diff --git a/.gitattributes b/.gitattributes
index 3c98c415a7242a85bfa66b391cee3a34974a3424..41cee3bfd02cb3b946a1581ed9268db774100fe4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3217,3 +3217,5 @@ dataset/desktop_supplies/office_stationery/9f8c55f225ab5838a82b30ebefcf5a2c/note
 dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/a32dcba8c28b5924b9eb671b31cff68b.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/a00d15d133e7509ca0e3e2287ae57c2b/eraser_038.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/a00d15d133e7509ca0e3e2287ae57c2b/mesh/eraser_038.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/marker_024.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mesh/marker_024.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/marker_024.urdf b/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/marker_024.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f6b6513d2dc87ee75fe4cb8df6ccbf12680bc35e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/marker_024.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="marker_024">
+   <link name="marker_024">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/marker_024.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_024_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>b0b6d48298ef5fae8b6e4394df1b9631</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>marker</category>
+         <name>beige marker</name>
+         <color>beige</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>beige cylindrical marker pen with cap and chisel tip</description>
+         <min_height>0.0180</min_height>
+         <max_height>0.0180</max_height>
+         <real_height>0.0180</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611143817</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.008867 -0.065554 -0.008978</min>
+            <max>0.008934 0.054446 0.008998</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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/b0b6d48298ef5fae8b6e4394df1b9631/marker_024.usd b/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/marker_024.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5362e37459b369bce8c9effa0dcf267b850b5b40
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/marker_024.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09209563a98972063996dfd5139782d3611b1926669b857baea8b6fa3fce0488
+size 4886018
diff --git a/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mesh/marker_024.glb b/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mesh/marker_024.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a4d5f927b2a99b44260848cb73923e9fcb6a8d6b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mesh/marker_024.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e19ada832254b7d4f65f7aada7507e67675352f8bc6fbba5b8c017bbf8600bc
+size 10290244
diff --git a/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mesh/marker_024.mtl b/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mesh/marker_024.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..684acb4ac5b93224c78e0c5d3790159d85848cb5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mesh/marker_024.mtl
@@ -0,0 +1,6 @@
+newmtl marker_024_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/b0b6d48298ef5fae8b6e4394df1b9631/mesh/marker_024.obj b/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mesh/marker_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b2c4e0e577f0f6f0e40d74cff5bb0cf319c9c39
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mesh/marker_024.obj
@@ -0,0 +1,106558 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl marker_024_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mesh/marker_024_collision.obj b/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mesh/marker_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24100852612c4aa9fc551a72934b1b9ac7a40e90
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mesh/marker_024_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mesh/marker_024_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mesh/marker_024_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e09d863375aab8d17e343e1327c23c7ba7a6410
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mesh/marker_024_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f47f181841292e938e7971ee98ce529232897a8c9454980a50e2231ba78bdcd3
+size 6989831
diff --git a/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8082c8dc3ae64fe2171e59eeb40279ae2205f43c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl marker_024_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_024_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e09d863375aab8d17e343e1327c23c7ba7a6410
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f47f181841292e938e7971ee98ce529232897a8c9454980a50e2231ba78bdcd3
+size 6989831
diff --git a/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mjcf/marker_024.xml b/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mjcf/marker_024.xml
new file mode 100644
index 0000000000000000000000000000000000000000..dd977d6cc95ae438cfcf11779e9daebc6d749645
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mjcf/marker_024.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="marker_024">
+  <asset>
+    <material name="material_0" texture="texture_0_marker_024_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_marker_024_geometry_Looks_material_0" type="2d" file="mesh/marker_024_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/marker_024.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/marker_024_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="marker_024">
+      <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/b0b6d48298ef5fae8b6e4394df1b9631/mjcf/mesh/marker_024.obj b/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mjcf/mesh/marker_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc646ccbb442db42648e78e2f5ef37264e60fc19
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mjcf/mesh/marker_024.obj
@@ -0,0 +1,106558 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl marker_024_geometry_Looks_material_0
+v 0.005667 0.054414 0.001254
+v 0.005667 0.054414 0.001254
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diff --git a/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mjcf/mesh/marker_024_collision.obj b/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mjcf/mesh/marker_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b6d2b8191c614e188bc00100aac4023454ed075
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mjcf/mesh/marker_024_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mjcf/mesh/marker_024_collision_0.obj b/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mjcf/mesh/marker_024_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b6d2b8191c614e188bc00100aac4023454ed075
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mjcf/mesh/marker_024_collision_0.obj
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