diff --git a/.gitattributes b/.gitattributes
index dc6b7e6b7833e845f8fde13a8bd7156d9eb2805c..6989fd697f82576e599c4df1288f82dde08e920a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3272,5 +3272,5 @@ dataset/desktop_supplies/office_stationery/d8380724ed0c5739921064fd501cbae8/mesh
dataset/desktop_supplies/office_stationery/d8380724ed0c5739921064fd501cbae8/sharpener_007.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/dd16e44ba3c75b43b6fc416f3b05da9c/dd16e44ba3c75b43b6fc416f3b05da9c.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/e10c9ac27c785067aadb50379cfaea97/e10c9ac27c785067aadb50379cfaea97.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mesh/sharpener_026.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/sharpener_026.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/eraser_013.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mesh/eraser_013.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/eraser_013.urdf b/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/eraser_013.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..49a08b1ed1b99c2f0f219a9591a94ea92ab75a8a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/eraser_013.urdf
@@ -0,0 +1,66 @@
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+ desktop_supplies
+ office_stationery
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+ cuboid
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+ rectangular green eraser with gray sleeve and printed text
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+ ./caption_candidates.json
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+
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+ NO: {"summary":"Mostly correct single-body eraser, but tiny text/logo fragments are non-functional noise.","merge_groups":[{"colors":["Cyan","Teal","Brown"],"target_part":"main body","reason":"Printed details are not functional parts"}]}
+
+
+
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/eraser_013.usd b/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/eraser_013.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8388e641dbb1e3c49d2e365beee4c879b2af5135
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/eraser_013.usd
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diff --git a/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mesh/eraser_013.glb b/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mesh/eraser_013.glb
new file mode 100644
index 0000000000000000000000000000000000000000..194d52ee85eee8be549079b23257066e8bdc182a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mesh/eraser_013.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mesh/eraser_013.mtl b/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mesh/eraser_013.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fd7b327c72639b3be5a8398d823f29c251f1b223
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mesh/eraser_013.mtl
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+newmtl eraser_013_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mesh/eraser_013.obj b/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mesh/eraser_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ff0fd3251bb7e6879a97689e118532453669c50
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mesh/eraser_013.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/e021d891939255e6bfd74e9c34b44f2e/mesh/eraser_013_collision.obj b/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mesh/eraser_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5598f0e95f9a917dc8ca31dc39c31d361a594cd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mesh/eraser_013_collision.obj
@@ -0,0 +1,4452 @@
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diff --git a/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mesh/eraser_013_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mesh/eraser_013_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e0b972438ba90d3e050ca8456918b4484b8eb020
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mesh/eraser_013_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..78cf85eec40b7fef2ffc3d7648dcb9fb8051f85e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl eraser_013_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_013_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e0b972438ba90d3e050ca8456918b4484b8eb020
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3a66ca907813ccad6c9cb56c3afaf589741bddde55a00f6a31708101105c3dd
+size 11533788
diff --git a/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mjcf/eraser_013.xml b/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mjcf/eraser_013.xml
new file mode 100644
index 0000000000000000000000000000000000000000..417eac91ca42c3ec2a5d921856ca7f7c4d4bbbc2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mjcf/eraser_013.xml
@@ -0,0 +1,16 @@
+
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mjcf/mesh/eraser_013.obj b/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mjcf/mesh/eraser_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b93bbfb0e1493a101932880dc08e61ed348675f0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mjcf/mesh/eraser_013.obj
@@ -0,0 +1,113786 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl eraser_013_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mjcf/mesh/eraser_013_collision.obj b/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mjcf/mesh/eraser_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46e871eed43939c5300009c93868d38399d43a4b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mjcf/mesh/eraser_013_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mjcf/mesh/eraser_013_collision_0.obj b/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mjcf/mesh/eraser_013_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46e871eed43939c5300009c93868d38399d43a4b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e021d891939255e6bfd74e9c34b44f2e/mjcf/mesh/eraser_013_collision_0.obj
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