diff --git a/.gitattributes b/.gitattributes
index 461483bb39b7c74d271df45ba80416ae5be93be7..1258de0bdd0cd871f9c568c5b7417f1390988572 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3230,5 +3230,5 @@ dataset/desktop_supplies/office_stationery/b4b1c7ff57de5e7bbb352458eb655350/mark
 dataset/desktop_supplies/office_stationery/b4b1c7ff57de5e7bbb352458eb655350/mesh/marker_014.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mesh/sharpener_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/sharpener_015.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/mesh/notebook_012.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/b76c4412b24e545daab5f39fe4001ce7/notebook_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mesh/sharpener_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/sharpener_018.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c5240d4288eaceb0d8890f4b4411fa08069305bf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_018_geometry_Looks_material_0
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6c99e19808bb9d64c3243a653a88713869ca9fb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/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/b6498599c67d5a4e83baeb3e3c531075/mesh/sharpener_018.glb b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mesh/sharpener_018.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5937374083fc814aac3795b1cb957fa73e4ca4d1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mesh/sharpener_018.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13971668
diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mesh/sharpener_018.mtl b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mesh/sharpener_018.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..55f07bf6707f62c7d9ea47a4ee1b1361dd582e23
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mesh/sharpener_018.mtl
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+newmtl sharpener_018_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/b6498599c67d5a4e83baeb3e3c531075/mesh/sharpener_018.obj b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mesh/sharpener_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ccfeb5a86d1a294beb9c928b697a18e97e95d2e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mesh/sharpener_018.obj
@@ -0,0 +1,109064 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sharpener_018_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mesh/sharpener_018_collision.obj b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mesh/sharpener_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4fc40e5ab58cab3e864c85b9b8296548035f507
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mesh/sharpener_018_collision.obj
@@ -0,0 +1,19912 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mesh/sharpener_018_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mesh/sharpener_018_geometry_Looks_material_0.png
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+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mesh/sharpener_018_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018.obj b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018.obj
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index 0000000000000000000000000000000000000000..beeedd10934b0f182d069d9dcb64e4945b4ec058
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision.obj b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e9dff01fe5aed9d3696080aa43be497c32979b0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision.obj
@@ -0,0 +1,19912 @@
+# https://github.com/mikedh/trimesh
+
+o sharpener_018_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_0.obj b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98d6c6b5795f4f422f81a027486549097be55cc5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_1.obj b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e89b971f024955d2f5bffeded7c2699563e2a55
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_10.obj b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9c49adf59075b0d42bda886f1025b0ac8f39522
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_11.obj b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73fcb3065acc7179a74c476ff2b35ee34d104f0b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_11.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_12.obj b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e384533e83774535d80b8873d747c6a9dcab51a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_12.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_13.obj b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1043aded2e9b313140da548198c70995b34e38eb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_13.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_14.obj b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8d70ee8e66e67e137b0ca0235564f349c984023
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_14.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.03857999 -0.00612034 0.01693752
+v 0.03857046 -0.00612035 0.01832827
+v 0.03858316 -0.00827699 0.01693751
+v 0.00659974 -0.00612034 0.01693752
+v 0.03855458 -0.00612035 0.02030240
+v 0.03857999 -0.01218616 0.01693750
+v 0.03855458 -0.00827700 0.02030239
+v 0.03857046 -0.01023222 0.01832825
+v 0.03856411 -0.01922703 0.01832822
+v 0.03857046 -0.01922702 0.01754476
+v 0.00707615 -0.01922702 0.01693747
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+v 0.03857364 -0.01922702 0.01693747
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+v 0.03854505 -0.01922703 0.02030235
+v 0.03851329 -0.01922704 0.02289718
+v 0.03852600 -0.00612036 0.02289723
+v 0.03851647 -0.01922704 0.02265099
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+
diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_15.obj b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc49f75a8ca3162cfbb84bc4e74dfb115d0fb5f1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_15.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.00595407 -0.00524167 0.02289723
+v -0.00651157 -0.01922704 0.02289718
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+
diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_16.obj b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12dabf55c21a0de4a92b44544247924d073ff301
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_16.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
+v -0.03849525 -0.00436749 0.01693752
+v -0.03849148 -0.00524028 0.01693752
+v -0.03849148 -0.00524028 0.01744680
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diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_17.obj b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9de036a16b820b547f4a2da02ed8f0766297a35
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_17.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_18.obj b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d862707fd72a61730855bc40ae5f832e214abc6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_18.obj
@@ -0,0 +1,1054 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_19.obj b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c36d29c14d665d9324424e9401d1bb0106330e6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_19.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.03852602 -0.00632263 0.00056361
+v -0.03852979 -0.00496269 0.00450483
+v -0.03852602 -0.00496267 0.00056361
+v -0.03852225 -0.01922138 0.00056356
+v -0.03852225 -0.01922696 0.00133930
+v -0.03852225 -0.01922698 0.00647939
+v -0.03852602 -0.00496270 0.00785462
+v 0.00000745 -0.00496267 0.00056361
+v -0.03850339 -0.01922696 0.00056356
+v -0.03851848 -0.01922699 0.00845400
+v -0.03852225 -0.00496271 0.00982763
+v 0.00000745 -0.00496272 0.01296425
+v 0.00000745 -0.01922696 0.00056356
+v -0.03851093 -0.01922700 0.01121237
+v -0.03850339 -0.01804717 0.01437784
+v -0.03851471 -0.00632268 0.01240328
+v -0.03851471 -0.00496272 0.01240328
+v -0.00621675 -0.00496273 0.01693752
+v -0.00706550 -0.01922702 0.01693747
+v 0.00000745 -0.01922701 0.01227821
+v -0.03849962 -0.01922702 0.01516160
+v -0.03849584 -0.01804718 0.01635246
+v -0.03849584 -0.01218424 0.01693750
+v -0.03850716 -0.00496272 0.01437789
+v -0.03849207 -0.00496273 0.01693752
+v -0.03848830 -0.01922702 0.01693747
+v -0.03849207 -0.01922702 0.01635246
+v -0.03849207 -0.01804718 0.01693747
+v -0.03849584 -0.01023225 0.01693750
+v -0.03849584 -0.00496273 0.01660414
+f 1 2 3
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+
diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_2.obj b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cd703f888419551acfc3657912f59040eceba57
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_2.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00366655 -0.00483303 0.05321706
+v -0.00366655 -0.00483303 0.05421706
+v -0.00366655 0.00092604 0.05321706
+v -0.00366655 0.00092604 0.05421706
+v 0.00368726 -0.00483303 0.05321706
+v 0.00368726 -0.00483303 0.05421706
+v 0.00368726 0.00092604 0.05321706
+v 0.00368726 0.00092604 0.05421706
+f 2 4 1
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+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/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_3.obj b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcbc93605f0cbdaec6bda7250ef23cc843e0d232
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_3.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00000745 -0.01922696 0.00056356
+v 0.00000745 -0.01922701 0.01227821
+v 0.00000745 -0.00496267 0.00056361
+v 0.03861701 -0.01922696 0.00056356
+v 0.00000745 -0.00496272 0.01296425
+v 0.00707548 -0.01922702 0.01693747
+v 0.03861701 -0.00496267 0.00056361
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+v 0.00624395 -0.00496273 0.01693752
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+v 0.03860945 -0.01922700 0.00964486
+v 0.03857921 -0.00496273 0.01693752
+v 0.03857921 -0.01922702 0.01635246
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+v 0.03858299 -0.00885553 0.01693751
+v 0.03860945 -0.00496271 0.01042867
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+v 0.03860189 -0.00496272 0.01300432
+v 0.03860567 -0.00632268 0.01240328
+v 0.03859811 -0.00632268 0.01437789
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+f 28 30 29
+
diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_4.obj b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..815851cd6e167e76d423b045cb3e26cee1aa0278
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_4.obj
@@ -0,0 +1,2422 @@
+# https://github.com/mikedh/trimesh
+v 0.00222594 0.03067630 0.04447718
+v 0.00100461 0.03007127 0.04526507
+v 0.00295875 0.03007127 0.04526418
+v 0.00418008 0.03067363 0.04447718
+v -0.00094953 0.03067363 0.04447718
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+v -0.00094953 0.02911977 0.04625195
+v 0.00295875 0.02911710 0.04625106
+v 0.00491967 0.03007127 0.04526059
+v 0.00613422 0.03066830 0.04447718
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+v -0.00681874 0.02475670 0.04932013
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diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_5.obj b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..037cdd0214ce3369d7bf8be15fb85a4e9b651459
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_6.obj b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b693a37862cc42d2babd00ea4e796cf41d6d9b60
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_7.obj b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a875d4f1c50dc0e8a3c5c8e4494a452f829b25e6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_8.obj b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0149e49fa0f68f137a6a9791e5c5d81bb5b22a5d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_9.obj b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd58410c236146451bf2cbdbfc034c36b136d0fe
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/mesh/sharpener_018_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/sharpener_018.xml b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/sharpener_018.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0ed85d17b722262a6f5cb07044436ba88b78d90e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/mjcf/sharpener_018.xml
@@ -0,0 +1,54 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sharpener_018">
+  <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_018.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sharpener_018_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sharpener_018_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sharpener_018_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sharpener_018_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sharpener_018_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sharpener_018_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sharpener_018_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sharpener_018_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sharpener_018_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sharpener_018_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sharpener_018_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sharpener_018_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sharpener_018_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/sharpener_018_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/sharpener_018_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/sharpener_018_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/sharpener_018_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/sharpener_018_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/sharpener_018_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/sharpener_018_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sharpener_018">
+      <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" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/sharpener_018.urdf b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/sharpener_018.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b1a3fac7e23befa965590acd96cc3dc208f5514d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/sharpener_018.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_018">
+   <link name="sharpener_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_018.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_018_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>b6498599c67d5a4e83baeb3e3c531075</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>bear sharpener</name>
+         <color>pink,red</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>pink rounded pencil sharpener with bear-ear top and translucent shavings case</description>
+         <min_height>0.1200</min_height>
+         <max_height>0.1200</max_height>
+         <real_height>0.1200</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518180711</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.038446 -0.037371 -0.052438</min>
+            <max>0.038502 0.038431 0.067562</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/sharpener_018.usd b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/sharpener_018.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/sharpener_018.usd
@@ -0,0 +1,3 @@
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+oid sha256:db056ca9d4a9af634a3b86f3dbcc08e015dc1e279becc08135029483e1dbfd96
+size 4819922
diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/textures/material_0.png b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/textures/material_0.png
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/video.mp4 b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/video.mp4
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/b6498599c67d5a4e83baeb3e3c531075/video.mp4
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+size 220645