diff --git a/.gitattributes b/.gitattributes
index 17fdc8c4eb3684cbfc21e6c1196a25762dd73d4a..201f481e2bf8ad9f7070f7ba82aaf81faa60f371 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3274,3 +3274,4 @@ dataset/desktop_supplies/office_stationery/dd16e44ba3c75b43b6fc416f3b05da9c/dd16
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dataset/desktop_supplies/office_stationery/df57dbad1d945dbb8ca344a6cae408c6/eraser_046.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/df57dbad1d945dbb8ca344a6cae408c6/mesh/eraser_046.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/e576f860571b5d3b9766d6a19c81d309.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/e576f860571b5d3b9766d6a19c81d309.urdf b/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/e576f860571b5d3b9766d6a19c81d309.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ce673349e8987aaf6263dec2c3cd92e054f90dbd
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diff --git a/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/e576f860571b5d3b9766d6a19c81d309.usd b/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/e576f860571b5d3b9766d6a19c81d309.usd
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/mesh/eraser.glb b/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/mesh/eraser.glb
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+++ b/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/mesh/eraser.glb
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diff --git a/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/mesh/eraser.obj b/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/mesh/eraser.obj
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/mesh/eraser_collision.obj b/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/mesh/eraser_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee81f3cd5332616874c0e65076a7435c1a0562b8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/mesh/eraser_collision.obj
@@ -0,0 +1,5280 @@
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diff --git a/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/mesh/eraser_gs.ply b/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/mesh/eraser_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4e293f6c924b461ff17d38b673905336ba21ba87
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/mesh/eraser_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ab6f324273d657819e80e6d8f1e29c9ba96aa7e7f6934a269d1ebd512dd1884
+size 24244330
diff --git a/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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+Kd 0.98039216 0.98039216 0.98039216
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..036290c684e893a2492ccc38b7637e93308649b1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc4399efa9604164a702d30b5b89294f008b2f82246f8defcd9707e66678a7c1
+size 1412150
diff --git a/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/mjcf/e576f860571b5d3b9766d6a19c81d309.xml b/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/mjcf/e576f860571b5d3b9766d6a19c81d309.xml
new file mode 100644
index 0000000000000000000000000000000000000000..906dbce1d18c03d6b3ea8b2823f16cb2b4772db4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/mjcf/e576f860571b5d3b9766d6a19c81d309.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/e576f860571b5d3b9766d6a19c81d309/mjcf/mesh/eraser.obj b/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/mjcf/mesh/eraser.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4fcc04980f4de12735ce7bf51d40ee03f4f2f64
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/mjcf/mesh/eraser.obj
@@ -0,0 +1,45130 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/mjcf/mesh/eraser_collision.obj b/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/mjcf/mesh/eraser_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..386d4d154f01723844a1dfb5170bf136d1de6239
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/mjcf/mesh/eraser_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/mjcf/mesh/eraser_collision_0.obj b/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/mjcf/mesh/eraser_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..386d4d154f01723844a1dfb5170bf136d1de6239
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/mjcf/mesh/eraser_collision_0.obj
@@ -0,0 +1,5278 @@
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