diff --git a/.gitattributes b/.gitattributes
index 3e7591a2f1f7e9de4ec93b8bd45a460db3cc80f4..c10232dd21f75f964eb1974078c40805db0f9707 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3226,3 +3226,5 @@ dataset/desktop_supplies/office_stationery/b3837771a46f511eac30e011616b5483/note
 dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/b3bb48dd95d755d0884989fd25a9947b.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mesh/open_notebook.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mesh/open_notebook_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/eraser_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mesh/eraser_022.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/eraser_022.urdf b/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/eraser_022.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..940f103b39c5c686221bdc348be337fd387ad1ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/eraser_022.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="eraser_022">
+   <link name="eraser_022">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/eraser_022.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_022_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>1.10</mu1>
+            <mu2>0.90</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0250" />
+         <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>b4a8de97bfe6592594328d5d73eb099d</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>eraser</category>
+         <name>sleeve eraser</name>
+         <color>black,gray</color>
+         <shape>cuboid</shape>
+         <material>rubber</material>
+         <description>black rectangular eraser with gray paper sleeve and white stripe</description>
+         <min_height>0.0200</min_height>
+         <max_height>0.0200</max_height>
+         <real_height>0.0200</real_height>
+         <min_mass>0.015</min_mass>
+         <max_mass>0.035</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611142431</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.016625 -0.032586 -0.009894</min>
+            <max>0.016655 0.033697 0.010106</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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/b4a8de97bfe6592594328d5d73eb099d/eraser_022.usd b/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/eraser_022.usd
new file mode 100644
index 0000000000000000000000000000000000000000..59bd149a0d40591a6f1d94a1520eb70b98659e5a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/eraser_022.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f516006d6af402b949c0bd59989a40cf51173d50929dcafedf654dd0ddfe9eb
+size 4556614
diff --git a/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mesh/eraser_022.glb b/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mesh/eraser_022.glb
new file mode 100644
index 0000000000000000000000000000000000000000..fb0e6e4b4eae83765dfb2b78d9da0b9e0c2ec35b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mesh/eraser_022.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e6f9050e7ab8b3e998492bd8d60311b810e8b3997651220b6385404d6a269e9
+size 11588252
diff --git a/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mesh/eraser_022.mtl b/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mesh/eraser_022.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..303f58b83e9284847fd7c6730b779d6e42063ce6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mesh/eraser_022.mtl
@@ -0,0 +1,6 @@
+newmtl eraser_022_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/b4a8de97bfe6592594328d5d73eb099d/mesh/eraser_022.obj b/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mesh/eraser_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af3430b29b7c7269b2da163d9f5b0e617d6da9a6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mesh/eraser_022.obj
@@ -0,0 +1,110054 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_022_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mesh/eraser_022_collision.obj b/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mesh/eraser_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96015d5d15c6524c048f7d7ac34a18209517f97b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mesh/eraser_022_collision.obj
@@ -0,0 +1,3510 @@
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diff --git a/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mesh/eraser_022_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mesh/eraser_022_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ecdb4fcd0c7b7f47b21df1872f1b142fe39e70fc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mesh/eraser_022_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:463446801ce81a9603e22e85ac3b934d554d02f1617da4c69b7fc2d74f92ce29
+size 8834136
diff --git a/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b0fd05c966b3d421d9c30d7adb912c9c0d7070bc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl eraser_022_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_022_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ecdb4fcd0c7b7f47b21df1872f1b142fe39e70fc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:463446801ce81a9603e22e85ac3b934d554d02f1617da4c69b7fc2d74f92ce29
+size 8834136
diff --git a/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mjcf/eraser_022.xml b/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mjcf/eraser_022.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9ee7ddabc5757cd61900b84454d51af362bbde7d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mjcf/eraser_022.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="eraser_022">
+  <asset>
+    <material name="material_0" texture="texture_0_eraser_022_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_eraser_022_geometry_Looks_material_0" type="2d" file="mesh/eraser_022_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/eraser_022.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/eraser_022_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="eraser_022">
+      <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/b4a8de97bfe6592594328d5d73eb099d/mjcf/mesh/eraser_022.obj b/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mjcf/mesh/eraser_022.obj
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index 0000000000000000000000000000000000000000..e5b38cf328db02fdc39561b61f9242567ec7d864
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mjcf/mesh/eraser_022.obj
@@ -0,0 +1,110054 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_022_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mjcf/mesh/eraser_022_collision.obj b/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mjcf/mesh/eraser_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a24bad8567daa94a4f0fc05daa8869bc2dacd848
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mjcf/mesh/eraser_022_collision.obj
@@ -0,0 +1,3508 @@
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diff --git a/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mjcf/mesh/eraser_022_collision_0.obj b/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mjcf/mesh/eraser_022_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a24bad8567daa94a4f0fc05daa8869bc2dacd848
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b4a8de97bfe6592594328d5d73eb099d/mjcf/mesh/eraser_022_collision_0.obj
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