diff --git a/.gitattributes b/.gitattributes
index 2a49fcbc87ac34a8529a00af032ae97a60f25a09..08d30707a4a96cf6f10d270d479c982c353229ed 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3258,7 +3258,5 @@ dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mesh
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dataset/desktop_supplies/office_stationery/cf4ee4a4db8b5abf9ed5808fa0194a3d/eraser_037.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/cf4ee4a4db8b5abf9ed5808fa0194a3d/mesh/eraser_037.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/d01b3170c53158369d6d871c4e083329/marker_029.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/d01b3170c53158369d6d871c4e083329/mesh/marker_029.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/mesh/notebook_040.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/cefca0a6ef5d5ec996cc792894e80e7b/notebook_040.usd filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/eraser_001.urdf b/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/eraser_001.urdf
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/eraser_001.usd b/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/eraser_001.usd
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mesh/eraser_001.glb b/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mesh/eraser_001.glb
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diff --git a/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mesh/eraser_001.mtl b/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mesh/eraser_001.mtl
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mesh/eraser_001.obj b/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mesh/eraser_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ead22e46b87472794f9142988eafb420bb05cf6
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+++ b/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mesh/eraser_001.obj
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+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mesh/eraser_001_collision.obj b/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mesh/eraser_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02590c3ced2f98435110b608b7864e96a36b94bf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mesh/eraser_001_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mesh/eraser_001_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mesh/eraser_001_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6700172df0b889d2bab09441b04c97e5c88ec847
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mesh/eraser_001_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:472f450765a5fe7a3e7ebabbd06057da879ec5a3b59862e0abdaa8586954bf8c
+size 10773296
diff --git a/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..99b44a6a18e9824ecd384f894f1852e9d500ca3f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl eraser_001_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_001_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6700172df0b889d2bab09441b04c97e5c88ec847
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:472f450765a5fe7a3e7ebabbd06057da879ec5a3b59862e0abdaa8586954bf8c
+size 10773296
diff --git a/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mjcf/eraser_001.xml b/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mjcf/eraser_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5352f84ea32948a7ff160855ce9521280b085bc1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mjcf/eraser_001.xml
@@ -0,0 +1,16 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mjcf/mesh/eraser_001.obj b/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mjcf/mesh/eraser_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdee603684684902226b3a408dc97df8c1dbab00
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mjcf/mesh/eraser_001.obj
@@ -0,0 +1,103554 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_001_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mjcf/mesh/eraser_001_collision.obj b/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mjcf/mesh/eraser_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37cdf47c2c1bf3bd0a2604c05ca15e4d3cf39499
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mjcf/mesh/eraser_001_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mjcf/mesh/eraser_001_collision_0.obj b/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mjcf/mesh/eraser_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37cdf47c2c1bf3bd0a2604c05ca15e4d3cf39499
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ce7bb71a02b35afcbd236982f28ef989/mjcf/mesh/eraser_001_collision_0.obj
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