diff --git a/.gitattributes b/.gitattributes
index bab1b32ec7f8056b80ef610719b979050236fbbb..f34d81f21a0a50647194e4fd65d94426ba6324de 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5380,3 +5380,5 @@ dataset/desktop_supplies/office_stationery/6e3097fe08ea51eabf56ed6ef8393197/mesh
 dataset/desktop_supplies/office_stationery/e81d028d6fd15ee8997d55a65cd0abfc/e81d028d6fd15ee8997d55a65cd0abfc.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/e81d028d6fd15ee8997d55a65cd0abfc/mesh/marker.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/e81d028d6fd15ee8997d55a65cd0abfc/mesh/marker_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/ballpoint_pen_039.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mesh/ballpoint_pen_039.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/ballpoint_pen_039.urdf b/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/ballpoint_pen_039.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b5d55eff7f7167f0726c6b1a4d7b1c1cdbacbb1c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/ballpoint_pen_039.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="ballpoint_pen_039">
+   <link name="ballpoint_pen_039">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/ballpoint_pen_039.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_039_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>f1416fa9ae4055abae18cd0e8af0a527</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>ballpoint_pen</category>
+         <name>teal pen</name>
+         <color>green,silver</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>retractable teal ballpoint pen with silver tip and clip</description>
+         <min_height>0.0188</min_height>
+         <max_height>0.0188</max_height>
+         <real_height>0.0188</real_height>
+         <min_mass>0.008</min_mass>
+         <max_mass>0.015</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611141708</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.008577 -0.074971 -0.008315</min>
+            <max>0.007194 0.065029 0.010481</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/f1416fa9ae4055abae18cd0e8af0a527/ballpoint_pen_039.usd b/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/ballpoint_pen_039.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5b5d082dd69f2cdba618c183c5376c4580f31f78
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/ballpoint_pen_039.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9375954d347c5391e6d01c6bdfb2a06c81a8a317ac798a9554081b9510ed8f06
+size 4811815
diff --git a/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mesh/ballpoint_pen_039.glb b/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mesh/ballpoint_pen_039.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b46c4328b9539b035c27435891b39ec508633735
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mesh/ballpoint_pen_039.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10734688
diff --git a/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mesh/ballpoint_pen_039.mtl b/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mesh/ballpoint_pen_039.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..99cf1de82730a5df7982d5474165af423dc703cc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mesh/ballpoint_pen_039.mtl
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+newmtl ballpoint_pen_039_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/f1416fa9ae4055abae18cd0e8af0a527/mesh/ballpoint_pen_039.obj b/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mesh/ballpoint_pen_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2995f34b093869e13093615df70814d131be7f9d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mesh/ballpoint_pen_039.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl ballpoint_pen_039_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mesh/ballpoint_pen_039_collision.obj b/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mesh/ballpoint_pen_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e96958f971c7dbe77b07b5944a88a6fbe193a114
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mesh/ballpoint_pen_039_collision.obj
@@ -0,0 +1,1290 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mesh/ballpoint_pen_039_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mesh/ballpoint_pen_039_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ecd195dc513228f4525ea2778fbb477e0650561a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mesh/ballpoint_pen_039_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e49b4abee58c91fb41345524ad1a2df62f0134363a4403eb4096db61419df3ce
+size 7538106
diff --git a/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1e616ab30ab39512a89203dfd7310a93e53e3dd1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl ballpoint_pen_039_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_039_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ecd195dc513228f4525ea2778fbb477e0650561a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e49b4abee58c91fb41345524ad1a2df62f0134363a4403eb4096db61419df3ce
+size 7538106
diff --git a/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mjcf/ballpoint_pen_039.xml b/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mjcf/ballpoint_pen_039.xml
new file mode 100644
index 0000000000000000000000000000000000000000..61de6770cd32b4df803345e0c2fa6d10c36e3ac8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mjcf/ballpoint_pen_039.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ballpoint_pen_039">
+  <asset>
+    <material name="material_0" texture="texture_0_ballpoint_pen_039_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_ballpoint_pen_039_geometry_Looks_material_0" type="2d" file="mesh/ballpoint_pen_039_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/ballpoint_pen_039.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/ballpoint_pen_039_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="ballpoint_pen_039">
+      <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/f1416fa9ae4055abae18cd0e8af0a527/mjcf/mesh/ballpoint_pen_039.obj b/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mjcf/mesh/ballpoint_pen_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37c5e0f3d996b87ac84fa0ac6b1ecd0900dfa2af
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mjcf/mesh/ballpoint_pen_039.obj
@@ -0,0 +1,108374 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl ballpoint_pen_039_geometry_Looks_material_0
+v -0.007375 0.042160 0.005774
+v -0.007375 0.042160 0.005774
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diff --git a/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mjcf/mesh/ballpoint_pen_039_collision.obj b/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mjcf/mesh/ballpoint_pen_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c716f4051c0f6498acfc532c0659748a823bd12
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mjcf/mesh/ballpoint_pen_039_collision.obj
@@ -0,0 +1,1288 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mjcf/mesh/ballpoint_pen_039_collision_0.obj b/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mjcf/mesh/ballpoint_pen_039_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c716f4051c0f6498acfc532c0659748a823bd12
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f1416fa9ae4055abae18cd0e8af0a527/mjcf/mesh/ballpoint_pen_039_collision_0.obj
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