diff --git a/.gitattributes b/.gitattributes
index ea1bd8e1106fdacedb5b349e4616a31a1e5fda6c..0bacbc70b78dc864efd91c21b82a895aff49f7e6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3196,7 +3196,5 @@ dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/glue
 dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mesh/glue_stick_035.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/correction_tape_003.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mesh/correction_tape_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/8e6c79efeed45314aa3bf27e2d2ce7d8/eraser_039.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/8e6c79efeed45314aa3bf27e2d2ce7d8/mesh/eraser_039.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/907753be2c05597ca8afc422afe977ee/eraser_041.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/907753be2c05597ca8afc422afe977ee/mesh/eraser_041.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/marker_032.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mesh/marker_032.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/marker_032.urdf b/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/marker_032.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c0c01b72a3649f688938787def38b5bc5a7b3cb1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/marker_032.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="marker_032">
+   <link name="marker_032">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/marker_032.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_032_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>8d1b5f64f7635ff0b758b9e5b4b39119</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>marker</category>
+         <name>blue marker</name>
+         <color>blue</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>blue capped marker pen with tapered writing tip</description>
+         <min_height>0.0145</min_height>
+         <max_height>0.0145</max_height>
+         <real_height>0.0145</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611143948</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.006742 -0.067009 -0.006890</min>
+            <max>0.008645 0.052991 0.007650</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/8d1b5f64f7635ff0b758b9e5b4b39119/marker_032.usd b/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/marker_032.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/marker_032.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fed187f59d8b08c0c1162fa4842f54b2c4f4ccf3b50afc20fad0b19e89d0f90
+size 4927077
diff --git a/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mesh/marker_032.glb b/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mesh/marker_032.glb
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mesh/marker_032.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11012592
diff --git a/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mesh/marker_032.mtl b/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mesh/marker_032.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d347cf9120d34eda587abf25c011e2232899e12
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mesh/marker_032.mtl
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+newmtl marker_032_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/8d1b5f64f7635ff0b758b9e5b4b39119/mesh/marker_032.obj b/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mesh/marker_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..624b57f76361a568a45decccc2b9709b74493cfd
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+++ b/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mesh/marker_032.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/8d1b5f64f7635ff0b758b9e5b4b39119/mesh/marker_032_collision.obj b/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mesh/marker_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f79787de7b2cfe15fc5410901f4b2f576ac733d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mesh/marker_032_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mesh/marker_032_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mesh/marker_032_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b972ba1f9bca0c14afcd41fe8b796d91f4f6391
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mesh/marker_032_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:61e28a238753e018cf110db33b38055f452d7468407a3b7bfe4ab9bd0f22bc13
+size 7649301
diff --git a/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3655ba5b8ba06ff297d911158f2be367c62d9ce
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl marker_032_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b972ba1f9bca0c14afcd41fe8b796d91f4f6391
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:61e28a238753e018cf110db33b38055f452d7468407a3b7bfe4ab9bd0f22bc13
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diff --git a/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mjcf/marker_032.xml b/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mjcf/marker_032.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fd0f89c0a7911f3553c78da4cec43f8654f5b2de
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mjcf/marker_032.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="marker_032">
+  <asset>
+    <material name="material_0" texture="texture_0_marker_032_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_marker_032_geometry_Looks_material_0" type="2d" file="mesh/marker_032_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/marker_032.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/marker_032_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="marker_032">
+      <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>
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diff --git a/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mjcf/mesh/marker_032.obj b/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mjcf/mesh/marker_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03d82a8f108c513ab24e2901996ad43d4bf23ec5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mjcf/mesh/marker_032.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl marker_032_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mjcf/mesh/marker_032_collision.obj b/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mjcf/mesh/marker_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..116d9cf04c2502cfc2d93d5a87e39d6a4548e152
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mjcf/mesh/marker_032_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mjcf/mesh/marker_032_collision_0.obj b/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mjcf/mesh/marker_032_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..116d9cf04c2502cfc2d93d5a87e39d6a4548e152
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d1b5f64f7635ff0b758b9e5b4b39119/mjcf/mesh/marker_032_collision_0.obj
@@ -0,0 +1,1267 @@
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