diff --git a/.gitattributes b/.gitattributes
index edba46b40700b6b4545a444938862c3e61c5f07a..920362779469a47dbd2dea23cd3db76c93f3d09d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3115,3 +3115,5 @@ dataset/desktop_supplies/office_stationery/2da7165c96f654c4b2960ee9d0e8bd5f/corr
dataset/desktop_supplies/office_stationery/2da7165c96f654c4b2960ee9d0e8bd5f/mesh/correction_tape_035.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/glue_stick_040.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mesh/glue_stick_040.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/eraser_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mesh/eraser_004.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/eraser_004.urdf b/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/eraser_004.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9d749aff67b7987b21f7d58d8dd253b131752b81
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diff --git a/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/eraser_004.usd b/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/eraser_004.usd
new file mode 100644
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--- /dev/null
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diff --git a/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mesh/eraser_004.glb b/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mesh/eraser_004.glb
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mesh/eraser_004.mtl b/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mesh/eraser_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0304c9b09a35096ffe70e95495760a38fffa6457
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diff --git a/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mesh/eraser_004.obj b/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mesh/eraser_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e27de922170e2abfe9c929b256fb9d502a8b76c
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diff --git a/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mesh/eraser_004_collision.obj b/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mesh/eraser_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50f4b5d81d3e812e2f595183e9c82d5cfb0c6ab2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mesh/eraser_004_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mesh/eraser_004_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mesh/eraser_004_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bddb1c50b7673d442173271e995852c36fc47f1c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mesh/eraser_004_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47fc124407edf3f12a0338fc405c6acefdde4e5e9072110e5f42214addb2243a
+size 13025734
diff --git a/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..adae41eb6b2949f992d6e1d0090b6bb4c7366b47
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl eraser_004_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_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..bddb1c50b7673d442173271e995852c36fc47f1c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47fc124407edf3f12a0338fc405c6acefdde4e5e9072110e5f42214addb2243a
+size 13025734
diff --git a/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mjcf/eraser_004.xml b/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mjcf/eraser_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..28c6564eac6866f76c8e86fede8d87945dab27f2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mjcf/eraser_004.xml
@@ -0,0 +1,16 @@
+
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mjcf/mesh/eraser_004.obj b/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mjcf/mesh/eraser_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..457b2f893d8961b96be21cef65b945d0bb055547
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mjcf/mesh/eraser_004.obj
@@ -0,0 +1,115514 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_004_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mjcf/mesh/eraser_004_collision.obj b/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mjcf/mesh/eraser_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9909b78380e3efe59a19c0674e9e0415cac349a1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mjcf/mesh/eraser_004_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mjcf/mesh/eraser_004_collision_0.obj b/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mjcf/mesh/eraser_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9909b78380e3efe59a19c0674e9e0415cac349a1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mjcf/mesh/eraser_004_collision_0.obj
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