diff --git a/.gitattributes b/.gitattributes
index 3869274806e031283b658786d5febf16c9b656b4..c4f046b66c05bd804e62eee0671546cee60c8673 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3230,3 +3230,5 @@ dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mesh
 dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/a5174c001bbe586c9beca5dde1430d7d.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/mesh/notebook.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/a5174c001bbe586c9beca5dde1430d7d/mesh/notebook_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/marker_040.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mesh/marker_040.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/marker_040.urdf b/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/marker_040.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ca174a5aa9c3d27bf3b586e9193b1701fce8710c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/marker_040.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="marker_040">
+   <link name="marker_040">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/marker_040.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_040_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>a4faf3cf7bc9565881d866151811cecf</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>marker</category>
+         <name>capped marker</name>
+         <color>black</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>dark cylindrical capped marker pen with pocket clip</description>
+         <min_height>0.0135</min_height>
+         <max_height>0.0135</max_height>
+         <real_height>0.0135</real_height>
+         <min_mass>0.008</min_mass>
+         <max_mass>0.02</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611144118</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.006803 -0.062681 -0.006801</min>
+            <max>0.008412 0.057319 0.006657</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/a4faf3cf7bc9565881d866151811cecf/marker_040.usd b/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/marker_040.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7b2d587be5a155e19fcd8815807954bc242ed54d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/marker_040.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05fc20fc4a5344a6a5eb5b63c9f9a032bbc81715206e900ebe011737f1b4c1a7
+size 4823140
diff --git a/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mesh/marker_040.glb b/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mesh/marker_040.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e65405551f30fa6aa50518242127535b05c96749
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mesh/marker_040.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53b34ae3e1394915a446254900490fe3663465b376a6bde6d470aef98bd2db4d
+size 9295944
diff --git a/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mesh/marker_040.mtl b/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mesh/marker_040.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a2df1296766841bc64e4e5ea6ac3446294446505
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mesh/marker_040.mtl
@@ -0,0 +1,6 @@
+newmtl marker_040_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/a4faf3cf7bc9565881d866151811cecf/mesh/marker_040.obj b/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mesh/marker_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67e37677c5038b67ee6560df027ce17f23390ad9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mesh/marker_040.obj
@@ -0,0 +1,104492 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl marker_040_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mesh/marker_040_collision.obj b/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mesh/marker_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4147f51760884f01679e96bbbdb8f23949b0efc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mesh/marker_040_collision.obj
@@ -0,0 +1,1461 @@
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diff --git a/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mesh/marker_040_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mesh/marker_040_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f225053d05d1bceb64f1815221b9a27d87d2607c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mesh/marker_040_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2e23388413a51ae6e529046b9ded8d2d2ff508d6483073a2821370570f63823
+size 6107889
diff --git a/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a27884a310f7b5f2e5d7d8d781e2a6ddbd5ed621
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl marker_040_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_040_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f225053d05d1bceb64f1815221b9a27d87d2607c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2e23388413a51ae6e529046b9ded8d2d2ff508d6483073a2821370570f63823
+size 6107889
diff --git a/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mjcf/marker_040.xml b/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mjcf/marker_040.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a381625b48f882baabaf7542a58992ba3ba202c9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mjcf/marker_040.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="marker_040">
+  <asset>
+    <material name="material_0" texture="texture_0_marker_040_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_marker_040_geometry_Looks_material_0" type="2d" file="mesh/marker_040_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/marker_040.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/marker_040_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="marker_040">
+      <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/a4faf3cf7bc9565881d866151811cecf/mjcf/mesh/marker_040.obj b/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mjcf/mesh/marker_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..379f0111df506891c03aad573c144966cb9e46d1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mjcf/mesh/marker_040.obj
@@ -0,0 +1,104492 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl marker_040_geometry_Looks_material_0
+v 0.006857 0.037572 -0.005185
+v 0.006841 0.036404 -0.005164
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diff --git a/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mjcf/mesh/marker_040_collision.obj b/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mjcf/mesh/marker_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60928a618020a1de6392350d07c6413c5ce41e67
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mjcf/mesh/marker_040_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mjcf/mesh/marker_040_collision_0.obj b/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mjcf/mesh/marker_040_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60928a618020a1de6392350d07c6413c5ce41e67
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mjcf/mesh/marker_040_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mjcf/mesh/marker_040_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/a4faf3cf7bc9565881d866151811cecf/mjcf/mesh/marker_040_geometry_Looks_material_0.png
new file mode 100644
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