diff --git a/.gitattributes b/.gitattributes
index 0a8e7fc2514b141133bcb7568ec86b253c3d2f1e..5d82d280e857fde29a4dd66c89b98ad03fbc2e0f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3226,7 +3226,5 @@ dataset/desktop_supplies/office_stationery/b3837771a46f511eac30e011616b5483/note
 dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/b3bb48dd95d755d0884989fd25a9947b.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mesh/open_notebook.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mesh/open_notebook_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/eraser_024.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mesh/eraser_024.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/b46f079da16b5bdd91d161669fcaa770/correction_tape_034.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/b46f079da16b5bdd91d161669fcaa770/mesh/correction_tape_034.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/marker_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mesh/marker_009.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/marker_009.urdf b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/marker_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3663ff6a8e3e165db461c27bcc0e8ef6bc299520
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/marker_009.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="marker_009">
+   <link name="marker_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/marker_009.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_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>b5a1cca71ba958ac9eb4a8cd0e8c6587</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>marker</category>
+         <name>white marker</name>
+         <color>white</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cylindrical white marker with printed text on the body</description>
+         <min_height>0.0097</min_height>
+         <max_height>0.0097</max_height>
+         <real_height>0.0097</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427233122</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/b5a1cca71ba958ac9eb4a8cd0e8c6587/marker_009.usd b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/marker_009.usd
new file mode 100644
index 0000000000000000000000000000000000000000..55130188cceed1e0f82ebf93ea9c5ded4846fe83
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/marker_009.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4687410
diff --git a/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mesh/marker_009.glb b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mesh/marker_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ffec1d9793a39f8c64bb6543a3d25c2d6b781e2e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mesh/marker_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:031df8fc99b67785fecd412081c8a6a4f29a76627afc3ca2291d613681ae7224
+size 9000092
diff --git a/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mesh/marker_009.mtl b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mesh/marker_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7fd8dac9a7c23429a1f13d363864017e2a198e8b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mesh/marker_009.mtl
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+newmtl marker_009_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/b5a1cca71ba958ac9eb4a8cd0e8c6587/mesh/marker_009.obj b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mesh/marker_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5433bd1daed234a2f5b4e8c0582ae2e83ab2573f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mesh/marker_009.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/b5a1cca71ba958ac9eb4a8cd0e8c6587/mesh/marker_009_collision.obj b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mesh/marker_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa175819f6c4be462b6217214e90b24bccf27287
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mesh/marker_009_collision.obj
@@ -0,0 +1,2235 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mesh/marker_009_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mesh/marker_009_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..37089f13a381f650ddbf7ecbf6930101e5b94d23
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mesh/marker_009_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cc346cd374a05a9e3d2b82b105b9fba9aee48e6e80e94fb9e96605f656f5e22
+size 6016179
diff --git a/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2ee46e61f1bf07dec7b69d356e53be87544c47a6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl marker_009_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_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..37089f13a381f650ddbf7ecbf6930101e5b94d23
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cc346cd374a05a9e3d2b82b105b9fba9aee48e6e80e94fb9e96605f656f5e22
+size 6016179
diff --git a/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/marker_009.xml b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/marker_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2aa89fdbac57f6113d7c1e32f2ecb6ae59120453
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/marker_009.xml
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="marker_009">
+  <asset>
+    <material name="material_0" texture="texture_0_marker_009_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_marker_009_geometry_Looks_material_0" type="2d" file="mesh/marker_009_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/marker_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/marker_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/marker_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/marker_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/marker_009_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/marker_009_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/marker_009_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/marker_009_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="marker_009">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" 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/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/mesh/marker_009.obj b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/mesh/marker_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd7f8648012c248315336a5a0a2c9427a2c150f0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/mesh/marker_009.obj
@@ -0,0 +1,107314 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl marker_009_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/mesh/marker_009_collision.obj b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/mesh/marker_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cf72113e638449d7fd4e7b3d3d5a31bbfcc713c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/mesh/marker_009_collision.obj
@@ -0,0 +1,2235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/mesh/marker_009_collision_0.obj b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/mesh/marker_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be39f38f01a9f32a11749bff703eaf34734102ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/mesh/marker_009_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/mesh/marker_009_collision_1.obj b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/mesh/marker_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..525efaf355a252387743cb013391c0eedfe85fef
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/mesh/marker_009_collision_1.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/mesh/marker_009_collision_2.obj b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/mesh/marker_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97c7f79845a30e2858c21e4a0b95a5de4183e6a2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/mesh/marker_009_collision_2.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/mesh/marker_009_collision_3.obj b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/mesh/marker_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07cf72bc81de738e9f7746bf5883bef086a47859
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/mesh/marker_009_collision_3.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/mesh/marker_009_collision_4.obj b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/mesh/marker_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a511aa26d165aa11926778c46c056120183929b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/mesh/marker_009_collision_4.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.04600276 -0.00045898 -0.00337429
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diff --git a/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/mesh/marker_009_collision_5.obj b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/mesh/marker_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a514ffb31e44f079a53779070fb719787eda6cd8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/mesh/marker_009_collision_5.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/mesh/marker_009_collision_6.obj b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/mesh/marker_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab6b6148f2ec358bc14115633d6ca8a135127556
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a1cca71ba958ac9eb4a8cd0e8c6587/mjcf/mesh/marker_009_collision_6.obj
@@ -0,0 +1,241 @@
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