diff --git a/.gitattributes b/.gitattributes
index 9d354c7fdb2f113f4e9544f9657ebbc37f2ad79e..f0fe2e4591463b64dac16f6df837ebb0640ed82e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3245,3 +3245,5 @@ dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/pen_
 dataset/desktop_supplies/office_stationery/c88fdb3b0bd453a9860705fb9f097e2a/c88fdb3b0bd453a9860705fb9f097e2a.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/c88fdb3b0bd453a9860705fb9f097e2a/mesh/pen.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/c88fdb3b0bd453a9860705fb9f097e2a/mesh/pen_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/marker_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mesh/marker_012.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/marker_012.urdf b/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/marker_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ff9cfea442a777ca79d57d242016d29a997a8d45
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/marker_012.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="marker_012">
+   <link name="marker_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/marker_012.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_012_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>c6feccd3c6875fa8ac3203742d5b7995</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>marker</category>
+         <name>green marker</name>
+         <color>green,black</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>green cylindrical permanent marker with black tip and cap</description>
+         <min_height>0.0225</min_height>
+         <max_height>0.0225</max_height>
+         <real_height>0.0225</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518175728</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.011187 -0.071718 -0.011232</min>
+            <max>0.011191 0.068282 0.011220</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <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/c6feccd3c6875fa8ac3203742d5b7995/marker_012.usd b/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/marker_012.usd
new file mode 100644
index 0000000000000000000000000000000000000000..063bfdf448b23668ea33c7d146c09a181520d14b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/marker_012.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a38b9b8ae0929cba79453f3053cb6c24729926ba8cf96c39106d6d06f1884a98
+size 4709745
diff --git a/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mesh/marker_012.glb b/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mesh/marker_012.glb
new file mode 100644
index 0000000000000000000000000000000000000000..63512a48e3ff799be7e8bbb3f9ae21ceeb618020
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mesh/marker_012.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b229c9b12523cc59860d84930655e7cd79f6f39208e68684ad42d2481532b08f
+size 9237496
diff --git a/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mesh/marker_012.mtl b/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mesh/marker_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4bdd4c1c9d7e2f23cfc6b340456caeb7c21e7788
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mesh/marker_012.mtl
@@ -0,0 +1,6 @@
+newmtl marker_012_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/c6feccd3c6875fa8ac3203742d5b7995/mesh/marker_012.obj b/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mesh/marker_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e9dcff65fec4402db2c9fdd385cf96fbda211b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mesh/marker_012.obj
@@ -0,0 +1,103872 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl marker_012_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mesh/marker_012_collision.obj b/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mesh/marker_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45041c28c6ff6180e0cca5697dd17bb81bab250b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mesh/marker_012_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mesh/marker_012_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mesh/marker_012_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..842c35dbca610db4008c9a439c5854d504dcfe06
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mesh/marker_012_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9871909188bab4b94754c92c8e69b181bc4384e125b6c38c461071d328d7c226
+size 6226901
diff --git a/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ec9826c10f2eaa153ee829116259e2abecd510a9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl marker_012_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_012_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..842c35dbca610db4008c9a439c5854d504dcfe06
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9871909188bab4b94754c92c8e69b181bc4384e125b6c38c461071d328d7c226
+size 6226901
diff --git a/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mjcf/marker_012.xml b/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mjcf/marker_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3379d90fac0b05a09cb37c5a3b7c71a7221980f5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mjcf/marker_012.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="marker_012">
+  <asset>
+    <material name="material_0" texture="texture_0_marker_012_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_marker_012_geometry_Looks_material_0" type="2d" file="mesh/marker_012_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/marker_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/marker_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="marker_012">
+      <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/c6feccd3c6875fa8ac3203742d5b7995/mjcf/mesh/marker_012.obj b/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mjcf/mesh/marker_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f4dfbda78f1b668f4c06fc02f29af6e5044d0aa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mjcf/mesh/marker_012.obj
@@ -0,0 +1,103872 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl marker_012_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mjcf/mesh/marker_012_collision.obj b/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mjcf/mesh/marker_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fba7cf308d3d89154db78427c2780b95cb17b3b5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mjcf/mesh/marker_012_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mjcf/mesh/marker_012_collision_0.obj b/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mjcf/mesh/marker_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fba7cf308d3d89154db78427c2780b95cb17b3b5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c6feccd3c6875fa8ac3203742d5b7995/mjcf/mesh/marker_012_collision_0.obj
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