diff --git a/.gitattributes b/.gitattributes
index e88f0dde9a6dec984842d942df988828e2d9c27b..edba46b40700b6b4545a444938862c3e61c5f07a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3113,11 +3113,5 @@ dataset/desktop_supplies/office_stationery/2a5731d4364350baba31a9de2410f8ee/mark
 dataset/desktop_supplies/office_stationery/2a5731d4364350baba31a9de2410f8ee/mesh/marker_034.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/2da7165c96f654c4b2960ee9d0e8bd5f/correction_tape_035.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/2da7165c96f654c4b2960ee9d0e8bd5f/mesh/correction_tape_035.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/341264b179e254438bfb333ca422e2c0/341264b179e254438bfb333ca422e2c0.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/33d18700c85e564bbd8f604225ced11c/correction_tape_037.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/33d18700c85e564bbd8f604225ced11c/mesh/correction_tape_037.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/3025e74736895ff0a1db9ec938e263d7/eraser_011.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/3025e74736895ff0a1db9ec938e263d7/mesh/eraser_011.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/346d75e1c14b5fc5b189d23517b9f240/glue_stick_004.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/346d75e1c14b5fc5b189d23517b9f240/mesh/glue_stick_004.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/315d9ad4826057b3b69bf414a05fe1c7/315d9ad4826057b3b69bf414a05fe1c7.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/glue_stick_040.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mesh/glue_stick_040.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/glue_stick_040.urdf b/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/glue_stick_040.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0586697310ab2333049d1309b85b865cd1af8c12
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/glue_stick_040.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glue_stick_040">
+   <link name="glue_stick_040">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/glue_stick_040.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/glue_stick_040_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <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>2ff1d58e0c045d5a8c18cc74f763c553</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>glue_stick</category>
+         <name>beige glue stick</name>
+         <color>beige,green</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>beige cylindrical glue stick with ribbed cap and green label</description>
+         <min_height>0.1200</min_height>
+         <max_height>0.1200</max_height>
+         <real_height>0.1200</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611143728</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.025698 -0.025586 -0.059701</min>
+            <max>0.025670 0.025596 0.060299</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/2ff1d58e0c045d5a8c18cc74f763c553/glue_stick_040.usd b/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/glue_stick_040.usd
new file mode 100644
index 0000000000000000000000000000000000000000..78b4e0db5b97c2024cf29be622a63270eff96d7e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/glue_stick_040.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12b4893f53bb97019d2cc1d599492d26f2e888f8bd58833cf13ca4742d21c8ba
+size 4553517
diff --git a/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mesh/glue_stick_040.glb b/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mesh/glue_stick_040.glb
new file mode 100644
index 0000000000000000000000000000000000000000..038260e8a5195bc67fe2014e7be574c92d2527bb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mesh/glue_stick_040.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8546eafffecb35fa25c01b0c44d39c870d185751f082023ba29b48ddf440f3c8
+size 11764892
diff --git a/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mesh/glue_stick_040.mtl b/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mesh/glue_stick_040.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..206c6b3428a56a8c611906872bcce9c6ef4811ab
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mesh/glue_stick_040.mtl
@@ -0,0 +1,6 @@
+newmtl glue_stick_040_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/2ff1d58e0c045d5a8c18cc74f763c553/mesh/glue_stick_040.obj b/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mesh/glue_stick_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df87e35851df2138cfde63f4a14b6fde97645f18
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mesh/glue_stick_040.obj
@@ -0,0 +1,110488 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glue_stick_040_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mesh/glue_stick_040_collision.obj b/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mesh/glue_stick_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e95ce2a074bf9137f6542d96da01c483f4ca43fc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mesh/glue_stick_040_collision.obj
@@ -0,0 +1,5729 @@
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diff --git a/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mesh/glue_stick_040_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mesh/glue_stick_040_geometry_Looks_material_0.png
new file mode 100644
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--- /dev/null
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+size 8994160
diff --git a/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mesh/material.mtl
new file mode 100644
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--- /dev/null
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+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mjcf/glue_stick_040.xml b/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mjcf/glue_stick_040.xml
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index 0000000000000000000000000000000000000000..372777edb66728e1d094c574ab0e7d7641e6a6c9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mjcf/glue_stick_040.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="glue_stick_040">
+  <asset>
+    <material name="material_0" texture="texture_0_glue_stick_040_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_glue_stick_040_geometry_Looks_material_0" type="2d" file="mesh/glue_stick_040_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/glue_stick_040.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/glue_stick_040_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/glue_stick_040_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/glue_stick_040_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="glue_stick_040">
+      <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/2ff1d58e0c045d5a8c18cc74f763c553/mjcf/mesh/glue_stick_040.obj b/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mjcf/mesh/glue_stick_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..148ea9bd4a2efa3eab07be62305b9b247519c115
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mjcf/mesh/glue_stick_040.obj
@@ -0,0 +1,110488 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glue_stick_040_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mjcf/mesh/glue_stick_040_collision.obj b/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mjcf/mesh/glue_stick_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..289e6614f96f2c1e441ac166d3d9d937fd57e286
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mjcf/mesh/glue_stick_040_collision.obj
@@ -0,0 +1,5729 @@
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diff --git a/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mjcf/mesh/glue_stick_040_collision_0.obj b/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mjcf/mesh/glue_stick_040_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..321b28a6834dc29bd2e5ba1e777468d24e692920
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mjcf/mesh/glue_stick_040_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mjcf/mesh/glue_stick_040_collision_1.obj b/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mjcf/mesh/glue_stick_040_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64a8111c5e92c069f625ae2a31c22da183ce4d8f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mjcf/mesh/glue_stick_040_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mjcf/mesh/glue_stick_040_collision_2.obj b/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mjcf/mesh/glue_stick_040_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..166126d2caadadb98a92ac8cce3e5b5bb7d4c565
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mjcf/mesh/glue_stick_040_collision_2.obj
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