diff --git a/.gitattributes b/.gitattributes
index 28d94236279aad5acc2df0e7d505bb04f750386b..f373eb393c9b47ef8e75d9431f284b68d3fc95e8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3209,5 +3209,5 @@ dataset/desktop_supplies/office_stationery/95c5382c15585f7db80de38e7e85ba11/glue
 dataset/desktop_supplies/office_stationery/95c5382c15585f7db80de38e7e85ba11/mesh/glue_stick_022.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/97ec36de27af56fbb3b0e4231934f46d/correction_tape_014.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/97ec36de27af56fbb3b0e4231934f46d/mesh/correction_tape_014.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/991c12db24b95ba291785913a221d602/mesh/pen_holder_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/991c12db24b95ba291785913a221d602/pen_holder_003.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mesh/sharpener_028.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/sharpener_028.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46e86158212a8d18d864e4f494eef666aee69720
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_028_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..257affb267d07387b73593966ac47fa781ccefe3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b5736fe4ce5a2e8711356b23aece99dc8a8ed2985168946f1c0af8a64ef9956
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diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mesh/sharpener_028.glb b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mesh/sharpener_028.glb
new file mode 100644
index 0000000000000000000000000000000000000000..681e129834af5b12363c2c64fac01c727b4326fb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mesh/sharpener_028.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2d273600ce0aacb52fb699d536974fa913f3bd793720c4dd14ca5505b60a3fd
+size 12822212
diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mesh/sharpener_028.mtl b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mesh/sharpener_028.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2ae0429ae17a7de8ae8e51b35e7104f63d3e54ea
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mesh/sharpener_028.mtl
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+newmtl sharpener_028_geometry_Looks_material_0
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+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/98f6cdc4e9b352d7829b5191ff643a13/mesh/sharpener_028.obj b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mesh/sharpener_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa7031d4fdf6573e005ab55604f76fbd10ad8b64
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mesh/sharpener_028.obj
@@ -0,0 +1,106992 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sharpener_028_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mesh/sharpener_028_collision.obj b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mesh/sharpener_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7415fc47f0716d81dc65292077d8e5931c3eb0d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mesh/sharpener_028_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mesh/sharpener_028_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mesh/sharpener_028_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028.obj b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028.obj
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diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision.obj b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..962f0149daff448bea90293aa85e00a55e23e57d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision.obj
@@ -0,0 +1,26731 @@
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diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_0.obj b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6aefed853e81b7f7601c758dc899fd17f8bc49d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_1.obj b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2504dca841f3f4fedaefdca99ace4d78560a27f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_10.obj b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf4b0aef8e48e79156bfdcd06755e29677adbc69
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_10.obj
@@ -0,0 +1,466 @@
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diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_11.obj b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6658b43bcf5bd8e7a3716272670042ead2df7b71
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_11.obj
@@ -0,0 +1,547 @@
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diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_12.obj b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ba60bb6bfe730f5b377455cf21a41c550fbea77
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_12.obj
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diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_13.obj b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e4600b5ee87ddb0bc78cb8dcfaefbb1289ac15e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_13.obj
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diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_14.obj b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c3bb56f939a3a69c66cb048976bd32d7e5b2b2f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_14.obj
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diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_15.obj b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..545140de723827cc8da7c43b3722d3c06e4b8a53
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_15.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
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+f 6 8 10
+f 7 9 8
+f 8 9 10
+
diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_16.obj b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3dc9dce603f2e3c068f52e4e23d6ed6c2ff3a1d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_16.obj
@@ -0,0 +1,622 @@
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diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_2.obj b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d799dec1980db619a172107feb5635897096d2e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_3.obj b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84d1b550832fd6968de96a96db8495451ea26843
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_3.obj
@@ -0,0 +1,2161 @@
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diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_4.obj b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69679c9da9e033938238fe663b01296f48899528
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_5.obj b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d32600c760eb4ae8b292959445b9b0741df6ffa8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_6.obj b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5b60c9bf9d01a49a51136398b45baa5db5531aa
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_7.obj b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d03a855d88174013649ea9619bfb36458738e674
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_7.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_8.obj b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15f1ac6d92c98df1277b0904af573bd8dc09963a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_9.obj b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..625877242c76427ff0c41cc0bbfcccfd5a92f6db
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/mesh/sharpener_028_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/sharpener_028.xml b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/sharpener_028.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3fd016c9f633607a67621d7cb6c85bba88ca0f5a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/mjcf/sharpener_028.xml
@@ -0,0 +1,48 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sharpener_028">
+  <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_028.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sharpener_028_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sharpener_028_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sharpener_028_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sharpener_028_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sharpener_028_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sharpener_028_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sharpener_028_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sharpener_028_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sharpener_028_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sharpener_028_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sharpener_028_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sharpener_028_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sharpener_028_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/sharpener_028_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/sharpener_028_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/sharpener_028_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/sharpener_028_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sharpener_028">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" 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/98f6cdc4e9b352d7829b5191ff643a13/sharpener_028.urdf b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/sharpener_028.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..41c88cfb5455b89881c9f9553446358567616803
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/sharpener_028.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_028">
+   <link name="sharpener_028">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_028.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_028_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <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>98f6cdc4e9b352d7829b5191ff643a13</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>whale sharpener</name>
+         <color>blue,white</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>blue whale-shaped pencil sharpener with white underside and cartoon eyes</description>
+         <min_height>0.0800</min_height>
+         <max_height>0.0800</max_height>
+         <real_height>0.0800</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611150143</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.062104 -0.053524 -0.035859</min>
+            <max>0.062096 0.082111 0.044141</max>
+         </aabb>
+         <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>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Object is a whale-shaped sharpener, but masks mostly segment decorative spots; functional sharpener parts are not isolated.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/sharpener_028.usd b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/sharpener_028.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/sharpener_028.usd
@@ -0,0 +1,3 @@
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+size 4964227
diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/textures/material_0.png b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/textures/material_0.png
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/video.mp4 b/dataset/desktop_supplies/office_stationery/98f6cdc4e9b352d7829b5191ff643a13/video.mp4
new file mode 100644
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--- /dev/null
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