diff --git a/.gitattributes b/.gitattributes
index 81415834866b1c5b1ef8f39556ea6c79c0cce132..d88c64171e22c5b95392356a5bf2281a6ed464cd 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5348,3 +5348,5 @@ dataset/desktop_supplies/office_stationery/621262a3233256cfa486d16e2673414e/mesh
dataset/desktop_supplies/office_stationery/621262a3233256cfa486d16e2673414e/notebook_006.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/ballpoint_pen_027.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/63380c207b2c59b991878d1084f005cd/mesh/ballpoint_pen_027.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/eraser_047.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mesh/eraser_047.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/eraser_047.urdf b/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/eraser_047.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0bbe2552e780075b529f4c55b63ae26caf6ae779
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/eraser_047.urdf
@@ -0,0 +1,66 @@
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+ office_stationery
+ eraser
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+ gray,blue
+ cuboid
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+ gray rectangular eraser with blue sleeve end and blue logo
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+ 0.0125
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+ affordance/affordance_annot.json
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+ NO: {"summary":"Logo details are wrongly segmented as parts; eraser is two functional sections.","merge_groups":[]}
+
+
+
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/eraser_047.usd b/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/eraser_047.usd
new file mode 100644
index 0000000000000000000000000000000000000000..4ca7cbe0311836ca64985f6abd401bc2a1501946
--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mesh/eraser_047.glb b/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mesh/eraser_047.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f3343db72ff90625d7cde8158f1332547fbbd902
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mesh/eraser_047.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mesh/eraser_047.mtl b/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mesh/eraser_047.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ae8db170688247a963e707b4f91017f665e8d09d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mesh/eraser_047.mtl
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+Ks 0.000000 0.000000 0.000000
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diff --git a/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mesh/eraser_047.obj b/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mesh/eraser_047.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eca435877fdef9f1c41d4e6355679abee0f6dff
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mesh/eraser_047.obj
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diff --git a/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mesh/eraser_047_collision.obj b/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mesh/eraser_047_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d04656fe0ec2fd1afffd1b9957a3af8b1c5e95f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mesh/eraser_047_collision.obj
@@ -0,0 +1,2409 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mesh/eraser_047_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mesh/eraser_047_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..21f3b61683e93a2b3dfd61453a58af97d8c0ceae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mesh/eraser_047_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3262d6c24a25e1938df4fbb7fe988d04c2b9cb5efb9c2d1fe89cdc71e175e486
+size 9938080
diff --git a/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b8d594f1350c898a9c5b6a4828b2649c518846de
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl eraser_047_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_047_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..21f3b61683e93a2b3dfd61453a58af97d8c0ceae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3262d6c24a25e1938df4fbb7fe988d04c2b9cb5efb9c2d1fe89cdc71e175e486
+size 9938080
diff --git a/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mjcf/eraser_047.xml b/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mjcf/eraser_047.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6de2ffd52d4c5ba6c1be82050d7b21f11ef09ba3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mjcf/eraser_047.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/647bc609176254adbefffacaf8aeca02/mjcf/mesh/eraser_047.obj b/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mjcf/mesh/eraser_047.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8122298c582e374d415b6712324a62aa514b8fce
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mjcf/mesh/eraser_047.obj
@@ -0,0 +1,114778 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_047_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mjcf/mesh/eraser_047_collision.obj b/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mjcf/mesh/eraser_047_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dfac35af1c965054dd6606fcf2acf85306ef1d2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mjcf/mesh/eraser_047_collision.obj
@@ -0,0 +1,2407 @@
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diff --git a/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mjcf/mesh/eraser_047_collision_0.obj b/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mjcf/mesh/eraser_047_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dfac35af1c965054dd6606fcf2acf85306ef1d2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/647bc609176254adbefffacaf8aeca02/mjcf/mesh/eraser_047_collision_0.obj
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