diff --git a/.gitattributes b/.gitattributes
index dbfbcc188acda080f402fa2c7e26b704358ff17e..77e7b955576bdfd5f3296e8233b11ced1cfa2942 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5355,3 +5355,5 @@ dataset/desktop_supplies/office_stationery/65489a6275435019a8c5b134845f29b7/eras
 dataset/desktop_supplies/office_stationery/65489a6275435019a8c5b134845f29b7/mesh/eraser_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/6720c193e28b504fb02db5cb4e1e3852/mesh/stapler_029.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/6720c193e28b504fb02db5cb4e1e3852/stapler_029.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/ballpoint_pen_038.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mesh/ballpoint_pen_038.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/ballpoint_pen_038.urdf b/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/ballpoint_pen_038.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9240ba0b04559883a09b74c4a9fab0d84111e6ea
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/ballpoint_pen_038.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="ballpoint_pen_038">
+   <link name="ballpoint_pen_038">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/ballpoint_pen_038.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_038_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>68df3162f1945acdb51143d432073c97</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>ballpoint_pen</category>
+         <name>orange pen</name>
+         <color>orange,silver</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>orange retractable ballpoint pen with silver pocket clip</description>
+         <min_height>0.0180</min_height>
+         <max_height>0.0180</max_height>
+         <real_height>0.0180</real_height>
+         <min_mass>0.008</min_mass>
+         <max_mass>0.02</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611141657</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.008047 -0.083080 -0.007936</min>
+            <max>0.011666 0.056920 0.010089</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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/68df3162f1945acdb51143d432073c97/ballpoint_pen_038.usd b/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/ballpoint_pen_038.usd
new file mode 100644
index 0000000000000000000000000000000000000000..237bc7ce73e13fb1b740faa21c50ec1424daec9d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/ballpoint_pen_038.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba79e9153388924c8ce13de5749975c4d4d3edaebec3bae32ee6a51951310dc3
+size 4864346
diff --git a/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mesh/ballpoint_pen_038.glb b/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mesh/ballpoint_pen_038.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ec6d84a2f5fc1ca2270be120033e9004fba61d6b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mesh/ballpoint_pen_038.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08fa49d8a105bacd04ac18aee1b50b43d390852a297dcd97e208993dff414301
+size 11553900
diff --git a/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mesh/ballpoint_pen_038.mtl b/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mesh/ballpoint_pen_038.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bacf18a56b3586de395725bb0074e57ec3e76d84
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mesh/ballpoint_pen_038.mtl
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+newmtl ballpoint_pen_038_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/68df3162f1945acdb51143d432073c97/mesh/ballpoint_pen_038.obj b/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mesh/ballpoint_pen_038.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2e5fbfe1fe04c318057f3f2f570154ec913901f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mesh/ballpoint_pen_038.obj
@@ -0,0 +1,110906 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl ballpoint_pen_038_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mesh/ballpoint_pen_038_collision.obj b/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mesh/ballpoint_pen_038_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b81e9c9c077d95220fad8b86539f2e83c1e721d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mesh/ballpoint_pen_038_collision.obj
@@ -0,0 +1,1320 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mesh/ballpoint_pen_038_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mesh/ballpoint_pen_038_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4536bce360b96f69c449a53f58b65f6387f6e1f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mesh/ballpoint_pen_038_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a92b198eda03886b0a189b25ce575d95593d7fdc203a8032607d8d696dd189a5
+size 8287485
diff --git a/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7398af8931e74a8517b6fddcc691cd7e6a1104fa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl ballpoint_pen_038_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_038_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4536bce360b96f69c449a53f58b65f6387f6e1f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a92b198eda03886b0a189b25ce575d95593d7fdc203a8032607d8d696dd189a5
+size 8287485
diff --git a/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mjcf/ballpoint_pen_038.xml b/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mjcf/ballpoint_pen_038.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d0e72d2ed8be78aeb72c11a4a5beed897746bc6e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mjcf/ballpoint_pen_038.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ballpoint_pen_038">
+  <asset>
+    <material name="material_0" texture="texture_0_ballpoint_pen_038_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_ballpoint_pen_038_geometry_Looks_material_0" type="2d" file="mesh/ballpoint_pen_038_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/ballpoint_pen_038.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/ballpoint_pen_038_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="ballpoint_pen_038">
+      <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/68df3162f1945acdb51143d432073c97/mjcf/mesh/ballpoint_pen_038.obj b/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mjcf/mesh/ballpoint_pen_038.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e425833b0d706a755320d441e2f4ee73bf71eaeb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mjcf/mesh/ballpoint_pen_038.obj
@@ -0,0 +1,110906 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl ballpoint_pen_038_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mjcf/mesh/ballpoint_pen_038_collision.obj b/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mjcf/mesh/ballpoint_pen_038_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25d48a9433ac476d0b52c3726e5339c7d61e3a86
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mjcf/mesh/ballpoint_pen_038_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mjcf/mesh/ballpoint_pen_038_collision_0.obj b/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mjcf/mesh/ballpoint_pen_038_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25d48a9433ac476d0b52c3726e5339c7d61e3a86
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mjcf/mesh/ballpoint_pen_038_collision_0.obj
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