diff --git a/.gitattributes b/.gitattributes
index 88ef06421566837b47a7d86ea6d4e40291ce9805..4e6042d31016554468ce2a51787d1dfec2f8f997 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3189,5 +3189,5 @@ dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/ball
 dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh/ballpoint_pen_034.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/8412916f3ae6508cbd1065fbc9cbcc61/8412916f3ae6508cbd1065fbc9cbcc61.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/86a44f5aa5ee59d69cbe0f44baacdf11.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/86b7f242771858fb80172cc2505c0e01/glue_stick_036.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/86b7f242771858fb80172cc2505c0e01/mesh/glue_stick_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/marker_027.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mesh/marker_027.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/marker_027.urdf b/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/marker_027.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bef9abd8b9b3573d55a277de6356142c0c066ef2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/marker_027.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="marker_027">
+   <link name="marker_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/marker_027.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_027_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>88a230bd2e045e30b2cdf5fe94b5bcae</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>marker</category>
+         <name>black marker</name>
+         <color>black</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>black capped marker pen with chisel tip and printed logo</description>
+         <min_height>0.0169</min_height>
+         <max_height>0.0169</max_height>
+         <real_height>0.0169</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611143853</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.008636 -0.070969 -0.008412</min>
+            <max>0.008448 0.049031 0.008513</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</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/88a230bd2e045e30b2cdf5fe94b5bcae/marker_027.usd b/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/marker_027.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/marker_027.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4774362
diff --git a/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mesh/marker_027.glb b/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mesh/marker_027.glb
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mesh/marker_027.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 7977964
diff --git a/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mesh/marker_027.mtl b/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mesh/marker_027.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..996d55c2e74589acebaa96245ac56564a110fe99
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mesh/marker_027.mtl
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+newmtl marker_027_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/88a230bd2e045e30b2cdf5fe94b5bcae/mesh/marker_027.obj b/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mesh/marker_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfacc93a69eb91cf351b5f139f5b7cee1f37197b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mesh/marker_027.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mesh/marker_027_collision.obj b/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mesh/marker_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2101cbce2150fee32f395d1bdab24de307226e10
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mesh/marker_027_collision.obj
@@ -0,0 +1,1362 @@
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diff --git a/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mesh/marker_027_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mesh/marker_027_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..41f2414adea232cddac59f80611ea0872351c3dd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mesh/marker_027_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7d16d3e3f61f869238d9d5f2233e0d08216802fe4235d7d4bbcb1b9a11ef5fe
+size 4857735
diff --git a/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..04a95612ff86d187dd656b2d0800b012285cfc51
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl marker_027_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_027_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..41f2414adea232cddac59f80611ea0872351c3dd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7d16d3e3f61f869238d9d5f2233e0d08216802fe4235d7d4bbcb1b9a11ef5fe
+size 4857735
diff --git a/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mjcf/marker_027.xml b/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mjcf/marker_027.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bbace9c1b0e34cc24c5bef78289c7b46e71e3f59
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mjcf/marker_027.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="marker_027">
+  <asset>
+    <material name="material_0" texture="texture_0_marker_027_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_marker_027_geometry_Looks_material_0" type="2d" file="mesh/marker_027_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/marker_027.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/marker_027_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="marker_027">
+      <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/88a230bd2e045e30b2cdf5fe94b5bcae/mjcf/mesh/marker_027.obj b/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mjcf/mesh/marker_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca54de8d37b0240e6af91bae456278e1c9919453
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mjcf/mesh/marker_027.obj
@@ -0,0 +1,109196 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl marker_027_geometry_Looks_material_0
+v 0.002434 0.043240 0.008295
+v 0.002434 0.041070 0.008318
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diff --git a/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mjcf/mesh/marker_027_collision.obj b/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mjcf/mesh/marker_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd3bd2554eb9311b35ff9fa4c55f905ba63449b9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mjcf/mesh/marker_027_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mjcf/mesh/marker_027_collision_0.obj b/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mjcf/mesh/marker_027_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd3bd2554eb9311b35ff9fa4c55f905ba63449b9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mjcf/mesh/marker_027_collision_0.obj
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