diff --git a/.gitattributes b/.gitattributes
index c13f72a14b95c5a742877494e534b902caf7b319..81415834866b1c5b1ef8f39556ea6c79c0cce132 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5346,5 +5346,5 @@ dataset/desktop_supplies/office_stationery/5e2faec868e05112a81b09dae7d3f2b2/mesh
 dataset/desktop_supplies/office_stationery/5e2faec868e05112a81b09dae7d3f2b2/notebook_001.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/621262a3233256cfa486d16e2673414e/mesh/notebook_006.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/621262a3233256cfa486d16e2673414e/notebook_006.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/5edb9133c674554db3573800759e3e06/mesh/pen_holder_006.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/5edb9133c674554db3573800759e3e06/pen_holder_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/ballpoint_pen_027.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mesh/ballpoint_pen_027.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/ballpoint_pen_027.urdf b/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/ballpoint_pen_027.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5ddff562d5feb224c93baca08b795a45cce4cc37
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/ballpoint_pen_027.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="ballpoint_pen_027">
+   <link name="ballpoint_pen_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/ballpoint_pen_027.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_027_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>63380c207b2c59b991878d1084f005cd</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>ballpoint_pen</category>
+         <name>gray click pen</name>
+         <color>gray,red</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>gray retractable ballpoint pen with clip and red accents</description>
+         <min_height>0.0179</min_height>
+         <max_height>0.0179</max_height>
+         <real_height>0.0179</real_height>
+         <min_mass>0.008</min_mass>
+         <max_mass>0.02</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611141439</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.006414 -0.074342 -0.007247</min>
+            <max>0.006302 0.065658 0.010627</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_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/63380c207b2c59b991878d1084f005cd/ballpoint_pen_027.usd b/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/ballpoint_pen_027.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7ff7cf088580c6c86a52632733b357fa21e01d89
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/ballpoint_pen_027.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6aa94abae0c776b6135525d91c0b783a71556079a0122b3fff4891b0de5b5734
+size 4925334
diff --git a/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mesh/ballpoint_pen_027.glb b/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mesh/ballpoint_pen_027.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ca79c278e1dcc5c34c2c65f9054a81946a132230
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mesh/ballpoint_pen_027.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11422164
diff --git a/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mesh/ballpoint_pen_027.mtl b/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mesh/ballpoint_pen_027.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3b1cef9a7df2ea3d0f70080a7d727296ab1b50c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mesh/ballpoint_pen_027.mtl
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+newmtl ballpoint_pen_027_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/63380c207b2c59b991878d1084f005cd/mesh/ballpoint_pen_027.obj b/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mesh/ballpoint_pen_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..313622f5df07f62667a8642597dd7fc010628eea
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mesh/ballpoint_pen_027.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/63380c207b2c59b991878d1084f005cd/mesh/ballpoint_pen_027_collision.obj b/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mesh/ballpoint_pen_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da81f110ea6052e595aded8bc0c90eeae73c5661
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mesh/ballpoint_pen_027_collision.obj
@@ -0,0 +1,1491 @@
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diff --git a/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mesh/ballpoint_pen_027_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mesh/ballpoint_pen_027_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8ab92e55c6e8dbfaa51d30f851d5a9d953f098b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mesh/ballpoint_pen_027_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02c247065a8a24ffca41ab388751fc0df00d2d5c0726cf68fdc07e1cf407b370
+size 8052565
diff --git a/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..99546b52f0062e4c38420be6b3d4c668aa5d84a5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl ballpoint_pen_027_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_027_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8ab92e55c6e8dbfaa51d30f851d5a9d953f098b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02c247065a8a24ffca41ab388751fc0df00d2d5c0726cf68fdc07e1cf407b370
+size 8052565
diff --git a/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mjcf/ballpoint_pen_027.xml b/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mjcf/ballpoint_pen_027.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ef97bdf91bd38ef15bc1946082d3c89ea0ae2e67
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mjcf/ballpoint_pen_027.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ballpoint_pen_027">
+  <asset>
+    <material name="material_0" texture="texture_0_ballpoint_pen_027_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_ballpoint_pen_027_geometry_Looks_material_0" type="2d" file="mesh/ballpoint_pen_027_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/ballpoint_pen_027.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/ballpoint_pen_027_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="ballpoint_pen_027">
+      <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/63380c207b2c59b991878d1084f005cd/mjcf/mesh/ballpoint_pen_027.obj b/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mjcf/mesh/ballpoint_pen_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7e88fe120d8375a80f3c5e1a044c4eb5b2e3460
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mjcf/mesh/ballpoint_pen_027.obj
@@ -0,0 +1,105740 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl ballpoint_pen_027_geometry_Looks_material_0
+v -0.000187 0.052007 0.004725
+v -0.000187 0.052007 0.004725
+v 0.000066 0.051954 0.004713
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diff --git a/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mjcf/mesh/ballpoint_pen_027_collision.obj b/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mjcf/mesh/ballpoint_pen_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..884f528e12b83516fff8b803f40f7f0b569c1541
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mjcf/mesh/ballpoint_pen_027_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mjcf/mesh/ballpoint_pen_027_collision_0.obj b/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mjcf/mesh/ballpoint_pen_027_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..884f528e12b83516fff8b803f40f7f0b569c1541
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mjcf/mesh/ballpoint_pen_027_collision_0.obj
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