diff --git a/.gitattributes b/.gitattributes
index 570949a495e3de8f6a35f0a1887c4975c2def417..55a9c763956f9e8f7e69e1b0a673dd784563ec86 100644
--- a/.gitattributes
+++ b/.gitattributes
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dataset/desktop_supplies/office_stationery/03d73bac73445546afe65d9b5912808e/mesh/notebook_007.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/03d73bac73445546afe65d9b5912808e/notebook_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/correction_tape_036.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/0aff603ad739511bb9e0aee0be57b25a/mesh/correction_tape_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/09574888ab0f5c90a2719e5219dcdaf2/mesh/sharpener_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/09574888ab0f5c90a2719e5219dcdaf2/sharpener_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/ballpoint_pen_028.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/mesh/ballpoint_pen_028.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/ballpoint_pen_028.urdf b/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/ballpoint_pen_028.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..528055c50156141810f98a75c6fb9247e80264b3
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new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/mesh/ballpoint_pen_028.obj b/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/mesh/ballpoint_pen_028.obj
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/mesh/ballpoint_pen_028.obj
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diff --git a/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/mesh/ballpoint_pen_028_collision.obj b/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/mesh/ballpoint_pen_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..459be790abe45e2b78d7aff4f5d4c292be61b0ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/mesh/ballpoint_pen_028_collision.obj
@@ -0,0 +1,1041 @@
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diff --git a/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/mesh/ballpoint_pen_028_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/mesh/ballpoint_pen_028_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c30d7b068794a04f58f1a827f46a12db6c40a41d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/mesh/ballpoint_pen_028_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca91200c3df5155dd5de478df3a292d64f3c376bf09d0f3dbee1c280bbb8e981
+size 8094538
diff --git a/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7139cdcd7985030a3b0cd9215644c866c337ce44
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl ballpoint_pen_028_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/mesh/material_0.png
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index 0000000000000000000000000000000000000000..c30d7b068794a04f58f1a827f46a12db6c40a41d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:ca91200c3df5155dd5de478df3a292d64f3c376bf09d0f3dbee1c280bbb8e981
+size 8094538
diff --git a/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/mjcf/ballpoint_pen_028.xml b/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/mjcf/ballpoint_pen_028.xml
new file mode 100644
index 0000000000000000000000000000000000000000..de9bf5ec6f2c2f48db617b4e1e39c06f1c714e47
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/mjcf/ballpoint_pen_028.xml
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/mjcf/mesh/ballpoint_pen_028.obj b/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/mjcf/mesh/ballpoint_pen_028.obj
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index 0000000000000000000000000000000000000000..2bb01416cee6a29ab7ae675f36ef7306c8714cee
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/mjcf/mesh/ballpoint_pen_028.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/mjcf/mesh/ballpoint_pen_028_collision.obj b/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/mjcf/mesh/ballpoint_pen_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8837163ee2d6c6b1d56939a16ce206635a002649
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/mjcf/mesh/ballpoint_pen_028_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/mjcf/mesh/ballpoint_pen_028_collision_0.obj b/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/mjcf/mesh/ballpoint_pen_028_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8837163ee2d6c6b1d56939a16ce206635a002649
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/0e13ef5af4645968ba81ede68bda13d4/mjcf/mesh/ballpoint_pen_028_collision_0.obj
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