diff --git a/.gitattributes b/.gitattributes
index bdfb8f071086cd04e8669fc450614f0d9b543edd..39b49296edff58b8e51ec519b48ae614568abeda 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5373,3 +5373,5 @@ dataset/desktop_supplies/office_stationery/6c71ad6e3eaa5d32bd23c4ad0b5de742/mesh
 dataset/desktop_supplies/office_stationery/6c71ad6e3eaa5d32bd23c4ad0b5de742/notebook_002.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/6c9d74a139ae5715a1f7d7d1d2a761d1/mesh/notebook_010.glb filter=lfs diff=lfs merge=lfs -text
 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
diff --git a/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/glue_stick_025.urdf b/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/glue_stick_025.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a24ee05821e806939f2e8c35e2d50c6af1e4a8c3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/glue_stick_025.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glue_stick_025">
+   <link name="glue_stick_025">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/glue_stick_025.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_025_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>6d0689f1d2c257efa8ad6db63eeab487</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>glue_stick</category>
+         <name>gray glue stick</name>
+         <color>gray,red</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>gray cylindrical glue stick with red band and 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>20260611143316</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.015577 -0.015639 -0.048846</min>
+            <max>0.015590 0.015640 0.051154</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/6d0689f1d2c257efa8ad6db63eeab487/glue_stick_025.usd b/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/glue_stick_025.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9bc14bd57d40344b362116dc93b9b14759466398
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/glue_stick_025.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c3b70acdc76277a8839fc1d53b3032765ac4261175b203a14b42cce48104edf
+size 4846798
diff --git a/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mesh/glue_stick_025.glb b/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mesh/glue_stick_025.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9ec715436f9a8a333a8e872c02209a192baebc3b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mesh/glue_stick_025.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d230a986a6d9ddb7e6c7cba2164ea808a45eddbc7493884a2eacdbfdd1e5813
+size 11675836
diff --git a/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mesh/glue_stick_025.mtl b/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mesh/glue_stick_025.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ece4493fd8bbf11d24fc816265a55ef961249a2a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mesh/glue_stick_025.mtl
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+newmtl glue_stick_025_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/6d0689f1d2c257efa8ad6db63eeab487/mesh/glue_stick_025.obj b/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mesh/glue_stick_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b23d9f2e654ad6aae64ea633947a5c50499ef2e1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mesh/glue_stick_025.obj
@@ -0,0 +1,110376 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glue_stick_025_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mesh/glue_stick_025_collision.obj b/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mesh/glue_stick_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccd6cf5d6acc5d8e67bfc17ffec40e044a3510bb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mesh/glue_stick_025_collision.obj
@@ -0,0 +1,4249 @@
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diff --git a/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mesh/glue_stick_025_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mesh/glue_stick_025_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..33e352cc53f6419190665a76ee406a12cab83d2b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mesh/glue_stick_025_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89d1584892e64c69a8d7f55bd5e436113d2623d9ececd195ae8b5b300638ea27
+size 8432458
diff --git a/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e131f1f25c87b1c2001a36d0028198a762bff638
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl glue_stick_025_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_025_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..33e352cc53f6419190665a76ee406a12cab83d2b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89d1584892e64c69a8d7f55bd5e436113d2623d9ececd195ae8b5b300638ea27
+size 8432458
diff --git a/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mjcf/glue_stick_025.xml b/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mjcf/glue_stick_025.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a13a30a32c42a8c0895de5859dbc7d03d30e1e18
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mjcf/glue_stick_025.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="glue_stick_025">
+  <asset>
+    <material name="material_0" texture="texture_0_glue_stick_025_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_glue_stick_025_geometry_Looks_material_0" type="2d" file="mesh/glue_stick_025_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/glue_stick_025.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/glue_stick_025_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/glue_stick_025_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="glue_stick_025">
+      <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/6d0689f1d2c257efa8ad6db63eeab487/mjcf/mesh/glue_stick_025.obj b/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mjcf/mesh/glue_stick_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24579e6034305f28549f4cf802ae519bcd706bd9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mjcf/mesh/glue_stick_025.obj
@@ -0,0 +1,110376 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glue_stick_025_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mjcf/mesh/glue_stick_025_collision.obj b/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mjcf/mesh/glue_stick_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..725eec214dde87bde5a7ae7df7806059b6bb09d4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mjcf/mesh/glue_stick_025_collision.obj
@@ -0,0 +1,4249 @@
+# https://github.com/mikedh/trimesh
+
+o glue_stick_025_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mjcf/mesh/glue_stick_025_collision_0.obj b/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mjcf/mesh/glue_stick_025_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3180b8707a322a1bca813573570c89a36a219fcd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mjcf/mesh/glue_stick_025_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mjcf/mesh/glue_stick_025_collision_1.obj b/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mjcf/mesh/glue_stick_025_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89c341a05c9ad9f91efbfab79ba452c010dbfe5f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6d0689f1d2c257efa8ad6db63eeab487/mjcf/mesh/glue_stick_025_collision_1.obj
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