diff --git a/.gitattributes b/.gitattributes
index 4e6042d31016554468ce2a51787d1dfec2f8f997..c4bb65b56bb5abe22d180b2487cd9e629b4d0d4e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3189,5 +3189,5 @@ dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/ball
 dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh/ballpoint_pen_034.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/8412916f3ae6508cbd1065fbc9cbcc61/8412916f3ae6508cbd1065fbc9cbcc61.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/86a44f5aa5ee59d69cbe0f44baacdf11.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/marker_027.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/88a230bd2e045e30b2cdf5fe94b5bcae/mesh/marker_027.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/eraser_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mesh/eraser_002.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/eraser_002.urdf b/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/eraser_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..51e586f70288101e222ca7aa42896a2811fd25f9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/eraser_002.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="eraser_002">
+   <link name="eraser_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/eraser_002.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_002_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>86b7d9fd65b25edcbb9090daa12257e0</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>eraser</category>
+         <name>rectangular eraser</name>
+         <color>white,red</color>
+         <shape>cuboid</shape>
+         <material>rubber</material>
+         <description>rectangular eraser with printed text and smooth surface</description>
+         <min_height>0.0230</min_height>
+         <max_height>0.0230</max_height>
+         <real_height>0.0230</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427232437</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>2</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/86b7d9fd65b25edcbb9090daa12257e0/eraser_002.usd b/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/eraser_002.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e159514b0c374923f7b33f8687136cdc7f723e55
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/eraser_002.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:582f8c886edde7c5e9f3f37274d4236cf6c5d2cd3c87bc659d307a23a2dc1b2b
+size 4674514
diff --git a/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mesh/eraser_002.glb b/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mesh/eraser_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9d29f57f8c8b34929bee62fe82178ddbd227da28
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mesh/eraser_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b630c78f318fca6bdb84940fc3813457f6eaf22e26e5da8ec0adc46c03f20fa9
+size 15294060
diff --git a/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mesh/eraser_002.mtl b/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mesh/eraser_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7ecacd535d322d143aeda67253f32d33cebb0500
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mesh/eraser_002.mtl
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+newmtl eraser_002_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/86b7d9fd65b25edcbb9090daa12257e0/mesh/eraser_002.obj b/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mesh/eraser_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e6443dc54260887f05cb22bcf3db988576be245
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mesh/eraser_002.obj
@@ -0,0 +1,109942 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_002_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mesh/eraser_002_collision.obj b/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mesh/eraser_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5351b469fa03188e4ee340a10bb008fdd2fcb7e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mesh/eraser_002_collision.obj
@@ -0,0 +1,2800 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mesh/eraser_002_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mesh/eraser_002_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f1988b180db3fd74a9bff779671362821e4d055
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mesh/eraser_002_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97aeca17cb383bf2eb51702aa033dd1245b49062d73bc0151416ed120cdaac24
+size 12208917
diff --git a/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..36e30ab7430d31a19e0a03c1b303cc38293b3c6b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl eraser_002_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_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f1988b180db3fd74a9bff779671362821e4d055
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97aeca17cb383bf2eb51702aa033dd1245b49062d73bc0151416ed120cdaac24
+size 12208917
diff --git a/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mjcf/eraser_002.xml b/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mjcf/eraser_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e8fe89e73bc149794df02d08f32b7afde374fd49
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mjcf/eraser_002.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="eraser_002">
+  <asset>
+    <material name="material_0" texture="texture_0_eraser_002_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_eraser_002_geometry_Looks_material_0" type="2d" file="mesh/eraser_002_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/eraser_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/eraser_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/eraser_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="eraser_002">
+      <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/86b7d9fd65b25edcbb9090daa12257e0/mjcf/mesh/eraser_002.obj b/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mjcf/mesh/eraser_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd6e3b600ec0f26c80e5dd837096dfe143556075
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mjcf/mesh/eraser_002.obj
@@ -0,0 +1,109942 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_002_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mjcf/mesh/eraser_002_collision.obj b/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mjcf/mesh/eraser_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14ae59d277058be21c8d55c08abbf4a9763cc1ef
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mjcf/mesh/eraser_002_collision.obj
@@ -0,0 +1,2800 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mjcf/mesh/eraser_002_collision_0.obj b/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mjcf/mesh/eraser_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f3683da0709272e59d97e287fdfe1a28ae546c9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mjcf/mesh/eraser_002_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mjcf/mesh/eraser_002_collision_1.obj b/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mjcf/mesh/eraser_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3f0b083cfb9ef6a3166f15af18d3643de24c39c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mjcf/mesh/eraser_002_collision_1.obj
@@ -0,0 +1,1354 @@
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@@ -0,0 +1,3 @@
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