diff --git a/.gitattributes b/.gitattributes
index 22f63861c07dca3740614a6acdddd01878bcc48b..219bf6c4a8b23c42ce73587bf4b3424c206db12c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5326,3 +5326,5 @@ dataset/desktop_supplies/office_stationery/59c4ac7eec04545b921d4b99dc0171bf/corr
 dataset/desktop_supplies/office_stationery/59c4ac7eec04545b921d4b99dc0171bf/mesh/correction_tape_030.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/59cb894d240a57e6898a26c1882e97e1/glue_stick_031.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/59cb894d240a57e6898a26c1882e97e1/mesh/glue_stick_031.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mesh/sharpener_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/sharpener_004.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5768064ee2688bae5515f2bfe0f470494e3c3dec
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_004_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_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae220477a0260f414c00dd93a98f847b2470c780
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/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/5a174a26a1045026acb234d3e860c7a3/mesh/sharpener_004.glb b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mesh/sharpener_004.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9ce1ee13fddc0c33d7b31be229986d65d972f9fb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mesh/sharpener_004.glb
@@ -0,0 +1,3 @@
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+size 12868368
diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mesh/sharpener_004.mtl b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mesh/sharpener_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..baca4f51f959ca4fe244099a57af2f4c76b8429d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mesh/sharpener_004.mtl
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+newmtl sharpener_004_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/5a174a26a1045026acb234d3e860c7a3/mesh/sharpener_004.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mesh/sharpener_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b2f067831941e143f5bcce76f4b8a4acfcd17fd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mesh/sharpener_004.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mesh/sharpener_004_collision.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mesh/sharpener_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60aca67b7b4054f50d29a4753eb5f841f6324853
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mesh/sharpener_004_collision.obj
@@ -0,0 +1,14055 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mesh/sharpener_004_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mesh/sharpener_004_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ae220477a0260f414c00dd93a98f847b2470c780
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a17fecef63176fa749e278f09f057c90facbab4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision.obj
@@ -0,0 +1,14055 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_0.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e91f47cf4491e4f59d942f8745b82b08f2f6a2ee
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_1.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c491095bdd8353fe3290383f93f68b9fa2c1d18
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_10.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac9e09bea5387a2a9ce5baabe5448b1b98b341a1
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_11.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1fc9e9b302f7e8a1fbaa73e394cef91f38b032d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_11.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_12.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7631502f4456315633d5814b894442a28c2ad6bd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_12.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_13.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d483fa54f196764d6818e8161e3c0d43f7ca86b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_13.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_14.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d4ecd4cff231f91210be481bde71cbff535815e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_14.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_15.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a23278548fe66f3be640f05c815b16363223d9f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_15.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_16.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..744088cf56907d7df89a7f40e71f1c4a50a0851c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_16.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_17.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e51ee5adbeaf7354aaa1d6ee0eee16f84a449d74
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_17.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_18.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..217b556d41bcbe29b50d716a2486dcdd2ae97df9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_18.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.01146256 -0.01274288 0.02021016
+v -0.01146256 -0.01274293 0.03277654
+v -0.01146256 -0.00200321 0.02021020
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+
diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_19.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47a896dd0d898b41fc2c5fcc640e2fcc5b1c362b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_19.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_2.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8831ef05c859dbd2570b64b8b7c973c750a204e7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_2.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_20.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57b2f83aaa34048c2790843b79eac61a79d00ad9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_20.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_21.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da95946afd6d0ad6e9079089c07d5f793554f609
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_21.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_22.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..007b92f066ab5209b3e1548c7db1c613f8daef10
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_22.obj
@@ -0,0 +1,697 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_23.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb443829b20603db4228b8db0a9440aab1508067
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_23.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_24.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..362d7af19aae53d085fdaa5f9d1583d928c12acd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_24.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_25.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74543fa348cbc26940fb2b427a121f5797e59768
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_25.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.00416843 -0.02503938 0.03589395
+v 0.00500210 -0.02503938 0.03589242
+v 0.00500210 -0.01494625 0.03589092
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+v 0.00416843 -0.02588291 0.03583560
+v 0.00500210 -0.02648098 0.03579414
+v 0.00642790 -0.02503938 0.03577419
+v 0.00642790 -0.02359779 0.03577573
+v 0.00642790 -0.01638980 0.03578190
+v 0.00642790 -0.01274294 0.03578498
+v 0.00500210 -0.01274294 0.03588939
+v 0.00416843 -0.01274288 0.02020994
+v 0.00416843 -0.02648098 0.03579414
+v 0.00642790 -0.02648098 0.03566056
+v 0.00885054 -0.03086031 0.03347569
+v 0.00885054 -0.02984924 0.03400540
+v 0.00885054 -0.02945184 0.03418658
+v 0.00785326 -0.02503938 0.03512472
+v 0.00885054 -0.02650436 0.03463339
+v 0.00785326 -0.01350465 0.03513397
+v 0.00785326 -0.01274294 0.03512783
+v 0.00885054 -0.01274288 0.02020994
+v 0.00416843 -0.02291589 0.02020991
+v 0.00416843 -0.02779206 0.03508172
+v 0.00416843 -0.03143500 0.03294904
+v 0.00885054 -0.03106097 0.03335746
+v 0.00885054 -0.01350465 0.03435092
+v 0.00865072 -0.01350465 0.03452903
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+v 0.00885054 -0.01274294 0.03424191
+v 0.00885054 -0.03227264 0.02020987
+v 0.00705671 -0.02992906 0.02020988
+v 0.00416843 -0.03037131 0.02414817
+v 0.00416843 -0.03192203 0.03222894
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+v 0.00785326 -0.03242658 0.02942531
+v 0.00885054 -0.03237593 0.03043253
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+
diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_26.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02bbcbcfedc126a389397e573917094b0e66e614
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_26.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00110868 0.03699722 0.01586713
+v -0.00110868 0.03699722 0.01795400
+v -0.00110868 0.03799722 0.01586713
+v -0.00110868 0.03799722 0.01795400
+v 0.00115682 0.03699722 0.01586713
+v 0.00115682 0.03699722 0.01795400
+v 0.00115682 0.03799722 0.01586713
+v 0.00115682 0.03799722 0.01795400
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_27.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89a2c6d47d2ddb07f05f507ecbb122ce400c306e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_27.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00073360 -0.01274294 0.03589942
+v 0.00215017 -0.01274294 0.03589788
+v 0.00072483 -0.01274294 0.03589942
+v 0.00416843 -0.02503891 0.03589323
+v 0.00361575 -0.01274294 0.03589327
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+
diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_28.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d660c84bcb03b5e1aa122ed8a6fc47384c562ca1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_28.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.02310954 -0.02437184 0.01331247
+v 0.02281307 -0.02437186 0.01983171
+v 0.02308009 -0.02504054 0.01357977
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diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_29.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86d3366f52d0230bf22aebeb79028a6393281894
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_29.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_3.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15847b68702f13dc0f4929edd53fd56ee769d918
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_3.obj
@@ -0,0 +1,589 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_30.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..040c5155e3e618426bd3f8d250aa6e0ccce0b51f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_30.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_31.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22554cc662df017afd2c6dcbe3dc980cdf5b088a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_31.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_32.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3944492b55d7964f4d8da80195f6d1b9233d4c4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_32.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00413403 -0.02671400 0.01331246
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+
diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_33.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3270601cb9073f727b4d8cdbb20d134d3943a0d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_33.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
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+v -0.00114598 -0.02261466 0.01790104
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 7
+f 4 7 8
+f 6 10 9
+f 7 9 11
+f 7 11 12
+f 7 12 13
+f 7 13 8
+f 9 10 11
+
diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_4.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..affcaf69ba1505eb05ec9ff44bca1042e1e315de
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_4.obj
@@ -0,0 +1,1216 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_5.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d096a250c7786e1abb88345ee39f39f190c2600
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_6.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..524a3f21fa7d8d4817ebf9aa7c5c74c95b6f9872
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_7.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f63283efbca3a129fbc99c178c884f50704e03f4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_8.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..390303f7f843059b7b3d87946b0da1dbb6a18f7b
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_9.obj b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bca98d6fc5d613ade78efa40081d079fd9ea365f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/mesh/sharpener_004_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/sharpener_004.xml b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/sharpener_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0d7873a643ea68a926cb5a2e1fdb85ef13fe5a4f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/mjcf/sharpener_004.xml
@@ -0,0 +1,82 @@
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" 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/5a174a26a1045026acb234d3e860c7a3/sharpener_004.urdf b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/sharpener_004.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4bd97ba9628c96bd8591be814d20dbde222d39ad
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/sharpener_004.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_004">
+   <link name="sharpener_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_004.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_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>5a174a26a1045026acb234d3e860c7a3</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>manual sharpener</name>
+         <color>gray,black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact manual sharpener with handle and rectangular base</description>
+         <min_height>0.0735</min_height>
+         <max_height>0.0735</max_height>
+         <real_height>0.0735</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427234126</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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":"Most functional parts are merged into one body color; missing clear separation of crank, base, and shavings bin.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/sharpener_004.usd b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/sharpener_004.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/sharpener_004.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ea25a454fe7ae4ee78d1a5bce0f8becadec171289a28815a08bc7ef4c9648de
+size 4923205
diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/textures/material_0.png b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9510031
diff --git a/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/video.mp4 b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0314784a5a54b950cf51eb78a669c464d4175e5578dabf4f089089c2eb0d4bc4
+size 303664