diff --git a/.gitattributes b/.gitattributes
index f6020b763813f7e3d115fdcd73bec25722687517..c8900ec4505e3c21ee0698e5b5bb1fbea2b0f5c3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3467,3 +3467,6 @@ dataset/desktop_supplies/office_tools/ec8887011ed85518b6caa512e3018803/staples_b
 dataset/desktop_supplies/office_tools/efd706825eb8547caec9bef24489ea0e/efd706825eb8547caec9bef24489ea0e.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mesh/stamp_010.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/stamp_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/f334cdb9fa5d58cbb79b1664051a1c2e.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mesh/glue_stick.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mesh/glue_stick_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/f334cdb9fa5d58cbb79b1664051a1c2e.urdf b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/f334cdb9fa5d58cbb79b1664051a1c2e.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..83208f53b180b9d31d2a97fc513f107bf69bb16b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/f334cdb9fa5d58cbb79b1664051a1c2e.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glue_stick">
+   <link name="glue_stick">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/glue_stick.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/glue_stick_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</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>0.125000</scale>
+         <version>v0.1.7</version>
+         <category>glue stick</category>
+         <description>cylindrical glue stick with red cap and blue body</description>
+         <min_height>0.028</min_height>
+         <max_height>0.028</max_height>
+         <real_height>0.028</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <generate_time>20260117175149</generate_time>
+         <gs_model>mesh/glue_stick_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.217705249786377</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/f334cdb9fa5d58cbb79b1664051a1c2e.usd b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/f334cdb9fa5d58cbb79b1664051a1c2e.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b7a5758eb92d6ecbe40fcb1bc5264c3a23a93d1f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/f334cdb9fa5d58cbb79b1664051a1c2e.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c77f02ee2a552c4316068c219ab9dde7046b6be8991de808bd6e64d9eac6d3c
+size 528146
diff --git a/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mesh/glue_stick.glb b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mesh/glue_stick.glb
new file mode 100644
index 0000000000000000000000000000000000000000..07ed11aad5f3013504db414057db91c2af6465be
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mesh/glue_stick.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:412fe48c9605ea2683126c3342e740c99ebb69c7a49a6783f78438195234a7c3
+size 2554200
diff --git a/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mesh/glue_stick.obj b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mesh/glue_stick.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f53430860d3b2398d374896cb5287e390385486
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mesh/glue_stick.obj
@@ -0,0 +1,33076 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+
+o glue_stick.obj
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mesh/glue_stick_collision.obj b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mesh/glue_stick_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..233c9db5099e7a6db6b415fa1be31cb7a5556a19
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mesh/glue_stick_collision.obj
@@ -0,0 +1,5908 @@
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diff --git a/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mesh/glue_stick_gs.ply b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mesh/glue_stick_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ec5533cd380c7cecd7bc11141f8cf5501dceb84b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mesh/glue_stick_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9655465c4f9595471ec69649bf5c81fe9e4725160c8e21ffb47e09979da8d207
+size 1484809
diff --git a/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mesh/material.mtl b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mesh/material_0.png b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab382282faa42529694139a5d66f811accec8d3c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d22000c27ec27768f0931fd1ffca72d7d1a3b8e2068a5ebec32e10691f36b95
+size 2191589
diff --git a/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mjcf/f334cdb9fa5d58cbb79b1664051a1c2e.xml b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mjcf/f334cdb9fa5d58cbb79b1664051a1c2e.xml
new file mode 100644
index 0000000000000000000000000000000000000000..de37d562a0ad54aefd2cdd4f134de2d153836949
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mjcf/f334cdb9fa5d58cbb79b1664051a1c2e.xml
@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="glue_stick">
+  <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/glue_stick.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/glue_stick_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/glue_stick_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/glue_stick_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/glue_stick_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/glue_stick_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="glue_stick">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mjcf/mesh/glue_stick.obj b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mjcf/mesh/glue_stick.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb0e7399b132234a1dac30cb5aacafffce550131
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mjcf/mesh/glue_stick.obj
@@ -0,0 +1,33076 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+
+o glue_stick.obj
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mjcf/mesh/glue_stick_collision.obj b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mjcf/mesh/glue_stick_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f9b0ee0317ad68f1fe51460be7deb9a06f7218e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mjcf/mesh/glue_stick_collision.obj
@@ -0,0 +1,5908 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mjcf/mesh/glue_stick_collision_0.obj b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mjcf/mesh/glue_stick_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5adfc0113f6e2d5c38dbfd6a900e8ae44ce1fadf
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mjcf/mesh/glue_stick_collision_0.obj
@@ -0,0 +1,2311 @@
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diff --git a/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mjcf/mesh/glue_stick_collision_1.obj b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mjcf/mesh/glue_stick_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..143c4f28e007551c8e0363cc226e48526da8af6a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mjcf/mesh/glue_stick_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mjcf/mesh/glue_stick_collision_2.obj b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mjcf/mesh/glue_stick_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b058b3d5e340a0528c29f92c9a5954c29797d3b7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mjcf/mesh/glue_stick_collision_2.obj
@@ -0,0 +1,910 @@
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diff --git a/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mjcf/mesh/glue_stick_collision_3.obj b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mjcf/mesh/glue_stick_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5181107b2bf37db1cbb3a4102c908c2f830aa77d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mjcf/mesh/glue_stick_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mjcf/mesh/glue_stick_collision_4.obj b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mjcf/mesh/glue_stick_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62660a5de85aca4d79af5101de90ce11d408f20e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f334cdb9fa5d58cbb79b1664051a1c2e/mjcf/mesh/glue_stick_collision_4.obj
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