diff --git a/.gitattributes b/.gitattributes
index 2d8617b7a6c77b666bf2de6f90dbca244c47d96f..fb7fe9154263ae9b33a13d60f738fbcb8bc4c3b8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3292,3 +3292,5 @@ dataset/desktop_supplies/office_stationery/f2fd29c97f43540db1691502d4c89199/mesh
 dataset/desktop_supplies/office_stationery/f51a7c0b35515dca8e547665d3586545/marker_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/f51a7c0b35515dca8e547665d3586545/mesh/marker_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/f75ded4719895e249f873bc92917ba75.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/eraser_010.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mesh/eraser_010.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/eraser_010.urdf b/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/eraser_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ed36065ebd1eeed04ce0bc2cb905ea56767baee7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/eraser_010.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="eraser_010">
+   <link name="eraser_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/eraser_010.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_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.90</mu1>
+            <mu2>0.70</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>f8a91c3557275283bba85fed2dd92f05</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>eraser</category>
+         <name>rectangular eraser</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>rubber</material>
+         <description>gray rectangular eraser with rounded edges and printed text</description>
+         <min_height>0.0165</min_height>
+         <max_height>0.0165</max_height>
+         <real_height>0.0165</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427232654</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>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/f8a91c3557275283bba85fed2dd92f05/eraser_010.usd b/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/eraser_010.usd
new file mode 100644
index 0000000000000000000000000000000000000000..2ad30c8b094a7ee2106b8e423d53d82b36cb4d59
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/eraser_010.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18a48de235ae548bfc394bdb9e8fb3eba0b248d0d9148addfd493662144a3590
+size 4043307
diff --git a/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mesh/eraser_010.glb b/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mesh/eraser_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ed547def8ebbd83adbf1894ba91ba6a5e0643b9b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mesh/eraser_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c45e70cce1fc283a74e7d8e81e9f0513f0719b6dd2494f7604047e086489c398
+size 9108396
diff --git a/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mesh/eraser_010.mtl b/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mesh/eraser_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2a83c1045f0213e12fb7ce40204d67746f4bfe5e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mesh/eraser_010.mtl
@@ -0,0 +1,6 @@
+newmtl eraser_010_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/f8a91c3557275283bba85fed2dd92f05/mesh/eraser_010.obj b/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mesh/eraser_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93e461504e940032818874ec6cffda7629975441
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mesh/eraser_010.obj
@@ -0,0 +1,103712 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_010_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mesh/eraser_010_collision.obj b/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mesh/eraser_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30b8923d0207f84d8723defb45112eb6925cce9f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mesh/eraser_010_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mesh/eraser_010_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mesh/eraser_010_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..444f893134e567f2492673ab67194f6e3c6bcd14
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mesh/eraser_010_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f99c4b39768ac80b456dbbdaccdc60fef1023f596ef398eb844be332eca37c61
+size 7159646
diff --git a/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b5b56f6bb24484116015dbbabb23f62b7d06875a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl eraser_010_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_010_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..444f893134e567f2492673ab67194f6e3c6bcd14
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f99c4b39768ac80b456dbbdaccdc60fef1023f596ef398eb844be332eca37c61
+size 7159646
diff --git a/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mjcf/eraser_010.xml b/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mjcf/eraser_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..14dc43328040ecd557ba88b44ad9db2ff3a4dc5c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mjcf/eraser_010.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="eraser_010">
+  <asset>
+    <material name="material_0" texture="texture_0_eraser_010_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_eraser_010_geometry_Looks_material_0" type="2d" file="mesh/eraser_010_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/eraser_010.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/eraser_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="eraser_010">
+      <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/f8a91c3557275283bba85fed2dd92f05/mjcf/mesh/eraser_010.obj b/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mjcf/mesh/eraser_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5cd8584dfef365402fa959129af4e37b33261d7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mjcf/mesh/eraser_010.obj
@@ -0,0 +1,103712 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_010_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mjcf/mesh/eraser_010_collision.obj b/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mjcf/mesh/eraser_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12e8025466e45f048e4c523fa96a6fd91bc661dc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mjcf/mesh/eraser_010_collision.obj
@@ -0,0 +1,2494 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mjcf/mesh/eraser_010_collision_0.obj b/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mjcf/mesh/eraser_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12e8025466e45f048e4c523fa96a6fd91bc661dc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mjcf/mesh/eraser_010_collision_0.obj
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