blue handheld correction tape dispenser with wedge-shaped applicator tip</description>
+         <min_height>0.0302</min_height>
+         <max_height>0.0302</max_height>
+         <real_height>0.0302</real_height>
+         <min_mass>0.015</min_mass>
+         <max_mass>0.035</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611142141</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.009630 -0.055547 -0.014479</min>
+            <max>0.009632 0.044453 0.015733</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/68fdc76234f05236b96519e8460af2d4/correction_tape_033.usd b/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/correction_tape_033.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/correction_tape_033.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ceabfa8f0f63aefe6509c75caf171b3f3e400d6a0b04668b71fb311db695fec
+size 4618070
diff --git a/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mesh/correction_tape_033.glb b/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mesh/correction_tape_033.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d78c04ea9b0345003dfb3616db5a4dbb0030edf6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mesh/correction_tape_033.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a299e0fb0ea7966901143b2f099fdcd620a9e34faebf6225fbc1cdb91e40c155
+size 11896112
diff --git a/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mesh/correction_tape_033.mtl b/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mesh/correction_tape_033.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef9afaf274fdb54f8c980c7f7eee9dedf1b2f2d7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mesh/correction_tape_033.mtl
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+newmtl correction_tape_033_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/68fdc76234f05236b96519e8460af2d4/mesh/correction_tape_033.obj b/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mesh/correction_tape_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9984be93e71c0be778b66eaafffbd710ee6757ed
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mesh/correction_tape_033.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl correction_tape_033_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mesh/correction_tape_033_collision.obj b/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mesh/correction_tape_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d50a1517561066f55ea3b0aa0a6bc230395388cf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mesh/correction_tape_033_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mesh/correction_tape_033_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mesh/correction_tape_033_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..85935c0b7750f6f6ff2aaf9df43123ca44eaebc6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mesh/correction_tape_033_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c03767e450c6b27a3f5dff0495498453d3d811efe73d7291f9621243c9574e6
+size 9035655
diff --git a/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..53db6b9d3a59e88d3469aa6fd82edaa480d899a1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl correction_tape_033_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_033_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..85935c0b7750f6f6ff2aaf9df43123ca44eaebc6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c03767e450c6b27a3f5dff0495498453d3d811efe73d7291f9621243c9574e6
+size 9035655
diff --git a/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mjcf/correction_tape_033.xml b/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mjcf/correction_tape_033.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f325f9669db2e9bbaa1a7ca6a083b058e903f140
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mjcf/correction_tape_033.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="correction_tape_033">
+  <asset>
+    <material name="material_0" texture="texture_0_correction_tape_033_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_correction_tape_033_geometry_Looks_material_0" type="2d" file="mesh/correction_tape_033_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/correction_tape_033.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/correction_tape_033_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="correction_tape_033">
+      <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/68fdc76234f05236b96519e8460af2d4/mjcf/mesh/correction_tape_033.obj b/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mjcf/mesh/correction_tape_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6529bc1527aeee00ace3a687184ad7b115b8a953
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mjcf/mesh/correction_tape_033.obj
@@ -0,0 +1,104810 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mjcf/mesh/correction_tape_033_collision.obj b/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mjcf/mesh/correction_tape_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2239bf13ad73f94eafe2e132b446451a26a63e98
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mjcf/mesh/correction_tape_033_collision.obj
@@ -0,0 +1,2149 @@
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diff --git a/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mjcf/mesh/correction_tape_033_collision_0.obj b/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mjcf/mesh/correction_tape_033_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2239bf13ad73f94eafe2e132b446451a26a63e98
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mjcf/mesh/correction_tape_033_collision_0.obj
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