diff --git a/.gitattributes b/.gitattributes
index 0353d5856102383c171dfe4ea2f276e60a7ffad3..901f0fc8891d7df9c26df6191f5f9d1a6e966b3d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3115,9 +3115,5 @@ dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mesh
 dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/sharpener_038.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/29f0624e6cb053789453087243f3c3ee/mesh/stapler_038.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/29f0624e6cb053789453087243f3c3ee/stapler_038.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/mesh/notebook_005.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/2b7dcaebbd9a578ebe1c6fe45af51886/notebook_005.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/ballpoint_pen_035.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/2c4bd360765e5976918843f82d0419d2/mesh/ballpoint_pen_035.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/2c17c9a3064756e28ef8378e16b63af2/glue_stick_033.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/2c17c9a3064756e28ef8378e16b63af2/mesh/glue_stick_033.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mesh/sharpener_035.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/sharpener_035.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0f8cd677a2d140e13714494d18fffc2058f47a87
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_035_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_035_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b693ae2ac14e1047030bb0ebc003e4b7ec2ce67
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:382a0a4ce20cbe8ee3ca43554ddf0e8f28b5828b62fbadec2512ddf0494852d3
+size 9431273
diff --git a/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mesh/sharpener_035.glb b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mesh/sharpener_035.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4068c4110af592165678b7d093db40bb0b741f82
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mesh/sharpener_035.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80c2841063b01ab7416fbede118d65e5414487f503db122a9e2c1cfc2f295a40
+size 12536880
diff --git a/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mesh/sharpener_035.mtl b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mesh/sharpener_035.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1bc1834740c72792deeabd63bca9ede60cf0958b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mesh/sharpener_035.mtl
@@ -0,0 +1,6 @@
+newmtl sharpener_035_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/2acb4d7fdd5f585cbe20960858987b89/mesh/sharpener_035.obj b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mesh/sharpener_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14124c8943f8efdb3e3e0b58cb2b26e670c09b67
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mesh/sharpener_035.obj
@@ -0,0 +1,113870 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sharpener_035_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mesh/sharpener_035_collision.obj b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mesh/sharpener_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc9dac7569c1fa0288d81b7ed6f55784125ed805
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mesh/sharpener_035_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mesh/sharpener_035_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mesh/sharpener_035_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035.obj b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035.obj
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diff --git a/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision.obj b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cd8da6a58b6ecfb7cf6f68a2db2fe39b5199cb8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision.obj
@@ -0,0 +1,14996 @@
+# https://github.com/mikedh/trimesh
+
+o sharpener_035_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision_0.obj b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..616d089e150217ee33afc24a60ece41f458210c7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision_1.obj b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bee4701f954f6e8e073ee9fc9e9f16b37fb17a68
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision_2.obj b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb54503fcd0661a0edaa615a8cf31dbc9a6dc2ac
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision_2.obj
@@ -0,0 +1,490 @@
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diff --git a/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision_3.obj b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00559e0b884057103448b04223fb3948cddd1aad
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision_3.obj
@@ -0,0 +1,6604 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision_4.obj b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..833fee6aa060faa6398827d0f982827a9883c51d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision_5.obj b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1c9986e40b02db260e403c268f8948a948ad048
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision_5.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision_6.obj b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42ac8d8c6073948b44703a3580fcbfeecfac5ede
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision_6.obj
@@ -0,0 +1,970 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision_7.obj b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e32e1686e86b34c128fe0ab67c3c8be0c502fda4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision_8.obj b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c38858135f59a839928a71f2710ab329020be2cc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/mesh/sharpener_035_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/sharpener_035.xml b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/sharpener_035.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5b588bd495ce3c4d82347193a9726dc10128c3dd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/mjcf/sharpener_035.xml
@@ -0,0 +1,32 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sharpener_035">
+  <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_035.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sharpener_035_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sharpener_035_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sharpener_035_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sharpener_035_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sharpener_035_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sharpener_035_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sharpener_035_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sharpener_035_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sharpener_035_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sharpener_035">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/sharpener_035.urdf b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/sharpener_035.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4da85753fdf285bc0a3a823ce078f7241956dd4f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/sharpener_035.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_035">
+   <link name="sharpener_035">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_035.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_035_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1150" />
+         <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>2acb4d7fdd5f585cbe20960858987b89</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>cat crank sharpener</name>
+         <color>white,beige</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>cream cat-themed manual pencil sharpener with transparent shavings bin</description>
+         <min_height>0.0900</min_height>
+         <max_height>0.0900</max_height>
+         <real_height>0.0900</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.15</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611150508</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.078509 -0.026468 -0.041755</min>
+            <max>0.030803 0.026436 0.048245</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>13</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/2acb4d7fdd5f585cbe20960858987b89/sharpener_035.usd b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/sharpener_035.usd
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+size 4759890
diff --git a/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/textures/material_0.png b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/textures/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/video.mp4 b/dataset/desktop_supplies/office_stationery/2acb4d7fdd5f585cbe20960858987b89/video.mp4
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