diff --git a/.gitattributes b/.gitattributes
index 202c6bd6a3f4298eba26f5d71ad77ee03e3ba5d0..32bc3aaf481d0218f510ba064923bd0c6f23c53a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3262,3 +3262,5 @@ dataset/desktop_supplies/office_stationery/d3ef0c336d9e50eb9d8954e48b0cf6a0/d3ef
 dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/d3d50a08f19551bea9ce7665ff96f971.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mesh/pen_holder_025.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/pen_holder_025.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/marker_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mesh/marker_001.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/marker_001.urdf b/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/marker_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5fa55edbdd2abc664c89e329e5d5d6ea16f668fe
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/marker_001.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="marker_001">
+   <link name="marker_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/marker_001.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_001_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>d82b5b04f0325a699a68ce9412e4b7e5</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 with gray body 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>20260416203031</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/d82b5b04f0325a699a68ce9412e4b7e5/marker_001.usd b/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/marker_001.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a5414ac51c62c9976bf67725c77fb8053b3e2c38
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/marker_001.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88184d0da268c0f47e8519790fa4beea1f9ae065b9f87cded99a0c71a7bf4961
+size 4477532
diff --git a/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mesh/marker_001.glb b/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mesh/marker_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..814dee00f327f0e519491005a1da8f6c55ad13ad
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mesh/marker_001.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dbf3688c1c03fd1a79c2044842fb588049f52ff75d58605053179355b289dec
+size 9887336
diff --git a/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mesh/marker_001.mtl b/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mesh/marker_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f7084ac80de53c6340c1ab3ef918607e9b08c66d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mesh/marker_001.mtl
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+newmtl marker_001_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/d82b5b04f0325a699a68ce9412e4b7e5/mesh/marker_001.obj b/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mesh/marker_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..544c0a42e67179593f104ac9b5c5be896c431e30
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mesh/marker_001.obj
@@ -0,0 +1,108768 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl marker_001_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mesh/marker_001_collision.obj b/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mesh/marker_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f27057968824b961fe8cd9b8c5d0d965771bf7f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mesh/marker_001_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mesh/marker_001_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mesh/marker_001_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6510976bff31799b382479175fdd7787c7bd1ecd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mesh/marker_001_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7136e6f7746097b9a622fd7ce4fe0ff3a9ae264ef974096281ba9e6c490a94eb
+size 7252923
diff --git a/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c7adcd728da7cbdaf51b5c7658938b4920ca9d6f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl marker_001_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_001_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6510976bff31799b382479175fdd7787c7bd1ecd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7136e6f7746097b9a622fd7ce4fe0ff3a9ae264ef974096281ba9e6c490a94eb
+size 7252923
diff --git a/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mjcf/marker_001.xml b/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mjcf/marker_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a02b8ff49fe6344da2d5a740056251f4f273273d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mjcf/marker_001.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="marker_001">
+  <asset>
+    <material name="material_0" texture="texture_0_marker_001_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_marker_001_geometry_Looks_material_0" type="2d" file="mesh/marker_001_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/marker_001.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/marker_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="marker_001">
+      <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/d82b5b04f0325a699a68ce9412e4b7e5/mjcf/mesh/marker_001.obj b/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mjcf/mesh/marker_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..575791bc9e0fa293ef95ab79a09ff4246de4ca74
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mjcf/mesh/marker_001.obj
@@ -0,0 +1,108768 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl marker_001_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mjcf/mesh/marker_001_collision.obj b/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mjcf/mesh/marker_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bc3e2fbc4b505bbc045479aaf5cf00fa1c01c27
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mjcf/mesh/marker_001_collision.obj
@@ -0,0 +1,1648 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mjcf/mesh/marker_001_collision_0.obj b/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mjcf/mesh/marker_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bc3e2fbc4b505bbc045479aaf5cf00fa1c01c27
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d82b5b04f0325a699a68ce9412e4b7e5/mjcf/mesh/marker_001_collision_0.obj
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