diff --git a/.gitattributes b/.gitattributes
index d2c60a111b7df4560adc222f236c789c5e1cc7c5..9a2b472b0af6b9d513cebc6ee6869b337dba9708 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3105,6 +3105,7 @@ dataset/desktop_supplies/office_stationery/25a6ff2a66315c9680f240b1de65f146/mesh
 dataset/desktop_supplies/office_stationery/29c2c8c0f19555cc97b7f683ca821492/29c2c8c0f19555cc97b7f683ca821492.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/29c2c8c0f19555cc97b7f683ca821492/mesh/marker.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/29c2c8c0f19555cc97b7f683ca821492/mesh/marker_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/220060ac5daf5ce1bbb985e886032214.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mesh/eraser.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mesh/eraser_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/correction_tape_032.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mesh/correction_tape_032.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/ballpoint_pen_026.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mesh/ballpoint_pen_026.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/ballpoint_pen_026.urdf b/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/ballpoint_pen_026.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..64f01ce6ecbd109cc753acedf662267e43279922
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/ballpoint_pen_026.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="ballpoint_pen_026">
+   <link name="ballpoint_pen_026">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/ballpoint_pen_026.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_026_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>27cfd23efdf15e2480ec25e3560190f9</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>ballpoint_pen</category>
+         <name>red pen</name>
+         <color>red,beige</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>red retractable ballpoint pen with beige clip and tip</description>
+         <min_height>0.0148</min_height>
+         <max_height>0.0148</max_height>
+         <real_height>0.0148</real_height>
+         <min_mass>0.008</min_mass>
+         <max_mass>0.015</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611141427</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.007707 -0.075713 -0.006920</min>
+            <max>0.011693 0.064287 0.007907</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/ballpoint_pen_026.usd b/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/ballpoint_pen_026.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a368f212effbaa51bbea652b70313c6f77bd942b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/ballpoint_pen_026.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f93b81e25d5078dcd551562b122e22732af573918c28dadd95bf75aa044de66
+size 4912590
diff --git a/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mesh/ballpoint_pen_026.glb b/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mesh/ballpoint_pen_026.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9e274c2ec7cd433061be7a043d1fb55228d9e758
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mesh/ballpoint_pen_026.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e83826d075c72a71e1c3144eb98392d5bbdb3cf30c82d164179f7a3e14c7058
+size 11458060
diff --git a/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mesh/ballpoint_pen_026.mtl b/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mesh/ballpoint_pen_026.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7c87873f15724a5218772f5fc03aec19fc2a56b0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mesh/ballpoint_pen_026.mtl
@@ -0,0 +1,6 @@
+newmtl ballpoint_pen_026_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/27cfd23efdf15e2480ec25e3560190f9/mesh/ballpoint_pen_026.obj b/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mesh/ballpoint_pen_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2327c7a76289413ff84eaf6666732975ff2a3f4e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mesh/ballpoint_pen_026.obj
@@ -0,0 +1,113598 @@
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+mtllib material.mtl
+usemtl ballpoint_pen_026_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mesh/ballpoint_pen_026_collision.obj b/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mesh/ballpoint_pen_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1bf4c40926246258dfc4b610027f1e7d89e6f4b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mesh/ballpoint_pen_026_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mesh/ballpoint_pen_026_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mesh/ballpoint_pen_026_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d84d7f60a02ec8671f857675208d97865459c4f7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mesh/ballpoint_pen_026_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:787c8438fdf053677b4e0576c1d948e57e3b1d1cc4fd987ecaddaeb606d0b881
+size 8132361
diff --git a/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dc25c15f0cebf81f35ed0868c5a523b3744273f9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl ballpoint_pen_026_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_026_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d84d7f60a02ec8671f857675208d97865459c4f7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:787c8438fdf053677b4e0576c1d948e57e3b1d1cc4fd987ecaddaeb606d0b881
+size 8132361
diff --git a/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mjcf/ballpoint_pen_026.xml b/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mjcf/ballpoint_pen_026.xml
new file mode 100644
index 0000000000000000000000000000000000000000..19faf3bc637ede5f0de72227f5a21715089c39cd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mjcf/ballpoint_pen_026.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ballpoint_pen_026">
+  <asset>
+    <material name="material_0" texture="texture_0_ballpoint_pen_026_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_ballpoint_pen_026_geometry_Looks_material_0" type="2d" file="mesh/ballpoint_pen_026_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/ballpoint_pen_026.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/ballpoint_pen_026_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="ballpoint_pen_026">
+      <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/27cfd23efdf15e2480ec25e3560190f9/mjcf/mesh/ballpoint_pen_026.obj b/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mjcf/mesh/ballpoint_pen_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac96a907bac00e8a098305ffd2388215811c997b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mjcf/mesh/ballpoint_pen_026.obj
@@ -0,0 +1,113598 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl ballpoint_pen_026_geometry_Looks_material_0
+v 0.005835 0.049014 0.006275
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diff --git a/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mjcf/mesh/ballpoint_pen_026_collision.obj b/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mjcf/mesh/ballpoint_pen_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d78114c7a764f936aed844a88330deee73531685
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mjcf/mesh/ballpoint_pen_026_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mjcf/mesh/ballpoint_pen_026_collision_0.obj b/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mjcf/mesh/ballpoint_pen_026_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d78114c7a764f936aed844a88330deee73531685
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mjcf/mesh/ballpoint_pen_026_collision_0.obj
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