diff --git a/.gitattributes b/.gitattributes
index bd85c9a331587959f34d383351f8669aada04116..ee1e6576c2024fe6d5462aaed008ec2646bb8ccc 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3264,3 +3264,5 @@ dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mesh
 dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/notebook_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/d93088b38bcc572a88997b7f633b2970/mesh/pen_holder_028.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/d93088b38bcc572a88997b7f633b2970/pen_holder_028.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/eraser_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mesh/eraser_009.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/eraser_009.urdf b/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/eraser_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cfaeef6f0e7b840bde363f62e87d7d273a345b37
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/eraser_009.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="eraser_009">
+   <link name="eraser_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/eraser_009.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_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.90</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0300" />
+         <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>d86fd376b5ac5747a707ed4487d88b42</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>eraser</category>
+         <name>blue eraser</name>
+         <color>blue,gray</color>
+         <shape>cuboid</shape>
+         <material>rubber</material>
+         <description>rectangular eraser with blue rounded tip and printed design</description>
+         <min_height>0.0183</min_height>
+         <max_height>0.0183</max_height>
+         <real_height>0.0183</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.04</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427232638</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>2</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/d86fd376b5ac5747a707ed4487d88b42/eraser_009.usd b/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/eraser_009.usd
new file mode 100644
index 0000000000000000000000000000000000000000..9f5a80bf485ff153d1fa014eeb74937654265f10
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/eraser_009.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56d71380d9954f8bf558a874d02da6dfc20bc9df8b7711eb15ad200056ee0a81
+size 4673598
diff --git a/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mesh/eraser_009.glb b/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mesh/eraser_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..85af9568b379d4054993ba0099b8c228667789e5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mesh/eraser_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db1d09c44b4bce08013a2f58912a8144dac4ec51335de38fd790e3477ac45cfc
+size 12948212
diff --git a/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mesh/eraser_009.mtl b/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mesh/eraser_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6601a55cd2f385fdbb8b441b04fbf6515a40440f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mesh/eraser_009.mtl
@@ -0,0 +1,6 @@
+newmtl eraser_009_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/d86fd376b5ac5747a707ed4487d88b42/mesh/eraser_009.obj b/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mesh/eraser_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68c799492b472a391d84bfe3c83ab29069356517
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mesh/eraser_009.obj
@@ -0,0 +1,104044 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_009_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mesh/eraser_009_collision.obj b/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mesh/eraser_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f181c9f4f5be3ea12f693181fce85c066d457fb5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mesh/eraser_009_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mesh/eraser_009_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mesh/eraser_009_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b17361b4a0654184e4747789954a4b855c5b2c89
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mesh/eraser_009_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:617480f837195b8f52a12d6b46f8ecb65e86a73d3e7499f9656375a934b04cb5
+size 9984696
diff --git a/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c443dcce418aac46e8661e1b35efa4fbf4118009
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl eraser_009_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mesh/material_0.png
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index 0000000000000000000000000000000000000000..b17361b4a0654184e4747789954a4b855c5b2c89
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diff --git a/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mjcf/eraser_009.xml b/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mjcf/eraser_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..023dedb1f0ee0c2de9d1f22d0e5767103344371e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mjcf/eraser_009.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_0" file="mesh/eraser_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
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+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mjcf/mesh/eraser_009.obj b/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mjcf/mesh/eraser_009.obj
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index 0000000000000000000000000000000000000000..7dd73ce97b95c8646b9b5ee1636825f90e10f05d
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+++ b/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mjcf/mesh/eraser_009.obj
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+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mjcf/mesh/eraser_009_collision.obj b/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mjcf/mesh/eraser_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0992507ca72decea0e39f8ca6fb990224213e3b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mjcf/mesh/eraser_009_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mjcf/mesh/eraser_009_collision_0.obj b/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mjcf/mesh/eraser_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0992507ca72decea0e39f8ca6fb990224213e3b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d86fd376b5ac5747a707ed4487d88b42/mjcf/mesh/eraser_009_collision_0.obj
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