diff --git a/.gitattributes b/.gitattributes
index f34d81f21a0a50647194e4fd65d94426ba6324de..9bf8270faab5ec2a3c25c79f0dea00db606c9ed0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5382,3 +5382,5 @@ dataset/desktop_supplies/office_stationery/e81d028d6fd15ee8997d55a65cd0abfc/mesh
 dataset/desktop_supplies/office_stationery/e81d028d6fd15ee8997d55a65cd0abfc/mesh/marker_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/ballpoint_pen_039.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mesh/ballpoint_pen_039.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/glue_stick_023.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mesh/glue_stick_023.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/glue_stick_023.urdf b/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/glue_stick_023.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7513f5a427c5c6b64e5359bc5d3149241071a3a9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/glue_stick_023.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glue_stick_023">
+   <link name="glue_stick_023">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/glue_stick_023.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_023_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</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>f1760a54f9675994bd12b53b6c254063</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>glue_stick</category>
+         <name>white glue stick</name>
+         <color>white,red</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>white cylindrical glue stick with red and black printed label</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>20260611143252</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.013134 -0.013111 -0.049954</min>
+            <max>0.013167 0.013127 0.050046</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/f1760a54f9675994bd12b53b6c254063/glue_stick_023.usd b/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/glue_stick_023.usd
new file mode 100644
index 0000000000000000000000000000000000000000..ea34d8e2ed7ba1063a5e472e82df1fb1e215f4db
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/glue_stick_023.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7567295167310f38d9c070a8c9113953b9e4e0cbea3575c28ccb6aedb6e8f578
+size 4674219
diff --git a/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mesh/glue_stick_023.glb b/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mesh/glue_stick_023.glb
new file mode 100644
index 0000000000000000000000000000000000000000..296dc1371a8b6c85b92f2e7a29174fe5ad0a8d93
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mesh/glue_stick_023.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bf004995551287bd668eadd7e2c70c9837ce279fc350dab3bf70adf15a37461
+size 9341744
diff --git a/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mesh/glue_stick_023.mtl b/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mesh/glue_stick_023.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..83d28d814219db2d09153a90ea537339533d9db4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mesh/glue_stick_023.mtl
@@ -0,0 +1,6 @@
+newmtl glue_stick_023_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/f1760a54f9675994bd12b53b6c254063/mesh/glue_stick_023.obj b/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mesh/glue_stick_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb9b92e84a17cb57737c3c94ce4aa6ab8f43188e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mesh/glue_stick_023.obj
@@ -0,0 +1,105426 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glue_stick_023_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mesh/glue_stick_023_collision.obj b/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mesh/glue_stick_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47ca48519c3a0e8f88468334846b406f34a96183
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mesh/glue_stick_023_collision.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mesh/glue_stick_023_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mesh/glue_stick_023_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0917395cb010928a025ffddf7a8263f0a06c90e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mesh/glue_stick_023_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d39a42d04f561ba8723425ff16e3468e713565b82fdd1c4ea03ac31b00c4e8ea
+size 6368098
diff --git a/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1e25233b78334cf3b0373a54d63a7bfca0aa9573
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl glue_stick_023_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_023_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0917395cb010928a025ffddf7a8263f0a06c90e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d39a42d04f561ba8723425ff16e3468e713565b82fdd1c4ea03ac31b00c4e8ea
+size 6368098
diff --git a/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mjcf/glue_stick_023.xml b/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mjcf/glue_stick_023.xml
new file mode 100644
index 0000000000000000000000000000000000000000..eb21d5f1e9c3fcbc2b110bccb1c0e4054aa7b6eb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mjcf/glue_stick_023.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="glue_stick_023">
+  <asset>
+    <material name="material_0" texture="texture_0_glue_stick_023_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_glue_stick_023_geometry_Looks_material_0" type="2d" file="mesh/glue_stick_023_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/glue_stick_023.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/glue_stick_023_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="glue_stick_023">
+      <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/f1760a54f9675994bd12b53b6c254063/mjcf/mesh/glue_stick_023.obj b/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mjcf/mesh/glue_stick_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbdfb00d2748dc6759bef851c56e7df0b30ff593
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mjcf/mesh/glue_stick_023.obj
@@ -0,0 +1,105426 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glue_stick_023_geometry_Looks_material_0
+v 0.011225 0.005357 0.047747
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diff --git a/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mjcf/mesh/glue_stick_023_collision.obj b/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mjcf/mesh/glue_stick_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ca9de8f7f9e8e3ae5bcc900bd5edcf6227a7ede
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mjcf/mesh/glue_stick_023_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mjcf/mesh/glue_stick_023_collision_0.obj b/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mjcf/mesh/glue_stick_023_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ca9de8f7f9e8e3ae5bcc900bd5edcf6227a7ede
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f1760a54f9675994bd12b53b6c254063/mjcf/mesh/glue_stick_023_collision_0.obj
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