diff --git a/.gitattributes b/.gitattributes
index 4c91c555858c8943cbaaca1402eeb51d840cb488..c53d548eff6d81a7fe1212ac216278bdfbb36810 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3256,7 +3256,5 @@ dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/corr
 dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mesh/correction_tape_023.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mesh/pen_holder_035.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/pen_holder_035.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/cf4ee4a4db8b5abf9ed5808fa0194a3d/eraser_037.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/cf4ee4a4db8b5abf9ed5808fa0194a3d/mesh/eraser_037.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/ce882550e5195f28b3143cf26ab8eb18/mesh/notebook_022.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/ce882550e5195f28b3143cf26ab8eb18/notebook_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/marker_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mesh/marker_008.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/marker_008.urdf b/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/marker_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6e70382c639443e4476c160216ff624e61a724d0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/marker_008.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="marker_008">
+   <link name="marker_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/marker_008.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_008_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>d18df1c4ed57560590e4568e7f911ac6</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>marker</category>
+         <name>yellow marker</name>
+         <color>yellow,white</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cylindrical marker with yellow cap and white body</description>
+         <min_height>0.0111</min_height>
+         <max_height>0.0111</max_height>
+         <real_height>0.0111</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427233107</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>3</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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/marker_008.usd b/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/marker_008.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c2d85be8b0c1903ae729c312404dec1cdfbff25c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/marker_008.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcba14c0be365d113df9cf9055c24109930f9b016a220b8592c21ac8d9050a52
+size 4827345
diff --git a/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mesh/marker_008.glb b/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mesh/marker_008.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5df4be3df2379363205c43d99cd000ad668d4f25
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mesh/marker_008.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb1ad8d508d4ae29d0d5118b6d72af998c802089577b7a95a4935a9fa98ecedb
+size 9974976
diff --git a/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mesh/marker_008.mtl b/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mesh/marker_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..094853145f2e71d5846ce5f85f291a9399191de4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mesh/marker_008.mtl
@@ -0,0 +1,6 @@
+newmtl marker_008_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/d18df1c4ed57560590e4568e7f911ac6/mesh/marker_008.obj b/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mesh/marker_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac75e9b281cf64c3f50e102b35d7afe6b434f5ad
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mesh/marker_008.obj
@@ -0,0 +1,108112 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl marker_008_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mesh/marker_008_collision.obj b/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mesh/marker_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c0bad0daa4b59528eb34dbbbabaa7c85060e342
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mesh/marker_008_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mesh/marker_008_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mesh/marker_008_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d23598808729c45d8ccb7960ab8ed34b307118d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mesh/marker_008_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6eeaf0a735e8db497918d56da17f3431418a931689ffa773801b6b4e4c77264b
+size 6773558
diff --git a/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1f925868f60a3650a4447d7a05a28c62af8b025b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl marker_008_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_008_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d23598808729c45d8ccb7960ab8ed34b307118d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6eeaf0a735e8db497918d56da17f3431418a931689ffa773801b6b4e4c77264b
+size 6773558
diff --git a/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mjcf/marker_008.xml b/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mjcf/marker_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0f5c9838bd291584633a905d6454f930e1cb2200
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mjcf/marker_008.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="marker_008">
+  <asset>
+    <material name="material_0" texture="texture_0_marker_008_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_marker_008_geometry_Looks_material_0" type="2d" file="mesh/marker_008_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/marker_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/marker_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="marker_008">
+      <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/d18df1c4ed57560590e4568e7f911ac6/mjcf/mesh/marker_008.obj b/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mjcf/mesh/marker_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebcea5e77db27c38d1c0bba1a91b6d1a397005b5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mjcf/mesh/marker_008.obj
@@ -0,0 +1,108112 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl marker_008_geometry_Looks_material_0
+v 0.043959 -0.004567 0.001526
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diff --git a/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mjcf/mesh/marker_008_collision.obj b/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mjcf/mesh/marker_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f46ca3c3b73f51569a9611620cdd550faff80dfc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mjcf/mesh/marker_008_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mjcf/mesh/marker_008_collision_0.obj b/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mjcf/mesh/marker_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f46ca3c3b73f51569a9611620cdd550faff80dfc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mjcf/mesh/marker_008_collision_0.obj
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