diff --git a/.gitattributes b/.gitattributes
index b641404be5b6f10d2b7d6902c91756b079da92c2..b3c497aab9ee48957c549d631728cea292e50d10 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3185,3 +3185,5 @@ dataset/desktop_supplies/office_stationery/7b914275879f5f1290f87b82cfcb9419/mesh
 dataset/desktop_supplies/office_stationery/7b914275879f5f1290f87b82cfcb9419/stapler_039.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/7c5f32ee66605d9aafb84c7e8ea45686/eraser_021.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/7c5f32ee66605d9aafb84c7e8ea45686/mesh/eraser_021.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/ballpoint_pen_034.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh/ballpoint_pen_034.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/ballpoint_pen_034.urdf b/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/ballpoint_pen_034.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..290136457be680de0d0fdddd8981e760da1ae4f3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/ballpoint_pen_034.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="ballpoint_pen_034">
+   <link name="ballpoint_pen_034">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/ballpoint_pen_034.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_034_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>819d444156aa5d339fac6fd9678ef15e</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>ballpoint_pen</category>
+         <name>blue ballpoint pen</name>
+         <color>blue,silver</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>dark blue retractable ballpoint pen with silver tip and clip</description>
+         <min_height>0.0169</min_height>
+         <max_height>0.0169</max_height>
+         <real_height>0.0169</real_height>
+         <min_mass>0.008</min_mass>
+         <max_mass>0.02</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611141606</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.008486 -0.079878 -0.008504</min>
+            <max>0.009228 0.060122 0.008421</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_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/819d444156aa5d339fac6fd9678ef15e/ballpoint_pen_034.usd b/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/ballpoint_pen_034.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/ballpoint_pen_034.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e56f56206a2a90f8f3fcf3dfae885d5f43b97395f50e3ecf2b3c2675652c4aef
+size 4835324
diff --git a/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh/ballpoint_pen_034.glb b/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh/ballpoint_pen_034.glb
new file mode 100644
index 0000000000000000000000000000000000000000..103e3f7187124ed881041373a67f534521b01389
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh/ballpoint_pen_034.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10436748
diff --git a/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh/ballpoint_pen_034.mtl b/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh/ballpoint_pen_034.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8cb0da713daa73f3e50dd22c8a60d64e2a783346
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh/ballpoint_pen_034.mtl
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+newmtl ballpoint_pen_034_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/819d444156aa5d339fac6fd9678ef15e/mesh/ballpoint_pen_034.obj b/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh/ballpoint_pen_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6274cd19610d5aced8cb3e4eaaa994edb687f777
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh/ballpoint_pen_034.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/819d444156aa5d339fac6fd9678ef15e/mesh/ballpoint_pen_034_collision.obj b/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh/ballpoint_pen_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..865db1561435cce6539daacac936d7067ff0aaa5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh/ballpoint_pen_034_collision.obj
@@ -0,0 +1,1110 @@
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diff --git a/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh/ballpoint_pen_034_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh/ballpoint_pen_034_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7cae9b69cd9aca6861a559b6dea55633010406b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh/ballpoint_pen_034_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2148aa6ce64330d7e4a785fcab44ca486cc134d548ee2c9992bc43e5b3565008
+size 7211910
diff --git a/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1877d4916ece5ab349ba1c468233750555e7fc16
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl ballpoint_pen_034_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_034_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7cae9b69cd9aca6861a559b6dea55633010406b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 7211910
diff --git a/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mjcf/ballpoint_pen_034.xml b/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mjcf/ballpoint_pen_034.xml
new file mode 100644
index 0000000000000000000000000000000000000000..95604e33ddb3b547abbfa31da2c58f44bbc47d7d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mjcf/ballpoint_pen_034.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ballpoint_pen_034">
+  <asset>
+    <material name="material_0" texture="texture_0_ballpoint_pen_034_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_ballpoint_pen_034_geometry_Looks_material_0" type="2d" file="mesh/ballpoint_pen_034_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/ballpoint_pen_034.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/ballpoint_pen_034_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="ballpoint_pen_034">
+      <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/819d444156aa5d339fac6fd9678ef15e/mjcf/mesh/ballpoint_pen_034.obj b/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mjcf/mesh/ballpoint_pen_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75935aa1f49cdaf5189f9657b7c08c6979d1a77d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mjcf/mesh/ballpoint_pen_034.obj
@@ -0,0 +1,108574 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl ballpoint_pen_034_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mjcf/mesh/ballpoint_pen_034_collision.obj b/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mjcf/mesh/ballpoint_pen_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9776a70f860775dd41551bd27c6205f3078a677
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mjcf/mesh/ballpoint_pen_034_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mjcf/mesh/ballpoint_pen_034_collision_0.obj b/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mjcf/mesh/ballpoint_pen_034_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9776a70f860775dd41551bd27c6205f3078a677
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mjcf/mesh/ballpoint_pen_034_collision_0.obj
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