diff --git a/.gitattributes b/.gitattributes
index de26a5da56ed3afeadda6e055388729054f5a81c..ff2dd03add52a24d9ae0d7d6d62b4816d60be0ff 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3226,5 +3226,5 @@ dataset/desktop_supplies/office_stationery/b3837771a46f511eac30e011616b5483/note
 dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/b3bb48dd95d755d0884989fd25a9947b.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mesh/open_notebook.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mesh/open_notebook_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/b450b967248351339fe9c44705488970/eraser_044.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/b450b967248351339fe9c44705488970/mesh/eraser_044.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mesh/sharpener_016.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/sharpener_016.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4c335016bfabee8bb33d4fbde4e8aa08b40aa64a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_016_geometry_Looks_material_0
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+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd sharpener_016_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6258359b0521ce4346e66be6e18070120ae24cb4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/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/b3b7559745ac5adb9307202fc06f70ea/mesh/sharpener_016.glb b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mesh/sharpener_016.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3ecf18dc2ec5fd64755eb4b8e609e8827abfe957
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mesh/sharpener_016.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13007492
diff --git a/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mesh/sharpener_016.mtl b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mesh/sharpener_016.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e800ffb50c03f95c31c0c2d1900951d1d38ba6a8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mesh/sharpener_016.mtl
@@ -0,0 +1,6 @@
+newmtl sharpener_016_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/b3b7559745ac5adb9307202fc06f70ea/mesh/sharpener_016.obj b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mesh/sharpener_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5b80a067c5b4d1df3b03e2933b0d388c3ebbed9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mesh/sharpener_016.obj
@@ -0,0 +1,108534 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sharpener_016_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mesh/sharpener_016_collision.obj b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mesh/sharpener_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac7025a7c5af24331f104a3ce8cec40e5a71e957
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mesh/sharpener_016_collision.obj
@@ -0,0 +1,10014 @@
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diff --git a/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mesh/sharpener_016_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mesh/sharpener_016_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6258359b0521ce4346e66be6e18070120ae24cb4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mesh/sharpener_016_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9753003
diff --git a/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6258359b0521ce4346e66be6e18070120ae24cb4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9753003
diff --git a/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016.obj b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cccf8096fee0016c38d5684276476122c83839b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sharpener_016_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision.obj b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85dfda0cfb7e50606be169d70b890f2aede54f5a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision.obj
@@ -0,0 +1,10014 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_0.obj b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97a62b5f25143dd84a8669b8a1ef638b7c6779f5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_1.obj b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..168d0e9a1d5e6f72feb009c84f302ffcba564669
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_10.obj b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adf76b8d948fd5520bca8f056ef9640487ccc57e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_11.obj b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3719ce107738e9c29b8d67e7b80ab891d32426e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_11.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_12.obj b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88fcb4adc1b7b3292e77e008ba83b6beda757efd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_12.obj
@@ -0,0 +1,766 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_2.obj b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c112134278be6c9149e92c355c5bf0accd0f8058
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_3.obj b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cabfcfbe2b0072d545174fd09cbcd16c8086d8e9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_4.obj b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d27addfb820c01773428d9a85498293dfe09627b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_5.obj b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17bac5b679057f695a890185ea43d46665768886
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_5.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_6.obj b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e061e01175f2295fd7c5715bd02235f07fff82cb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_6.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_7.obj b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb7b2db35e9268d8201567a3d6795e4d6c1f8e3e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_8.obj b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ed6d82ddb4f53dedc64c42e4456d722af16cf0d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_9.obj b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62b30ddc086ecc1bb1f33f6e47535c247391334b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/mesh/sharpener_016_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/sharpener_016.xml b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/sharpener_016.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9ef84be9d564dd8a79c193f8833b7c8c551e8894
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/mjcf/sharpener_016.xml
@@ -0,0 +1,40 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sharpener_016">
+  <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_016.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sharpener_016_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sharpener_016_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sharpener_016_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sharpener_016_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sharpener_016_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sharpener_016_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sharpener_016_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sharpener_016_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sharpener_016_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sharpener_016_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sharpener_016_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sharpener_016_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sharpener_016_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sharpener_016">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/sharpener_016.urdf b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/sharpener_016.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..042e9032efab13c58555ae1cdebb99950eafdf3d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/sharpener_016.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_016">
+   <link name="sharpener_016">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_016.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_016_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>b3b7559745ac5adb9307202fc06f70ea</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>crank sharpener</name>
+         <color>gray,blue</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact rectangular hand-crank pencil sharpener with side handle</description>
+         <min_height>0.1200</min_height>
+         <max_height>0.1200</max_height>
+         <real_height>0.1200</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518180617</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.032394 -0.045382 -0.053338</min>
+            <max>0.031885 0.105195 0.066662</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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":"Distinct functional parts are mostly merged into one color; crank and cutter are separated, but body, shavings bin, and top holes are not.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/sharpener_016.usd b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/sharpener_016.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/sharpener_016.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:620ce4234217c160dbd0c9acb8e05ee49e600d4feb52b0927dd65b9b7a949ba9
+size 4855507
diff --git a/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/textures/material_0.png b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/textures/material_0.png
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/video.mp4 b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/video.mp4
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+++ b/dataset/desktop_supplies/office_stationery/b3b7559745ac5adb9307202fc06f70ea/video.mp4
@@ -0,0 +1,3 @@
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+size 277831