diff --git a/.gitattributes b/.gitattributes
index c10232dd21f75f964eb1974078c40805db0f9707..12235ee96e1f5c83584a3ebe85b91065bca2ce81 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3226,5 +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
+dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/eraser_024.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mesh/eraser_024.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/eraser_024.urdf b/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/eraser_024.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1f8ea69d202e99609956d882c4c5af0447b02a06
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/eraser_024.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="eraser_024">
+   <link name="eraser_024">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/eraser_024.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_024_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>b516b591b89e511a93368b07551ba089</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>eraser</category>
+         <name>blue sleeve eraser</name>
+         <color>blue,gray</color>
+         <shape>cuboid</shape>
+         <material>rubber</material>
+         <description>rectangular gray eraser partly covered by blue paper sleeve</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>20260611142456</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.018289 -0.039303 -0.009902</min>
+            <max>0.018298 0.039946 0.010098</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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/b516b591b89e511a93368b07551ba089/eraser_024.usd b/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/eraser_024.usd
new file mode 100644
index 0000000000000000000000000000000000000000..119a2df4884339b397529c659fc13360d3a92d4c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/eraser_024.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cd403e31de946643f21ffe32f1e9b915bb30add7f49958cbceec2f04c72902f
+size 4681616
diff --git a/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mesh/eraser_024.glb b/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mesh/eraser_024.glb
new file mode 100644
index 0000000000000000000000000000000000000000..65000b69d3e7013c1aecd484a8e6bec0af37b06e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mesh/eraser_024.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:600a0a8833a84b28c559dd79de5c0947fa407dc77ad323b6259324a66b37fe12
+size 10563408
diff --git a/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mesh/eraser_024.mtl b/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mesh/eraser_024.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c27876132e6ad3c43fcb9f0d35a058a9ab773ad5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mesh/eraser_024.mtl
@@ -0,0 +1,6 @@
+newmtl eraser_024_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/b516b591b89e511a93368b07551ba089/mesh/eraser_024.obj b/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mesh/eraser_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47e65d7c9f401eba16ae751262296d52489589b1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mesh/eraser_024.obj
@@ -0,0 +1,103142 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_024_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mesh/eraser_024_collision.obj b/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mesh/eraser_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c48f78476962cafdef9f0f19407942424bcf0625
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mesh/eraser_024_collision.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mesh/eraser_024_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mesh/eraser_024_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..debd7cd8268abe7f175d602fe9a37590987b5b31
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mesh/eraser_024_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fd0531bfc77d96b8d8a8cf1d5f4f0c5c2fbd2fd0bb3b56e12c08e9ead526c32
+size 7594891
diff --git a/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..90d32a243f3b3912e3e82580d84b117222bf7f35
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl eraser_024_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_024_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..debd7cd8268abe7f175d602fe9a37590987b5b31
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fd0531bfc77d96b8d8a8cf1d5f4f0c5c2fbd2fd0bb3b56e12c08e9ead526c32
+size 7594891
diff --git a/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mjcf/eraser_024.xml b/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mjcf/eraser_024.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1feba6d47b55c3e420951d444d26697c9277b43b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mjcf/eraser_024.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="eraser_024">
+  <asset>
+    <material name="material_0" texture="texture_0_eraser_024_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_eraser_024_geometry_Looks_material_0" type="2d" file="mesh/eraser_024_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/eraser_024.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/eraser_024_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="eraser_024">
+      <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/b516b591b89e511a93368b07551ba089/mjcf/mesh/eraser_024.obj b/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mjcf/mesh/eraser_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d36617fc1e69c6e8a3749a3f5dae9e7d2b9cc01
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mjcf/mesh/eraser_024.obj
@@ -0,0 +1,103142 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_024_geometry_Looks_material_0
+v -0.015836 -0.038256 0.009037
+v -0.015836 -0.038256 0.009037
+v -0.015836 -0.038256 0.009037
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+v -0.015549 -0.038036 0.009205
+v -0.015314 -0.038140 0.009192
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diff --git a/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mjcf/mesh/eraser_024_collision.obj b/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mjcf/mesh/eraser_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40020be82c82724b652c8e081d3585a9409a2b2b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mjcf/mesh/eraser_024_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mjcf/mesh/eraser_024_collision_0.obj b/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mjcf/mesh/eraser_024_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40020be82c82724b652c8e081d3585a9409a2b2b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b516b591b89e511a93368b07551ba089/mjcf/mesh/eraser_024_collision_0.obj
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