diff --git a/.gitattributes b/.gitattributes
index b3d02afb7756255b5a80fdf92cddf680aaf94859..f2441ade77c7cdf6e7bca609ce0ac7cfd941cf62 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3121,5 +3121,5 @@ dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mesh
 dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/stapler_021.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/3a01781b4ae65d71b562c61765284afc/correction_tape_039.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/3a01781b4ae65d71b562c61765284afc/mesh/correction_tape_039.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/ballpoint_pen_040.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/3c3217b3f4945ab3b4817a24a814c72b/mesh/ballpoint_pen_040.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/eraser_006.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mesh/eraser_006.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/eraser_006.urdf b/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/eraser_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e2bcc70ad7dd00772c655759a41895d4abf1cf11
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/eraser_006.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="eraser_006">
+   <link name="eraser_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/eraser_006.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_006_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>3acb3cfef5715deb87eae519968bec45</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>eraser</category>
+         <name>rectangular eraser</name>
+         <color>orange</color>
+         <shape>cuboid</shape>
+         <material>rubber</material>
+         <description>rectangular eraser with smooth surface and printed design</description>
+         <min_height>0.0114</min_height>
+         <max_height>0.0114</max_height>
+         <real_height>0.0114</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427232546</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_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/3acb3cfef5715deb87eae519968bec45/eraser_006.usd b/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/eraser_006.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0c9032433736b72f05049fd6e079a8ef01c05306
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/eraser_006.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68b754e118bf3862fe70a4352466a894872d5ae08edb1f3e1118c63530ff387c
+size 4414272
diff --git a/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mesh/eraser_006.glb b/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mesh/eraser_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..43493e02b8cc374049231313de5189a134e65b4f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mesh/eraser_006.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:271f1f2a186a7f93f91b1a336e0a323cebbf9494ebb462b547f431d820868e15
+size 11110048
diff --git a/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mesh/eraser_006.mtl b/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mesh/eraser_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b0fd08afc7f6ac8e829599acd3084f918cfd661a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mesh/eraser_006.mtl
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+newmtl eraser_006_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/3acb3cfef5715deb87eae519968bec45/mesh/eraser_006.obj b/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mesh/eraser_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7d47258e9bb5b9396bdad7d22c475ddaf635e92
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mesh/eraser_006.obj
@@ -0,0 +1,102798 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_006_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mesh/eraser_006_collision.obj b/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mesh/eraser_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02388df9c1da8f9f798189c802570599b174af60
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mesh/eraser_006_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mesh/eraser_006_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mesh/eraser_006_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..824e27c16a3cd23806dd7d5f15ad6adc8b6d222d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mesh/eraser_006_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7433b73231595200c8ca8b51d6431ee7d09430d5293a64883b8090ef1528d7d3
+size 8561032
diff --git a/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e79a39b4dba76cd6c23decb4ef941c6a67916559
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl eraser_006_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_006_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..824e27c16a3cd23806dd7d5f15ad6adc8b6d222d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7433b73231595200c8ca8b51d6431ee7d09430d5293a64883b8090ef1528d7d3
+size 8561032
diff --git a/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mjcf/eraser_006.xml b/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mjcf/eraser_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9ec1d2c447f9482dc86f5b5332f73c8f32afd098
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mjcf/eraser_006.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="eraser_006">
+  <asset>
+    <material name="material_0" texture="texture_0_eraser_006_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_eraser_006_geometry_Looks_material_0" type="2d" file="mesh/eraser_006_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/eraser_006.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/eraser_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="eraser_006">
+      <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/3acb3cfef5715deb87eae519968bec45/mjcf/mesh/eraser_006.obj b/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mjcf/mesh/eraser_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8fa8ca1801a1f5ac4e3540bc963790e04e7c4ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mjcf/mesh/eraser_006.obj
@@ -0,0 +1,102798 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_006_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mjcf/mesh/eraser_006_collision.obj b/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mjcf/mesh/eraser_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e868a28a74fc5ee17d8bfe27f80dbc314f94c6c8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mjcf/mesh/eraser_006_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mjcf/mesh/eraser_006_collision_0.obj b/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mjcf/mesh/eraser_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e868a28a74fc5ee17d8bfe27f80dbc314f94c6c8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3acb3cfef5715deb87eae519968bec45/mjcf/mesh/eraser_006_collision_0.obj
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