diff --git a/.gitattributes b/.gitattributes
index 1d011b9d31d834a436b1de4860e10f1bf616081e..c38257ebe304a06b276e06577394c62888e13c9f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3152,3 +3152,5 @@ dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mesh
 dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/notebook_019.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/6de47c29ad6458c78831789671e22ce4/correction_tape_038.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/6de47c29ad6458c78831789671e22ce4/mesh/correction_tape_038.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/ballpoint_pen_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mesh/ballpoint_pen_009.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/ballpoint_pen_009.urdf b/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/ballpoint_pen_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a95aebae9cc2a2e1ff1d1c214f84ffa2e5e94a96
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/ballpoint_pen_009.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="ballpoint_pen_009">
+   <link name="ballpoint_pen_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/ballpoint_pen_009.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_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</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>70822ccbdee05827b2af8976a7ee299c</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>ballpoint_pen</category>
+         <name>blue patterned pen</name>
+         <color>blue</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>blue patterned ballpoint pen with a clip and retractable mechanism</description>
+         <min_height>0.0092</min_height>
+         <max_height>0.0092</max_height>
+         <real_height>0.0092</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420202011</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/70822ccbdee05827b2af8976a7ee299c/ballpoint_pen_009.usd b/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/ballpoint_pen_009.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0ed0abe3b1d2ec05531381ec2716c6a5a8822b02
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/ballpoint_pen_009.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:088142bb6eb0a8627ce753f56d7e80b59fdfc94781f0e7619e80409b3a85203d
+size 4759028
diff --git a/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mesh/ballpoint_pen_009.glb b/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mesh/ballpoint_pen_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3269814af9648dd67d2a688bb7e64b6751df4dd2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mesh/ballpoint_pen_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12992084
diff --git a/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mesh/ballpoint_pen_009.mtl b/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mesh/ballpoint_pen_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..deeb8570e0e45a669a42d198727f9c0faa4532b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mesh/ballpoint_pen_009.mtl
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+newmtl ballpoint_pen_009_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/70822ccbdee05827b2af8976a7ee299c/mesh/ballpoint_pen_009.obj b/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mesh/ballpoint_pen_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e8c6279e0bec0b145c405735cb91b079008e807
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mesh/ballpoint_pen_009.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/70822ccbdee05827b2af8976a7ee299c/mesh/ballpoint_pen_009_collision.obj b/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mesh/ballpoint_pen_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16644afed49bbca41eeae64e2b4aca977e3d8b75
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mesh/ballpoint_pen_009_collision.obj
@@ -0,0 +1,1146 @@
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diff --git a/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mesh/ballpoint_pen_009_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mesh/ballpoint_pen_009_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..62590e8a180e7afcf1a9ef893c24e8a8288c63a6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mesh/ballpoint_pen_009_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4276838e46617bc31a27ba3426e35da841c10d173b99702b24cd0889c49b74c9
+size 9898725
diff --git a/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc675fe4c8488409cb2192e2bab4a57632f00718
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl ballpoint_pen_009_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_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..62590e8a180e7afcf1a9ef893c24e8a8288c63a6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4276838e46617bc31a27ba3426e35da841c10d173b99702b24cd0889c49b74c9
+size 9898725
diff --git a/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mjcf/ballpoint_pen_009.xml b/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mjcf/ballpoint_pen_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c23030bedc29a56cbc2721de6756363c7d9f069c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mjcf/ballpoint_pen_009.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ballpoint_pen_009">
+  <asset>
+    <material name="material_0" texture="texture_0_ballpoint_pen_009_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_ballpoint_pen_009_geometry_Looks_material_0" type="2d" file="mesh/ballpoint_pen_009_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/ballpoint_pen_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/ballpoint_pen_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="ballpoint_pen_009">
+      <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/70822ccbdee05827b2af8976a7ee299c/mjcf/mesh/ballpoint_pen_009.obj b/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mjcf/mesh/ballpoint_pen_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..409804cc1603849fcc31f8104361095ae47fcbce
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mjcf/mesh/ballpoint_pen_009.obj
@@ -0,0 +1,106726 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl ballpoint_pen_009_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mjcf/mesh/ballpoint_pen_009_collision.obj b/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mjcf/mesh/ballpoint_pen_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17e9834ab8c4b9b4d71a34dcabdbd43210bb29ad
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mjcf/mesh/ballpoint_pen_009_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mjcf/mesh/ballpoint_pen_009_collision_0.obj b/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mjcf/mesh/ballpoint_pen_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17e9834ab8c4b9b4d71a34dcabdbd43210bb29ad
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/70822ccbdee05827b2af8976a7ee299c/mjcf/mesh/ballpoint_pen_009_collision_0.obj
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