diff --git a/.gitattributes b/.gitattributes
index e611f0dc4f8cf177df56040ff98fb8d941c84bae..7c1fb366eef0a6c517d5d6e81ec9be19ccb14995 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3284,3 +3284,5 @@ dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mesh
 dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mesh/open_notebook_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/eb6ac2ebca0953e8b987bb3791a8eb67/marker_025.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/eb6ac2ebca0953e8b987bb3791a8eb67/mesh/marker_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/marker_013.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mesh/marker_013.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/marker_013.urdf b/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/marker_013.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ad6970950124b944f006244b1e83983ac7c06903
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/marker_013.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="marker_013">
+   <link name="marker_013">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/marker_013.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_013_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>f102061b2d175563b5266aac005756dd</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>marker</category>
+         <name>black orange marker</name>
+         <color>black,orange</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>black and orange chisel-tip marker lying horizontally</description>
+         <min_height>0.0298</min_height>
+         <max_height>0.0298</max_height>
+         <real_height>0.0298</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518175740</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.014892 -0.072903 -0.014929</min>
+            <max>0.014853 0.067097 0.014838</max>
+         </aabb>
+         <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_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/f102061b2d175563b5266aac005756dd/marker_013.usd b/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/marker_013.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/marker_013.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3a45e8896ceaff715f320b8d9afb81d4706bea79a279d2caa03b2958fb83812
+size 4811969
diff --git a/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mesh/marker_013.glb b/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mesh/marker_013.glb
new file mode 100644
index 0000000000000000000000000000000000000000..be88055150e7df9d582ff4fb6cd50284c09fac17
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mesh/marker_013.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f61bb45a47cbd88711071d51a1844a9819e9565cf483f8f006df4d25c739feae
+size 10821772
diff --git a/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mesh/marker_013.mtl b/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mesh/marker_013.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ddbb12f564605fe532e2d21b35d141183a07b5c0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mesh/marker_013.mtl
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+newmtl marker_013_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/f102061b2d175563b5266aac005756dd/mesh/marker_013.obj b/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mesh/marker_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e17d14d59a8e563ec7609c1aa8a47a694f15a99
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mesh/marker_013.obj
@@ -0,0 +1,107942 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl marker_013_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mesh/marker_013_collision.obj b/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mesh/marker_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b4118c4b41544f053fc4be3efc816abfda0ef21
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mesh/marker_013_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mesh/marker_013_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mesh/marker_013_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..caaf7df10cfe9c9dd7c171a06ae9baa632c62e8f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mesh/marker_013_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:747fb670834f94888894de304e6320deacc6a029646aea1290a28bbf27e1e27e
+size 7641056
diff --git a/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7865e31e84f44dad2ceb4373748419de4f30c75c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl marker_013_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_013_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..caaf7df10cfe9c9dd7c171a06ae9baa632c62e8f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:747fb670834f94888894de304e6320deacc6a029646aea1290a28bbf27e1e27e
+size 7641056
diff --git a/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mjcf/marker_013.xml b/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mjcf/marker_013.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3ca0d9438bdfaf4f2963fe0a0bc56978ae638e1c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mjcf/marker_013.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="marker_013">
+  <asset>
+    <material name="material_0" texture="texture_0_marker_013_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_marker_013_geometry_Looks_material_0" type="2d" file="mesh/marker_013_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/marker_013.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/marker_013_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="marker_013">
+      <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/f102061b2d175563b5266aac005756dd/mjcf/mesh/marker_013.obj b/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mjcf/mesh/marker_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d97d5d28e8cdaad52f1debc8e60c08bf35c9d54
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mjcf/mesh/marker_013.obj
@@ -0,0 +1,107942 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl marker_013_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mjcf/mesh/marker_013_collision.obj b/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mjcf/mesh/marker_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..886ba1cb644d475ee52d0151572fe97eb657222e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mjcf/mesh/marker_013_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mjcf/mesh/marker_013_collision_0.obj b/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mjcf/mesh/marker_013_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..886ba1cb644d475ee52d0151572fe97eb657222e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mjcf/mesh/marker_013_collision_0.obj
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