diff --git a/.gitattributes b/.gitattributes
index 493f61803f01df5a08df2b4f526a99c022de0103..c5f88636b5e33bcda40b2285484dd3b52d20b92a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3294,5 +3294,5 @@ dataset/desktop_supplies/office_stationery/f51a7c0b35515dca8e547665d3586545/mesh
dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/f75ded4719895e249f873bc92917ba75.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/eraser_010.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mesh/eraser_010.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mesh/pen_holder_031.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/pen_holder_031.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/glue_stick_032.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mesh/glue_stick_032.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/glue_stick_032.urdf b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/glue_stick_032.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5efef20538faa78497b0bc14768849a2ff615585
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diff --git a/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/glue_stick_032.usd b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/glue_stick_032.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/glue_stick_032.usd
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diff --git a/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mesh/glue_stick_032.glb b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mesh/glue_stick_032.glb
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mesh/glue_stick_032.glb
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diff --git a/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mesh/glue_stick_032.mtl b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mesh/glue_stick_032.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d738660200440ec80f7ea7f3197621020aeab836
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+++ b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mesh/glue_stick_032.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mesh/glue_stick_032.obj b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mesh/glue_stick_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e7b47761939f736fabb9f99c3bc6e8ec4c5a7c8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mesh/glue_stick_032.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mesh/glue_stick_032_collision.obj b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mesh/glue_stick_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..936622528987b21070e2dad0b4928ff3f4f3ffee
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mesh/glue_stick_032_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mesh/glue_stick_032_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mesh/glue_stick_032_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..53609524f120ded1a22bbbe8d98177819a5e09a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mesh/glue_stick_032_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76586ee0c5da378010ca0cc989009e273c98801dde012eeb952f2694f7b06bd7
+size 11910986
diff --git a/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d423861e810defe4613bc1338a0b49cb54644ddf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl glue_stick_032_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 glue_stick_032_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..53609524f120ded1a22bbbe8d98177819a5e09a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76586ee0c5da378010ca0cc989009e273c98801dde012eeb952f2694f7b06bd7
+size 11910986
diff --git a/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/glue_stick_032.xml b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/glue_stick_032.xml
new file mode 100644
index 0000000000000000000000000000000000000000..881331234d29ba0259e966bb3f9e47c5424a967d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/glue_stick_032.xml
@@ -0,0 +1,46 @@
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032.obj b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e61e5d9d36bfa5fb197d7bfb13e995cdfc7bafb6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032.obj
@@ -0,0 +1,113326 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glue_stick_032_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision.obj b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0956bcaf4bda74371c48bb111e3a02e7b090f1b9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision.obj
@@ -0,0 +1,11175 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_0.obj b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..165b7c3c390176010b4e9b117c95be9400e4bc1a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_1.obj b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b173914f597d820acb24fd07ee859a35bf4d54fd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_10.obj b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11d6352e18e0632e103fd109696cf24675adf8e7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_10.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_11.obj b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc4557a8a3e3290e44188ba9322ee93927c45ecb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_11.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_12.obj b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16cb5b9735088f35c35c5d8611ad14502ed39a7d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_12.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_13.obj b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..307b450fa9979f50121001adc059bee0122f4a02
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_13.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_14.obj b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e933d7c95d00bdff4a4a9403b40d736e0b5f4f0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_14.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_15.obj b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0538c61e5da1298d641e1cc120b72546bb9d518b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_15.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_2.obj b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9550fdb100cbf2b3e93918749a4eb36c323342a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_3.obj b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cefac920ede06be5091256a8ee78f183a3ebb2ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_4.obj b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..886153d4c18e98e6e4db47bd7c316a9d5adc3720
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_5.obj b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7591297b13c961877a2701e5fea4157a905113ef
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_6.obj b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06babb027129b07d4a09f24a07dfa5f8131a776b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_6.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_7.obj b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b369d051d2b21e2c038ee4fa9d960e3b34452bc7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_7.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_8.obj b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf5b95729933160558797d8b38182226cd33d51f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_8.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_9.obj b/dataset/desktop_supplies/office_stationery/f5fd7fe19f8f539097d27efef9233627/mjcf/mesh/glue_stick_032_collision_9.obj
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