diff --git a/.gitattributes b/.gitattributes
index 80b37a30d9f598d4f28a52da5f1150a4be0ca250..0cf2fd09b1ef5a93fc628d0ebb05c8e59270a314 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3115,8 +3115,5 @@ dataset/desktop_supplies/office_stationery/2da7165c96f654c4b2960ee9d0e8bd5f/corr
 dataset/desktop_supplies/office_stationery/2da7165c96f654c4b2960ee9d0e8bd5f/mesh/correction_tape_035.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/glue_stick_040.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mesh/glue_stick_040.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/eraser_004.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mesh/eraser_004.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/36d169bdcc7353c3bffa8295722dc653.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mesh/sharpener_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/sharpener_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/marker_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mesh/marker_007.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/marker_007.urdf b/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/marker_007.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7a089c62b8a8c239cc0283503566ef137ceddd07
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/marker_007.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="marker_007">
+   <link name="marker_007">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/marker_007.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_007_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>35e211bebc1b5fd6bdc192a49e05a764</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>marker</category>
+         <name>red marker</name>
+         <color>red</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cylindrical red marker with a clip and rounded tip</description>
+         <min_height>0.0183</min_height>
+         <max_height>0.0183</max_height>
+         <real_height>0.0183</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427233053</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>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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/marker_007.usd b/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/marker_007.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/marker_007.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4729576
diff --git a/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mesh/marker_007.glb b/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mesh/marker_007.glb
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mesh/marker_007.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11763712
diff --git a/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mesh/marker_007.mtl b/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mesh/marker_007.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..aa0bffdcfcd520484a2792925d1f2b83088b1f95
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mesh/marker_007.mtl
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+newmtl marker_007_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/35e211bebc1b5fd6bdc192a49e05a764/mesh/marker_007.obj b/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mesh/marker_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0829143e8126f9f47af81a7da21a60d7259746b9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mesh/marker_007.obj
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+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mesh/marker_007_collision.obj b/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mesh/marker_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9a02ae29ecf0b63fa73fa6c4ec8a50749c3e3a6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mesh/marker_007_collision.obj
@@ -0,0 +1,1894 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mesh/marker_007_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mesh/marker_007_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7c797fe0b0fbc3e02e3afd3a23d3b420f6dd687
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mesh/marker_007_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:628ec00ee1bd70fbbd25d2a81f6d2c95789acdf67aa255db5438f907c04a4c4a
+size 8701133
diff --git a/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4491ee4ad824d169a1126052bcf73ac7e6673230
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl marker_007_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_007_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7c797fe0b0fbc3e02e3afd3a23d3b420f6dd687
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:628ec00ee1bd70fbbd25d2a81f6d2c95789acdf67aa255db5438f907c04a4c4a
+size 8701133
diff --git a/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mjcf/marker_007.xml b/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mjcf/marker_007.xml
new file mode 100644
index 0000000000000000000000000000000000000000..158dea13bfd0a58c4c3d5ef896ebd68866cc11ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mjcf/marker_007.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="marker_007">
+  <asset>
+    <material name="material_0" texture="texture_0_marker_007_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_marker_007_geometry_Looks_material_0" type="2d" file="mesh/marker_007_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/marker_007.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/marker_007_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/marker_007_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="marker_007">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_1" 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/35e211bebc1b5fd6bdc192a49e05a764/mjcf/mesh/marker_007.obj b/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mjcf/mesh/marker_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12a295bc6fe0bd3437a391a8cc38f6308e2fafef
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mjcf/mesh/marker_007.obj
@@ -0,0 +1,110666 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl marker_007_geometry_Looks_material_0
+v 0.046122 -0.001360 -0.000193
+v 0.046131 -0.000067 0.000541
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diff --git a/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mjcf/mesh/marker_007_collision.obj b/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mjcf/mesh/marker_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea2cac6c5c6452ccbafb2f216e00666eb70ce199
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mjcf/mesh/marker_007_collision.obj
@@ -0,0 +1,1894 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mjcf/mesh/marker_007_collision_0.obj b/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mjcf/mesh/marker_007_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86bac5e8b4a6ce81232a6b4893efb825420d993f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mjcf/mesh/marker_007_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mjcf/mesh/marker_007_collision_1.obj b/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mjcf/mesh/marker_007_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a34025a080dc9381d92b5b265f0bf5befdf635e9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/35e211bebc1b5fd6bdc192a49e05a764/mjcf/mesh/marker_007_collision_1.obj
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