diff --git a/.gitattributes b/.gitattributes
index 70539f37a42261aebb3497320225b7db4804c798..036ca638130100e82806057c8ccc8de1d2a0d923 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3125,3 +3125,5 @@ dataset/desktop_supplies/office_stationery/3c2c328ec88f5aee91fe0bafb4c3a392/mark
 dataset/desktop_supplies/office_stationery/3c2c328ec88f5aee91fe0bafb4c3a392/mesh/marker_005.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/3cfd3f7ee56b54a884ebbfdd06a03e43/glue_stick_029.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/3cfd3f7ee56b54a884ebbfdd06a03e43/mesh/glue_stick_029.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mesh/sharpener_024.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/sharpener_024.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8f4b07137e762d8831b707133fcef35c8357bb00
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_024_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4c01a6fe56f9ec68ed65fe377d8492c838fc003
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/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/39a771a4e54252a690341e3a76442c82/mesh/sharpener_024.glb b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mesh/sharpener_024.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e759c2c01c1548525906425bd56c485d43b45805
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mesh/sharpener_024.glb
@@ -0,0 +1,3 @@
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+size 16208744
diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mesh/sharpener_024.mtl b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mesh/sharpener_024.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3dacc911eb993202ab3864349da4403a9cebe970
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mesh/sharpener_024.mtl
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+newmtl sharpener_024_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
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mesh/sharpener_024.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mesh/sharpener_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d065849d4bc672e9b13cae21b7c1e73918fd5433
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mesh/sharpener_024.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/39a771a4e54252a690341e3a76442c82/mesh/sharpener_024_collision.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mesh/sharpener_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ea12bf8a521513c8e13d9ff0595092da1b757b0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mesh/sharpener_024_collision.obj
@@ -0,0 +1,17738 @@
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mesh/sharpener_024_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mesh/sharpener_024_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..783fd2f4e6dd902aaeb8841be81fe31cd6ea6ba7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision.obj
@@ -0,0 +1,17738 @@
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_0.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b215fe2bd575d6822597cf44ccf4e33b352253fc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_1.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ed134ac7c114185147f54871672478851ec4810
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_10.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2792427a09aa4c63678688869732f84909007fa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_11.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcd30ba32093286af4c26d5bb58db2da4c5490e9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_11.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_12.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2eacba278618211388c2aaddb95a949ee4622d02
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_12.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_13.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a37c057fcbe6607ceeac61d02d4632850bb98bd2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_13.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
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+v 0.00407367 -0.00407869 0.01185456
+v 0.00003678 -0.00507177 0.01185455
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+
diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_14.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87fe500accaa6eba6b49c083deed757bed5f35fb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_14.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_15.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6382a953d190c0b141fa0ab2577aa354883cbf3f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_15.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.00063176 0.02333514 0.00044026
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_16.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..510e75d75c33aa25caee1abaabfcad9bcfb3da32
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_16.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_17.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33974e128b7a4f0ad0c3eb7c20ea54c37156f7f9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_17.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_18.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..717402ba9d9ffee841bf965d5ce587940d2df299
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_18.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_19.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc22d00aa52df042ace29f0c44cfa2038f3263bc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_19.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_2.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f627877e179ea171e876b696c0a3227dc0d607c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_20.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8027d5ef0adbd166bc78a406fd6de1777367e1cc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_20.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.00544744 -0.00213636 0.01185456
+v 0.00544744 -0.00213196 0.01183741
+v 0.00307299 -0.00085589 0.00922438
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+v 0.00327566 -0.02322766 0.00455483
+f 1 2 3
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+f 14 19 20
+f 16 21 17
+
diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_21.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b91452022f27572610fd98e5573864bcd8d58941
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_21.obj
@@ -0,0 +1,496 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_22.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..330fa0e8ee7296cd7a7dfbcc5d309af454a1fa78
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_22.obj
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_23.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0658ecc53eb1ed32a72344f4296ab8dd160fda5f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_23.obj
@@ -0,0 +1,496 @@
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_24.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11af1466817683078407662b3315266d06a2f65a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_24.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_25.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32c43bd34bbf54ec58121708b6038ccab7ab858a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_25.obj
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_26.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..160c74ff67782c30dd2b5f6fda94f19e031d5f00
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_26.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_27.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45b263fb6304bad730dedf039549376d771e2608
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_27.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_28.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f77edbcb815079072132a81e247188392e5ec39d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_28.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_29.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..753918a576fe99420f11de074b7f06a1fc94abd3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_29.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_3.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f83bf1b00b2c46f15fafbee3b01bd38511cb4057
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_3.obj
@@ -0,0 +1,895 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_30.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c78822fbb8622324f8afc1334addd4ebaf407ba
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_30.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_31.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13e49dc158c6cb1711d1199b1759fc060be287ad
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_31.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_32.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1273a051491e6dc42b461e7ea0e099ecdd54f8f6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_32.obj
@@ -0,0 +1,514 @@
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_4.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b0e0f3643d75e63fcfc05f1552e6aa41f6121ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_4.obj
@@ -0,0 +1,916 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_5.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c348cc633c489248d16c36c148ca8c2da849c398
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_6.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5155f0590ff5d1b5083aef5a17f684222b6e3f71
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_6.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_7.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c57e864a43db66f75fb4a748873668f60e943b2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_7.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_8.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39148ef7c63d0b87366e366861971673d3ad9f71
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_8.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_9.obj b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e327c0ea624519353c643572332016438bd07915
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/mesh/sharpener_024_collision_9.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/sharpener_024.xml b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/sharpener_024.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e8e3f77a34a96e70c1eb4d56a658648c05f582d0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/mjcf/sharpener_024.xml
@@ -0,0 +1,80 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sharpener_024">
+  <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_024.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sharpener_024_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sharpener_024_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sharpener_024_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sharpener_024_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sharpener_024_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sharpener_024_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sharpener_024_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sharpener_024_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sharpener_024_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sharpener_024_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sharpener_024_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sharpener_024_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sharpener_024_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_15" file="mesh/sharpener_024_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/sharpener_024_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/sharpener_024_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_20" file="mesh/sharpener_024_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/sharpener_024_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/sharpener_024_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/sharpener_024_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/sharpener_024_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_26" file="mesh/sharpener_024_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/sharpener_024_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/sharpener_024_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/sharpener_024_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/sharpener_024_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/sharpener_024_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/sharpener_024_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sharpener_024">
+      <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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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/sharpener_024.urdf b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/sharpener_024.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..655b55ae85988bf5db5a77347ba37d9a6171a48e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/sharpener_024.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_024">
+   <link name="sharpener_024">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_024.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_024_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <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>39a771a4e54252a690341e3a76442c82</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>purple sharpener</name>
+         <color>purple</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cylindrical purple sharpener with translucent body and bottom cap</description>
+         <min_height>0.0800</min_height>
+         <max_height>0.0800</max_height>
+         <real_height>0.0800</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611145941</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.025083 -0.025116 -0.037990</min>
+            <max>0.025120 0.024978 0.042010</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>13</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/39a771a4e54252a690341e3a76442c82/sharpener_024.usd b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/sharpener_024.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/sharpener_024.usd
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+version https://git-lfs.github.com/spec/v1
+oid sha256:c8f77fee1db54659c2fee35138d655f77440a8493a068b6991b1bad6af7d13de
+size 5442793
diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/textures/material_0.png b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/textures/material_0.png
new file mode 100644
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+size 12473910
diff --git a/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/video.mp4 b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/video.mp4
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/39a771a4e54252a690341e3a76442c82/video.mp4
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