diff --git a/.gitattributes b/.gitattributes
index a764aa745b1efe553733baafeea9b5894df8abbe..6e5ffb30ecc6d7151c5fb04932e290a660c84459 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3212,5 +3212,5 @@ dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mesh
 dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mesh/open_notebook_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mesh/notebook_037.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/notebook_037.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/9ddac23fa0a756228b105a4c931e9934/correction_tape_009.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/9ddac23fa0a756228b105a4c931e9934/mesh/correction_tape_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/eraser_005.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mesh/eraser_005.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/eraser_005.urdf b/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/eraser_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1297751477bd43efa15c9eb012e493ed0f3fbf08
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/eraser_005.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="eraser_005">
+   <link name="eraser_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/eraser_005.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/eraser_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.90</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>9f16f23467ec5684b0dba4e580327de8</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>eraser</category>
+         <name>rectangular eraser</name>
+         <color>gray,white</color>
+         <shape>cuboid</shape>
+         <material>rubber</material>
+         <description>rectangular eraser with printed text and smooth edges</description>
+         <min_height>0.0114</min_height>
+         <max_height>0.0114</max_height>
+         <real_height>0.0114</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427232531</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/eraser_005.usd b/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/eraser_005.usd
new file mode 100644
index 0000000000000000000000000000000000000000..6f9b0a37c3b7544ac4e2f1a68a3cc0a6166e5b1b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/eraser_005.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ead247db4e7c055556651f38d1a4104bfa1879212967be00edbe187eb5ed6d94
+size 3956742
diff --git a/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mesh/eraser_005.glb b/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mesh/eraser_005.glb
new file mode 100644
index 0000000000000000000000000000000000000000..042f1ab995577e88e08c06ba2b93cdcc107edd16
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mesh/eraser_005.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5402eee22f41da1474c3384e327a5e7fd317e6759f6743c28f559073a103c46
+size 10048996
diff --git a/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mesh/eraser_005.mtl b/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mesh/eraser_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ea5729230a17ef21face9c6bfbdfb91a82adee7c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mesh/eraser_005.mtl
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+newmtl eraser_005_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/9f16f23467ec5684b0dba4e580327de8/mesh/eraser_005.obj b/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mesh/eraser_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec84da6add445ff41f6009c9243d4c6e5951713a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mesh/eraser_005.obj
@@ -0,0 +1,107576 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_005_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mesh/eraser_005_collision.obj b/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mesh/eraser_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..181e17196025afdfd4e4e35ed92db69b79b9d611
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mesh/eraser_005_collision.obj
@@ -0,0 +1,1434 @@
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diff --git a/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mesh/eraser_005_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mesh/eraser_005_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa176c28efb53084c23892baf28d879a89bf8ab5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mesh/eraser_005_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b86a3b1b28078435c251f11da51f6140948e28220a0fb6c7129346feff52730
+size 8253761
diff --git a/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..81ea9fb696e95f41201e263d961d53c756858bad
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl eraser_005_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 eraser_005_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mesh/material_0.png
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index 0000000000000000000000000000000000000000..aa176c28efb53084c23892baf28d879a89bf8ab5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b86a3b1b28078435c251f11da51f6140948e28220a0fb6c7129346feff52730
+size 8253761
diff --git a/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mjcf/eraser_005.xml b/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mjcf/eraser_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a0132df05e3eb215215ec32187836f6b551899f2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mjcf/eraser_005.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="eraser_005">
+  <asset>
+    <material name="material_0" texture="texture_0_eraser_005_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_eraser_005_geometry_Looks_material_0" type="2d" file="mesh/eraser_005_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/eraser_005.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/eraser_005_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="eraser_005">
+      <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/9f16f23467ec5684b0dba4e580327de8/mjcf/mesh/eraser_005.obj b/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mjcf/mesh/eraser_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3db6424a75086da97f1f3c1462b28f51b4a43f00
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mjcf/mesh/eraser_005.obj
@@ -0,0 +1,107576 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_005_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mjcf/mesh/eraser_005_collision.obj b/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mjcf/mesh/eraser_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa7cd7507c1c7672e574332b34187ab2871c3102
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mjcf/mesh/eraser_005_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mjcf/mesh/eraser_005_collision_0.obj b/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mjcf/mesh/eraser_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa7cd7507c1c7672e574332b34187ab2871c3102
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9f16f23467ec5684b0dba4e580327de8/mjcf/mesh/eraser_005_collision_0.obj
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