diff --git a/.gitattributes b/.gitattributes
index 4cfae25d23206acbd0b9d2eeb30d29e13650d17d..e9f8566872684c8fd61e268eca75091c3d55e71f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3115,13 +3115,5 @@ dataset/desktop_supplies/office_stationery/2da7165c96f654c4b2960ee9d0e8bd5f/corr
 dataset/desktop_supplies/office_stationery/2da7165c96f654c4b2960ee9d0e8bd5f/mesh/correction_tape_035.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/glue_stick_040.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mesh/glue_stick_040.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/eraser_004.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mesh/eraser_004.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/36d169bdcc7353c3bffa8295722dc653.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/3595795f8711538395de08027f1fa214/eraser_018.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/3595795f8711538395de08027f1fa214/mesh/eraser_018.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/3928ddf74cd553e48ab13907c6bb3fa9/3928ddf74cd553e48ab13907c6bb3fa9.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/3656004426b658169850d0078a4aca29/ballpoint_pen_001.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/3656004426b658169850d0078a4aca29/mesh/ballpoint_pen_001.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/correction_tape_013.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/37424638507851d08d37d7477da03ba9/mesh/correction_tape_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/eraser_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mesh/eraser_008.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/eraser_008.urdf b/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/eraser_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cc104aeaa808e2041129865388472075ca671f7c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/eraser_008.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="eraser_008">
+   <link name="eraser_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/eraser_008.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_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</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>35488e96e4565adeba9dbf2cb22e1a3a</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>eraser</category>
+         <name>packaged eraser</name>
+         <color>beige,red</color>
+         <shape>cuboid</shape>
+         <material>rubber</material>
+         <description>rectangular eraser with packaging and printed details</description>
+         <min_height>0.0203</min_height>
+         <max_height>0.0203</max_height>
+         <real_height>0.0203</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427232617</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>5</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/35488e96e4565adeba9dbf2cb22e1a3a/eraser_008.usd b/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/eraser_008.usd
new file mode 100644
index 0000000000000000000000000000000000000000..92f0741b0066360df3897529b41bbcb2576728f3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/eraser_008.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60648b736a2a9858e06537c3e06ded942d751707714df204b908c854bea37061
+size 4662046
diff --git a/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mesh/eraser_008.glb b/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mesh/eraser_008.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5d5f446ee7d7034fd041f601fe57e4e1e5209ac8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mesh/eraser_008.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44223a00e496b05d729a45e0a35fd5be94582cc8440ac59c47bf4ff7ba36e66d
+size 15809368
diff --git a/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mesh/eraser_008.mtl b/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mesh/eraser_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4a1b9f4ddb78f79c7b45217c1ee92f8069edd907
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mesh/eraser_008.mtl
@@ -0,0 +1,6 @@
+newmtl eraser_008_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/35488e96e4565adeba9dbf2cb22e1a3a/mesh/eraser_008.obj b/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mesh/eraser_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1261870c49585d300189511e7437ed55efe0c668
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mesh/eraser_008.obj
@@ -0,0 +1,112312 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_008_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mesh/eraser_008_collision.obj b/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mesh/eraser_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e1d4f588decc2ff77d34cc1345587b6c9d5d20e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mesh/eraser_008_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mesh/eraser_008_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mesh/eraser_008_geometry_Looks_material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
+oid sha256:a00b516f4108047cd8e84d61c9000de7015080cfbd712449f4de734fb4c951de
+size 12870550
diff --git a/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5d4848ab4f071a706ac0f533a0a7fdc575ea36e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl eraser_008_geometry_Looks_material_0
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+Ns 1.00000000
+map_Kd eraser_008_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:a00b516f4108047cd8e84d61c9000de7015080cfbd712449f4de734fb4c951de
+size 12870550
diff --git a/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mjcf/eraser_008.xml b/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mjcf/eraser_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ee446815741b90ffb29cb371608bdc96f5de2d0c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mjcf/eraser_008.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="eraser_008">
+  <asset>
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+    <texture name="texture_0_eraser_008_geometry_Looks_material_0" type="2d" file="mesh/eraser_008_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/eraser_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/eraser_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/eraser_008_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/eraser_008_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="eraser_008">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_2" 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/35488e96e4565adeba9dbf2cb22e1a3a/mjcf/mesh/eraser_008.obj b/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mjcf/mesh/eraser_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9439acfdf24f7b47cf077bf3fc34126630eaaa60
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mjcf/mesh/eraser_008.obj
@@ -0,0 +1,112312 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_008_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mjcf/mesh/eraser_008_collision.obj b/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mjcf/mesh/eraser_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d06736c452f05f66cd551eadbaf6c624f8f4e492
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mjcf/mesh/eraser_008_collision.obj
@@ -0,0 +1,2156 @@
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diff --git a/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mjcf/mesh/eraser_008_collision_0.obj b/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mjcf/mesh/eraser_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..237074244d558b8f2190fcacdcb19a889f99f69e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mjcf/mesh/eraser_008_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mjcf/mesh/eraser_008_collision_1.obj b/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mjcf/mesh/eraser_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f14fbdb037d9514910d232d2aea917e34fa84cf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mjcf/mesh/eraser_008_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mjcf/mesh/eraser_008_collision_2.obj b/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mjcf/mesh/eraser_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16bb40419588d8f45374114dd7cf867a0e034e2c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mjcf/mesh/eraser_008_collision_2.obj
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