diff --git a/.gitattributes b/.gitattributes
index e28a263452d0beef5f516b7a3694b7f7f9ac5b2f..bfb2e1e62e35a966032a04ce430eee5875dc6138 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3161,3 +3161,5 @@ dataset/desktop_supplies/office_stationery/744f195b77b35368a9506b4116b4b7bf/mark
 dataset/desktop_supplies/office_stationery/744f195b77b35368a9506b4116b4b7bf/mesh/marker_033.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mesh/sharpener_037.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/sharpener_037.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/eraser_035.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mesh/eraser_035.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/eraser_035.urdf b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/eraser_035.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e6856a261cfbc22c564424a583649783fd2f13b4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/eraser_035.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="eraser_035">
+   <link name="eraser_035">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/eraser_035.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_035_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>1.10</mu1>
+            <mu2>0.90</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>756effd1f1305f73a4eb11b5e35f7c68</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>eraser</category>
+         <name>character eraser</name>
+         <color>purple,black</color>
+         <shape>cuboid</shape>
+         <material>rubber</material>
+         <description>purple rectangular eraser with raised cartoon face and skull motifs</description>
+         <min_height>0.0561</min_height>
+         <max_height>0.0561</max_height>
+         <real_height>0.0561</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611142822</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.003388 -0.019990 -0.028501</min>
+            <max>0.007393 0.020010 0.027619</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>13</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/756effd1f1305f73a4eb11b5e35f7c68/eraser_035.usd b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/eraser_035.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/eraser_035.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f23202e5d6511bc3996a00a358fe74d67235bfbbcf68a92791a0a2db4b2f2089
+size 4862543
diff --git a/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mesh/eraser_035.glb b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mesh/eraser_035.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mesh/eraser_035.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 15468808
diff --git a/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mesh/eraser_035.mtl b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mesh/eraser_035.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..54e92f7650119fa5cf33049a7b324c03d6296f73
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mesh/eraser_035.mtl
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+newmtl eraser_035_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/756effd1f1305f73a4eb11b5e35f7c68/mesh/eraser_035.obj b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mesh/eraser_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6ac920e968760d9127f910665cdbcc83683374c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mesh/eraser_035.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mesh/eraser_035_collision.obj b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mesh/eraser_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..028ea5c2dfe44543db0b2d5c7af5d673940872ee
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mesh/eraser_035_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mesh/eraser_035_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mesh/eraser_035_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..622925f7c56386e09ab33e6573a117a80c7d650b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mesh/eraser_035_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b6071a313de47ffef9eadc750a0cb7002dd9e66251114766e72ffa6ac620f2f
+size 12208742
diff --git a/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbe59510b1573296465241d04f9617785f71379d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl eraser_035_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_035_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..622925f7c56386e09ab33e6573a117a80c7d650b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b6071a313de47ffef9eadc750a0cb7002dd9e66251114766e72ffa6ac620f2f
+size 12208742
diff --git a/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/eraser_035.xml b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/eraser_035.xml
new file mode 100644
index 0000000000000000000000000000000000000000..529cb07d71a2efd23ee7e4278e2954beed99bb01
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/eraser_035.xml
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="eraser_035">
+  <asset>
+    <material name="material_0" texture="texture_0_eraser_035_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_eraser_035_geometry_Looks_material_0" type="2d" file="mesh/eraser_035_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/eraser_035.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/eraser_035_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/eraser_035_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/eraser_035_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/eraser_035_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/eraser_035_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/eraser_035_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/eraser_035_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="eraser_035">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_6" 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/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035.obj b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17c7d89e77878e82696f7bbc0524a238263192bd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035.obj
@@ -0,0 +1,116742 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_035_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035_collision.obj b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35fa53f6ea7e31c447b7f58f2117fcb63405b6b1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035_collision.obj
@@ -0,0 +1,6681 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035_collision_0.obj b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c74548c5f840261f6c890426ccd25e2cc4e1e3c6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035_collision_1.obj b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f020d0baf0b15bc79f4ccc3e6d246faa23c881e4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035_collision_2.obj b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ed4716dba9aa73a6c16e091accd76541f51166d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035_collision_2.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035_collision_3.obj b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1863209ea6afe0cbd8cad93a5a2fa9609a3421c0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035_collision_3.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.00308943 -0.01427070 0.01477676
+v 0.00308943 -0.01426648 0.01469051
+v 0.00363610 -0.01382204 0.01477676
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diff --git a/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035_collision_4.obj b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..475a6b5040f2d55d19ab2ca5a07b51fa327f88b4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035_collision_4.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.00308943 0.01025118 -0.00354530
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+
diff --git a/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035_collision_5.obj b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92fa6c5f12334ff88afa08b313243a13e38d693e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035_collision_5.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00308943 0.00009815 -0.00807623
+v 0.00308943 0.00236296 -0.01090758
+v 0.00361680 0.00273152 -0.01064335
+v 0.00421619 0.00009814 -0.00618217
+v 0.00308943 0.00009807 0.01475263
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diff --git a/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035_collision_6.obj b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14465bc11c7211efd8f4cd04061a3f9d4e9784e8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035_collision_6.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.00308943 0.00590846 -0.00764584
+v 0.00308943 0.00781603 -0.00889629
+v 0.00361183 0.00731565 -0.00787319
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+v 0.00368474 0.00873380 0.01726588
+v 0.00361029 0.01004533 0.01806976
+v 0.00308943 0.01025110 0.01865168
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diff --git a/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..622925f7c56386e09ab33e6573a117a80c7d650b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/mjcf/mesh/eraser_035_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b6071a313de47ffef9eadc750a0cb7002dd9e66251114766e72ffa6ac620f2f
+size 12208742
diff --git a/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/textures/material_0.png b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..622925f7c56386e09ab33e6573a117a80c7d650b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b6071a313de47ffef9eadc750a0cb7002dd9e66251114766e72ffa6ac620f2f
+size 12208742
diff --git a/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/video.mp4 b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6bc45c3e6962d877690244b7648073bacb7c2951
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/756effd1f1305f73a4eb11b5e35f7c68/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0c9895f80d567b07516fbb9f24357462ccec588412e001806025f14044497ab
+size 219827