diff --git a/.gitattributes b/.gitattributes
index 431ca207b5209e6ee86274b7ed452575dd91cc89..a4149bd1ba4b9aa8bddf0fcff93cef547e7ae54c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3161,5 +3161,5 @@ dataset/desktop_supplies/office_stationery/744f195b77b35368a9506b4116b4b7bf/mark
 dataset/desktop_supplies/office_stationery/744f195b77b35368a9506b4116b4b7bf/mesh/marker_033.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mesh/sharpener_037.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/sharpener_037.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/mesh/stapler_030.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/79c7a68f07f750eaa84dbc5962e20fbe/stapler_030.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/glue_stick_030.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mesh/glue_stick_030.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/glue_stick_030.urdf b/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/glue_stick_030.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7dceb77cdacbb7b40f88555de7a01139734bb7a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/glue_stick_030.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glue_stick_030">
+   <link name="glue_stick_030">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/glue_stick_030.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_030_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>797962af93df567e918401df2b6f1392</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>glue_stick</category>
+         <name>pritt glue stick</name>
+         <color>white,red</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>white and red cylindrical glue stick with ribbed cap</description>
+         <min_height>0.1000</min_height>
+         <max_height>0.1000</max_height>
+         <real_height>0.1000</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611143436</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.014071 -0.014091 -0.049503</min>
+            <max>0.014076 0.014098 0.050497</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/glue_stick_030.usd b/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/glue_stick_030.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/glue_stick_030.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7baffc84204a682e6d5d126e0a69ec10777e5219fb56c3e7d7cf66146f9d8b9
+size 4839923
diff --git a/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mesh/glue_stick_030.glb b/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mesh/glue_stick_030.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ad7c4d0aac84dcd1ba57d6deea56c08294e4b0a1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mesh/glue_stick_030.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:257d8e9f7420eb7ede486eb78777e0f1b02a705a8031b110842a98b763222c87
+size 12979128
diff --git a/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mesh/glue_stick_030.mtl b/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mesh/glue_stick_030.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..199942a12daae417eee099cb437291bd41e2beb4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mesh/glue_stick_030.mtl
@@ -0,0 +1,6 @@
+newmtl glue_stick_030_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/797962af93df567e918401df2b6f1392/mesh/glue_stick_030.obj b/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mesh/glue_stick_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9edc4987e627d24ccf9e7dc6afb576e97336112d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mesh/glue_stick_030.obj
@@ -0,0 +1,110066 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glue_stick_030_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mesh/glue_stick_030_collision.obj b/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mesh/glue_stick_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02a800677b09a71ef78ba4689693f6284b6e0bba
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mesh/glue_stick_030_collision.obj
@@ -0,0 +1,3295 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mesh/glue_stick_030_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mesh/glue_stick_030_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..adc8654f93d8f5ac174878e6032791f518b5bc83
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mesh/glue_stick_030_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21dee7fb31d07e938d3ed1e594170854f4675240d15d934226e1bbf73799578f
+size 9750270
diff --git a/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..231e4076d6f9ae3b5c19740d03b9a3c92ab1abbe
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl glue_stick_030_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_030_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..adc8654f93d8f5ac174878e6032791f518b5bc83
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21dee7fb31d07e938d3ed1e594170854f4675240d15d934226e1bbf73799578f
+size 9750270
diff --git a/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mjcf/glue_stick_030.xml b/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mjcf/glue_stick_030.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2a9b04ab52ebd776da92cd6aeaf3fd3e119454e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mjcf/glue_stick_030.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="glue_stick_030">
+  <asset>
+    <material name="material_0" texture="texture_0_glue_stick_030_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_glue_stick_030_geometry_Looks_material_0" type="2d" file="mesh/glue_stick_030_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/glue_stick_030.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/glue_stick_030_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/glue_stick_030_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="glue_stick_030">
+      <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/797962af93df567e918401df2b6f1392/mjcf/mesh/glue_stick_030.obj b/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mjcf/mesh/glue_stick_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..963ce4ab726c13d7290966130cce5c1a949047c8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mjcf/mesh/glue_stick_030.obj
@@ -0,0 +1,110066 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glue_stick_030_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mjcf/mesh/glue_stick_030_collision.obj b/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mjcf/mesh/glue_stick_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8cd37ba2fa387891b890cfdb3d5219f045ec00d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mjcf/mesh/glue_stick_030_collision.obj
@@ -0,0 +1,3295 @@
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diff --git a/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mjcf/mesh/glue_stick_030_collision_0.obj b/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mjcf/mesh/glue_stick_030_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efa979b966b7b3baa1d360a40e618f15bcb01cfc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mjcf/mesh/glue_stick_030_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mjcf/mesh/glue_stick_030_collision_1.obj b/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mjcf/mesh/glue_stick_030_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5ab112cd2092cad49f023b87ef12dd0d91011ee
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/797962af93df567e918401df2b6f1392/mjcf/mesh/glue_stick_030_collision_1.obj
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