diff --git a/.gitattributes b/.gitattributes
index 4e05f7a1a4754b89896dd073595a322d86f1c195..07a04d6d533f46e642ab81a2953600f41a87ff02 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3237,5 +3237,5 @@ dataset/desktop_supplies/office_stationery/ba53185544755f60afef8816707c2da2/note
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dataset/desktop_supplies/office_stationery/c07d0cf9565f5750b6ff5ce58cafa5d5/c07d0cf9565f5750b6ff5ce58cafa5d5.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/c01bedfcda055b8e9c64afb060b9f37a.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mesh/pen_holder_034.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/pen_holder_034.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/eraser_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mesh/eraser_003.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/eraser_003.urdf b/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/eraser_003.urdf
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/eraser_003.usd b/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/eraser_003.usd
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diff --git a/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mesh/eraser_003.glb b/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mesh/eraser_003.glb
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diff --git a/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mesh/eraser_003.mtl b/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mesh/eraser_003.mtl
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mesh/eraser_003.obj b/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mesh/eraser_003.obj
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mesh/eraser_003.obj
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diff --git a/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mesh/eraser_003_collision.obj b/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mesh/eraser_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9495622d9c88143f56c527d16f43789534d0739b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mesh/eraser_003_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mesh/eraser_003_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mesh/eraser_003_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7eea7f2fcc92140311db7a358be85d7c5a60952b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mesh/eraser_003_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc8b4bc01e92d21e9a43de8697f9052b9f487da93cb539dbd21135bf55c87ed6
+size 8575818
diff --git a/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..34bfd60912daf599fcbfb3baa6c50d7bcf6ec23b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl eraser_003_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_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7eea7f2fcc92140311db7a358be85d7c5a60952b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc8b4bc01e92d21e9a43de8697f9052b9f487da93cb539dbd21135bf55c87ed6
+size 8575818
diff --git a/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mjcf/eraser_003.xml b/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mjcf/eraser_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1a5f42be3383f2498c0065074c2c382779b83266
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mjcf/eraser_003.xml
@@ -0,0 +1,16 @@
+
+
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+
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+
+
+
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+
+
+
+
+
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mjcf/mesh/eraser_003.obj b/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mjcf/mesh/eraser_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..960aeefa26f54034cff46013ff32a07e81be3c6a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mjcf/mesh/eraser_003.obj
@@ -0,0 +1,102106 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_003_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mjcf/mesh/eraser_003_collision.obj b/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mjcf/mesh/eraser_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d80e930bd724e3a0ff798bbde21e2c24063f9f77
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mjcf/mesh/eraser_003_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mjcf/mesh/eraser_003_collision_0.obj b/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mjcf/mesh/eraser_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d80e930bd724e3a0ff798bbde21e2c24063f9f77
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bea5d015d3045269b333bcbee2f5e7db/mjcf/mesh/eraser_003_collision_0.obj
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