diff --git a/.gitattributes b/.gitattributes
index 09ed865256b2caf17d1fef431ce3b74c947956d5..cb266fc3f0be56af1628cb36969a3c4f6636f628 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3266,3 +3266,5 @@ dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mesh
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dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/glue_stick_039.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mesh/glue_stick_039.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/eraser_017.urdf b/dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/eraser_017.urdf
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/eraser_017.usd b/dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/eraser_017.usd
new file mode 100644
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new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mesh/eraser_017_collision.obj b/dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mesh/eraser_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99c8da3112c6372895da82ac273412469cdf60d6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mesh/eraser_017_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mesh/eraser_017_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mesh/eraser_017_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f874e9e263c19f6ab0aa5dd6f65141144e28b2d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mesh/eraser_017_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb9113d7417b64f8858190ec4178eb8a8084b2f045ffb3e39da134a448027b07
+size 9257716
diff --git a/dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..156b04213cbf958accc21f63ced61cf2f2fbd515
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl eraser_017_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_017_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f874e9e263c19f6ab0aa5dd6f65141144e28b2d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb9113d7417b64f8858190ec4178eb8a8084b2f045ffb3e39da134a448027b07
+size 9257716
diff --git a/dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mjcf/eraser_017.xml b/dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mjcf/eraser_017.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2c17d6c5bf224db0054aaa07a8a3690b243b3ceb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mjcf/eraser_017.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/da9eae16a4545372b130f139a34ba2e3/mjcf/mesh/eraser_017.obj b/dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mjcf/mesh/eraser_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8450156a015fd88af65684837d36d270632dea6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mjcf/mesh/eraser_017.obj
@@ -0,0 +1,109376 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_017_geometry_Looks_material_0
+v 0.019448 -0.006180 -0.008429
+v 0.019448 -0.006180 -0.008429
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diff --git a/dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mjcf/mesh/eraser_017_collision.obj b/dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mjcf/mesh/eraser_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9053d95706bebfebc8ce160fab9890975cfacb3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mjcf/mesh/eraser_017_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mjcf/mesh/eraser_017_collision_0.obj b/dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mjcf/mesh/eraser_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9053d95706bebfebc8ce160fab9890975cfacb3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mjcf/mesh/eraser_017_collision_0.obj
@@ -0,0 +1,3253 @@
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