diff --git a/.gitattributes b/.gitattributes
index ff2c8642a25f6d50922108abc002e361f7082862..fb2ebb56b3f366301e0f3eb426d6386cff679f71 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3132,5 +3132,5 @@ dataset/desktop_supplies/office_stationery/4206bec5a00c54eb8b6379d1dcf555a1/mesh
 dataset/desktop_supplies/office_stationery/4199b5cb19e156a9a8d0db5bd748dd49/correction_tape_012.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/4199b5cb19e156a9a8d0db5bd748dd49/mesh/correction_tape_012.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/481287f79a065a62a8bf2ffc31c00cff/481287f79a065a62a8bf2ffc31c00cff.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/410e3e275fa355e2ab0d4ecda05531d0/marker_028.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/410e3e275fa355e2ab0d4ecda05531d0/mesh/marker_028.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/marker_021.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mesh/marker_021.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/marker_021.urdf b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/marker_021.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c0ae435ab15a72e8b1ef53026990916eab4b9d0b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/marker_021.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="marker_021">
+   <link name="marker_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/marker_021.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_021_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>486e309a232b5449a4ee5a4046313f86</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>marker</category>
+         <name>paint marker</name>
+         <color>beige,black</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>beige cylindrical paint marker with black ribbed cap</description>
+         <min_height>0.0197</min_height>
+         <max_height>0.0197</max_height>
+         <real_height>0.0197</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611143743</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.010120 -0.063146 -0.009866</min>
+            <max>0.010132 0.056854 0.009882</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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/486e309a232b5449a4ee5a4046313f86/marker_021.usd b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/marker_021.usd
new file mode 100644
index 0000000000000000000000000000000000000000..dbfc26b55ad72d7173bb958483acb60fb5b7d2ea
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/marker_021.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5ddbeffcb3d7ae4a96935aead50b784b9a2d2f5451473bbac30374d0cf9b1c6
+size 4908086
diff --git a/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mesh/marker_021.glb b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mesh/marker_021.glb
new file mode 100644
index 0000000000000000000000000000000000000000..addb0c89e381422ffa5c28dc0ae0441de79acc6e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mesh/marker_021.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:530d4d0a8c1eff9a76207f96e7150c51e69248280b8eb78a701cd1df5b3433a8
+size 10572828
diff --git a/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mesh/marker_021.mtl b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mesh/marker_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fcec2916289c7b0ff1db9bc142087b6432f927ad
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mesh/marker_021.mtl
@@ -0,0 +1,6 @@
+newmtl marker_021_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/486e309a232b5449a4ee5a4046313f86/mesh/marker_021.obj b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mesh/marker_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ee4ffdc5ce944e79849550ced476996e60ad8db
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mesh/marker_021.obj
@@ -0,0 +1,110734 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl marker_021_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mesh/marker_021_collision.obj b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mesh/marker_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c12cf860108329b039a10489c95735215c83481c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mesh/marker_021_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mesh/marker_021_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mesh/marker_021_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0475c324dcf009d7eddf009878e7f22a8264564f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mesh/marker_021_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63ee09ba16d041f3636a7cca90e18a7641e79ca7befb7b3806eb98bd60c2876a
+size 7233111
diff --git a/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..593eeadfc76dcc92db13dbc3275d530e5fb53d3f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl marker_021_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_021_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0475c324dcf009d7eddf009878e7f22a8264564f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63ee09ba16d041f3636a7cca90e18a7641e79ca7befb7b3806eb98bd60c2876a
+size 7233111
diff --git a/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mjcf/marker_021.xml b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mjcf/marker_021.xml
new file mode 100644
index 0000000000000000000000000000000000000000..eb56e7e79e5216030f8cc17c3fe77a519a2feaa6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mjcf/marker_021.xml
@@ -0,0 +1,20 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="marker_021">
+  <asset>
+    <material name="material_0" texture="texture_0_marker_021_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_marker_021_geometry_Looks_material_0" type="2d" file="mesh/marker_021_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/marker_021.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/marker_021_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/marker_021_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/marker_021_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="marker_021">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_2" 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/486e309a232b5449a4ee5a4046313f86/mjcf/mesh/marker_021.obj b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mjcf/mesh/marker_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee322a5e17f2748f6a409a6526fe288aa79105f4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mjcf/mesh/marker_021.obj
@@ -0,0 +1,110734 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl marker_021_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mjcf/mesh/marker_021_collision.obj b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mjcf/mesh/marker_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..752fb2eadba09f87719ecee6be87669ccbd4c598
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mjcf/mesh/marker_021_collision.obj
@@ -0,0 +1,2204 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mjcf/mesh/marker_021_collision_0.obj b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mjcf/mesh/marker_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..243f2a15e52f8767065dba246811b2eeab437563
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mjcf/mesh/marker_021_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mjcf/mesh/marker_021_collision_1.obj b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mjcf/mesh/marker_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fda650080599b2acdb7589be7bc701f826456876
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mjcf/mesh/marker_021_collision_1.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mjcf/mesh/marker_021_collision_2.obj b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mjcf/mesh/marker_021_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..070e1d127e0c4763795d688dd7551a43b07660de
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mjcf/mesh/marker_021_collision_2.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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