diff --git a/.gitattributes b/.gitattributes
index b4c2578a5cc0919d629728bc30a67fc0950a1466..814efd16eddfc418cd2073043dd8cf6812d4727e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3268,5 +3268,6 @@ dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/glue
 dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mesh/glue_stick_039.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/eraser_017.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mesh/eraser_017.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mesh/pen_holder_026.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/pen_holder_026.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/db6c371e4190515f88be34224bb600dc.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mesh/eraser.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mesh/eraser_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/db6c371e4190515f88be34224bb600dc.urdf b/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/db6c371e4190515f88be34224bb600dc.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..445b1dbbd51586012885f06b7fc57ba8d3f983ea
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/db6c371e4190515f88be34224bb600dc.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="eraser">
+   <link name="eraser">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/eraser.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/eraser_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</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>0.059575</scale>
+         <version>v0.1.7</version>
+         <category>eraser</category>
+         <description>rectangular red eraser with rounded edges</description>
+         <min_height>0.016</min_height>
+         <max_height>0.024</max_height>
+         <real_height>0.020</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <generate_time>20260117150655</generate_time>
+         <gs_model>mesh/eraser_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.948036193847656</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>1</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/db6c371e4190515f88be34224bb600dc.usd b/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/db6c371e4190515f88be34224bb600dc.usd
new file mode 100644
index 0000000000000000000000000000000000000000..69778d291c9692785d0b5a680cbe37c2e4947e02
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/db6c371e4190515f88be34224bb600dc.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:019ca7fdb7e7711cb853ada604b8809b7e7e3f13afeb7523a8a515d4e3b4596e
+size 340088
diff --git a/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mesh/eraser.glb b/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mesh/eraser.glb
new file mode 100644
index 0000000000000000000000000000000000000000..21a1fe5ce68dfa92879324de8ec77b0682bc5a76
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mesh/eraser.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71b13ecdeeff142d541a347e0424a80ed843f705e2916ffbfd5d72a2b6818325
+size 1424088
diff --git a/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mesh/eraser.obj b/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mesh/eraser.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1273b09c9198686501f684abf338456af0277ec0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mesh/eraser.obj
@@ -0,0 +1,20196 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mesh/eraser_collision.obj b/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mesh/eraser_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6043b96f3b2eb650104b72580beafc597fa847cd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mesh/eraser_collision.obj
@@ -0,0 +1,6993 @@
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diff --git a/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mesh/eraser_gs.ply b/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mesh/eraser_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d581666e1dec44e29c5b495d0c0cd19b9b43f74a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mesh/eraser_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e95342c347adcde7626dc040f2d96dbf89a6be912fb36fba8523d202eecffb8
+size 4255465
diff --git a/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..018ad6e333e13840a826a1874d68390c837b69a2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e950869421f49c3d28ecf50019620e487035fd412c0f59c6d46897687e2858b9
+size 1201083
diff --git a/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mjcf/db6c371e4190515f88be34224bb600dc.xml b/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mjcf/db6c371e4190515f88be34224bb600dc.xml
new file mode 100644
index 0000000000000000000000000000000000000000..906dbce1d18c03d6b3ea8b2823f16cb2b4772db4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mjcf/db6c371e4190515f88be34224bb600dc.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="eraser">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/eraser.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/eraser_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="eraser">
+      <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/db6c371e4190515f88be34224bb600dc/mjcf/mesh/eraser.obj b/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mjcf/mesh/eraser.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03a0db7ba45f9982a0acc2b10f85a6d6e2f5c602
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mjcf/mesh/eraser.obj
@@ -0,0 +1,20196 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mjcf/mesh/eraser_collision.obj b/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mjcf/mesh/eraser_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afcd1b35aa2dfaf91c9968743faa7f82afefdf15
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mjcf/mesh/eraser_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mjcf/mesh/eraser_collision_0.obj b/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mjcf/mesh/eraser_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afcd1b35aa2dfaf91c9968743faa7f82afefdf15
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/db6c371e4190515f88be34224bb600dc/mjcf/mesh/eraser_collision_0.obj
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