diff --git a/.gitattributes b/.gitattributes
index e28a9bc35ee8727b739960d97c609b8e0dedcaaa..61f174c0857279e6371410c5a74b831464c89d44 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3219,3 +3219,5 @@ dataset/desktop_supplies/office_stationery/a31529328e585ae594523771b2e5a4d9/mesh
 dataset/desktop_supplies/office_stationery/a31529328e585ae594523771b2e5a4d9/mesh/book_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/a1df11275353567ab3807beabbdde088/mesh/sharpener_030.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/a1df11275353567ab3807beabbdde088/sharpener_030.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/ballpoint_pen_031.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mesh/ballpoint_pen_031.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/ballpoint_pen_031.urdf b/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/ballpoint_pen_031.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..90d103ffde6324d60a4b86418b1bef994ae5b9c2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/ballpoint_pen_031.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="ballpoint_pen_031">
+   <link name="ballpoint_pen_031">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/ballpoint_pen_031.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_031_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0115" />
+         <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>a36a52c920e95cd2a20859c04ec2e8f4</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>ballpoint_pen</category>
+         <name>red click pen</name>
+         <color>red,black</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>red retractable ballpoint pen with black grip and clip</description>
+         <min_height>0.0200</min_height>
+         <max_height>0.0200</max_height>
+         <real_height>0.0200</real_height>
+         <min_mass>0.008</min_mass>
+         <max_mass>0.015</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611141528</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.010051 -0.073249 -0.008136</min>
+            <max>0.007614 0.066751 0.011874</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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/a36a52c920e95cd2a20859c04ec2e8f4/ballpoint_pen_031.usd b/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/ballpoint_pen_031.usd
new file mode 100644
index 0000000000000000000000000000000000000000..2757c00327de394e3ab94210dde2cbf6b4d2912d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/ballpoint_pen_031.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5eda9baeb0158404248ead0ae21c12cf0e405bcb7d0a81875753d53d87b80616
+size 4811348
diff --git a/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mesh/ballpoint_pen_031.glb b/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mesh/ballpoint_pen_031.glb
new file mode 100644
index 0000000000000000000000000000000000000000..05100e03b038255a29cae0b4d9dc2b4bed68f217
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mesh/ballpoint_pen_031.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e4afd80a9c8fb2d2916b44666375945331680ce458e7e420c904c5f8197666f
+size 10283008
diff --git a/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mesh/ballpoint_pen_031.mtl b/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mesh/ballpoint_pen_031.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2e61bf0e0e0b97039c45f2f48cd738bce958bbe7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mesh/ballpoint_pen_031.mtl
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+newmtl ballpoint_pen_031_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/a36a52c920e95cd2a20859c04ec2e8f4/mesh/ballpoint_pen_031.obj b/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mesh/ballpoint_pen_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..419ee0e7c1841ab88482a3a652641f5c647e22fa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mesh/ballpoint_pen_031.obj
@@ -0,0 +1,105422 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl ballpoint_pen_031_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mesh/ballpoint_pen_031_collision.obj b/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mesh/ballpoint_pen_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..186c7495ead94fb3748f0ab028491a67fa6bd1ed
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mesh/ballpoint_pen_031_collision.obj
@@ -0,0 +1,1882 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mesh/ballpoint_pen_031_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mesh/ballpoint_pen_031_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..130889bef58d242a8903e8a1431190bf9b781670
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mesh/ballpoint_pen_031_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1de28fc9844f492312e75b679fa02d30507f487f6e9e99da147cb194c0cd099
+size 7101635
diff --git a/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8802f42c6bd4ae5c0a2310f5dbc8f6c29c7d9987
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl ballpoint_pen_031_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_031_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..130889bef58d242a8903e8a1431190bf9b781670
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1de28fc9844f492312e75b679fa02d30507f487f6e9e99da147cb194c0cd099
+size 7101635
diff --git a/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mjcf/ballpoint_pen_031.xml b/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mjcf/ballpoint_pen_031.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0fcedb02ab896d84a435523344fdfd975fae2beb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mjcf/ballpoint_pen_031.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ballpoint_pen_031">
+  <asset>
+    <material name="material_0" texture="texture_0_ballpoint_pen_031_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_ballpoint_pen_031_geometry_Looks_material_0" type="2d" file="mesh/ballpoint_pen_031_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/ballpoint_pen_031.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/ballpoint_pen_031_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/ballpoint_pen_031_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="ballpoint_pen_031">
+      <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/a36a52c920e95cd2a20859c04ec2e8f4/mjcf/mesh/ballpoint_pen_031.obj b/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mjcf/mesh/ballpoint_pen_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f988d3902d280f81c81593b2ca436995797c81b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mjcf/mesh/ballpoint_pen_031.obj
@@ -0,0 +1,105422 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl ballpoint_pen_031_geometry_Looks_material_0
+v -0.001202 0.065373 0.003887
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diff --git a/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mjcf/mesh/ballpoint_pen_031_collision.obj b/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mjcf/mesh/ballpoint_pen_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efbdef3537033cbd1cec6aa54517cc117360729f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mjcf/mesh/ballpoint_pen_031_collision.obj
@@ -0,0 +1,1882 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mjcf/mesh/ballpoint_pen_031_collision_0.obj b/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mjcf/mesh/ballpoint_pen_031_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ada035e0fad2535aebe4e522c02731fc1e62e75
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mjcf/mesh/ballpoint_pen_031_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mjcf/mesh/ballpoint_pen_031_collision_1.obj b/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mjcf/mesh/ballpoint_pen_031_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e486e34b8dae67b8034fe82b48e3680b8a272c29
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mjcf/mesh/ballpoint_pen_031_collision_1.obj
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