diff --git a/.gitattributes b/.gitattributes
index 814efd16eddfc418cd2073043dd8cf6812d4727e..042bdd3dd88d99da0866541fcc34da03cc598169 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3271,3 +3271,5 @@ dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mesh
 dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/db6c371e4190515f88be34224bb600dc.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mesh/eraser.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mesh/eraser_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/ballpoint_pen_029.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mesh/ballpoint_pen_029.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/ballpoint_pen_029.urdf b/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/ballpoint_pen_029.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a158dc71b7f3d9894e45bc7c5b6880d15266df96
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/ballpoint_pen_029.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="ballpoint_pen_029">
+   <link name="ballpoint_pen_029">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/ballpoint_pen_029.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_029_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>d992621b39b15c048ff76510476ba488</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>ballpoint_pen</category>
+         <name>retractable pen</name>
+         <color>gray,black</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>gray retractable ballpoint pen with clip and black push button</description>
+         <min_height>0.0195</min_height>
+         <max_height>0.0195</max_height>
+         <real_height>0.0195</real_height>
+         <min_mass>0.008</min_mass>
+         <max_mass>0.02</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611141506</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.006578 -0.076461 -0.007276</min>
+            <max>0.006588 0.063539 0.012239</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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>NO: {"summary":"Front tip and rear button are mislabeled as same part; main body split inconsistently.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/ballpoint_pen_029.usd b/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/ballpoint_pen_029.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9a0d7940060ebfffd5ebf1de4627c0b638648278
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/ballpoint_pen_029.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33c8ed23db2654c9731a1225a52b577e7ee15bb5fa8b69ca5f29ad33733ba956
+size 4887657
diff --git a/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mesh/ballpoint_pen_029.glb b/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mesh/ballpoint_pen_029.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e54a23df17564d29f9234eac17b1ed782ae653d6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mesh/ballpoint_pen_029.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c04b65cb53ec79c1408f46e5f5dd5ed04dd4f86a25d722f051e83ebc226bcafa
+size 9449288
diff --git a/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mesh/ballpoint_pen_029.mtl b/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mesh/ballpoint_pen_029.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fe4316746734ab2726b6a2eb146e830bacec5d1c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mesh/ballpoint_pen_029.mtl
@@ -0,0 +1,6 @@
+newmtl ballpoint_pen_029_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/d992621b39b15c048ff76510476ba488/mesh/ballpoint_pen_029.obj b/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mesh/ballpoint_pen_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5058fcce54913c9f7da2b07a541f551e1fdcbd45
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mesh/ballpoint_pen_029.obj
@@ -0,0 +1,105716 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl ballpoint_pen_029_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mesh/ballpoint_pen_029_collision.obj b/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mesh/ballpoint_pen_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df458506eec691c01eb3a0abefd68e5d260f6657
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mesh/ballpoint_pen_029_collision.obj
@@ -0,0 +1,1603 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mesh/ballpoint_pen_029_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mesh/ballpoint_pen_029_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..55bad3c740a89fb592d5c6ecdb9a70d9beb1ba3f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mesh/ballpoint_pen_029_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abc5ff8ddeca441c2e003a9aff91d625a0bbde398e10a38ed0831fefc0886253
+size 6151172
diff --git a/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2bd24cf809c83259b5d829f543fb6855926f87e8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl ballpoint_pen_029_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_029_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..55bad3c740a89fb592d5c6ecdb9a70d9beb1ba3f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abc5ff8ddeca441c2e003a9aff91d625a0bbde398e10a38ed0831fefc0886253
+size 6151172
diff --git a/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mjcf/ballpoint_pen_029.xml b/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mjcf/ballpoint_pen_029.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b1ce56e3af97ae0a74322b29e46fcc9fd8fd84d0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mjcf/ballpoint_pen_029.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ballpoint_pen_029">
+  <asset>
+    <material name="material_0" texture="texture_0_ballpoint_pen_029_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_ballpoint_pen_029_geometry_Looks_material_0" type="2d" file="mesh/ballpoint_pen_029_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/ballpoint_pen_029.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/ballpoint_pen_029_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/ballpoint_pen_029_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="ballpoint_pen_029">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_1" 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/d992621b39b15c048ff76510476ba488/mjcf/mesh/ballpoint_pen_029.obj b/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mjcf/mesh/ballpoint_pen_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87bdd4c51dd6fd25955e245f7d23c3a329e4bff6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mjcf/mesh/ballpoint_pen_029.obj
@@ -0,0 +1,105716 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl ballpoint_pen_029_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mjcf/mesh/ballpoint_pen_029_collision.obj b/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mjcf/mesh/ballpoint_pen_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..121e9dd04c87c81513b020c63370cc9c653d6657
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mjcf/mesh/ballpoint_pen_029_collision.obj
@@ -0,0 +1,1603 @@
+# https://github.com/mikedh/trimesh
+
+o ballpoint_pen_029_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mjcf/mesh/ballpoint_pen_029_collision_0.obj b/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mjcf/mesh/ballpoint_pen_029_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cf5815071e3999582b5aece7102dd1a6ddfdd79
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mjcf/mesh/ballpoint_pen_029_collision_0.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mjcf/mesh/ballpoint_pen_029_collision_1.obj b/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mjcf/mesh/ballpoint_pen_029_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23b51047d5f2bb6ffbf612e94aeefc12f3be4533
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d992621b39b15c048ff76510476ba488/mjcf/mesh/ballpoint_pen_029_collision_1.obj
@@ -0,0 +1,1252 @@
+# https://github.com/mikedh/trimesh
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