diff --git a/.gitattributes b/.gitattributes
index 9506ca6ce344f987136d3880eeb48827473bd654..58d8743f47517840384c76cb5c32d91e28f3b186 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3224,3 +3224,5 @@ dataset/desktop_supplies/office_stationery/aa3b60f04bbc5f628117a21c078e7b2e/glue
 dataset/desktop_supplies/office_stationery/aa3b60f04bbc5f628117a21c078e7b2e/mesh/glue_stick_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/aa09b94522e2576a9c2d08dfdc9667c5/mesh/pen_holder_029.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/aa09b94522e2576a9c2d08dfdc9667c5/pen_holder_029.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/eraser_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mesh/eraser_015.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/eraser_015.urdf b/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/eraser_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6f2d0a568c6926eaacbb4a4c9bee3510787da8bd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/eraser_015.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="eraser_015">
+   <link name="eraser_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/eraser_015.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_015_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>ac5a18a59fc65feea42dd517f8d923d7</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>eraser</category>
+         <name>sleeve eraser</name>
+         <color>brown,white</color>
+         <shape>cuboid</shape>
+         <material>rubber</material>
+         <description>brown rectangular eraser with white paper sleeve and printed labels</description>
+         <min_height>0.0115</min_height>
+         <max_height>0.0115</max_height>
+         <real_height>0.0115</real_height>
+         <min_mass>0.015</min_mass>
+         <max_mass>0.035</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518175229</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.022504 -0.011143 -0.005753</min>
+            <max>0.022496 0.011117 0.005760</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>9</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/eraser_015.usd b/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/eraser_015.usd
new file mode 100644
index 0000000000000000000000000000000000000000..12efbb32ec6c556a0b3bfaebc8f0ee41322af4f7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/eraser_015.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a27a3df3b7c0e12de6cb43dfed58cc7c1d35d26037de790535db8b0b916883a3
+size 4788913
diff --git a/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mesh/eraser_015.glb b/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mesh/eraser_015.glb
new file mode 100644
index 0000000000000000000000000000000000000000..740e653387fc6e7fced271ccef2c27c0797ad54a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mesh/eraser_015.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52f08ef463b8c24ea7de3cc05cbec10deb4c5f53d095fab676bfd543fb0cc952
+size 14545004
diff --git a/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mesh/eraser_015.mtl b/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mesh/eraser_015.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8155033e6add7a9ff9e5b77361e9b232e6d16433
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mesh/eraser_015.mtl
@@ -0,0 +1,6 @@
+newmtl eraser_015_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/ac5a18a59fc65feea42dd517f8d923d7/mesh/eraser_015.obj b/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mesh/eraser_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..975143937755b23da4fb77b06c90bdfc95d2ddc7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mesh/eraser_015.obj
@@ -0,0 +1,113030 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_015_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mesh/eraser_015_collision.obj b/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mesh/eraser_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42136f0eac1c978dd5b073578bd26719d65f8b3a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mesh/eraser_015_collision.obj
@@ -0,0 +1,5100 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mesh/eraser_015_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mesh/eraser_015_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2f930d61f9086a13dc7e2a6b79bc18de3382fa5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mesh/eraser_015_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:648b62261b9663b51e665d8a016deda7f41cc9f6d629b0608bc7ed61f521f90a
+size 11420526
diff --git a/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a2825b58566990696ab6dba31dde9af36b248181
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl eraser_015_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_015_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2f930d61f9086a13dc7e2a6b79bc18de3382fa5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:648b62261b9663b51e665d8a016deda7f41cc9f6d629b0608bc7ed61f521f90a
+size 11420526
diff --git a/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mjcf/eraser_015.xml b/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mjcf/eraser_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..02cdbfaf3d68800f2f45fe4259ab00f0a403a614
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mjcf/eraser_015.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="eraser_015">
+  <asset>
+    <material name="material_0" texture="texture_0_eraser_015_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_eraser_015_geometry_Looks_material_0" type="2d" file="mesh/eraser_015_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/eraser_015.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/eraser_015_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="eraser_015">
+      <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/ac5a18a59fc65feea42dd517f8d923d7/mjcf/mesh/eraser_015.obj b/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mjcf/mesh/eraser_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13b73a1fb578a3673ddf07cf130550eed2a34776
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mjcf/mesh/eraser_015.obj
@@ -0,0 +1,113030 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_015_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mjcf/mesh/eraser_015_collision.obj b/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mjcf/mesh/eraser_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..279237b926be24e3b88cbe1c0b967389de0e7bbd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mjcf/mesh/eraser_015_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mjcf/mesh/eraser_015_collision_0.obj b/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mjcf/mesh/eraser_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..279237b926be24e3b88cbe1c0b967389de0e7bbd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ac5a18a59fc65feea42dd517f8d923d7/mjcf/mesh/eraser_015_collision_0.obj
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