diff --git a/.gitattributes b/.gitattributes
index 6a035638c3e2634f77d90fa41c7473a5e6eae0f6..9bbacbff950c58114021acb67521167f6e9c07cd 100644
--- a/.gitattributes
+++ b/.gitattributes
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dataset/desktop_supplies/office_stationery/159fc3e5c87f5cc99deff6587d85373c/eraser_023.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/159fc3e5c87f5cc99deff6587d85373c/mesh/eraser_023.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/eraser_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/mesh/eraser_020.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/eraser_020.urdf b/dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/eraser_020.urdf
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/mesh/eraser_020_collision.obj b/dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/mesh/eraser_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a48611302646d672d40e8173572e6422dd60c4b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/mesh/eraser_020_collision.obj
@@ -0,0 +1,2397 @@
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diff --git a/dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/mesh/eraser_020_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/mesh/eraser_020_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..13dc73863188d034eae2a573d94fea8f2413d956
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/mesh/eraser_020_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2aaa6efd0c029db14bef0e67484e9d1d62436fdba63059ad488215883005779
+size 10472099
diff --git a/dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..82329c9610e4543448961dcd1a6bf335a24b6b58
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl eraser_020_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_020_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..13dc73863188d034eae2a573d94fea8f2413d956
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2aaa6efd0c029db14bef0e67484e9d1d62436fdba63059ad488215883005779
+size 10472099
diff --git a/dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/mjcf/eraser_020.xml b/dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/mjcf/eraser_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..74a8424c26d0c6067fd37bf5bfe2d55a020fabd2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/mjcf/eraser_020.xml
@@ -0,0 +1,16 @@
+
+
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+
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+
+
+
+
+
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/mjcf/mesh/eraser_020.obj b/dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/mjcf/mesh/eraser_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1d5908f016b716a5ef40add46aaec7694d33953
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/mjcf/mesh/eraser_020.obj
@@ -0,0 +1,104348 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_020_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/mjcf/mesh/eraser_020_collision.obj b/dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/mjcf/mesh/eraser_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9f8c4254f5e729be9d6ecae797b97cdf68b7235
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/mjcf/mesh/eraser_020_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/mjcf/mesh/eraser_020_collision_0.obj b/dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/mjcf/mesh/eraser_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9f8c4254f5e729be9d6ecae797b97cdf68b7235
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1e93875cf8a95c50a5bcbcf94f6d00aa/mjcf/mesh/eraser_020_collision_0.obj
@@ -0,0 +1,2395 @@
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