diff --git a/.gitattributes b/.gitattributes
index ada7d5911e8235ae3b5a0481be7463acf021a71b..4373005cfcc77545a3e45f121b78ef0a2d8428c2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3302,3 +3302,5 @@ dataset/desktop_supplies/office_stationery/feab74c614765bbfb77ef2bee5da1cbb/eras
 dataset/desktop_supplies/office_stationery/feab74c614765bbfb77ef2bee5da1cbb/mesh/eraser_050.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/00b7ae58aedc506f9f51e909ed0ef283/mesh/staples_box_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/00b7ae58aedc506f9f51e909ed0ef283/staples_box_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/marker_026.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mesh/marker_026.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/marker_026.urdf b/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/marker_026.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..230e32ee390a0c96d35674f374f7f890b4732cf0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/marker_026.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="marker_026">
+   <link name="marker_026">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/marker_026.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_026_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>ffce034396855d1784caaa7590197af2</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>marker</category>
+         <name>brown marker</name>
+         <color>brown</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>capped brown marker pen with cylindrical body and pocket clip</description>
+         <min_height>0.0153</min_height>
+         <max_height>0.0153</max_height>
+         <real_height>0.0153</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611143842</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.008104 -0.062492 -0.007748</min>
+            <max>0.007665 0.057508 0.007576</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/ffce034396855d1784caaa7590197af2/marker_026.usd b/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/marker_026.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a11dc0ad2cb154c9ff1766324ff3be1f73831c23
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/marker_026.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8db0982feb1a21e127acb06f963b6382a8eaa96c23841b301767d9f0aa2b89d0
+size 4853530
diff --git a/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mesh/marker_026.glb b/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mesh/marker_026.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ded38bbe2ddf96d9852d2d780a78835f99d0cf57
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mesh/marker_026.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:484b9af9f9860a5aa0243b8a486da5f0973e1532b1bf8086a759770b89cd8a15
+size 11609924
diff --git a/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mesh/marker_026.mtl b/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mesh/marker_026.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a0335be86ebf9fe1689b0d5c6e185ed0a238a825
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mesh/marker_026.mtl
@@ -0,0 +1,6 @@
+newmtl marker_026_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/ffce034396855d1784caaa7590197af2/mesh/marker_026.obj b/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mesh/marker_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cbf0f3015b8e39b69590b6f7494442058c9974c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mesh/marker_026.obj
@@ -0,0 +1,109242 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl marker_026_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mesh/marker_026_collision.obj b/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mesh/marker_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb17523932965891cd16e03d75df88aa7576161e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mesh/marker_026_collision.obj
@@ -0,0 +1,1482 @@
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diff --git a/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mesh/marker_026_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mesh/marker_026_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..59172cd31c96ecf3f4d9bd907960ab66b576b3c5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mesh/marker_026_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da04c18d4806a793da05defbea7780ad7e5abe7fcf2973707fb2f197978a7615
+size 8363348
diff --git a/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..49e176bbc144ad596a7be39f17cbf009e474c184
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl marker_026_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_026_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..59172cd31c96ecf3f4d9bd907960ab66b576b3c5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da04c18d4806a793da05defbea7780ad7e5abe7fcf2973707fb2f197978a7615
+size 8363348
diff --git a/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mjcf/marker_026.xml b/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mjcf/marker_026.xml
new file mode 100644
index 0000000000000000000000000000000000000000..199c164a3e2a28ec293250ac232bdabbb005694a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mjcf/marker_026.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="marker_026">
+  <asset>
+    <material name="material_0" texture="texture_0_marker_026_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_marker_026_geometry_Looks_material_0" type="2d" file="mesh/marker_026_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/marker_026.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/marker_026_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="marker_026">
+      <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/ffce034396855d1784caaa7590197af2/mjcf/mesh/marker_026.obj b/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mjcf/mesh/marker_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a20a4eaec390c2752136e276d7e8df7b39cc7024
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mjcf/mesh/marker_026.obj
@@ -0,0 +1,109242 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mjcf/mesh/marker_026_collision.obj b/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mjcf/mesh/marker_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41b734353b9c837e65bb885695942e7a79c90229
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mjcf/mesh/marker_026_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mjcf/mesh/marker_026_collision_0.obj b/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mjcf/mesh/marker_026_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41b734353b9c837e65bb885695942e7a79c90229
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ffce034396855d1784caaa7590197af2/mjcf/mesh/marker_026_collision_0.obj
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