diff --git a/.gitattributes b/.gitattributes
index dbae6cd04460d11e5e5f2911b95c8b0e2bff10dd..dd7f45276c24d9976390fca01ba17b89f13a1ab6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3294,5 +3294,5 @@ dataset/desktop_supplies/office_stationery/f51a7c0b35515dca8e547665d3586545/mesh
 dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/f75ded4719895e249f873bc92917ba75.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/eraser_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mesh/eraser_010.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/fadcbc5764af549aa6f524239bee5605/ballpoint_pen_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/fadcbc5764af549aa6f524239bee5605/mesh/ballpoint_pen_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mesh/sharpener_021.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/sharpener_021.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b318c31efc691b564b11c9e5de7e777dac7d967b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_021_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_021_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec0c420a3d94d424dbfa04d48ed58ae2e46e7572
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ca721e3a4af402b421bf65d1fedb4911b50a66c50e2219188d8fb2073f293db
+size 14802043
diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mesh/sharpener_021.glb b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mesh/sharpener_021.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a9ecc8575919e2e83bc892de617062ed2bab3fa6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mesh/sharpener_021.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67d6fbac2f6d33dc6ae450e215c45ad4bb8ddb68e0c81dedb8dfb156842156a8
+size 17923160
diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mesh/sharpener_021.mtl b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mesh/sharpener_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..37aac60d30c4d10468587f92d71cf7e439a382ea
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mesh/sharpener_021.mtl
@@ -0,0 +1,6 @@
+newmtl sharpener_021_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/f95110d1df7d5657909d815041f76f89/mesh/sharpener_021.obj b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mesh/sharpener_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b28df55a5e4e0a645db5c84aed95be3d86f1588c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mesh/sharpener_021.obj
@@ -0,0 +1,113718 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sharpener_021_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mesh/sharpener_021_collision.obj b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mesh/sharpener_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dc5e6d3d28cea72a4b21d441f0eda6dba392a58
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mesh/sharpener_021_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mesh/sharpener_021_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mesh/sharpener_021_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021.obj b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision.obj b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9d886a521685ace4dbbcacd48f47b263569d43f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision.obj
@@ -0,0 +1,10769 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_0.obj b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48387339eeb9ec102f11751f9b9da3f284dd1194
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_1.obj b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f4a420ec0f46a5bc0db1cf007864723f15524cd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_10.obj b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..128393a31c7201e9fefd3593c83d01ddda9d1284
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_10.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+v -0.00485325 -0.02894890 0.03765786
+v -0.00613236 -0.02886431 0.03897689
+v -0.00649674 -0.02886431 0.03897689
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+
diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_11.obj b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..519be16da621bf5f010a09dc11e72eec93192e0f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_11.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.00434712 -0.00844544 0.03163493
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+
diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_12.obj b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..277cb4647930fda5ed72da602149a73820d205e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_12.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_13.obj b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..481cd04652fde28b6451860265f580e0e7dbe869
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_13.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+v -0.00485325 -0.00771756 0.03192869
+v -0.00023209 -0.00845100 0.03397637
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+
diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_14.obj b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b08580980e5f82a256a3c6c5758d8df87d8202f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_14.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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+v 0.00570240 -0.02903836 0.03633851
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+
diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_15.obj b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4234b0dbfb33f01cafb1a0bd729750152f6854da
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_15.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.00434712 -0.02222215 0.04626523
+v -0.00023209 -0.02182726 0.04626094
+v -0.00023209 -0.02222215 0.04626523
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diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_16.obj b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3296b9e0334315c3e0db2fa3aadaa22d498e2a03
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_16.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_17.obj b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d977dad08d900a295a148d2d9248880b3ff3b6b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_17.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_2.obj b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63fdc3b3e33a74336cb0daf718edb637c4e08582
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_2.obj
@@ -0,0 +1,502 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_3.obj b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a4f2630d41113c1c4ea2f15b324f725aeb8597a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_3.obj
@@ -0,0 +1,655 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_4.obj b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..467a6360c75442b15084c55d3e472b730848a7a5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_5.obj b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fde05549b9e5ee328602944e2ede990ff2984d82
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_6.obj b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e9b59cc49786c0fffa187f32aa0b9264fb0b254
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_6.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_7.obj b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f748e6e8790eb87d177e193455bec82d458c6780
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_7.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_8.obj b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69361a3c3438fd26defaa3c307d702e96263a98d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_9.obj b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3873d23ac40f6666498dec287b6b7108d6eb359e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/mesh/sharpener_021_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/sharpener_021.xml b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/sharpener_021.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7d8b32e6f4ca4985bb7983bbd0e250c68bf91b94
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/mjcf/sharpener_021.xml
@@ -0,0 +1,50 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sharpener_021">
+  <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_021.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sharpener_021_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sharpener_021_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sharpener_021_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sharpener_021_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sharpener_021_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sharpener_021_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sharpener_021_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sharpener_021_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sharpener_021_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sharpener_021_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sharpener_021_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sharpener_021_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sharpener_021_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/sharpener_021_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/sharpener_021_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/sharpener_021_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/sharpener_021_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/sharpener_021_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sharpener_021">
+      <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" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" 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/f95110d1df7d5657909d815041f76f89/sharpener_021.urdf b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/sharpener_021.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..210abaeefc2aa46403805ce7c595cea3a773058e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/sharpener_021.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_021">
+   <link name="sharpener_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_021.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_021_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <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>f95110d1df7d5657909d815041f76f89</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>green sharpener</name>
+         <color>green</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>green wedge-shaped single-hole pencil sharpener with enclosed body</description>
+         <min_height>0.0800</min_height>
+         <max_height>0.0800</max_height>
+         <real_height>0.0800</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611145800</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.033940 -0.041639 -0.033295</min>
+            <max>0.033504 0.038032 0.046705</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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/f95110d1df7d5657909d815041f76f89/sharpener_021.usd b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/sharpener_021.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/sharpener_021.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79d9e435db2964c2d8ce124475b07e967cef78b8c1f4b3edc01519a5339144fd
+size 4788641
diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/textures/material_0.png b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ca721e3a4af402b421bf65d1fedb4911b50a66c50e2219188d8fb2073f293db
+size 14802043
diff --git a/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/video.mp4 b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2b191b53d678f32a6d4191bc26b3cbea34aa339e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f95110d1df7d5657909d815041f76f89/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86548e13084c2803b68f37bf465514b12ec9ea2b42cab673a4182bdfdd647084
+size 318115