diff --git a/.gitattributes b/.gitattributes
index 69c50c9bbe9d7132901c3ac182e6399ed626efa9..14ff74078025bb79c7347ed59924c5d3abf1a737 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3086,3 +3086,5 @@ dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/shar
 dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/mesh/notebook_030.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/12d68d6860575dab88fa805ad1b2ea19/notebook_030.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/1695ee4d1917544cb55ab8477ede5060/1695ee4d1917544cb55ab8477ede5060.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/eraser_049.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mesh/eraser_049.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/eraser_049.urdf b/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/eraser_049.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..93869df80c320cfb7bc6a4ecc5485f54397aefa9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/eraser_049.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="eraser_049">
+   <link name="eraser_049">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/eraser_049.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_049_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>1.10</mu1>
+            <mu2>0.90</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>10d50416883f55e19dcff05dd01bb24d</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>eraser</category>
+         <name>mitsubishi eraser</name>
+         <color>white,black</color>
+         <shape>cuboid</shape>
+         <material>rubber</material>
+         <description>white rectangular eraser with printed mitsubishi logo and sleeve</description>
+         <min_height>0.0111</min_height>
+         <max_height>0.0111</max_height>
+         <real_height>0.0111</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611143200</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.008164 -0.020625 -0.005357</min>
+            <max>0.008172 0.019375 0.005730</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>13</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/10d50416883f55e19dcff05dd01bb24d/eraser_049.usd b/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/eraser_049.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e157a426fcadd46f28a0382a8f5b0be999fda22d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/eraser_049.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07e5ae83a3647d0620a332e48a1e6a9fd9eabd0ec7e62fcd3de0c1b781128a06
+size 4569736
diff --git a/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mesh/eraser_049.glb b/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mesh/eraser_049.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b6600d7f29a9d45b19bc25df53c2f5d34ea1de6a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mesh/eraser_049.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2982f90492004c5a488602dab48ab21ef5be1fc2b4dbff7d82fea015d755525e
+size 12274712
diff --git a/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mesh/eraser_049.mtl b/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mesh/eraser_049.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc9bd1629b550059dcb2b60233d01228148a330e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mesh/eraser_049.mtl
@@ -0,0 +1,6 @@
+newmtl eraser_049_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/10d50416883f55e19dcff05dd01bb24d/mesh/eraser_049.obj b/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mesh/eraser_049.obj
new file mode 100644
index 0000000000000000000000000000000000000000..070b9aeeeabd4634a7cfa722508ed654d4d92a4f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mesh/eraser_049.obj
@@ -0,0 +1,111072 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_049_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mesh/eraser_049_collision.obj b/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mesh/eraser_049_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02ae0c2feb4b3cbd1bad9b7e996eb4072600dbf7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mesh/eraser_049_collision.obj
@@ -0,0 +1,2073 @@
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diff --git a/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mesh/eraser_049_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mesh/eraser_049_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1787e80c4ca4c1574f8ca4b091c310aa868b7b26
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mesh/eraser_049_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09478480a829142b879548b10cf7375d62f8e6fe880042a810c89671d7fa42f1
+size 9422595
diff --git a/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a10facfa7cc437fd23d451856a9a747007f2bbdb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl eraser_049_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_049_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1787e80c4ca4c1574f8ca4b091c310aa868b7b26
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09478480a829142b879548b10cf7375d62f8e6fe880042a810c89671d7fa42f1
+size 9422595
diff --git a/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mjcf/eraser_049.xml b/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mjcf/eraser_049.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6e7f751b0ff4cf4511cd81abf661ced66333c6d4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mjcf/eraser_049.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="eraser_049">
+  <asset>
+    <material name="material_0" texture="texture_0_eraser_049_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_eraser_049_geometry_Looks_material_0" type="2d" file="mesh/eraser_049_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/eraser_049.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/eraser_049_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="eraser_049">
+      <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/10d50416883f55e19dcff05dd01bb24d/mjcf/mesh/eraser_049.obj b/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mjcf/mesh/eraser_049.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb1c7bd33b9722e592cdb3e8fbf4a3652a6d7588
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mjcf/mesh/eraser_049.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_049_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mjcf/mesh/eraser_049_collision.obj b/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mjcf/mesh/eraser_049_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be855cd23052db1627adec3c3485ccc347a7f84c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mjcf/mesh/eraser_049_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mjcf/mesh/eraser_049_collision_0.obj b/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mjcf/mesh/eraser_049_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be855cd23052db1627adec3c3485ccc347a7f84c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/10d50416883f55e19dcff05dd01bb24d/mjcf/mesh/eraser_049_collision_0.obj
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