diff --git a/.gitattributes b/.gitattributes
index 14241e950e45cde4481d1525e4bfbf7fbcf9065d..6c2d1cf5aafbdb45af18c30dcb27dd199cf9a70a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3091,3 +3091,5 @@ dataset/desktop_supplies/office_stationery/159fc3e5c87f5cc99deff6587d85373c/mesh
 dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/eraser_020.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/mesh/eraser_020.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/1c3090016ed053e2bb444e9470aaf9cb/1c3090016ed053e2bb444e9470aaf9cb.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/glue_stick_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mesh/glue_stick_001.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/glue_stick_001.urdf b/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/glue_stick_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9e586311818aaae8638c523c4e35cf3aa4c12520
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/glue_stick_001.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glue_stick_001">
+   <link name="glue_stick_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/glue_stick_001.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_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>1e1d1417c0f951d3ab57d35f8d6278af</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>glue_stick</category>
+         <name>yellow glue stick</name>
+         <color>yellow</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cylindrical yellow glue stick with printed label</description>
+         <min_height>0.1161</min_height>
+         <max_height>0.1161</max_height>
+         <real_height>0.1161</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260416203016</generate_time>
+         <gs_model>""</gs_model>
+      </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/1e1d1417c0f951d3ab57d35f8d6278af/glue_stick_001.usd b/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/glue_stick_001.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8d861df288dea2e86a4e551c9d41a93ec03b6846
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/glue_stick_001.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fbf58f3eb0f45c03e2e0ae7d61c001987c558606957f91797b6954dc5cbac38
+size 4637621
diff --git a/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mesh/glue_stick_001.glb b/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mesh/glue_stick_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b3bcb1898e7b10c33e621b24a9124a05b10f0dbd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mesh/glue_stick_001.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a54a9097e7ee1609066ee50b9ecc097926c309d2a3e6f6d5b3c902a30e51ba16
+size 12892952
diff --git a/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mesh/glue_stick_001.mtl b/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mesh/glue_stick_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9741d1975c96a3080e33f4c8b0c435b76c937956
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mesh/glue_stick_001.mtl
@@ -0,0 +1,6 @@
+newmtl glue_stick_001_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/1e1d1417c0f951d3ab57d35f8d6278af/mesh/glue_stick_001.obj b/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mesh/glue_stick_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a730140a50ec4d900e64954ec8430719fb12cee
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mesh/glue_stick_001.obj
@@ -0,0 +1,111628 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glue_stick_001_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mesh/glue_stick_001_collision.obj b/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mesh/glue_stick_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a1e7f9c7819b752c94377c3f9f05c74a820b43e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mesh/glue_stick_001_collision.obj
@@ -0,0 +1,2637 @@
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diff --git a/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mesh/glue_stick_001_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mesh/glue_stick_001_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..aefc42488e9d617c32b18bdb3aadf6f4a4945e7e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mesh/glue_stick_001_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:422947dc85d9818c6040f3ee9a61c604d6313efae0f56e7c6360b1a57fdc9209
+size 9987000
diff --git a/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d90958dc81a0254be6392822a57a6b9daf57f6d2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl glue_stick_001_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_001_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..aefc42488e9d617c32b18bdb3aadf6f4a4945e7e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:422947dc85d9818c6040f3ee9a61c604d6313efae0f56e7c6360b1a57fdc9209
+size 9987000
diff --git a/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mjcf/glue_stick_001.xml b/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mjcf/glue_stick_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..dc2a32e6aca01223b8a3344258b0ed95e8378c21
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mjcf/glue_stick_001.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="glue_stick_001">
+  <asset>
+    <material name="material_0" texture="texture_0_glue_stick_001_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_glue_stick_001_geometry_Looks_material_0" type="2d" file="mesh/glue_stick_001_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/glue_stick_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/glue_stick_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="glue_stick_001">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mjcf/mesh/glue_stick_001.obj b/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mjcf/mesh/glue_stick_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2a537300f68e3da48022abeb0d67ca1756670e8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mjcf/mesh/glue_stick_001.obj
@@ -0,0 +1,111628 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glue_stick_001_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mjcf/mesh/glue_stick_001_collision.obj b/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mjcf/mesh/glue_stick_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07032e3e4a6bf84f22918fefab096d83555a3d29
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mjcf/mesh/glue_stick_001_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mjcf/mesh/glue_stick_001_collision_0.obj b/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mjcf/mesh/glue_stick_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07032e3e4a6bf84f22918fefab096d83555a3d29
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mjcf/mesh/glue_stick_001_collision_0.obj
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