diff --git a/.gitattributes b/.gitattributes
index 9b759c19a964e84d2f236bd9efe49eb2957ae8ba..50b7a30b7904288b3097489e994e5da67e85280d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5339,5 +5339,5 @@ dataset/desktop_supplies/office_stationery/5cb90cfd30bc57b59457b9d7af4d7aa6/mesh
 dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/5d3916ba0ecb5822ad9af922b9e06941.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mesh/sharpener_034.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/sharpener_034.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/ballpoint_pen_030.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mesh/ballpoint_pen_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mesh/sharpener_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/sharpener_008.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..96ad19d7b5fb0e8c62121d1dd0cb024a558b1022
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_008_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 sharpener_008_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a07331b2d3245e395e33f71490f3fb6c7854b3c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c3fd72a93e4e50473de9826943069f7a28ff8728d8bd208a8960ac232ed389f
+size 9208983
diff --git a/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mesh/sharpener_008.glb b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mesh/sharpener_008.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b74b1010f6515d407f991c7774560e9fb66b229f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mesh/sharpener_008.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91e13bce5c51edf0b93a4fb38176e010f251a7ce5a9c5cb3e6fbadd251f2c3ca
+size 12635480
diff --git a/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mesh/sharpener_008.mtl b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mesh/sharpener_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5f626b19125139923a0dd07beb4d1b0af2a0b649
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mesh/sharpener_008.mtl
@@ -0,0 +1,6 @@
+newmtl sharpener_008_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/5d69918b9bcc5c92a82660520f48a4c6/mesh/sharpener_008.obj b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mesh/sharpener_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..355f1ddde50469bb3832a5d22d146c451ccd3e0f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mesh/sharpener_008.obj
@@ -0,0 +1,115244 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sharpener_008_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mesh/sharpener_008_collision.obj b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mesh/sharpener_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c36a3420de393ca93326a86a24c7c4912ed4520
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mesh/sharpener_008_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mesh/sharpener_008_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mesh/sharpener_008_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a07331b2d3245e395e33f71490f3fb6c7854b3c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mesh/sharpener_008_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c3fd72a93e4e50473de9826943069f7a28ff8728d8bd208a8960ac232ed389f
+size 9208983
diff --git a/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a07331b2d3245e395e33f71490f3fb6c7854b3c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c3fd72a93e4e50473de9826943069f7a28ff8728d8bd208a8960ac232ed389f
+size 9208983
diff --git a/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008.obj b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26efad5114a2d0239f7cd6c6f5749769a7502e8e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sharpener_008_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision.obj b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0f6ff1684ec73d7973fd544a505bcafd2ef7b29
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision.obj
@@ -0,0 +1,7884 @@
+# https://github.com/mikedh/trimesh
+
+o sharpener_008_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_0.obj b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..723b126d0285bee8448bdee5a784d19c77f74e7c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_1.obj b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3f91417cbec85dc95b02c3a62ce87d16ae04fbc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_10.obj b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a5aa6ceaa0cfb7b33b5c15d8eecec01380115fd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_10.obj
@@ -0,0 +1,238 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_11.obj b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f36b1a3601ca23586e6ff4993be4e30454c52078
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_11.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_12.obj b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5149f0802f4b0d37bdf6d8dd2991a2972fdaffd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_12.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_2.obj b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb0d0f2047661bc87a0af9f1dc317fe520233e2c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_3.obj b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e89e349749f171ffac6c9306cb8256857d13c0e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_3.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_4.obj b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ede878a61f7c2fbc092a81c8294d257d5b45b149
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_4.obj
@@ -0,0 +1,238 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_5.obj b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85d3cc94ffae14f31c76b5f8ffec530c38bbcb64
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_5.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_6.obj b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8831838d7c7a425b7f7feae2a3affd0fc2e694fc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_6.obj
@@ -0,0 +1,484 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_7.obj b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c801fd55e8936fe821df314efcd691c30be569d4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_8.obj b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab5e02af74fdce305eb0ef32830549e9c4a9ddb2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_9.obj b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9e5f8abc4b90633f5fd0e0b39fcc11f920201b9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/mesh/sharpener_008_collision_9.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.02092619 -0.00199460 -0.01970543
+v 0.02080726 -0.00199460 -0.01812374
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+v 0.02049968 -0.01294474 -0.01812378
+v -0.02082672 -0.01129294 -0.01812377
+v 0.02049558 -0.01295118 -0.01812378
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+v -0.02078981 -0.01294474 -0.01970547
+v -0.02062167 -0.01241702 -0.01812378
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+v -0.02078571 -0.01295010 -0.01970547
+v -0.02050273 -0.01294474 -0.01812378
+v -0.02053144 -0.01295118 -0.01864466
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+
diff --git a/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/sharpener_008.xml b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/sharpener_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..967ba03cf564dba048d28d4d3aaf6bc2c63dc031
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/mjcf/sharpener_008.xml
@@ -0,0 +1,40 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sharpener_008">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/sharpener_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sharpener_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sharpener_008_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sharpener_008_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sharpener_008_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sharpener_008_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sharpener_008_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sharpener_008_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sharpener_008_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sharpener_008_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sharpener_008_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sharpener_008_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sharpener_008_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sharpener_008_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sharpener_008">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/sharpener_008.urdf b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/sharpener_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ccd2b0311c32af8f2496ce72adc9182965e83008
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/sharpener_008.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_008">
+   <link name="sharpener_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_008.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>5d69918b9bcc5c92a82660520f48a4c6</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>manual sharpener</name>
+         <color>black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>black manual sharpener with crank handle and sturdy base</description>
+         <min_height>0.0587</min_height>
+         <max_height>0.0587</max_height>
+         <real_height>0.0587</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427234346</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/sharpener_008.usd b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/sharpener_008.usd
new file mode 100644
index 0000000000000000000000000000000000000000..c7a9e72466c8a6cabc7f4a12bb72097965cb4aa3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/sharpener_008.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:887a234208de900b3de0a3df674ad38e5899c67c1ea8af728963552e4608036a
+size 4977179
diff --git a/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/textures/material_0.png b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a07331b2d3245e395e33f71490f3fb6c7854b3c
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+++ b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c3fd72a93e4e50473de9826943069f7a28ff8728d8bd208a8960ac232ed389f
+size 9208983
diff --git a/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/video.mp4 b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b841228b565df04097e121a67123886f80e5f84c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d69918b9bcc5c92a82660520f48a4c6/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7d47c0360423c413f809d459c1ca2281ba06661c4c8961ac2e9aa46dc1bb28c
+size 226264