diff --git a/.gitattributes b/.gitattributes
index e96ef774dba18154110e95525bfd6487cde3fb09..9b759c19a964e84d2f236bd9efe49eb2957ae8ba 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5339,3 +5339,5 @@ dataset/desktop_supplies/office_stationery/5cb90cfd30bc57b59457b9d7af4d7aa6/mesh
 dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/5d3916ba0ecb5822ad9af922b9e06941.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mesh/sharpener_034.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/sharpener_034.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/ballpoint_pen_030.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mesh/ballpoint_pen_030.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/ballpoint_pen_030.urdf b/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/ballpoint_pen_030.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ebbb72a2cc6c5d75e1682b0ce9d5550ca3863d25
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/ballpoint_pen_030.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="ballpoint_pen_030">
+   <link name="ballpoint_pen_030">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/ballpoint_pen_030.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_030_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0115" />
+         <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>5d6ddbc8f8b35ffd9b649eae8a749a12</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>ballpoint_pen</category>
+         <name>retractable pen</name>
+         <color>gray</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>slim gray retractable ballpoint pen with side clip</description>
+         <min_height>0.0132</min_height>
+         <max_height>0.0132</max_height>
+         <real_height>0.0132</real_height>
+         <min_mass>0.008</min_mass>
+         <max_mass>0.015</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611141519</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.005897 -0.074455 -0.006108</min>
+            <max>0.007202 0.065545 0.007065</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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/5d6ddbc8f8b35ffd9b649eae8a749a12/ballpoint_pen_030.usd b/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/ballpoint_pen_030.usd
new file mode 100644
index 0000000000000000000000000000000000000000..43b2b9c73aba0ecb18a10b0574d048dfaf493b47
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/ballpoint_pen_030.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d08058944a19f94369c24730d2f832d3f1290487eaae5e48472715a91692ac4
+size 4832100
diff --git a/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mesh/ballpoint_pen_030.glb b/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mesh/ballpoint_pen_030.glb
new file mode 100644
index 0000000000000000000000000000000000000000..518022576200e8f83199a681ce2efafbefbafba5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mesh/ballpoint_pen_030.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d827c33d1871c730a7e9ccbf25b9c32fc25125c01300099c5c7ac6fdfdecd366
+size 8202364
diff --git a/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mesh/ballpoint_pen_030.mtl b/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mesh/ballpoint_pen_030.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ec6903b90f1da799c0b16d7f4021fd8c748e32f2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mesh/ballpoint_pen_030.mtl
@@ -0,0 +1,6 @@
+newmtl ballpoint_pen_030_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/5d6ddbc8f8b35ffd9b649eae8a749a12/mesh/ballpoint_pen_030.obj b/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mesh/ballpoint_pen_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f0a807e2a715f7bb4c375728122e7dd442c4725
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mesh/ballpoint_pen_030.obj
@@ -0,0 +1,105436 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl ballpoint_pen_030_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mesh/ballpoint_pen_030_collision.obj b/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mesh/ballpoint_pen_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e28fc8582f5f16578a0dd064f5974b0b391a2de
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mesh/ballpoint_pen_030_collision.obj
@@ -0,0 +1,918 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mesh/ballpoint_pen_030_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mesh/ballpoint_pen_030_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1a243acbcee7cedaef02df891df6fe21ffe53a6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mesh/ballpoint_pen_030_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:480d7315b3e19f6ccdd79d7913c70878b52f157f0437a4ebb05d69851ab48a9c
+size 5054216
diff --git a/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b20c4dd24eb89492b300b7b40de667fbadcb3e7e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl ballpoint_pen_030_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_030_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1a243acbcee7cedaef02df891df6fe21ffe53a6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:480d7315b3e19f6ccdd79d7913c70878b52f157f0437a4ebb05d69851ab48a9c
+size 5054216
diff --git a/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mjcf/ballpoint_pen_030.xml b/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mjcf/ballpoint_pen_030.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0ca3295f30e32182f1f0a52de8c8b0a608f7fa2a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mjcf/ballpoint_pen_030.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ballpoint_pen_030">
+  <asset>
+    <material name="material_0" texture="texture_0_ballpoint_pen_030_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_ballpoint_pen_030_geometry_Looks_material_0" type="2d" file="mesh/ballpoint_pen_030_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/ballpoint_pen_030.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/ballpoint_pen_030_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="ballpoint_pen_030">
+      <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/5d6ddbc8f8b35ffd9b649eae8a749a12/mjcf/mesh/ballpoint_pen_030.obj b/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mjcf/mesh/ballpoint_pen_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12bab67b3e3429c10ea4bfb978860109ac2ee9cd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mjcf/mesh/ballpoint_pen_030.obj
@@ -0,0 +1,105436 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl ballpoint_pen_030_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mjcf/mesh/ballpoint_pen_030_collision.obj b/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mjcf/mesh/ballpoint_pen_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b26cc88d1eb56b50565bddd9094d04e6415e4761
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mjcf/mesh/ballpoint_pen_030_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mjcf/mesh/ballpoint_pen_030_collision_0.obj b/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mjcf/mesh/ballpoint_pen_030_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b26cc88d1eb56b50565bddd9094d04e6415e4761
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mjcf/mesh/ballpoint_pen_030_collision_0.obj
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