diff --git a/.gitattributes b/.gitattributes
index a301aa63db140e9281420420eeb567142200cc6d..b9f0e34d625f9995503bc9683d62ed86ebc43907 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3219,5 +3219,5 @@ dataset/desktop_supplies/office_stationery/a00d15d133e7509ca0e3e2287ae57c2b/eras
 dataset/desktop_supplies/office_stationery/a00d15d133e7509ca0e3e2287ae57c2b/mesh/eraser_038.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/marker_024.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mesh/marker_024.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/marker_036.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mesh/marker_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/ballpoint_pen_033.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mesh/ballpoint_pen_033.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/ballpoint_pen_033.urdf b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/ballpoint_pen_033.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..67ce8b8315b550b69d7e63f65e58b23686fc5685
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/ballpoint_pen_033.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="ballpoint_pen_033">
+   <link name="ballpoint_pen_033">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/ballpoint_pen_033.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/ballpoint_pen_033_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <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>afe438aabdd85acabf8cda0bc9618201</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>ballpoint_pen</category>
+         <name>panda pen</name>
+         <color>black,white</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>black and white ballpoint pen with panda head topper</description>
+         <min_height>0.0331</min_height>
+         <max_height>0.0331</max_height>
+         <real_height>0.0331</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611141553</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.013821 -0.082486 -0.016945</min>
+            <max>0.014986 0.057514 0.016175</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>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Grip and writing tip/front cone are merged, while cap-top decoration is over-merged with rear clicker; key pen functions are not cleanly separated.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/ballpoint_pen_033.usd b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/ballpoint_pen_033.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/ballpoint_pen_033.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:360aa89e97036222627a3600595e23a3722704378eca19da213b95ce9830cf0f
+size 5031218
diff --git a/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mesh/ballpoint_pen_033.glb b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mesh/ballpoint_pen_033.glb
new file mode 100644
index 0000000000000000000000000000000000000000..028b2f4a4d7d385db3733178e109ad038c0541e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mesh/ballpoint_pen_033.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12067840
diff --git a/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mesh/ballpoint_pen_033.mtl b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mesh/ballpoint_pen_033.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..77aee68163db87bfa85ee1a22d728ef060dfbc91
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mesh/ballpoint_pen_033.mtl
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+newmtl ballpoint_pen_033_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/afe438aabdd85acabf8cda0bc9618201/mesh/ballpoint_pen_033.obj b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mesh/ballpoint_pen_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b1f144d9b9adb6969e234ad9ac0b76ee01e1418
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mesh/ballpoint_pen_033.obj
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diff --git a/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mesh/ballpoint_pen_033_collision.obj b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mesh/ballpoint_pen_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8231556875bf2411499fc5daafa966921572879b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mesh/ballpoint_pen_033_collision.obj
@@ -0,0 +1,3361 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mesh/ballpoint_pen_033_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mesh/ballpoint_pen_033_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..22d0c933eeba627a668c5503a48399dc0292a624
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mesh/ballpoint_pen_033_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34c1ec6859bd08a5797010dce62b82aa33ea47f955167921238757da8700cea8
+size 8520663
diff --git a/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3eade5d4e6e522003ae2fce3fd15cd65a13d972f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl ballpoint_pen_033_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 ballpoint_pen_033_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..22d0c933eeba627a668c5503a48399dc0292a624
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34c1ec6859bd08a5797010dce62b82aa33ea47f955167921238757da8700cea8
+size 8520663
diff --git a/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mjcf/ballpoint_pen_033.xml b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mjcf/ballpoint_pen_033.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b3e22034c14e6ede98e4d9981b1f69d7fabb3187
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mjcf/ballpoint_pen_033.xml
@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ballpoint_pen_033">
+  <asset>
+    <material name="material_0" texture="texture_0_ballpoint_pen_033_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_ballpoint_pen_033_geometry_Looks_material_0" type="2d" file="mesh/ballpoint_pen_033_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/ballpoint_pen_033.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/ballpoint_pen_033_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/ballpoint_pen_033_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/ballpoint_pen_033_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/ballpoint_pen_033_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/ballpoint_pen_033_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="ballpoint_pen_033">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" 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/afe438aabdd85acabf8cda0bc9618201/mjcf/mesh/ballpoint_pen_033.obj b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mjcf/mesh/ballpoint_pen_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32926a74416e303865c442564b1a507cd67cf6cd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mjcf/mesh/ballpoint_pen_033.obj
@@ -0,0 +1,111266 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl ballpoint_pen_033_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mjcf/mesh/ballpoint_pen_033_collision.obj b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mjcf/mesh/ballpoint_pen_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6299a1998930d38e57ad44e1b5f8ed92e5853cfa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mjcf/mesh/ballpoint_pen_033_collision.obj
@@ -0,0 +1,3361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mjcf/mesh/ballpoint_pen_033_collision_0.obj b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mjcf/mesh/ballpoint_pen_033_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e04d9ee73af7475806433427a21b21965f8755be
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mjcf/mesh/ballpoint_pen_033_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mjcf/mesh/ballpoint_pen_033_collision_1.obj b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mjcf/mesh/ballpoint_pen_033_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27873e970111676ef2cd367cf7b9f6a5f42321e3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mjcf/mesh/ballpoint_pen_033_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mjcf/mesh/ballpoint_pen_033_collision_2.obj b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mjcf/mesh/ballpoint_pen_033_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b09203f28600dc0e50c38b8d3e6569d32534f0d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mjcf/mesh/ballpoint_pen_033_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mjcf/mesh/ballpoint_pen_033_collision_3.obj b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mjcf/mesh/ballpoint_pen_033_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff18e722edfe3e1d1b9114732b31665074447b4b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mjcf/mesh/ballpoint_pen_033_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mjcf/mesh/ballpoint_pen_033_collision_4.obj b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mjcf/mesh/ballpoint_pen_033_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e657c74bd8219481b8080c358b37acf3d2f4bdc4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afe438aabdd85acabf8cda0bc9618201/mjcf/mesh/ballpoint_pen_033_collision_4.obj
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