diff --git a/.gitattributes b/.gitattributes
index 2e28b4087567a6640136f197fd1d51349374364f..79f2412d461fefd4017948ea0ffa0b9d508a36cc 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3212,5 +3212,5 @@ dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mesh
 dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mesh/open_notebook_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mesh/notebook_037.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/notebook_037.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mesh/pen_holder_039.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/pen_holder_039.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mesh/sharpener_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/sharpener_025.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8b0969d131ecc5fdb0bc15a23e616e4f20d6ddf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_025_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd sharpener_025_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..45660cccb72b9a086a9bdcb3a9c48ed1d65823a7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5af58949fca85cdaa816a923e025c21992d85d29f4eef4626358389f7316ecca
+size 8733519
diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mesh/sharpener_025.glb b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mesh/sharpener_025.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b23f4ae2699933244b3a5c1ee8d980c43dff9320
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mesh/sharpener_025.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92b0babdad25dc141d6945ebfb77b9b9c391de0c4bdf98a8cea845851a63cb8b
+size 12225896
diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mesh/sharpener_025.mtl b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mesh/sharpener_025.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..950ca9898fd7e8ec547aa9b90b0998b98ab479a1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mesh/sharpener_025.mtl
@@ -0,0 +1,6 @@
+newmtl sharpener_025_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mesh/sharpener_025.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mesh/sharpener_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e217ef484cfae36177f3126d54e39209b5260b2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mesh/sharpener_025.obj
@@ -0,0 +1,108884 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sharpener_025_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mesh/sharpener_025_collision.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mesh/sharpener_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e53d8583ab943a08b5054b855269ec5a07c2846
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mesh/sharpener_025_collision.obj
@@ -0,0 +1,24560 @@
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mesh/sharpener_025_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mesh/sharpener_025_geometry_Looks_material_0.png
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 8733519
diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c559a164c4ed880a7c580728576bf776a1d6a5f9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision.obj
@@ -0,0 +1,24560 @@
+# https://github.com/mikedh/trimesh
+
+o sharpener_025_collision.obj
+v -0.00012963 0.01054361 -0.02742484
+v 0.01971132 0.01054361 -0.02742484
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_0.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ff6e30468571d9d388c1896c911ae173bbd6691
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_0.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_1.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa622f0b21f3c31d5567947615f79eebbec2d70d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_10.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11103f94237be5acf30a36b931a4a050cbf475cf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_11.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09b488a57bcfa9fa3b091da3fd0a4a5314899988
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_11.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_12.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2076288e5ebd0c5a74890030bfd100d5de3fd0cb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_12.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_13.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0f357c236457224d18fe61c8b05f5519c9163fd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_13.obj
@@ -0,0 +1,856 @@
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_14.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bbeebb5eb011c19ff86afbde021c81aebb63a74
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_14.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_15.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..713e9707d7c4934f3606bc45a95ceee26407b4e4
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_16.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc77586a91d2a73acacb138ebfe9c27b36f4f6f1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_16.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_17.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8607908e1da432a7853749f98a6b077fd3a038d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_17.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_18.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74b4c580b071a0fc3c5f940c9d1e69214bb3c765
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_18.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_19.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1d2618b7c4e4e4e4ae302f976d262856539d250
--- /dev/null
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_2.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44f722b03dca572962249436abe166033addee8d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_2.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_20.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcab29c7d618754a0ff309755b4e55d63dea484b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_20.obj
@@ -0,0 +1,943 @@
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_21.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..829e9ecf0fba760ac76946f5fe786cc2f3babd92
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_21.obj
@@ -0,0 +1,358 @@
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_22.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96574519f5bf56a387b58d91281a9e6c53343e97
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_22.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_23.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bece30a07d4977b1947d201b186a487d4bb9751
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_23.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_24.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0f4a225eac38b094c8929c0f09fbb194a5f2abc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_24.obj
@@ -0,0 +1,970 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_25.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f97c943edf9c71c0f9b0bd2853232b9dcc4c9f24
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_25.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_26.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6aaf9561f63236698c416d9cc8d4f22f38e077b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_26.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_27.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a295f389d97b4a1d8b0af015000742a2adb445ac
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_27.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_28.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33c9437a79760624ae4bab8ab7e59b2b20bd4a28
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_28.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_29.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a5e2aae1818d5a203308db1c9496827aa6ea81a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_29.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_3.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07cf612eca8f00ea4a22fad0587b6624030c04dd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_30.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5532caac578836a2f9f3ca2611f05c85e8047b8b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_30.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.02617820 0.02519117 -0.02382425
+v -0.02602776 0.02298495 -0.02382426
+v -0.02597166 0.02740015 -0.02382424
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_31.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0d05bed473cea6b75bde899df2d5856954b9d1e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_31.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.00505308 -0.00119810 -0.02742488
+v -0.00505308 0.01054361 -0.02742484
+v 0.00475496 -0.00119810 -0.02742488
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+
diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_32.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2979a7ca4f07458cd61fb7daf3463a895aebb461
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_32.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_4.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1153ede4259170bca1b2c648ec3f6871f24d3482
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_5.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1986bd534cdd66decb696b4259f3b9128f36e0ab
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_5.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_6.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7388d81148b5e2186b628c13885d51915831ed7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_6.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_7.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0065eab65cb2d0586b4c2b12c5cc7c6eac416da6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_7.obj
@@ -0,0 +1,136 @@
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_8.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf5bf3eabcb20e2b20e72c30e4be42b4a8fbeafa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_8.obj
@@ -0,0 +1,820 @@
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_9.obj b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fa37ecdb686e4ebf2ff035869dc8221c9cc122e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/mesh/sharpener_025_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/sharpener_025.xml b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/sharpener_025.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cf9acc5a4ec9a1535e4aeb4100517589ae0c853e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/mjcf/sharpener_025.xml
@@ -0,0 +1,80 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sharpener_025">
+  <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_025.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sharpener_025_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sharpener_025_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sharpener_025_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sharpener_025_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sharpener_025_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sharpener_025_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sharpener_025_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sharpener_025_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sharpener_025_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sharpener_025_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sharpener_025_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sharpener_025_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sharpener_025_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/sharpener_025_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/sharpener_025_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/sharpener_025_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/sharpener_025_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/sharpener_025_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/sharpener_025_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/sharpener_025_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/sharpener_025_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/sharpener_025_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/sharpener_025_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/sharpener_025_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/sharpener_025_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/sharpener_025_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/sharpener_025_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/sharpener_025_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/sharpener_025_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/sharpener_025_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/sharpener_025_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/sharpener_025_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/sharpener_025_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sharpener_025">
+      <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" />
+      <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/9fb1a6d4edb454ee9cfd7e4183fc7574/sharpener_025.urdf b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/sharpener_025.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1a4c32843b22156ccea0d968852d71e43d7b35da
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/sharpener_025.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_025">
+   <link name="sharpener_025">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_025.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_025_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0400" />
+         <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>9fb1a6d4edb454ee9cfd7e4183fc7574</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>elephant sharpener</name>
+         <color>gray,pink</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>cute gray elephant pencil sharpener with pink ears and trunk</description>
+         <min_height>0.0800</min_height>
+         <max_height>0.0800</max_height>
+         <real_height>0.0800</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.06</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611150011</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.057966 -0.073797 -0.043084</min>
+            <max>0.057954 0.059993 0.036916</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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/9fb1a6d4edb454ee9cfd7e4183fc7574/sharpener_025.usd b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/sharpener_025.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/sharpener_025.usd
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+version https://git-lfs.github.com/spec/v1
+oid sha256:147a336b8f8d58f8dee69e7c43b8180c3a8b25b03cf1c4663c1f727f5afda701
+size 4998460
diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/textures/material_0.png b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/textures/material_0.png
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/video.mp4 b/dataset/desktop_supplies/office_stationery/9fb1a6d4edb454ee9cfd7e4183fc7574/video.mp4
new file mode 100644
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