diff --git a/.gitattributes b/.gitattributes
index 9af76214c98ad6cd1da0b4d53ac7e1e10246b6fc..3c34b068e771a93f15bc85f4be7376ba1ba39726 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3190,7 +3190,5 @@ dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh
 dataset/desktop_supplies/office_stationery/8412916f3ae6508cbd1065fbc9cbcc61/8412916f3ae6508cbd1065fbc9cbcc61.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/86a44f5aa5ee59d69cbe0f44baacdf11.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/86c8b37f313c509f9b24374b4686a528/86c8b37f313c509f9b24374b4686a528.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mesh/stapler_035.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/stapler_035.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mesh/pen_holder_024.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/pen_holder_024.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mesh/sharpener_019.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/sharpener_019.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5c86d4ac7c3bd522282e8bcea79373145b6baa80
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mesh/sharpener_019.glb b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mesh/sharpener_019.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a17fc5583c9739d089b6f15deadf7c396ccb1118
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mesh/sharpener_019.glb
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diff --git a/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mesh/sharpener_019.mtl b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mesh/sharpener_019.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8849790de982d53edfa6ddd7a3b28328ab1fd373
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mesh/sharpener_019.mtl
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+newmtl sharpener_019_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mesh/sharpener_019.obj b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mesh/sharpener_019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fa048e508c09d7546424ca35aff17b009e3fd12
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mesh/sharpener_019.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mesh/sharpener_019_collision.obj b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mesh/sharpener_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..433f0a7022bdcda8dba7f99ccb96151a095d29bf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mesh/sharpener_019_collision.obj
@@ -0,0 +1,7814 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision.obj b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22e92b811bfbf34d840dfcba07f09510520627ea
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision.obj
@@ -0,0 +1,7814 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision_0.obj b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb1b64b153893d11a746932b61c45dcec546ba03
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision_1.obj b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2df73f29baec169704f5924463763cc8e38646cd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision_2.obj b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd9cf01d6e471b695f338ab78e8b060025bb61f4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision_3.obj b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49d4fdd74491495454e73ef9c05e7a55e0d2978f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision_4.obj b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff411cb038b2a1ea2fa56ba23fb229f9d0854906
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision_4.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision_5.obj b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50851b7e7c7fbfa2a4b8d5e219bd95fe5278e67c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision_5.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision_6.obj b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d50eb924702ffae3f1ed497af60334c5ee0c18c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision_7.obj b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cce39a9db95dff710943d3549c5801a0e6c441d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision_8.obj b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd4b761dcdf82fcd8a97c2afc6ec5ad56b0244cf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/mesh/sharpener_019_collision_8.obj
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+f 134 139 138
+f 135 141 136
+f 137 141 138
+
diff --git a/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/sharpener_019.xml b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/sharpener_019.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d8b3f550120651230d489aa79ab40291387b484f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/mjcf/sharpener_019.xml
@@ -0,0 +1,32 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sharpener_019">
+  <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_019.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sharpener_019_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sharpener_019_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sharpener_019_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sharpener_019_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sharpener_019_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sharpener_019_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sharpener_019_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sharpener_019_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sharpener_019_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sharpener_019">
+      <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/8a975390bb6d5868ae3f005544428525/sharpener_019.urdf b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/sharpener_019.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..789bece99dfe577fa40d17ce28824f7238032910
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/sharpener_019.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_019">
+   <link name="sharpener_019">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_019.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_019_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1400" />
+         <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>8a975390bb6d5868ae3f005544428525</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>crank sharpener</name>
+         <color>blue</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>blue rectangular manual pencil sharpener with side crank handle</description>
+         <min_height>0.1100</min_height>
+         <max_height>0.1100</max_height>
+         <real_height>0.1100</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.2</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518180750</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.037779 -0.042889 -0.055301</min>
+            <max>0.037755 0.117199 0.054699</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/8a975390bb6d5868ae3f005544428525/sharpener_019.usd b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/sharpener_019.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/sharpener_019.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a156dbbca876b637566784c6fdf54346224e4cd53c60b32928423211ff9157a
+size 4866758
diff --git a/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/textures/material_0.png b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a7fb1c55a49f40d13768f804c20ce361029d4d6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9287331
diff --git a/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/video.mp4 b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8a975390bb6d5868ae3f005544428525/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb6b15f3f400177e35f4f1003f61e3a0152618e3dfb1c1e2ad2ddc6e286f27f4
+size 171857