diff --git a/.gitattributes b/.gitattributes
index cec71dc00be996066ee74bbb7c549657a80cbc1c..93daea0fe39af5403161fcb9e7c0e8a2104922fc 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3205,7 +3205,5 @@ dataset/desktop_supplies/office_stationery/955680a2de33595880995f90e4c2f6c9/9556
 dataset/desktop_supplies/office_stationery/955680a2de33595880995f90e4c2f6c9/mesh/pen.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/955680a2de33595880995f90e4c2f6c9/mesh/pen_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/9645b5c681155ab8823d6e5f132e7dc6/9645b5c681155ab8823d6e5f132e7dc6.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/mesh/stapler_037.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/94df61d6fe1a5eca8a941cd2df2c98ca/stapler_037.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/96c2a8e20e6a59a4981ca6ac2e05c9f9/correction_tape_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/96c2a8e20e6a59a4981ca6ac2e05c9f9/mesh/correction_tape_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/glue_stick_028.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mesh/glue_stick_028.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/glue_stick_028.urdf b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/glue_stick_028.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6248cc74f8d83166ca156bed8ffbca8943730051
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/glue_stick_028.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glue_stick_028">
+   <link name="glue_stick_028">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/glue_stick_028.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_028_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>96a5955ff1d857dea7b0b677bc804b04</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>glue_stick</category>
+         <name>brown glue stick</name>
+         <color>brown,black</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>brown cylindrical glue stick with black striped label</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>20260611143406</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.019545 -0.019630 -0.050745</min>
+            <max>0.019559 0.019643 0.049255</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/96a5955ff1d857dea7b0b677bc804b04/glue_stick_028.usd b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/glue_stick_028.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/glue_stick_028.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e05addbcf9b086d361f0f75dcf5fc681515919254b5d045b83af5e5d7d0cb2d8
+size 4807723
diff --git a/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mesh/glue_stick_028.glb b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mesh/glue_stick_028.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mesh/glue_stick_028.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13988012
diff --git a/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mesh/glue_stick_028.mtl b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mesh/glue_stick_028.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..47368b929d606b02cd6037c694cff1a845d6ff61
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mesh/glue_stick_028.mtl
@@ -0,0 +1,6 @@
+newmtl glue_stick_028_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/96a5955ff1d857dea7b0b677bc804b04/mesh/glue_stick_028.obj b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mesh/glue_stick_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d880a02a677862d06056acb5eae2d2ccf8da116b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mesh/glue_stick_028.obj
@@ -0,0 +1,110922 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mesh/glue_stick_028_collision.obj b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mesh/glue_stick_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03439436fd3131623a8d32358c64725aca19563c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mesh/glue_stick_028_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mesh/glue_stick_028_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mesh/glue_stick_028_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..681b78edf655553219f54dcf60f87a6357ac7ee1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mesh/glue_stick_028_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3ec3fb7a10740c02f2ebd09502b8bfd27e4711f616b75a1f46f4fa8b4ded9da
+size 10807489
diff --git a/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3314acb0c6d9b4ff76f3f63a8bc85c1135a46b7e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl glue_stick_028_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_028_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..681b78edf655553219f54dcf60f87a6357ac7ee1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3ec3fb7a10740c02f2ebd09502b8bfd27e4711f616b75a1f46f4fa8b4ded9da
+size 10807489
diff --git a/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mjcf/glue_stick_028.xml b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mjcf/glue_stick_028.xml
new file mode 100644
index 0000000000000000000000000000000000000000..58fffe4d9e0901a37e61019899ca6ebe882dc1b8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mjcf/glue_stick_028.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="glue_stick_028">
+  <asset>
+    <material name="material_0" texture="texture_0_glue_stick_028_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_glue_stick_028_geometry_Looks_material_0" type="2d" file="mesh/glue_stick_028_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/glue_stick_028.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/glue_stick_028_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/glue_stick_028_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/glue_stick_028_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="glue_stick_028">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mjcf/mesh/glue_stick_028.obj b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mjcf/mesh/glue_stick_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d032e2692abc8ce233e44621025154be6ad0af18
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mjcf/mesh/glue_stick_028.obj
@@ -0,0 +1,110922 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glue_stick_028_geometry_Looks_material_0
+v 0.018356 -0.000877 0.039783
+v 0.018356 -0.000877 0.039783
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diff --git a/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mjcf/mesh/glue_stick_028_collision.obj b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mjcf/mesh/glue_stick_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e24092543336f52109978297e506a12c1eec9a5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mjcf/mesh/glue_stick_028_collision.obj
@@ -0,0 +1,5087 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mjcf/mesh/glue_stick_028_collision_0.obj b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mjcf/mesh/glue_stick_028_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29a53dd463e6f9fc8a6f6121cca42da8604017d6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mjcf/mesh/glue_stick_028_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mjcf/mesh/glue_stick_028_collision_1.obj b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mjcf/mesh/glue_stick_028_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd523d3148280693eadcb2e37d8e1237cbb56887
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mjcf/mesh/glue_stick_028_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mjcf/mesh/glue_stick_028_collision_2.obj b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mjcf/mesh/glue_stick_028_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dbda4297d6c3dd7d02a8fab439cbffbac558953
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/96a5955ff1d857dea7b0b677bc804b04/mjcf/mesh/glue_stick_028_collision_2.obj
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