diff --git a/.gitattributes b/.gitattributes
index 49adf9595e094e290b29bbd718298bec991b4ebd..8a37058868eb61d28c30717a2b03c08c66a68f53 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5355,3 +5355,5 @@ dataset/desktop_supplies/office_stationery/65489a6275435019a8c5b134845f29b7/eras
 dataset/desktop_supplies/office_stationery/65489a6275435019a8c5b134845f29b7/mesh/eraser_007.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/657bc05bc85d5e39974ccff0bdff370d/correction_tape_021.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/657bc05bc85d5e39974ccff0bdff370d/mesh/correction_tape_021.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mesh/sharpener_017.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/sharpener_017.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..199e3b6ae95372b90d8fe3590e527216c641473f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_017_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_017_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..60714916e893d5a92e7eff3f1e0b27eed0867232
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/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/67c62fc0937256e586970b3f8123d1a1/mesh/sharpener_017.glb b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mesh/sharpener_017.glb
new file mode 100644
index 0000000000000000000000000000000000000000..023fa67ba1b31805cc9ec651d78dddef07be8ec1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mesh/sharpener_017.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 16435464
diff --git a/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mesh/sharpener_017.mtl b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mesh/sharpener_017.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7b7ad37e69a2943a6797515b96bef50bde7fe86e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mesh/sharpener_017.mtl
@@ -0,0 +1,6 @@
+newmtl sharpener_017_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/67c62fc0937256e586970b3f8123d1a1/mesh/sharpener_017.obj b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mesh/sharpener_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ff1839f2f67b4914458a18c60d205eb8429bd1f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mesh/sharpener_017.obj
@@ -0,0 +1,129744 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sharpener_017_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mesh/sharpener_017_collision.obj b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mesh/sharpener_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97d2d7aa514e84b57ee6f44026fabb14a10871b9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mesh/sharpener_017_collision.obj
@@ -0,0 +1,11703 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mesh/sharpener_017_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mesh/sharpener_017_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017.obj b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017.obj
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diff --git a/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision.obj b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..729bea28be9c05d9effd67953badaf22e2792c21
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision.obj
@@ -0,0 +1,11703 @@
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diff --git a/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_0.obj b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9faa99d56333da3807c2d57b10d50eca8a42c73a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_1.obj b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19f04cfce1db44ebffba094db3e03d47f237f48e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_2.obj b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..488f81334fc30d7bbc70ab2048ac744d933dc277
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_3.obj b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12da111f2e5edf4d0045e63239600d1eca86707a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_3.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_4.obj b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4488c3a1946b100fea21b91bf7ad6007a17fafb9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_4.obj
@@ -0,0 +1,694 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_5.obj b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cf8f052368e9e950ac84f1e64f322324b1b7d1f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_6.obj b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b1d19b257d64247138b2aa4df14ff77365889f4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_7.obj b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f01c797b952f13f344da62315e1a207e4fa72c3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_8.obj b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f271a279c358aa1381feeee7267cd7195014c495
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_9.obj b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4c4ca6737a7779abd0b8f419310b5183c49b294
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/mesh/sharpener_017_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/sharpener_017.xml b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/sharpener_017.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bb2a23ef6d831c2bf86dc93040a06c1b3622e29c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/mjcf/sharpener_017.xml
@@ -0,0 +1,34 @@
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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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/sharpener_017.urdf b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/sharpener_017.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e42b716656af70ded53c4a55ee70e1ffc6d6ffd8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/sharpener_017.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_017">
+   <link name="sharpener_017">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_017.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_017_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>67c62fc0937256e586970b3f8123d1a1</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>crank sharpener</name>
+         <color>yellow,blue</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact rectangular hand-crank pencil sharpener with shavings drawer</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>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518180641</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.033106 -0.041065 -0.055544</min>
+            <max>0.033093 0.101278 0.054456</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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>NO: {"summary":"Misses clear sharpener hole/front panel and base panel; only body, crank, and hub are segmented.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/sharpener_017.usd b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/sharpener_017.usd
new file mode 100644
index 0000000000000000000000000000000000000000..abc22c36f136ca56e864a2eac444bfb6826ae3e2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/sharpener_017.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60ef6f07ad77b9d2d620ec02807d4314eaebd1c627dae01797423a982a023e0c
+size 5044597
diff --git a/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/textures/material_0.png b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..60714916e893d5a92e7eff3f1e0b27eed0867232
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:795c7b1da534bb39ce0194990466851e1700e5712867c61cf02a331c730a4a1b
+size 12963983
diff --git a/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/video.mp4 b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5718ca3da7ce2c71938064d0abae4493bf70fa3a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/67c62fc0937256e586970b3f8123d1a1/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4642f9871c47bebd15f3c6f84d38ceed50e84022adb294f09bb732f927cd9ce6
+size 329891