diff --git a/.gitattributes b/.gitattributes
index 9d32e6336a6c665cf18a7b6658e13201284b35e5..c03d80c3bb95791a9fe129502494bc52c16ccfbf 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3264,3 +3264,5 @@ dataset/desktop_supplies/office_stationery/d59a58393ab35897b6b52dd120259968/mesh
 dataset/desktop_supplies/office_stationery/d59a58393ab35897b6b52dd120259968/mesh/marker_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/d311bbd5dfa35189bb311ce1de491cde/marker_022.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/d311bbd5dfa35189bb311ce1de491cde/mesh/marker_022.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/glue_stick_027.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mesh/glue_stick_027.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/glue_stick_027.urdf b/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/glue_stick_027.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..feffc8db2bbe1b67c8b163ddd4e093a3f81824f2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/glue_stick_027.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glue_stick_027">
+   <link name="glue_stick_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/glue_stick_027.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_027_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</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>d5922851c9c057cc9968c4b5d748c77d</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>glue_stick</category>
+         <name>blue glue stick</name>
+         <color>blue</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>blue cylindrical glue stick with printed rabbit graphic</description>
+         <min_height>0.1000</min_height>
+         <max_height>0.1000</max_height>
+         <real_height>0.1000</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611143353</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.016279 -0.016421 -0.051830</min>
+            <max>0.016281 0.016386 0.048170</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</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/d5922851c9c057cc9968c4b5d748c77d/glue_stick_027.usd b/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/glue_stick_027.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/glue_stick_027.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dc2565b8f578b0097a49220cba407b1e48ea9ac880ec0de83731a72488bf5a4
+size 4829060
diff --git a/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mesh/glue_stick_027.glb b/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mesh/glue_stick_027.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mesh/glue_stick_027.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:779c637ed64b5d2b1b152c9ea729f2311dade40a6019b8ed3d8ee2f54374fbe1
+size 13364224
diff --git a/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mesh/glue_stick_027.mtl b/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mesh/glue_stick_027.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bc28170183914c911ccb0773fe744de357aab421
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mesh/glue_stick_027.mtl
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+newmtl glue_stick_027_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/d5922851c9c057cc9968c4b5d748c77d/mesh/glue_stick_027.obj b/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mesh/glue_stick_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f18329bd37d7eff2996aedc59d0900cd442625c6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mesh/glue_stick_027.obj
@@ -0,0 +1,110682 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glue_stick_027_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mesh/glue_stick_027_collision.obj b/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mesh/glue_stick_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c45ac59b702918cf33c2d990e5e68da749da4fcb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mesh/glue_stick_027_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mesh/glue_stick_027_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mesh/glue_stick_027_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5691118d65631ba036cf72ea7f8d4de91b390035
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mesh/glue_stick_027_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0efbd95ce2d7145ae382177ce86374c80154fce8b3a4001183f82f5c638e801f
+size 10156207
diff --git a/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1f752012c7b7813039c3b837f09e0836e4b65908
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl glue_stick_027_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_027_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5691118d65631ba036cf72ea7f8d4de91b390035
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0efbd95ce2d7145ae382177ce86374c80154fce8b3a4001183f82f5c638e801f
+size 10156207
diff --git a/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mjcf/glue_stick_027.xml b/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mjcf/glue_stick_027.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c8574e5e1fffae80eee833ed4c0a51ae647c2379
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mjcf/glue_stick_027.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="glue_stick_027">
+  <asset>
+    <material name="material_0" texture="texture_0_glue_stick_027_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_glue_stick_027_geometry_Looks_material_0" type="2d" file="mesh/glue_stick_027_geometry_Looks_material_0.png" />
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+    <mesh name="collision_mesh_0_0" file="mesh/glue_stick_027_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="glue_stick_027">
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+      <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/d5922851c9c057cc9968c4b5d748c77d/mjcf/mesh/glue_stick_027.obj b/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mjcf/mesh/glue_stick_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca9567bf9e3c62ecbbc920cefc3897179abf7a11
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mjcf/mesh/glue_stick_027.obj
@@ -0,0 +1,110682 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glue_stick_027_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mjcf/mesh/glue_stick_027_collision.obj b/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mjcf/mesh/glue_stick_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c65527874f1f3da01830bcdc677ce28db92e5ab5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mjcf/mesh/glue_stick_027_collision.obj
@@ -0,0 +1,3343 @@
+# https://github.com/mikedh/trimesh
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+v 0.00079482 -0.01649962 0.03190679
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diff --git a/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mjcf/mesh/glue_stick_027_collision_0.obj b/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mjcf/mesh/glue_stick_027_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c65527874f1f3da01830bcdc677ce28db92e5ab5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d5922851c9c057cc9968c4b5d748c77d/mjcf/mesh/glue_stick_027_collision_0.obj
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