diff --git a/.gitattributes b/.gitattributes
index 39b49296edff58b8e51ec519b48ae614568abeda..3eca3f8b1d538befba203e57de6e043fe0c1f99e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5375,3 +5375,5 @@ dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mesh
 dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/notebook_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/glue_stick_025.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mesh/glue_stick_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/glue_stick_024.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mesh/glue_stick_024.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/glue_stick_024.urdf b/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/glue_stick_024.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fc6abf3cc6f12783aa4ea7ccf1ba1e7aab01454f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/glue_stick_024.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glue_stick_024">
+   <link name="glue_stick_024">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/glue_stick_024.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_024_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>6e3097fe08ea51eabf56ed6ef8393197</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>glue_stick</category>
+         <name>yellow glue stick</name>
+         <color>yellow,blue</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>yellow cylindrical glue stick with blue band and rounded cap</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>20260611143304</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.015574 -0.015583 -0.047609</min>
+            <max>0.015568 0.015459 0.052391</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/6e3097fe08ea51eabf56ed6ef8393197/glue_stick_024.usd b/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/glue_stick_024.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/glue_stick_024.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa7a61e9e02082792de3d5e3265534591c46648154162e62c85988526a9782e0
+size 4869945
diff --git a/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mesh/glue_stick_024.glb b/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mesh/glue_stick_024.glb
new file mode 100644
index 0000000000000000000000000000000000000000..379e5fae6187fb5b858ea75a6c6556c652973301
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mesh/glue_stick_024.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 8535444
diff --git a/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mesh/glue_stick_024.mtl b/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mesh/glue_stick_024.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cccab191fc06709a54184b5d2d1ab4e2941f0c92
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mesh/glue_stick_024.mtl
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+newmtl glue_stick_024_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/6e3097fe08ea51eabf56ed6ef8393197/mesh/glue_stick_024.obj b/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mesh/glue_stick_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ce26ed4fc4e724e57138e3c07cebdcce336597d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mesh/glue_stick_024.obj
@@ -0,0 +1,104020 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glue_stick_024_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mesh/glue_stick_024_collision.obj b/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mesh/glue_stick_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d1895968bd3936c99d885d474c1341760446d0b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mesh/glue_stick_024_collision.obj
@@ -0,0 +1,4380 @@
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diff --git a/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mesh/glue_stick_024_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mesh/glue_stick_024_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..89ba63f6a020a3d3dbe0cf8746d881bdb1e91d0b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mesh/glue_stick_024_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2819a1f568f42e0e1a4b893ca78f806d65892478573db429fac1a13fefb7959a
+size 5255272
diff --git a/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0b29dbebc9280771109da8cff3917c2ddf2665e2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl glue_stick_024_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_024_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..89ba63f6a020a3d3dbe0cf8746d881bdb1e91d0b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2819a1f568f42e0e1a4b893ca78f806d65892478573db429fac1a13fefb7959a
+size 5255272
diff --git a/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mjcf/glue_stick_024.xml b/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mjcf/glue_stick_024.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2d4be8ce8fe01bab3279fe29fec924e71df5ef0a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mjcf/glue_stick_024.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="glue_stick_024">
+  <asset>
+    <material name="material_0" texture="texture_0_glue_stick_024_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_glue_stick_024_geometry_Looks_material_0" type="2d" file="mesh/glue_stick_024_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/glue_stick_024.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/glue_stick_024_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="glue_stick_024">
+      <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/6e3097fe08ea51eabf56ed6ef8393197/mjcf/mesh/glue_stick_024.obj b/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mjcf/mesh/glue_stick_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19cfff4e885de3caba1dc177d58872e575f61a5d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mjcf/mesh/glue_stick_024.obj
@@ -0,0 +1,104020 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glue_stick_024_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mjcf/mesh/glue_stick_024_collision.obj b/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mjcf/mesh/glue_stick_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d18cc1edfe9c384be57f98a62a3efa337d7107e9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mjcf/mesh/glue_stick_024_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mjcf/mesh/glue_stick_024_collision_0.obj b/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mjcf/mesh/glue_stick_024_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d18cc1edfe9c384be57f98a62a3efa337d7107e9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mjcf/mesh/glue_stick_024_collision_0.obj
@@ -0,0 +1,4378 @@
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