diff --git a/.gitattributes b/.gitattributes
index d0734a0ceb92e95fcc5d2582d69736245bb22938..ade2f4cbfc2db9f91e5caaedf18d904f9c6434de 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3225,3 +3225,5 @@ dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mesh
 dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/pen_holder_038.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/a1f28a9e92c1510280ae7e2f8b70220c/mesh/stapler_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/a1f28a9e92c1510280ae7e2f8b70220c/stapler_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/marker_016.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mesh/marker_016.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/marker_016.urdf b/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/marker_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d969f8f702c16a2e74c5028d14271528149a3e25
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/marker_016.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="marker_016">
+   <link name="marker_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/marker_016.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_016_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <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>a4c7e0eb2fd85789ac6f0df6ec12bdcf</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>marker</category>
+         <name>chisel marker</name>
+         <color>beige,gray</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>rectangular beige marker with gray cap and dark blue end</description>
+         <min_height>0.0243</min_height>
+         <max_height>0.0243</max_height>
+         <real_height>0.0243</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518175821</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.016983 -0.071105 -0.011242</min>
+            <max>0.016968 0.068895 0.013066</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <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/a4c7e0eb2fd85789ac6f0df6ec12bdcf/marker_016.usd b/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/marker_016.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/marker_016.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:810561b0b04dfed0309afde58f972836acae860f13ab6d13caaab5ee804f9fb0
+size 4759604
diff --git a/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mesh/marker_016.glb b/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mesh/marker_016.glb
new file mode 100644
index 0000000000000000000000000000000000000000..64a1d42ebee82fdb734b84364669e82f4573e901
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mesh/marker_016.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12443588
diff --git a/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mesh/marker_016.mtl b/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mesh/marker_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..077bd826f359c813aabc0e836980489e5898b4f5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mesh/marker_016.mtl
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+newmtl marker_016_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/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mesh/marker_016.obj b/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mesh/marker_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8861f448abdcfbde6e533b54db8e552da0be8e94
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mesh/marker_016.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl marker_016_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mesh/marker_016_collision.obj b/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mesh/marker_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8285989b1d7c80e29f92283f59d14f670b40947e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mesh/marker_016_collision.obj
@@ -0,0 +1,2793 @@
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diff --git a/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mesh/marker_016_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mesh/marker_016_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..99bf79e95036d6530c70580dad8ed31e064e00d9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mesh/marker_016_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecd1bce98f58d2021c1ad597a09c5559429e9c416eea33e74ebad40027c5cba1
+size 9361090
diff --git a/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2baf9542952e0308fe3895589d79fbcb2a8ad772
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl marker_016_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_016_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..99bf79e95036d6530c70580dad8ed31e064e00d9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecd1bce98f58d2021c1ad597a09c5559429e9c416eea33e74ebad40027c5cba1
+size 9361090
diff --git a/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mjcf/marker_016.xml b/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mjcf/marker_016.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7e6b70477db38ceae822d54131706f26d332d356
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mjcf/marker_016.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="marker_016">
+  <asset>
+    <material name="material_0" texture="texture_0_marker_016_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_marker_016_geometry_Looks_material_0" type="2d" file="mesh/marker_016_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/marker_016.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/marker_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="marker_016">
+      <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/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mjcf/mesh/marker_016.obj b/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mjcf/mesh/marker_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42f9191540742bdbc23c6e18a6d2ec4b78d8984a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mjcf/mesh/marker_016.obj
@@ -0,0 +1,111926 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl marker_016_geometry_Looks_material_0
+v 0.016529 0.029680 0.002011
+v 0.016529 0.029680 0.002011
+v 0.016449 0.029784 0.002140
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+v 0.000666 0.047949 0.012314
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diff --git a/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mjcf/mesh/marker_016_collision.obj b/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mjcf/mesh/marker_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b51233aa567ba3119a4261f092eaa2852f816935
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mjcf/mesh/marker_016_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mjcf/mesh/marker_016_collision_0.obj b/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mjcf/mesh/marker_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b51233aa567ba3119a4261f092eaa2852f816935
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mjcf/mesh/marker_016_collision_0.obj
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