diff --git a/.gitattributes b/.gitattributes
index 85b5b1c7685b5e5707c40a8f045cbc09f74ca1df..1e537f7e77f24e55c19d2c70c11b043050e0a146 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3220,5 +3220,5 @@ dataset/desktop_supplies/office_stationery/a90ec868cc0951e99fb6118a41aab433/stap
 dataset/desktop_supplies/office_stationery/ab6e955616c85cfd9c89b0856f43e4dd/ab6e955616c85cfd9c89b0856f43e4dd.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/ab6e955616c85cfd9c89b0856f43e4dd/mesh/pen.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/ab6e955616c85cfd9c89b0856f43e4dd/mesh/pen_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/ac09bfe50f4c52ee8c5734e048fb4568/eraser_030.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/ac09bfe50f4c52ee8c5734e048fb4568/mesh/eraser_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/eraser_042.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mesh/eraser_042.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/eraser_042.urdf b/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/eraser_042.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..07dea79c503bc41dfcdc7c4a750dc38f2ceafb4b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/eraser_042.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="eraser_042">
+   <link name="eraser_042">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/eraser_042.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_042_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>ab06fe33cf9d50199929c403c7983632</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>eraser</category>
+         <name>kokuyo eraser</name>
+         <color>gray,blue</color>
+         <shape>cuboid</shape>
+         <material>rubber</material>
+         <description>gray rectangular eraser with blue kokuyo logo and sleeve</description>
+         <min_height>0.0131</min_height>
+         <max_height>0.0131</max_height>
+         <real_height>0.0131</real_height>
+         <min_mass>0.015</min_mass>
+         <max_mass>0.035</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611143021</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.010247 -0.019680 -0.006565</min>
+            <max>0.010240 0.020320 0.006560</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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/ab06fe33cf9d50199929c403c7983632/eraser_042.usd b/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/eraser_042.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f5313779bd7563e807fda534d099448139d98324
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/eraser_042.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:111179f31abe98500c691c2a758d368714cf10514631562a2b9a151478bf382b
+size 4619849
diff --git a/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mesh/eraser_042.glb b/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mesh/eraser_042.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c92c5d7661ff9af603871a554735b9d24698f005
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mesh/eraser_042.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e259aa493a3ae8c36a36895e4043032af315baf9d12561e873fbe0110a51a1b
+size 12399732
diff --git a/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mesh/eraser_042.mtl b/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mesh/eraser_042.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d2705eafbfc41d4b7525f5ce83cc63fbe2c332a5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mesh/eraser_042.mtl
@@ -0,0 +1,6 @@
+newmtl eraser_042_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/ab06fe33cf9d50199929c403c7983632/mesh/eraser_042.obj b/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mesh/eraser_042.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2886d3d9ec3bc4880a87ec2eabed813fe64cfbb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mesh/eraser_042.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_042_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mesh/eraser_042_collision.obj b/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mesh/eraser_042_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..079d2c7886bad57eff535c94e365b726fbd4b302
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mesh/eraser_042_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mesh/eraser_042_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mesh/eraser_042_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..36917d89bd695351aa96605dc628fa15da95e34a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mesh/eraser_042_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:018abdd816d74325cef8bfac22524ac08803368e97a943e0592fe4a0b11524eb
+size 9539673
diff --git a/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9212cc6fd60cfa4f90f6d7b0b34e4418fc218400
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl eraser_042_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_042_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..36917d89bd695351aa96605dc628fa15da95e34a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:018abdd816d74325cef8bfac22524ac08803368e97a943e0592fe4a0b11524eb
+size 9539673
diff --git a/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mjcf/eraser_042.xml b/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mjcf/eraser_042.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7ba4577fc8546be5f5bcd596558f6a7479a3db64
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mjcf/eraser_042.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="eraser_042">
+  <asset>
+    <material name="material_0" texture="texture_0_eraser_042_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_eraser_042_geometry_Looks_material_0" type="2d" file="mesh/eraser_042_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/eraser_042.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/eraser_042_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="eraser_042">
+      <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/ab06fe33cf9d50199929c403c7983632/mjcf/mesh/eraser_042.obj b/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mjcf/mesh/eraser_042.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44cca4c9ab2867d980e937a2efaa81791b517a2a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mjcf/mesh/eraser_042.obj
@@ -0,0 +1,110476 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_042_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mjcf/mesh/eraser_042_collision.obj b/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mjcf/mesh/eraser_042_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0f8bd0e972687834aa8710a6d1fcc2f63ac2f0c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mjcf/mesh/eraser_042_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mjcf/mesh/eraser_042_collision_0.obj b/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mjcf/mesh/eraser_042_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0f8bd0e972687834aa8710a6d1fcc2f63ac2f0c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ab06fe33cf9d50199929c403c7983632/mjcf/mesh/eraser_042_collision_0.obj
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