diff --git a/.gitattributes b/.gitattributes
index 950e22e8bb952489f4136c7eeeb7422a8276764b..2d5b426cf005532bc7a32a1ed4e059b6410a7a8c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3159,5 +3159,5 @@ dataset/desktop_supplies/office_stationery/7559a0b264095d9a854ca97e2cfa5d34/mesh
 dataset/desktop_supplies/office_stationery/7559a0b264095d9a854ca97e2cfa5d34/mesh/marker_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/744f195b77b35368a9506b4116b4b7bf/marker_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/744f195b77b35368a9506b4116b4b7bf/mesh/marker_033.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/78d737fcf5a551c4ba846cfa77dc0d32/ballpoint_pen_025.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/78d737fcf5a551c4ba846cfa77dc0d32/mesh/ballpoint_pen_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mesh/sharpener_022.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/sharpener_022.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3a74acd9e568ee62d06e72529cfe281dbca57802
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_022_geometry_Looks_material_0
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+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd sharpener_022_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3be6c08b06a85825d07d82ad9ab715ecafea33d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mesh/sharpener_022.glb b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mesh/sharpener_022.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1529af37932604508c0f1179a9c6312aa40184f3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mesh/sharpener_022.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a403e7c7c35abec9aaeaf07564c598a392a9c465846af432be6e985e1997aaf
+size 14221972
diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mesh/sharpener_022.mtl b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mesh/sharpener_022.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac5fef537eb2e5c7e288b62c0f49d80c680f5892
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mesh/sharpener_022.mtl
@@ -0,0 +1,6 @@
+newmtl sharpener_022_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/77c7bb826c725205aa954400fbf36192/mesh/sharpener_022.obj b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mesh/sharpener_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d235843e2883d5273ab503a27f61cfc02439c6ce
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mesh/sharpener_022.obj
@@ -0,0 +1,109806 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mesh/sharpener_022_collision.obj b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mesh/sharpener_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e71efea6e886df1c1a03380a7129b6d6df343091
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mesh/sharpener_022_collision.obj
@@ -0,0 +1,30017 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision.obj b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f6cd787ce3862ca7062084c0f84ec42a4637efd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision.obj
@@ -0,0 +1,30017 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_0.obj b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..882b14af72b93a18fddba1f9091e0df2ad55c83b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_1.obj b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..696e00efd9b841bc1da0da102f794defc7d5f11b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_10.obj b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c273934e2abcbe136fea91b513288d54c0dbec7f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_11.obj b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..778a9da1766defc4fa71c3c84496381ce859e168
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_11.obj
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diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_12.obj b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ac9dfd5b23f589f57fc7f380d1f3a340f81efc4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_12.obj
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diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_13.obj b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ed7c818328f913e270b3bca67dd9ac116df6186
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_13.obj
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diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_14.obj b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be62a6d87d4e1e4731862d0401156c84a62bd077
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_14.obj
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diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_15.obj b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a8c35ad36b61faceeee5182e452341b934f560a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_15.obj
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diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_16.obj b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..318fc340a1b80180c08c87d26434192dcd33b148
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_16.obj
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diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_17.obj b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a8d7b306cf92c272472c72afb88a04d38eb0070
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_17.obj
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diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_2.obj b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8628d54fc7c087b49eecd415932bba85b9d08e6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_3.obj b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f004a82089ec3254e769567438889517af815600
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_3.obj
@@ -0,0 +1,532 @@
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diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_4.obj b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f8d3a735998967e1835f660f4b3622a04f563dd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_4.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_5.obj b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..804b3ad6fe9ce0913c4dfe16b4a2d18187f6651b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_6.obj b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cfaaca26a821901f60ae9ed408d47245fa900b7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_7.obj b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65ae3cb12b9b495bbd95ba23a7d4dfa56d1c9925
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_8.obj b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17f5eccf9af7c57fd187375e61cf56425bc3a60b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_8.obj
@@ -0,0 +1,3685 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_9.obj b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1880ff38c40d2b8c3bfbe11bd1d3e5ad9fab2ad0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/mesh/sharpener_022_collision_9.obj
@@ -0,0 +1,565 @@
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diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/sharpener_022.xml b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/sharpener_022.xml
new file mode 100644
index 0000000000000000000000000000000000000000..934ce1d83c3ae0793eadb8fb89009939781d04cb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mjcf/sharpener_022.xml
@@ -0,0 +1,50 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sharpener_022">
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+    <mesh name="collision_mesh_0_0" file="mesh/sharpener_022_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_17" file="mesh/sharpener_022_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  <worldbody>
+    <body name="sharpener_022">
+      <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" />
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+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/sharpener_022.urdf b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/sharpener_022.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d1866d37521ea3b1b51b385add6c6697b345ab31
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/sharpener_022.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
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+         <geometry>
+            <mesh filename="mesh/sharpener_022.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_022_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0650" />
+         <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>77c7bb826c725205aa954400fbf36192</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>bear sharpener</name>
+         <color>brown,beige</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>brown bear-shaped pencil sharpener with seated body and side blade hole</description>
+         <min_height>0.0800</min_height>
+         <max_height>0.0800</max_height>
+         <real_height>0.0800</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.09</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611145827</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.032115 -0.029539 -0.036313</min>
+            <max>0.032104 0.030858 0.043687</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>1</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>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/sharpener_022.usd b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/sharpener_022.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/sharpener_022.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa439309a672a20485df3b44ed2f4bbddabcf8d337033107d6ac974a6309a58a
+size 4981221
diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/textures/material_0.png b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/textures/material_0.png
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3757d3f05fae66b2541ce16fec7d6b3f523363a2e75d6b19e9ab890c78edff1
+size 10762275
diff --git a/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/video.mp4 b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6243628850968829fcc88cfeb065910583d12c4e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbc1502d333923be230aa7f3546ff8f031c4fa8e42a3d8053fcbecc1fbe838bc
+size 225334