diff --git a/.gitattributes b/.gitattributes
index db7f3c33055eb0af730e11d97929d445a8910c6a..d2c60a111b7df4560adc222f236c789c5e1cc7c5 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3105,5 +3105,6 @@ dataset/desktop_supplies/office_stationery/25a6ff2a66315c9680f240b1de65f146/mesh
 dataset/desktop_supplies/office_stationery/29c2c8c0f19555cc97b7f683ca821492/29c2c8c0f19555cc97b7f683ca821492.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/29c2c8c0f19555cc97b7f683ca821492/mesh/marker.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/29c2c8c0f19555cc97b7f683ca821492/mesh/marker_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/correction_tape_032.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mesh/correction_tape_032.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/220060ac5daf5ce1bbb985e886032214.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mesh/eraser.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mesh/eraser_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/220060ac5daf5ce1bbb985e886032214.urdf b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/220060ac5daf5ce1bbb985e886032214.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bee04dc258394988648cae5e5c21903df3d133ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/220060ac5daf5ce1bbb985e886032214.urdf
@@ -0,0 +1,58 @@
+<?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="0.1000" />
+         <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>0.114408</scale>
+         <version>v0.1.7</version>
+         <category>eraser</category>
+         <description>rectangular yellow eraser with curved edges</description>
+         <min_height>0.016</min_height>
+         <max_height>0.032</max_height>
+         <real_height>0.024</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.15</max_mass>
+         <generate_time>20260117151221</generate_time>
+         <gs_model>mesh/eraser_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.222519874572754</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/220060ac5daf5ce1bbb985e886032214.usd b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/220060ac5daf5ce1bbb985e886032214.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f31cb34a484a374529ade1c9e2d5c23a5a31cc5e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/220060ac5daf5ce1bbb985e886032214.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6171794d23456c20fbe9efa5c28f4bb584be62ed67ce52e82e858df3bbc98a16
+size 278693
diff --git a/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mesh/eraser.glb b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mesh/eraser.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2e7060bc98d815f988c6a73d4d239e006226c5f2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mesh/eraser.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ced31a13317b32bdc9ae9403f255e9816dbf9457ac832d209a947626dea7226d
+size 1039288
diff --git a/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mesh/eraser.obj b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mesh/eraser.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6255bd31a809a390217bc11b5994acfa8dc759df
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mesh/eraser.obj
@@ -0,0 +1,16644 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mesh/eraser_collision.obj b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mesh/eraser_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..971939db3ea187e9e793e89c1a1e1709da30adda
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mesh/eraser_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mesh/eraser_gs.ply b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mesh/eraser_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ac8bc0049410eaaf6677cb0b0dd65b7eeac338cf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mesh/eraser_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b08cb8a993a1c608163c2cd76a630f8f6cf477b50461173021712de045d56326
+size 3315785
diff --git a/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/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/220060ac5daf5ce1bbb985e886032214/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..87f39cae52bfff7cb05ff15e137c43b6da5a97eb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d2b93fb6d5eb500d33efc60a71231f096a7ff06da4e488985391dc49c2561e9
+size 855653
diff --git a/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mjcf/220060ac5daf5ce1bbb985e886032214.xml b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mjcf/220060ac5daf5ce1bbb985e886032214.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4ac300180831a0ab7326f0a67df01ba4211fea32
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mjcf/220060ac5daf5ce1bbb985e886032214.xml
@@ -0,0 +1,26 @@
+<?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" />
+    <mesh name="collision_mesh_0_1" file="mesh/eraser_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/eraser_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/eraser_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/eraser_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/eraser_collision_5.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" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" 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/220060ac5daf5ce1bbb985e886032214/mjcf/mesh/eraser.obj b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mjcf/mesh/eraser.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b2fad778fd285df7d25ef14bb177d18d4d6bf18
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mjcf/mesh/eraser.obj
@@ -0,0 +1,16644 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.000396 -0.000178 -0.011725
+v 0.002682 0.004278 -0.011717
+v 0.003436 0.001636 -0.011716
+v 0.008524 0.000760 -0.011738
+v 0.005109 -0.004582 -0.011737
+v 0.002599 -0.001883 -0.011720
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diff --git a/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mjcf/mesh/eraser_collision.obj b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mjcf/mesh/eraser_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28209bb042fc839a4112ceda20a9ddd5d1c3e662
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mjcf/mesh/eraser_collision.obj
@@ -0,0 +1,8474 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mjcf/mesh/eraser_collision_0.obj b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mjcf/mesh/eraser_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3bc0e68da63ce8e5d4d0e7d32063ba6d89662a2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mjcf/mesh/eraser_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mjcf/mesh/eraser_collision_1.obj b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mjcf/mesh/eraser_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d289727efeef7d8e7d8da02498d17c71c38e010
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mjcf/mesh/eraser_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mjcf/mesh/eraser_collision_2.obj b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mjcf/mesh/eraser_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a511f29aba06c807afca6783ef0bd7853e5c96d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mjcf/mesh/eraser_collision_2.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mjcf/mesh/eraser_collision_3.obj b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mjcf/mesh/eraser_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..babc0b7c9e9af48535e4b78143d90f88487da3e6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mjcf/mesh/eraser_collision_3.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mjcf/mesh/eraser_collision_4.obj b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mjcf/mesh/eraser_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87121b9d950948b7c65107bb51fc5ad9e359caef
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mjcf/mesh/eraser_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mjcf/mesh/eraser_collision_5.obj b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mjcf/mesh/eraser_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07877f1053c9ec8bcbd64ba07382716b89e575e9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/220060ac5daf5ce1bbb985e886032214/mjcf/mesh/eraser_collision_5.obj
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