diff --git a/.gitattributes b/.gitattributes
index 1c8e3300df7e5e4ac7e041f4f5e3b71150cd5670..8a0198ee43bdb9a69c9b95167ac3581f8821d63d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3099,3 +3099,5 @@ dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mesh
 dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/sharpener_006.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/20d3d1c2ed0b504b92b41f16975cad27/mesh/notebook_036.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/20d3d1c2ed0b504b92b41f16975cad27/notebook_036.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/marker_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mesh/marker_017.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/marker_017.urdf b/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/marker_017.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..30bb9d7e6552d8c0712b83ed08fc2c44420c6db8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/marker_017.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="marker_017">
+   <link name="marker_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/marker_017.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_017_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>240edfa9e3e859a9ba635a3e8abe88eb</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>marker</category>
+         <name>purple marker</name>
+         <color>purple</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>purple chisel-tip marker with rectangular barrel and cap</description>
+         <min_height>0.0262</min_height>
+         <max_height>0.0262</max_height>
+         <real_height>0.0262</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518175835</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.015581 -0.068840 -0.013107</min>
+            <max>0.015560 0.071160 0.013109</max>
+         </aabb>
+         <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/240edfa9e3e859a9ba635a3e8abe88eb/marker_017.usd b/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/marker_017.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/marker_017.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a34190fb2290a5c788a88942db38e042fbe2f4d78bcd63d7cc08a13effefd09d
+size 4790726
diff --git a/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mesh/marker_017.glb b/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mesh/marker_017.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mesh/marker_017.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12320472
diff --git a/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mesh/marker_017.mtl b/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mesh/marker_017.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0765c858f57d74991fe6c29e7602b7eb73d5e6a9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mesh/marker_017.mtl
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+newmtl marker_017_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/240edfa9e3e859a9ba635a3e8abe88eb/mesh/marker_017.obj b/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mesh/marker_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ac0d8e7c74e9ee149d8a7f6fc0abe328bc52a65
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mesh/marker_017.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl marker_017_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mesh/marker_017_collision.obj b/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mesh/marker_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c64042f045d2cf1aaca971b5dcfa0d28de3fde9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mesh/marker_017_collision.obj
@@ -0,0 +1,2239 @@
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diff --git a/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mesh/marker_017_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mesh/marker_017_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3004e900bee7957349d2567e88e57f1ed45eaf7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mesh/marker_017_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9175936
diff --git a/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5f9e24e4c2dfce1c4206b4d35d2da6bdaefbfdeb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl marker_017_geometry_Looks_material_0
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+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd marker_017_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3004e900bee7957349d2567e88e57f1ed45eaf7
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mjcf/marker_017.xml b/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mjcf/marker_017.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fbcc26bf94ae7f19a0243d3e09b554c963885c8f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mjcf/marker_017.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="marker_017">
+  <asset>
+    <material name="material_0" texture="texture_0_marker_017_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_marker_017_geometry_Looks_material_0" type="2d" file="mesh/marker_017_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/marker_017.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/marker_017_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/marker_017_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="marker_017">
+      <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/240edfa9e3e859a9ba635a3e8abe88eb/mjcf/mesh/marker_017.obj b/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mjcf/mesh/marker_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce9c3b554572c81437916d4b614fd6861686ef55
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mjcf/mesh/marker_017.obj
@@ -0,0 +1,108670 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl marker_017_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mjcf/mesh/marker_017_collision.obj b/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mjcf/mesh/marker_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e158e616dc959feacf7b1ecd5a82c439e308e389
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mjcf/mesh/marker_017_collision.obj
@@ -0,0 +1,2239 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mjcf/mesh/marker_017_collision_0.obj b/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mjcf/mesh/marker_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..112c935f2354ceab982b4407ea442507e0bfd4eb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mjcf/mesh/marker_017_collision_0.obj
@@ -0,0 +1,1180 @@
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diff --git a/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mjcf/mesh/marker_017_collision_1.obj b/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mjcf/mesh/marker_017_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a22ad09902b0c11ea82da42fc07b11508b24f297
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/240edfa9e3e859a9ba635a3e8abe88eb/mjcf/mesh/marker_017_collision_1.obj
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