diff --git a/.gitattributes b/.gitattributes
index ee1e6576c2024fe6d5462aaed008ec2646bb8ccc..09ed865256b2caf17d1fef431ce3b74c947956d5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3262,7 +3262,7 @@ dataset/desktop_supplies/office_stationery/d3ef0c336d9e50eb9d8954e48b0cf6a0/d3ef
 dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/d3d50a08f19551bea9ce7665ff96f971.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mesh/notebook_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/notebook_011.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/d93088b38bcc572a88997b7f633b2970/mesh/pen_holder_028.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/d93088b38bcc572a88997b7f633b2970/pen_holder_028.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/eraser_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mesh/eraser_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mesh/pen_holder_027.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/pen_holder_027.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/glue_stick_039.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mesh/glue_stick_039.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/glue_stick_039.urdf b/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/glue_stick_039.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..37fd0ac51aa35451e72ca4736f69345cd0a75ba1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/glue_stick_039.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glue_stick_039">
+   <link name="glue_stick_039">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/glue_stick_039.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_039_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>d1cb8b93f3875a0d803af89315bb9f10</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>glue_stick</category>
+         <name>sakura glue stick</name>
+         <color>pink,gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>pink cylindrical glue stick with gray cap and cherry blossom print</description>
+         <min_height>0.1200</min_height>
+         <max_height>0.1200</max_height>
+         <real_height>0.1200</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611143712</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.022408 -0.022478 -0.060282</min>
+            <max>0.022593 0.022505 0.059718</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/glue_stick_039.usd b/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/glue_stick_039.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c3c8d9a27cc8a2a2b0a07e666980450252c372d1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/glue_stick_039.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6dd0ac7ac5337d6a883e5c3bdc55d3002e16a668dee4da857044f313763ede3
+size 4724294
diff --git a/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mesh/glue_stick_039.glb b/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mesh/glue_stick_039.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mesh/glue_stick_039.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbf489947e654aca452d386905d9e9a6b7b664ce2453fdba733647ad7440ba61
+size 12530716
diff --git a/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mesh/glue_stick_039.mtl b/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mesh/glue_stick_039.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..38bbfba2882abce816f750dd29800ec546ef42a2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mesh/glue_stick_039.mtl
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+newmtl glue_stick_039_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/d1cb8b93f3875a0d803af89315bb9f10/mesh/glue_stick_039.obj b/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mesh/glue_stick_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f83494cf5e10556e2ca5bf2166fd48acbb95d54
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mesh/glue_stick_039.obj
@@ -0,0 +1,115596 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glue_stick_039_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mesh/glue_stick_039_collision.obj b/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mesh/glue_stick_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfe4c3304ed9e41dba5d7682f7d610be44bac1a7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mesh/glue_stick_039_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mesh/glue_stick_039_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mesh/glue_stick_039_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..227d7ec3ae5631aa3d4d5b44d823da8058aa799d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mesh/glue_stick_039_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf7b9008259c0e9e1845f33d8dbcc2187424031c99968f5e01f11fe4f1f7d6da
+size 9494543
diff --git a/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a6cbf326ea05959529ce262f6b689cb3250299ed
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl glue_stick_039_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 glue_stick_039_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..227d7ec3ae5631aa3d4d5b44d823da8058aa799d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf7b9008259c0e9e1845f33d8dbcc2187424031c99968f5e01f11fe4f1f7d6da
+size 9494543
diff --git a/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mjcf/glue_stick_039.xml b/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mjcf/glue_stick_039.xml
new file mode 100644
index 0000000000000000000000000000000000000000..87935b0565677445c33c71ab03a9ad0f9b129f1a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mjcf/glue_stick_039.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="glue_stick_039">
+  <asset>
+    <material name="material_0" texture="texture_0_glue_stick_039_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_glue_stick_039_geometry_Looks_material_0" type="2d" file="mesh/glue_stick_039_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/glue_stick_039.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/glue_stick_039_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/glue_stick_039_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="glue_stick_039">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mjcf/mesh/glue_stick_039.obj b/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mjcf/mesh/glue_stick_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc3dae9ad38f6477c6a3ce1ea02d74e53c0a8efc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mjcf/mesh/glue_stick_039.obj
@@ -0,0 +1,115596 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glue_stick_039_geometry_Looks_material_0
+v 0.002171 0.021938 0.036907
+v 0.002171 0.021938 0.036907
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+v 0.003295 0.002130 0.058477
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diff --git a/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mjcf/mesh/glue_stick_039_collision.obj b/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mjcf/mesh/glue_stick_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e18f82d01fabeee8cc713d16b404a93ee8f8f97b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mjcf/mesh/glue_stick_039_collision.obj
@@ -0,0 +1,5014 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mjcf/mesh/glue_stick_039_collision_0.obj b/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mjcf/mesh/glue_stick_039_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45eb7a074b9ee7962b8c4c42518ba024ca4d29ad
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mjcf/mesh/glue_stick_039_collision_0.obj
@@ -0,0 +1,2146 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mjcf/mesh/glue_stick_039_collision_1.obj b/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mjcf/mesh/glue_stick_039_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d33b6d32763074f2876bf27b57111754bfd30dda
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mjcf/mesh/glue_stick_039_collision_1.obj
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