diff --git a/.gitattributes b/.gitattributes
index 036ca638130100e82806057c8ccc8de1d2a0d923..b3d02afb7756255b5a80fdf92cddf680aaf94859 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3121,9 +3121,5 @@ dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mesh
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 dataset/desktop_supplies/office_stationery/3a01781b4ae65d71b562c61765284afc/correction_tape_039.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/3a01781b4ae65d71b562c61765284afc/mesh/correction_tape_039.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/3c2c328ec88f5aee91fe0bafb4c3a392/marker_005.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/3c2c328ec88f5aee91fe0bafb4c3a392/mesh/marker_005.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/3cfd3f7ee56b54a884ebbfdd06a03e43/glue_stick_029.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/3cfd3f7ee56b54a884ebbfdd06a03e43/mesh/glue_stick_029.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mesh/sharpener_024.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/sharpener_024.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/ballpoint_pen_040.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mesh/ballpoint_pen_040.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/ballpoint_pen_040.urdf b/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/ballpoint_pen_040.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ebd0da09d353d4fe5a25e3fd76f7e214aa198937
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/ballpoint_pen_040.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="ballpoint_pen_040">
+   <link name="ballpoint_pen_040">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/ballpoint_pen_040.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_040_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>3c3217b3f4945ab3b4817a24a814c72b</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>ballpoint_pen</category>
+         <name>retractable pen</name>
+         <color>green,silver</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>teal retractable ballpoint pen with silver tip and center ring</description>
+         <min_height>0.0182</min_height>
+         <max_height>0.0182</max_height>
+         <real_height>0.0182</real_height>
+         <min_mass>0.008</min_mass>
+         <max_mass>0.02</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611141719</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.007762 -0.074475 -0.007835</min>
+            <max>0.007853 0.065525 0.010362</max>
+         </aabb>
+         <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/3c3217b3f4945ab3b4817a24a814c72b/ballpoint_pen_040.usd b/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/ballpoint_pen_040.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/ballpoint_pen_040.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f23e5cb3188150d0e4fa255cae7ada0c2d32f3bf4e5e089b9aa3e6da7b07330
+size 4907234
diff --git a/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mesh/ballpoint_pen_040.glb b/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mesh/ballpoint_pen_040.glb
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mesh/ballpoint_pen_040.glb
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+version https://git-lfs.github.com/spec/v1
+oid sha256:8983571e209115d5d8600687065362b5f8c8c30726102da243c132ae0d9db678
+size 10169760
diff --git a/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mesh/ballpoint_pen_040.mtl b/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mesh/ballpoint_pen_040.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a4a218e649636430581b21d0c628e8e08397cda8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mesh/ballpoint_pen_040.mtl
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+newmtl ballpoint_pen_040_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/3c3217b3f4945ab3b4817a24a814c72b/mesh/ballpoint_pen_040.obj b/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mesh/ballpoint_pen_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d49440834cca36eb7f2183512a6ed4eb6dedbb8
--- /dev/null
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+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mesh/ballpoint_pen_040_collision.obj b/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mesh/ballpoint_pen_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab5ebfb1aa43258299ce3b7a93061a07167df2c5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mesh/ballpoint_pen_040_collision.obj
@@ -0,0 +1,1284 @@
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diff --git a/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mesh/ballpoint_pen_040_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mesh/ballpoint_pen_040_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0c578eecbfd0f1315bccc0432cb59168b7b50b5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mesh/ballpoint_pen_040_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60f058ec4c8c3eafa14eb848bba559233d2ceca811f085a141ac8b649f4fdbce
+size 6851346
diff --git a/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5f16597879178727fd2300279b93c6c10c34235b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl ballpoint_pen_040_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_040_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0c578eecbfd0f1315bccc0432cb59168b7b50b5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60f058ec4c8c3eafa14eb848bba559233d2ceca811f085a141ac8b649f4fdbce
+size 6851346
diff --git a/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mjcf/ballpoint_pen_040.xml b/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mjcf/ballpoint_pen_040.xml
new file mode 100644
index 0000000000000000000000000000000000000000..54b91b8e61b536562c7c0d0752129e3b064ca6de
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mjcf/ballpoint_pen_040.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ballpoint_pen_040">
+  <asset>
+    <material name="material_0" texture="texture_0_ballpoint_pen_040_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_ballpoint_pen_040_geometry_Looks_material_0" type="2d" file="mesh/ballpoint_pen_040_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/ballpoint_pen_040.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/ballpoint_pen_040_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="ballpoint_pen_040">
+      <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/3c3217b3f4945ab3b4817a24a814c72b/mjcf/mesh/ballpoint_pen_040.obj b/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mjcf/mesh/ballpoint_pen_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bec4bb3d1e4b1c2625372b4c688488742ca0bcb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mjcf/mesh/ballpoint_pen_040.obj
@@ -0,0 +1,106482 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl ballpoint_pen_040_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mjcf/mesh/ballpoint_pen_040_collision.obj b/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mjcf/mesh/ballpoint_pen_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a12826f791a12db9963a47d9f1c7c3092733cc9d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mjcf/mesh/ballpoint_pen_040_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mjcf/mesh/ballpoint_pen_040_collision_0.obj b/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mjcf/mesh/ballpoint_pen_040_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a12826f791a12db9963a47d9f1c7c3092733cc9d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mjcf/mesh/ballpoint_pen_040_collision_0.obj
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