diff --git a/.gitattributes b/.gitattributes
index 2149234d201b4c2b6ceb084179daf5ad164f60d1..f1e9feca9bf19643e9c9906a3279f6c2d0375fca 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3453,3 +3453,6 @@ dataset/desktop_supplies/office_tools/dec86865c2e051b896969de5c57a3412/mesh/scot
 dataset/desktop_supplies/office_tools/dec86865c2e051b896969de5c57a3412/scotch_tape_020.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/mesh/stamp_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/e812d0a1b9ba54378096f80aa0c10544/stamp_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/e9d70d5a9f375ed1b4f2406385909a95.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mesh/glue_stick.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mesh/glue_stick_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/e9d70d5a9f375ed1b4f2406385909a95.urdf b/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/e9d70d5a9f375ed1b4f2406385909a95.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..28ea0b18eb3905370f2ae22e5896971b5173d2d0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/e9d70d5a9f375ed1b4f2406385909a95.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glue_stick">
+   <link name="glue_stick">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/glue_stick.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/glue_stick_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</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>0.125000</scale>
+         <version>v0.1.7</version>
+         <category>glue stick</category>
+         <description>cylindrical black glue stick with red base</description>
+         <min_height>0.038</min_height>
+         <max_height>0.038</max_height>
+         <real_height>0.038</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <generate_time>20260117180959</generate_time>
+         <gs_model>mesh/glue_stick_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.1511006355285645</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/e9d70d5a9f375ed1b4f2406385909a95.usd b/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/e9d70d5a9f375ed1b4f2406385909a95.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8611143be04bf11f5e6d54daa61097a0f94a808b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/e9d70d5a9f375ed1b4f2406385909a95.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccde5192abe98cd3c3cd86480f6ac894b8e951421cc0cf15ff9b88bc22a70e37
+size 546458
diff --git a/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mesh/glue_stick.glb b/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mesh/glue_stick.glb
new file mode 100644
index 0000000000000000000000000000000000000000..444c2b7f57c165003f115bb59141f40f36ab0d22
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mesh/glue_stick.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:728c6f22103c3894d3ed8c9ab41e2a0b6ac56f586bcb3ca89ec62b4c59150414
+size 1203332
diff --git a/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mesh/glue_stick.obj b/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mesh/glue_stick.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fc0b08627d253fe4ff474cad560959b36a54638
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mesh/glue_stick.obj
@@ -0,0 +1,33268 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+
+o glue_stick.obj
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mesh/glue_stick_collision.obj b/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mesh/glue_stick_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..160f4fe00a60e592b211dbbec6c029ae904b4fb9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mesh/glue_stick_collision.obj
@@ -0,0 +1,5632 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mesh/glue_stick_gs.ply b/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mesh/glue_stick_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d57b178aedb330f5e9895bd60477c1510c82adde
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mesh/glue_stick_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mesh/material.mtl b/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mesh/material_0.png b/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mesh/material_0.png
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mjcf/e9d70d5a9f375ed1b4f2406385909a95.xml b/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mjcf/e9d70d5a9f375ed1b4f2406385909a95.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b126a5ec37a0b4400856e0fc3362488ede57204f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mjcf/e9d70d5a9f375ed1b4f2406385909a95.xml
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/glue_stick.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/glue_stick_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/glue_stick_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="glue_stick">
+      <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_tools/e9d70d5a9f375ed1b4f2406385909a95/mjcf/mesh/glue_stick.obj b/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mjcf/mesh/glue_stick.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d0b70d3b8cfea5bd241830d543aa8ab178efc6b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mjcf/mesh/glue_stick.obj
@@ -0,0 +1,33268 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+
+o glue_stick.obj
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mjcf/mesh/glue_stick_collision.obj b/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mjcf/mesh/glue_stick_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df35419f7e4028bd27ae747bc408e92e279815ca
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mjcf/mesh/glue_stick_collision.obj
@@ -0,0 +1,5632 @@
+# https://github.com/mikedh/trimesh
+
+o glue_stick_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mjcf/mesh/glue_stick_collision_0.obj b/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mjcf/mesh/glue_stick_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5be11914ccb5032f88edab26884f73d9d437c4c3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mjcf/mesh/glue_stick_collision_0.obj
@@ -0,0 +1,2554 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mjcf/mesh/glue_stick_collision_1.obj b/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mjcf/mesh/glue_stick_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79a3fb1cc5053dcda98820f4fc0250d87ed31865
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/e9d70d5a9f375ed1b4f2406385909a95/mjcf/mesh/glue_stick_collision_1.obj
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