diff --git a/.gitattributes b/.gitattributes
index be9401059cb9f7cfcc6a5065e4f76a467c5be824..d26da58cfb5833c8545a3afc59854494a6ddfcd2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3117,3 +3117,5 @@ dataset/desktop_supplies/office_stationery/29f0624e6cb053789453087243f3c3ee/mesh
 dataset/desktop_supplies/office_stationery/29f0624e6cb053789453087243f3c3ee/stapler_038.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mesh/notebook_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/notebook_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/ballpoint_pen_035.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mesh/ballpoint_pen_035.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/ballpoint_pen_035.urdf b/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/ballpoint_pen_035.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c4336a03346af3edd8d99d627615697ff0f4ca18
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/ballpoint_pen_035.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="ballpoint_pen_035">
+   <link name="ballpoint_pen_035">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/ballpoint_pen_035.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_035_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0140" />
+         <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>2c4bd360765e5976918843f82d0419d2</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>ballpoint_pen</category>
+         <name>floral pen</name>
+         <color>green,white</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>retractable floral-pattern ballpoint pen with clip and dark green barrel</description>
+         <min_height>0.0199</min_height>
+         <max_height>0.0199</max_height>
+         <real_height>0.0199</real_height>
+         <min_mass>0.008</min_mass>
+         <max_mass>0.02</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611141618</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.008798 -0.077326 -0.008491</min>
+            <max>0.008054 0.062674 0.011429</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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/2c4bd360765e5976918843f82d0419d2/ballpoint_pen_035.usd b/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/ballpoint_pen_035.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/ballpoint_pen_035.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8408b6f22e1ad6c2a7c915ed36e90e88ef497067ac823d94fec8338b0c5290e
+size 4904834
diff --git a/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mesh/ballpoint_pen_035.glb b/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mesh/ballpoint_pen_035.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6ad2340a30080c13c6f8d385d99d0e4f8a286d8e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mesh/ballpoint_pen_035.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c877c0d24364c7877d311ed09a7db59a9a4542358185196532f5a9149d960c3c
+size 12580244
diff --git a/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mesh/ballpoint_pen_035.mtl b/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mesh/ballpoint_pen_035.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..64fe67b08e41086465d7b2244c1b0f88e0eec7a1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mesh/ballpoint_pen_035.mtl
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+newmtl ballpoint_pen_035_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/2c4bd360765e5976918843f82d0419d2/mesh/ballpoint_pen_035.obj b/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mesh/ballpoint_pen_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db21e3afa6d032c4261e8e6f01e71711be87af7e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mesh/ballpoint_pen_035.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mesh/ballpoint_pen_035_collision.obj b/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mesh/ballpoint_pen_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49ef3cd75bd68e08466d776d14aee3ae508d9ae2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mesh/ballpoint_pen_035_collision.obj
@@ -0,0 +1,1611 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mesh/ballpoint_pen_035_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mesh/ballpoint_pen_035_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c2b0d5267b5adb3dee1e824746b4ca421130feb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mesh/ballpoint_pen_035_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8dd79bb04b953faa432e23834f990cd47a63824ad8525003ff87d1639c6df74
+size 9252391
diff --git a/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1b3edf6c1ef389f6b0a045a799f1cb88a510795d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl ballpoint_pen_035_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_035_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c2b0d5267b5adb3dee1e824746b4ca421130feb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8dd79bb04b953faa432e23834f990cd47a63824ad8525003ff87d1639c6df74
+size 9252391
diff --git a/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mjcf/ballpoint_pen_035.xml b/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mjcf/ballpoint_pen_035.xml
new file mode 100644
index 0000000000000000000000000000000000000000..988bedbf72c07bcc9df449f47febeb2670897e04
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mjcf/ballpoint_pen_035.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ballpoint_pen_035">
+  <asset>
+    <material name="material_0" texture="texture_0_ballpoint_pen_035_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_ballpoint_pen_035_geometry_Looks_material_0" type="2d" file="mesh/ballpoint_pen_035_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/ballpoint_pen_035.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/ballpoint_pen_035_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="ballpoint_pen_035">
+      <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/2c4bd360765e5976918843f82d0419d2/mjcf/mesh/ballpoint_pen_035.obj b/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mjcf/mesh/ballpoint_pen_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aabbcdf02f2fdf0a5e1f69827ea5fe7af4dfbd91
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mjcf/mesh/ballpoint_pen_035.obj
@@ -0,0 +1,107194 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl ballpoint_pen_035_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mjcf/mesh/ballpoint_pen_035_collision.obj b/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mjcf/mesh/ballpoint_pen_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..775c606af804724e5e99c34623da79ece3d3b9e6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mjcf/mesh/ballpoint_pen_035_collision.obj
@@ -0,0 +1,1609 @@
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diff --git a/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mjcf/mesh/ballpoint_pen_035_collision_0.obj b/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mjcf/mesh/ballpoint_pen_035_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..775c606af804724e5e99c34623da79ece3d3b9e6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mjcf/mesh/ballpoint_pen_035_collision_0.obj
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