diff --git a/.gitattributes b/.gitattributes
index 1551117981757cf0a1de126be9a353874d0fd1bc..a7b6987b75ee9b9d959db1213b46765ac962f8d1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5320,3 +5320,5 @@ dataset/desktop_supplies/office_stationery/1af6d7f1186a5d138c02efee361e7042/mesh
 dataset/desktop_supplies/office_stationery/1af6d7f1186a5d138c02efee361e7042/mesh/pen_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mesh/pen_holder_023.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/pen_holder_023.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mesh/sharpener_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/sharpener_020.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ea89791e522350dbfa87443b48ae33538e079d74
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_020_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd sharpener_020_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..90dda96d77ad8b88d080c13db36a7a2161f4384f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/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/563daa41153e59b38d13aff2f68b5477/mesh/sharpener_020.glb b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mesh/sharpener_020.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a01565e9d6c6e671d0087236895395b126ae83d4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mesh/sharpener_020.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bd83b6d4f89f6dcbd1eb4c47ba6dc085c5e1c94107713859bd561aed52cf9cf
+size 12291184
diff --git a/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mesh/sharpener_020.mtl b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mesh/sharpener_020.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..186cc5cb6298f2ee524e964ccba966881addbc07
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mesh/sharpener_020.mtl
@@ -0,0 +1,6 @@
+newmtl sharpener_020_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/563daa41153e59b38d13aff2f68b5477/mesh/sharpener_020.obj b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mesh/sharpener_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e13cffd7e7f769b0ff8bc2d18a452263507bcc6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mesh/sharpener_020.obj
@@ -0,0 +1,106354 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sharpener_020_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mesh/sharpener_020_collision.obj b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mesh/sharpener_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..615029b0edc61c48ff076e30f401ffb39f62de83
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mesh/sharpener_020_collision.obj
@@ -0,0 +1,6423 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision.obj b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a1f672b243ad2b80f40046fe359dc4a5d515b60
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision.obj
@@ -0,0 +1,6423 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_0.obj b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d340f601d592137f5eea191468bcebc2f21be59f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_1.obj b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ec2d1b0c703514185e46bfee70b5febce53fab9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_1.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_10.obj b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ae0f5e5b03182719ea0b3d543a9237d3cd6d013
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_10.obj
@@ -0,0 +1,1072 @@
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diff --git a/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_11.obj b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8332f29b3ce4192cc7b556d22f1d83baba127b06
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_11.obj
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diff --git a/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_12.obj b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..857177d40861a545a99ebadd783721edcc75c5ee
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_12.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_13.obj b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d6368ffea02ab59672716b4080e48389cac336a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_13.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.00050856 0.01209589 0.00848855
+v 0.00050856 0.00752503 0.00847834
+v 0.00050856 0.01209595 -0.00887669
+v -0.00059073 0.01209589 0.00839335
+v -0.00059073 -0.01251981 0.00839326
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+v -0.00059073 0.01209595 -0.00887669
+v 0.00050856 -0.01251975 -0.00887678
+v -0.00059073 -0.00563574 -0.00887845
+v -0.00059073 -0.01251975 -0.00887678
+v -0.00038165 -0.01251981 0.00836606
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+v 0.00050856 -0.00882601 0.00842048
+v 0.00050856 -0.00810315 0.00843238
+v 0.00050856 -0.00728150 0.00843578
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+v 0.00041452 -0.01251981 0.00755687
+v 0.00050856 -0.00980187 0.00821137
+v 0.00050856 -0.01034401 0.00787988
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+
diff --git a/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_14.obj b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0eb88804d9264de4e4a8bddc6524f08d4ea36f8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_14.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.00277969 0.01209589 0.00906021
+v 0.00277969 0.01209590 0.00536466
+v 0.00250244 0.01209589 0.00903887
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+v 0.00177208 0.01209589 0.00894192
+v 0.00142257 0.01163815 0.00886378
+v 0.00142435 0.01081466 0.00886342
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+v 0.00205155 0.00916992 0.00900051
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+
diff --git a/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_15.obj b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68a6b01c4c386d008acefda28bbeb471b3785b7d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_15.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.00277969 0.01209590 0.00536466
+v 0.00277969 0.01209595 -0.00887663
+v 0.00050856 0.01209590 0.00536466
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+v 0.00050856 -0.01251975 -0.00887672
+v 0.00277969 -0.01251975 -0.00887811
+v 0.00050856 -0.00571525 -0.00887808
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+
diff --git a/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_2.obj b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bbdbfb1eca0eab63d9561d88873935af4a0473e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_2.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.01060402 -0.00399107 0.00937527
+v -0.01060196 -0.00424893 0.00937526
+v -0.01025844 -0.00399108 0.01077482
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diff --git a/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_3.obj b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d762a3baaf1412428c4784ad8bfed74c61bf4e7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_3.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_4.obj b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d91cfbfd8c71ea18acee881517ed0d5dcc0c4f1b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_4.obj
@@ -0,0 +1,769 @@
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diff --git a/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_5.obj b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63f5fcb563774cd3a728ebf546f917a6e8161aed
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_6.obj b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62395cddd4efca5e45e398d08b73cc1970e84bb0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_7.obj b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..087aad053e786bfa1e790edf92ab75796bb47e47
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_8.obj b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a796094d398d2f26a026adbee5be72b2cf2043d9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_8.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_9.obj b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3fd83bc433ba960b6d7389b5646d3f17565a0e7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/mesh/sharpener_020_collision_9.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
+v 0.00286291 -0.02541211 0.00675129
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diff --git a/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/sharpener_020.xml b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/sharpener_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7430c4c570951861723cfb1aca33253d5535ac5d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/mjcf/sharpener_020.xml
@@ -0,0 +1,46 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sharpener_020">
+  <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_020.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sharpener_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sharpener_020_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sharpener_020_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sharpener_020_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sharpener_020_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sharpener_020_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sharpener_020_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_13" file="mesh/sharpener_020_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/sharpener_020_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/sharpener_020_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sharpener_020">
+      <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" />
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/sharpener_020.urdf b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/sharpener_020.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9cc3eed10842a529678548f6b323de94ad2760db
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/sharpener_020.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_020">
+   <link name="sharpener_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_020.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_020_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>563daa41153e59b38d13aff2f68b5477</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>green sharpener</name>
+         <color>green,silver</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular green single-hole pencil sharpener with exposed metal blade</description>
+         <min_height>0.0206</min_height>
+         <max_height>0.0206</max_height>
+         <real_height>0.0206</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518180812</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.012996 -0.025293 -0.008743</min>
+            <max>0.013045 0.024707 0.011902</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/563daa41153e59b38d13aff2f68b5477/sharpener_020.usd b/dataset/desktop_supplies/office_stationery/563daa41153e59b38d13aff2f68b5477/sharpener_020.usd
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