diff --git a/.gitattributes b/.gitattributes
index 6db54fa15ccf5912b13b7c4b7947ccb36f569e30..53a7477f3f642fd0f4413657c26ca0ca2f107b51 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3237,6 +3237,5 @@ dataset/desktop_supplies/office_stationery/ba53185544755f60afef8816707c2da2/note
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 dataset/desktop_supplies/office_stationery/c07d0cf9565f5750b6ff5ce58cafa5d5/c07d0cf9565f5750b6ff5ce58cafa5d5.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/c01bedfcda055b8e9c64afb060b9f37a.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/c202a5341c68593382acdb894c05e477/c202a5341c68593382acdb894c05e477.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/c202a5341c68593382acdb894c05e477/mesh/marker.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/c202a5341c68593382acdb894c05e477/mesh/marker_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/eraser_027.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mesh/eraser_027.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/eraser_027.urdf b/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/eraser_027.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..161128156fffc09729792496f613bb49780c9dba
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/eraser_027.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="eraser_027">
+   <link name="eraser_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/eraser_027.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_027_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>1.10</mu1>
+            <mu2>0.90</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <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>bbbc80e3afb859efac8b9d1f77b3819a</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>eraser</category>
+         <name>staedtler eraser</name>
+         <color>gray,white</color>
+         <shape>cuboid</shape>
+         <material>rubber</material>
+         <description>rectangular gray eraser in printed paper sleeve</description>
+         <min_height>0.0200</min_height>
+         <max_height>0.0200</max_height>
+         <real_height>0.0200</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611142531</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.018605 -0.039444 -0.010006</min>
+            <max>0.018610 0.039635 0.009994</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/bbbc80e3afb859efac8b9d1f77b3819a/eraser_027.usd b/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/eraser_027.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/eraser_027.usd
@@ -0,0 +1,3 @@
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+size 4871287
diff --git a/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mesh/eraser_027.glb b/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mesh/eraser_027.glb
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mesh/eraser_027.glb
@@ -0,0 +1,3 @@
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+size 15630064
diff --git a/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mesh/eraser_027.mtl b/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mesh/eraser_027.mtl
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mesh/eraser_027.mtl
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+newmtl eraser_027_geometry_Looks_material_0
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+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/bbbc80e3afb859efac8b9d1f77b3819a/mesh/eraser_027.obj b/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mesh/eraser_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e045b368f3612ebe0323f561e058463f8c93870
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mesh/eraser_027.obj
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diff --git a/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mesh/eraser_027_collision.obj b/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mesh/eraser_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9394ea26f69a9e40768332c5fce82ce8da3a906
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mesh/eraser_027_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mesh/eraser_027_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mesh/eraser_027_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4aa70a7e03b2559139cb5fb17b6d5200ceffa35e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mesh/eraser_027_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ad715b6b455395360ae2499ffe1dea47583e12c454ee8fc8095c35533f7d91c
+size 12378405
diff --git a/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0f5f733ee2fa806674865cfdef38ed049431861d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl eraser_027_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_027_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4aa70a7e03b2559139cb5fb17b6d5200ceffa35e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ad715b6b455395360ae2499ffe1dea47583e12c454ee8fc8095c35533f7d91c
+size 12378405
diff --git a/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mjcf/eraser_027.xml b/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mjcf/eraser_027.xml
new file mode 100644
index 0000000000000000000000000000000000000000..dc6dabdaca9b70cbbf0f833cbdfb11d537da3476
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mjcf/eraser_027.xml
@@ -0,0 +1,18 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="eraser_027">
+  <asset>
+    <material name="material_0" texture="texture_0_eraser_027_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_eraser_027_geometry_Looks_material_0" type="2d" file="mesh/eraser_027_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/eraser_027.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/eraser_027_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/eraser_027_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="eraser_027">
+      <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/bbbc80e3afb859efac8b9d1f77b3819a/mjcf/mesh/eraser_027.obj b/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mjcf/mesh/eraser_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ed7dce95cf016f88231e14f5be1c5f92c9e14b8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mjcf/mesh/eraser_027.obj
@@ -0,0 +1,123722 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_027_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mjcf/mesh/eraser_027_collision.obj b/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mjcf/mesh/eraser_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..309bece32f5666e792bbf378251ab1e46fff45c4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mjcf/mesh/eraser_027_collision.obj
@@ -0,0 +1,1018 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mjcf/mesh/eraser_027_collision_0.obj b/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mjcf/mesh/eraser_027_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b99e9b5310e72af5706dd06b7a20f6abbd086b37
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mjcf/mesh/eraser_027_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mjcf/mesh/eraser_027_collision_1.obj b/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mjcf/mesh/eraser_027_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c20b7aa7ce38872bc5e74f9c43b60491706881a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bbbc80e3afb859efac8b9d1f77b3819a/mjcf/mesh/eraser_027_collision_1.obj
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