diff --git a/.gitattributes b/.gitattributes
index 21201aeb03e4c3e23a74880af4be06daa0edf37f..cdc5fa27ac249823dda9874ed15649173e2c8191 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3279,3 +3279,5 @@ dataset/desktop_supplies/office_stationery/e6592bd269bf5d139437e7ca619b7f96/mesh
 dataset/desktop_supplies/office_stationery/e6592bd269bf5d139437e7ca619b7f96/mesh/marker_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/glue_stick_021.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mesh/glue_stick_021.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/ballpoint_pen_023.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mesh/ballpoint_pen_023.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/ballpoint_pen_023.urdf b/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/ballpoint_pen_023.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6d56adf7d322db9334d29b613308efd792bc57a4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/ballpoint_pen_023.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="ballpoint_pen_023">
+   <link name="ballpoint_pen_023">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/ballpoint_pen_023.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_023_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>e9de36f3814459028bd570b7c0e59c74</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>ballpoint_pen</category>
+         <name>floral pen</name>
+         <color>green,beige</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>retractable ballpoint pen with floral barrel and clip</description>
+         <min_height>0.0151</min_height>
+         <max_height>0.0151</max_height>
+         <real_height>0.0151</real_height>
+         <min_mass>0.008</min_mass>
+         <max_mass>0.02</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611141354</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.008660 -0.075884 -0.007819</min>
+            <max>0.010674 0.064116 0.007271</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/e9de36f3814459028bd570b7c0e59c74/ballpoint_pen_023.usd b/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/ballpoint_pen_023.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e97d8ffbcfafd6362bc6b2734acf49376f0b11e5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/ballpoint_pen_023.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf43cad48b3287692a88683cc04e98038ce5b8d8d130b51ea6de8cf65a1d495a
+size 4905324
diff --git a/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mesh/ballpoint_pen_023.glb b/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mesh/ballpoint_pen_023.glb
new file mode 100644
index 0000000000000000000000000000000000000000..144c7fbf743a00cf0e1b3ba2d9d562008070a5db
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mesh/ballpoint_pen_023.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:115612dd244e0c28993f8fb27339b3de1a97b13a4ddecd89af7d89802d294671
+size 12341056
diff --git a/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mesh/ballpoint_pen_023.mtl b/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mesh/ballpoint_pen_023.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0e470ce4b2386022a5651460b507582a051b428
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mesh/ballpoint_pen_023.mtl
@@ -0,0 +1,6 @@
+newmtl ballpoint_pen_023_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/e9de36f3814459028bd570b7c0e59c74/mesh/ballpoint_pen_023.obj b/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mesh/ballpoint_pen_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f120f44827d245565fe25474c279c6d798a1558
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mesh/ballpoint_pen_023.obj
@@ -0,0 +1,107698 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl ballpoint_pen_023_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mesh/ballpoint_pen_023_collision.obj b/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mesh/ballpoint_pen_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1db35aa54d48a47e375b5af27988df693575d1f9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mesh/ballpoint_pen_023_collision.obj
@@ -0,0 +1,1828 @@
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diff --git a/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mesh/ballpoint_pen_023_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mesh/ballpoint_pen_023_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..af848522fd01e18f3c11daf24a758ea185dd176a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mesh/ballpoint_pen_023_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cdb83b4a550bea4165d6b56b69c03bb4834f5d1bd18917973dbce81fdc7fca2
+size 9022359
diff --git a/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..231346c64b1ed1a8a8465625a8a545322ea63bd1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl ballpoint_pen_023_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_023_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..af848522fd01e18f3c11daf24a758ea185dd176a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cdb83b4a550bea4165d6b56b69c03bb4834f5d1bd18917973dbce81fdc7fca2
+size 9022359
diff --git a/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mjcf/ballpoint_pen_023.xml b/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mjcf/ballpoint_pen_023.xml
new file mode 100644
index 0000000000000000000000000000000000000000..887a99ded04f6c89102813327b03c416e1759e87
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mjcf/ballpoint_pen_023.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ballpoint_pen_023">
+  <asset>
+    <material name="material_0" texture="texture_0_ballpoint_pen_023_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_ballpoint_pen_023_geometry_Looks_material_0" type="2d" file="mesh/ballpoint_pen_023_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/ballpoint_pen_023.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/ballpoint_pen_023_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/ballpoint_pen_023_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="ballpoint_pen_023">
+      <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/e9de36f3814459028bd570b7c0e59c74/mjcf/mesh/ballpoint_pen_023.obj b/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mjcf/mesh/ballpoint_pen_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe2857d1b6dfc567a5b5f19324609600f1bcb14d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mjcf/mesh/ballpoint_pen_023.obj
@@ -0,0 +1,107698 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl ballpoint_pen_023_geometry_Looks_material_0
+v 0.008061 0.030038 0.005707
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diff --git a/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mjcf/mesh/ballpoint_pen_023_collision.obj b/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mjcf/mesh/ballpoint_pen_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f35c057b7044ca607d5bf32099ca806583402d79
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mjcf/mesh/ballpoint_pen_023_collision.obj
@@ -0,0 +1,1828 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mjcf/mesh/ballpoint_pen_023_collision_0.obj b/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mjcf/mesh/ballpoint_pen_023_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63547017ff715d21a451cd400f573cae79ffc43d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mjcf/mesh/ballpoint_pen_023_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mjcf/mesh/ballpoint_pen_023_collision_1.obj b/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mjcf/mesh/ballpoint_pen_023_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebd37f3545dd55e22f2e625afe0d6811c3b19509
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mjcf/mesh/ballpoint_pen_023_collision_1.obj
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