diff --git a/.gitattributes b/.gitattributes
index 52855b2bd0b80bc52a4bbeff1797088af18a17f4..0e1a342eec77d8c4c4d190fe59f1e142c2a2612f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3199,3 +3199,5 @@ dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/pen_
 dataset/desktop_supplies/office_stationery/91cdedbaaf6d54bebb52868ee5763157/91cdedbaaf6d54bebb52868ee5763157.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/91cdedbaaf6d54bebb52868ee5763157/mesh/eraser.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/91cdedbaaf6d54bebb52868ee5763157/mesh/eraser_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/marker_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mesh/marker_010.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/marker_010.urdf b/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/marker_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a695fcf3bfe835922dafa726d2a6acc0f4df2b18
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/marker_010.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="marker_010">
+   <link name="marker_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/marker_010.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_010_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>92cf1c4e065b5c07b21d110474c1a1e2</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>marker</category>
+         <name>blue marker</name>
+         <color>blue</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cylindrical blue marker with a cap and printed text</description>
+         <min_height>0.0147</min_height>
+         <max_height>0.0147</max_height>
+         <real_height>0.0147</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427233139</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_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/92cf1c4e065b5c07b21d110474c1a1e2/marker_010.usd b/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/marker_010.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/marker_010.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e32e93839082c3ee1dd21ca4e9f1c8fb56f9c0ea526d31544687650fb4aba29
+size 4854398
diff --git a/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mesh/marker_010.glb b/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mesh/marker_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..59c8f1c181b889dbf887ca7241d76d5fd37228aa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mesh/marker_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cd5c1b037ed456dec2f2b7c1d614f15afb435cd12d8ec8eeedafa633fcced47
+size 7917440
diff --git a/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mesh/marker_010.mtl b/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mesh/marker_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..860a5320be0b65aa660b5d2fcf361f4d4e46fcdf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mesh/marker_010.mtl
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+newmtl marker_010_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/92cf1c4e065b5c07b21d110474c1a1e2/mesh/marker_010.obj b/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mesh/marker_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d4ef6214e405c0149dbb3c12c9c3130a721bd3c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mesh/marker_010.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl marker_010_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mesh/marker_010_collision.obj b/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mesh/marker_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09c1b27d0ec264dc66611b36903898fe4a71ccc9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mesh/marker_010_collision.obj
@@ -0,0 +1,1782 @@
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diff --git a/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mesh/marker_010_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mesh/marker_010_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b036258fcfe60c8316f438df3e2bac2464be498
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mesh/marker_010_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53be947a02ed71206ca7718786e0c34ab8b963d3a43a3f0139d74fa312dc6afc
+size 4672083
diff --git a/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..995b0d270893203e5ab78fb0a8f6f5b2ad98718f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl marker_010_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_010_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b036258fcfe60c8316f438df3e2bac2464be498
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53be947a02ed71206ca7718786e0c34ab8b963d3a43a3f0139d74fa312dc6afc
+size 4672083
diff --git a/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mjcf/marker_010.xml b/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mjcf/marker_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ebc4e64bf4f882dfcfb243e309a9554b4c34c139
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mjcf/marker_010.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="marker_010">
+  <asset>
+    <material name="material_0" texture="texture_0_marker_010_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_marker_010_geometry_Looks_material_0" type="2d" file="mesh/marker_010_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/marker_010.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/marker_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="marker_010">
+      <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/92cf1c4e065b5c07b21d110474c1a1e2/mjcf/mesh/marker_010.obj b/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mjcf/mesh/marker_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65a292e38e5212570f1b618a8eac66618a0e6f27
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mjcf/mesh/marker_010.obj
@@ -0,0 +1,113114 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl marker_010_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mjcf/mesh/marker_010_collision.obj b/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mjcf/mesh/marker_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8caa08d90f76cbf5ef245efd5bf995c6dace1a61
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mjcf/mesh/marker_010_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mjcf/mesh/marker_010_collision_0.obj b/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mjcf/mesh/marker_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8caa08d90f76cbf5ef245efd5bf995c6dace1a61
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mjcf/mesh/marker_010_collision_0.obj
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