diff --git a/.gitattributes b/.gitattributes
index ad9cc88b44ac3481bce51296db45b932abc331b4..a301aa63db140e9281420420eeb567142200cc6d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3219,5 +3219,5 @@ dataset/desktop_supplies/office_stationery/a00d15d133e7509ca0e3e2287ae57c2b/eras
 dataset/desktop_supplies/office_stationery/a00d15d133e7509ca0e3e2287ae57c2b/mesh/eraser_038.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/marker_024.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mesh/marker_024.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/mesh/stapler_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/b1e8634f52b25d518af7a582a1f1a756/stapler_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/marker_036.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mesh/marker_036.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/marker_036.urdf b/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/marker_036.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..584ac1d8d1f1d489f8d3798d96b392140b8d555a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/marker_036.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="marker_036">
+   <link name="marker_036">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/marker_036.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/marker_036_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <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>b28415f3f9085155962c995964040fd9</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>marker</category>
+         <name>pink marker</name>
+         <color>pink,black</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>pink marker pen with black cap and ribbed end</description>
+         <min_height>0.0165</min_height>
+         <max_height>0.0165</max_height>
+         <real_height>0.0165</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611144031</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.007613 -0.059905 -0.007922</min>
+            <max>0.007822 0.060095 0.008605</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/marker_036.usd b/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/marker_036.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/marker_036.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:227b43e18b2ab7c33b4a95421feb26530390222e7121adfc304359c8963adcf0
+size 4867040
diff --git a/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mesh/marker_036.glb b/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mesh/marker_036.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b3e6ab33e5673c329bdc8f74004f7a978f3cc9a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mesh/marker_036.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cba7c9b6977f4ad8dee5905aa2a8399dc0e4ee02d78b54c0a728606e11351137
+size 11644596
diff --git a/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mesh/marker_036.mtl b/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mesh/marker_036.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b8f048230d8e62a7f20d29dd7e4d558810e8c1c3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mesh/marker_036.mtl
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+newmtl marker_036_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/b28415f3f9085155962c995964040fd9/mesh/marker_036.obj b/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mesh/marker_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0a58d249a771ef449d47029d3e46abfafb2d16d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mesh/marker_036.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/b28415f3f9085155962c995964040fd9/mesh/marker_036_collision.obj b/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mesh/marker_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a8e4918ef1a88bf720c1bc8557a293a2f1e1656
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mesh/marker_036_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mesh/marker_036_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mesh/marker_036_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6083245a6a19be988d15acf049bedba0570fe78b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mesh/marker_036_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26f9d38929b58b619999c887bbe8d320f9548b46d6df4a8957729c05daf6c38d
+size 8375453
diff --git a/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98e5918f4b280fc979357837830c107ba9ec0462
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl marker_036_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 marker_036_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6083245a6a19be988d15acf049bedba0570fe78b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26f9d38929b58b619999c887bbe8d320f9548b46d6df4a8957729c05daf6c38d
+size 8375453
diff --git a/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mjcf/marker_036.xml b/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mjcf/marker_036.xml
new file mode 100644
index 0000000000000000000000000000000000000000..45a62fc9c30cfcddda98e122790d34797cfd99e1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mjcf/marker_036.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="marker_036">
+  <asset>
+    <material name="material_0" texture="texture_0_marker_036_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_marker_036_geometry_Looks_material_0" type="2d" file="mesh/marker_036_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/marker_036.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/marker_036_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="marker_036">
+      <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/b28415f3f9085155962c995964040fd9/mjcf/mesh/marker_036.obj b/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mjcf/mesh/marker_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f5680000f1045f088cc704de3d21587f4c4ad5f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mjcf/mesh/marker_036.obj
@@ -0,0 +1,107876 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl marker_036_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mjcf/mesh/marker_036_collision.obj b/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mjcf/mesh/marker_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6e0c3d6dcbdae3f23fc020240e521a9d51e9531
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mjcf/mesh/marker_036_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mjcf/mesh/marker_036_collision_0.obj b/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mjcf/mesh/marker_036_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6e0c3d6dcbdae3f23fc020240e521a9d51e9531
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b28415f3f9085155962c995964040fd9/mjcf/mesh/marker_036_collision_0.obj
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