diff --git a/.gitattributes b/.gitattributes
index a3c39bcfaad122285d1eecd55102833475e979dc..54cdbe3507140123005a557ad2a2a8ca06f0ec79 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3134,7 +3134,5 @@ dataset/desktop_supplies/office_stationery/4199b5cb19e156a9a8d0db5bd748dd49/mesh
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 dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/marker_021.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/486e309a232b5449a4ee5a4046313f86/mesh/marker_021.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/495590f0a67f5eeda90b208d290794dc/eraser_033.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/495590f0a67f5eeda90b208d290794dc/mesh/eraser_033.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/mesh/stapler_022.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/4bcb2b1bde8854369eb97e7d013d8de8/stapler_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/eraser_043.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mesh/eraser_043.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/eraser_043.urdf b/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/eraser_043.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b61cb083fee59c9e8fc3b652ec954dda603b961b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/eraser_043.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="eraser_043">
+   <link name="eraser_043">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/eraser_043.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_043_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>4ba916f93ee7513398003a1ad30d50c6</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>eraser</category>
+         <name>gray eraser</name>
+         <color>gray,blue</color>
+         <shape>cuboid</shape>
+         <material>rubber</material>
+         <description>gray rectangular eraser with blue snowhiiite branding</description>
+         <min_height>0.0126</min_height>
+         <max_height>0.0126</max_height>
+         <real_height>0.0126</real_height>
+         <min_mass>0.015</min_mass>
+         <max_mass>0.035</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611143033</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.010316 -0.019452 -0.006127</min>
+            <max>0.010329 0.020548 0.006487</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>1</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/4ba916f93ee7513398003a1ad30d50c6/eraser_043.usd b/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/eraser_043.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/eraser_043.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efc6cd3d27b966aa16d64e542cf987407869a4198cfbe2c4a5d20b08861e8ded
+size 4680448
diff --git a/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mesh/eraser_043.glb b/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mesh/eraser_043.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mesh/eraser_043.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8daf4a6a13cac1b426a839291cd03e59457cc267458ba701bfd7d5141d5c44ad
+size 12231968
diff --git a/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mesh/eraser_043.mtl b/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mesh/eraser_043.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e214a669cfbe67c44beb57e85bd5567a4b0f4ff2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mesh/eraser_043.mtl
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+newmtl eraser_043_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/4ba916f93ee7513398003a1ad30d50c6/mesh/eraser_043.obj b/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mesh/eraser_043.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03b16f4dc6018fbf17b8483768b0d22c3ae41f9c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mesh/eraser_043.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mesh/eraser_043_collision.obj b/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mesh/eraser_043_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac769ac44da9982272b3b927b8ba3a7b967c6bc0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mesh/eraser_043_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mesh/eraser_043_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mesh/eraser_043_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..284cb2948a8f5dd903a467cb9a474d7741b24b43
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mesh/eraser_043_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f46e26176bcd481840aa51f79a3ecde9e83db6434d709f784651f42525f887a
+size 9292972
diff --git a/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..49ac9f9db24aa49bacf203943766406f0ad3c463
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl eraser_043_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_043_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..284cb2948a8f5dd903a467cb9a474d7741b24b43
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f46e26176bcd481840aa51f79a3ecde9e83db6434d709f784651f42525f887a
+size 9292972
diff --git a/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mjcf/eraser_043.xml b/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mjcf/eraser_043.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0523363f33b97569efebc28e477b7940dab150e8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mjcf/eraser_043.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="eraser_043">
+  <asset>
+    <material name="material_0" texture="texture_0_eraser_043_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_eraser_043_geometry_Looks_material_0" type="2d" file="mesh/eraser_043_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/eraser_043.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/eraser_043_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/eraser_043_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="eraser_043">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_1" 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/4ba916f93ee7513398003a1ad30d50c6/mjcf/mesh/eraser_043.obj b/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mjcf/mesh/eraser_043.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dde3b8f71b953b77d6e7abf8f96e447b7f8943e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mjcf/mesh/eraser_043.obj
@@ -0,0 +1,113854 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_043_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mjcf/mesh/eraser_043_collision.obj b/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mjcf/mesh/eraser_043_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a79f6e89d3373baa8a90ee9a3965a758847fcec5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mjcf/mesh/eraser_043_collision.obj
@@ -0,0 +1,3835 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mjcf/mesh/eraser_043_collision_0.obj b/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mjcf/mesh/eraser_043_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90930ad4f1b70a341f963515c8dd11d13903db32
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mjcf/mesh/eraser_043_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mjcf/mesh/eraser_043_collision_1.obj b/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mjcf/mesh/eraser_043_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9612317849584de6692ae7f1bf9ce6501ec83c27
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4ba916f93ee7513398003a1ad30d50c6/mjcf/mesh/eraser_043_collision_1.obj
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