From the NASA HQ history office, a photo of a Martin Marietta model of the HL-10. The ID plaque on the base of the model reads “NASA HL-10 LIFTING ENTRY RESEARCH VEHICLE,” but the interior clearly shows that this design was intended for transportation of crew, and possibly cargo, to space.
This most likely dates from around 1967, when Martin was studying HL-10-type orbital craft for NASA. This appears to be the “D/3” configuration, one of a fairly large number of HL-10-based designs. The D/3 was capable of carrying three crew (up to six) and would be launched atop a Titan IIIc launch vehicle.