diff --git a/.gitattributes b/.gitattributes
index 9761c34799442b5923278df23552ac7d6b2cae14..21201aeb03e4c3e23a74880af4be06daa0edf37f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3277,3 +3277,5 @@ dataset/desktop_supplies/office_stationery/df57dbad1d945dbb8ca344a6cae408c6/mesh
 dataset/desktop_supplies/office_stationery/e6592bd269bf5d139437e7ca619b7f96/e6592bd269bf5d139437e7ca619b7f96.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/e6592bd269bf5d139437e7ca619b7f96/mesh/marker.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/e6592bd269bf5d139437e7ca619b7f96/mesh/marker_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/glue_stick_021.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mesh/glue_stick_021.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/glue_stick_021.urdf b/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/glue_stick_021.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5f3c7c266babb991946a7cd2b66b9a8e964003d2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/glue_stick_021.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glue_stick_021">
+   <link name="glue_stick_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/glue_stick_021.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_021_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>e56d283bb651513ca4b50e3ddfed25aa</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>glue_stick</category>
+         <name>beige glue stick</name>
+         <color>beige,white</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>beige cylindrical glue stick with white cap and printed symbols</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>20260611143225</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.020490 -0.020621 -0.049753</min>
+            <max>0.020893 0.020578 0.050247</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/e56d283bb651513ca4b50e3ddfed25aa/glue_stick_021.usd b/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/glue_stick_021.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8506be0d7d9d1f0dfde612a8a0cea99fb61fd642
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/glue_stick_021.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9bd0d757f862f48ee90e83cbe695e2551be41678cc6c4ba616f765c8018d208
+size 4765222
diff --git a/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mesh/glue_stick_021.glb b/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mesh/glue_stick_021.glb
new file mode 100644
index 0000000000000000000000000000000000000000..030e8ab6c01f5cb8ede5b2e77b0f01b1117e3600
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mesh/glue_stick_021.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:178cd65512dfec474c2c918bb4597be7728b002192844a2a25b4f2f1de2641ff
+size 13110488
diff --git a/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mesh/glue_stick_021.mtl b/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mesh/glue_stick_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e4bf46c0f0b18f5670bfe6c2e6d5028c6436b43f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mesh/glue_stick_021.mtl
@@ -0,0 +1,6 @@
+newmtl glue_stick_021_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/e56d283bb651513ca4b50e3ddfed25aa/mesh/glue_stick_021.obj b/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mesh/glue_stick_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30cc1c16a6ff4a79827080df0cbc01d8c0e06e17
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mesh/glue_stick_021.obj
@@ -0,0 +1,117434 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glue_stick_021_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mesh/glue_stick_021_collision.obj b/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mesh/glue_stick_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5de4b31f3339c286b093d378101ac3f4b4d787ac
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mesh/glue_stick_021_collision.obj
@@ -0,0 +1,3913 @@
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diff --git a/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mesh/glue_stick_021_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mesh/glue_stick_021_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..50172055c6d68cf4d10a1ae20e9d532a0ba76cd5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mesh/glue_stick_021_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d2488395cbd9613175fa4f355f4eae1f0808a73a3cd5af356d4af3d8ded4bc0
+size 10025488
diff --git a/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..18c58cbd99dd84e8fa88b7180b9c852e368c280b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl glue_stick_021_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_021_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..50172055c6d68cf4d10a1ae20e9d532a0ba76cd5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d2488395cbd9613175fa4f355f4eae1f0808a73a3cd5af356d4af3d8ded4bc0
+size 10025488
diff --git a/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mjcf/glue_stick_021.xml b/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mjcf/glue_stick_021.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c722517f8c0ea466760ddefb97391d8c80569972
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mjcf/glue_stick_021.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="glue_stick_021">
+  <asset>
+    <material name="material_0" texture="texture_0_glue_stick_021_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_glue_stick_021_geometry_Looks_material_0" type="2d" file="mesh/glue_stick_021_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/glue_stick_021.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/glue_stick_021_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/glue_stick_021_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="glue_stick_021">
+      <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/e56d283bb651513ca4b50e3ddfed25aa/mjcf/mesh/glue_stick_021.obj b/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mjcf/mesh/glue_stick_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14528fad47a06b5ea36a9d5b612c5cefbcff20fe
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mjcf/mesh/glue_stick_021.obj
@@ -0,0 +1,117434 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glue_stick_021_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mjcf/mesh/glue_stick_021_collision.obj b/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mjcf/mesh/glue_stick_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..786a65e8b2bef789297afd178d6d1da725e8a79f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mjcf/mesh/glue_stick_021_collision.obj
@@ -0,0 +1,3913 @@
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diff --git a/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mjcf/mesh/glue_stick_021_collision_0.obj b/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mjcf/mesh/glue_stick_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc0669b731da2df5f868c864d8450a1f2b5c5827
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mjcf/mesh/glue_stick_021_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mjcf/mesh/glue_stick_021_collision_1.obj b/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mjcf/mesh/glue_stick_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00046a28adc09c1c535040cbd0cbc150027ae97b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mjcf/mesh/glue_stick_021_collision_1.obj
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