diff --git a/.gitattributes b/.gitattributes
index 67aa002c35e3339b9e910096ddeac3533b1bbfe0..6182e4411c3784dfd30f7c97dd0b4425668707eb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3081,3 +3081,5 @@ dataset/desktop_supplies/office_stationery/10ab616ea78652a8a5611334723ad931/10ab
 dataset/desktop_supplies/office_stationery/14c4811adf3c5990a993c8492c5f9734/14c4811adf3c5990a993c8492c5f9734.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/14c4811adf3c5990a993c8492c5f9734/mesh/eraser.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/14c4811adf3c5990a993c8492c5f9734/mesh/eraser_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mesh/sharpener_040.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/sharpener_040.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e3c2107ea4d9f679fe1616188f45cf6be7e34fe1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_040_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd sharpener_040_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a4ead3bf9f49b2e39010e2aaf91d629ceb6fbb6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/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/12000fee1cef577187049e5d5dfce3bd/mesh/sharpener_040.glb b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mesh/sharpener_040.glb
new file mode 100644
index 0000000000000000000000000000000000000000..855cf085966bf30476ed3fb5604f06c4e4c2b8bc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mesh/sharpener_040.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13874748
diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mesh/sharpener_040.mtl b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mesh/sharpener_040.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3e856582de114389c83d0e54afdf12749118c39
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mesh/sharpener_040.mtl
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+newmtl sharpener_040_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/12000fee1cef577187049e5d5dfce3bd/mesh/sharpener_040.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mesh/sharpener_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ff4fb158a08e8dc59f3007e49dbe2338a0bb899
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mesh/sharpener_040.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sharpener_040_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mesh/sharpener_040_collision.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mesh/sharpener_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d23aa9ca6af34a463f28ff554ddb632f2d03388
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mesh/sharpener_040_collision.obj
@@ -0,0 +1,12113 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mesh/sharpener_040_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mesh/sharpener_040_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a4ead3bf9f49b2e39010e2aaf91d629ceb6fbb6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mesh/sharpener_040_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10883869
diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a4ead3bf9f49b2e39010e2aaf91d629ceb6fbb6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10883869
diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040.obj
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index 0000000000000000000000000000000000000000..39c54a34f3c3b4c402992d674a659e14eece7065
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040.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/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90c2f18f68d59af652a780988d233fda643290be
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision.obj
@@ -0,0 +1,12113 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_0.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86d1b6a4b387fb4d1ddacc84852fd2b97080113b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_1.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b3e7e2adad618be460707302c7b9c75854aa05f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_1.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_10.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24c3709dc0402a651fecf4bae706496cf14a73ff
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_10.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_11.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf62160b8212644e2596bae9a2d599c4d4b9e79e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_11.obj
@@ -0,0 +1,781 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_12.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..718b5fdafebbe7d5ba7107a404871f23f374c7ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_12.obj
@@ -0,0 +1,349 @@
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diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_13.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61ab23c3757c95bad20ecc82a0f5ec35675e3ca9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_13.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_14.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40282edd4d03a2927a632720f33d42be8c598ae3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_14.obj
@@ -0,0 +1,1684 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_15.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ce541ffc6a6bb0bc5a2782ed685149123da0953
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_15.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.05692321 0.02108027 0.04279631
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+v 0.05692321 0.01529612 -0.00260959
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+
diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_16.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55ce860697f9677c6e4f9dd3a8fdeab00664644b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_16.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.03325281 0.01291310 -0.01221320
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+
diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_17.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6427d47414cd6548483bf0a8e4cdb6c9d347513a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_17.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.03551662 0.02523700 -0.04472785
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+
diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_18.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4df378f26bfe065196d4c76587e66a9b1c0e9471
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_18.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.05692321 0.01529619 -0.02090109
+v 0.05692321 0.02523692 -0.02185514
+v 0.05535988 0.02523692 -0.02166383
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+
diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_19.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..460025538bc38283afa4df5407daf0b28556b0bf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_19.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.02225063 0.00805248 -0.01217352
+v 0.02225063 -0.01327350 -0.01217360
+v 0.02225063 0.00805251 -0.01990430
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+v -0.08371317 -0.02094608 -0.01472911
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+
diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_2.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5601b1c918350b8ccbcf654d09cda81dd016fcd6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_2.obj
@@ -0,0 +1,835 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_20.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de9904bdf0bf7638c243254a5b6a45afe7e73da9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_20.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_21.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91043a2fb6f4c82556a4aec7c0a8c96cf8ceb973
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_21.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_22.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35076fa1be1f8ccad8c31bcc2b6dfbb21e5a3841
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_22.obj
@@ -0,0 +1,232 @@
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diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_23.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2191b550b6fd2d65cbcf485ec9f4d4ad1a8b9675
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_23.obj
@@ -0,0 +1,1078 @@
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diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_24.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db4e1b9b9f3134134ddfabf82f01c4a466b09af2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_24.obj
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diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_25.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e59c73459a814de5c786c22947b8e76bfd586c88
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_25.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_26.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf9f0c0082f3696ac1cece151a36bf1ae31ccc10
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_26.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
+v 0.02170248 0.02052137 -0.04474561
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diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_27.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1d514eb7ff56b2c8fb3608a8bfe86613f6ac459
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_27.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_28.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0320fe90792b1740d9c96b197cdbf907267052df
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_28.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_29.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..412519a260a81a37bb6fb32d28e426f50058a7de
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_29.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_3.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..184b10732805ab70ea22d8e214560d9904e22c99
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_3.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_30.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c13cb36c1dce592af3e84fe200b59c0d4256e27
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_30.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.02225063 0.01322759 -0.01344816
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+
diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_31.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ce0b4411c45b663695969bb5c23fd01f53c056a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_31.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_32.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef818a29a585199cd13cde651df7918fe0dfa6fb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_32.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_4.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..666875f4d37fc8f7ec91d3fc77cfd52396211c85
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_4.obj
@@ -0,0 +1,760 @@
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diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_5.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c723466533494cedf16437f539d6c9aa99e5219b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_6.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea73429302624db6b03c14b2f4fb391e970c5011
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_7.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b884fa0c40b97970553fd042da99de51aa8a3ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_7.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.05692321 0.01529595 0.04278735
+v 0.04440407 0.01529594 0.04506322
+v 0.05692321 0.01265600 0.04278734
+v 0.05692321 0.01529627 -0.04474550
+v 0.04200251 0.01529594 0.04536314
+v 0.05692321 0.00497459 0.04262853
+v 0.05692321 0.00880771 0.04274322
+v 0.05692321 0.01021104 0.04276969
+v 0.05692321 0.01113447 0.04277852
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+v 0.03551662 0.01529627 -0.04474550
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+v 0.04162320 0.01265600 0.04476330
+v 0.04172170 0.00497459 0.04263735
+v 0.03551662 0.00497491 -0.04474554
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+v 0.03551662 0.01505448 0.04383707
+v 0.03575970 0.01529595 0.04393411
+v 0.03863068 0.01529595 0.04483387
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+
diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_8.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bc9e10bd570b27e1d04fde7dee9c6c0c815e5b4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_8.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.03551662 -0.02079572 -0.00332146
+v 0.03551662 -0.01294471 -0.01096365
+v 0.03593155 -0.01291948 -0.01096365
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+
diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_9.obj b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d4493bc9815217d4d19587c8dc028a470b8a661
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/mesh/sharpener_040_collision_9.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.04622934 -0.04763531 -0.01096377
+v 0.05015650 -0.04763268 -0.01096377
+v 0.03551662 -0.04763268 -0.01096377
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diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/sharpener_040.xml b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/sharpener_040.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5b2f5755a22e53de3ad9af62ba74ccfcbf4229f4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/mjcf/sharpener_040.xml
@@ -0,0 +1,80 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sharpener_040">
+  <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_040.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sharpener_040_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sharpener_040_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sharpener_040_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sharpener_040_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sharpener_040_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sharpener_040_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sharpener_040_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sharpener_040_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sharpener_040_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sharpener_040_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sharpener_040_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sharpener_040_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sharpener_040_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/sharpener_040_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/sharpener_040_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/sharpener_040_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/sharpener_040_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/sharpener_040_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/sharpener_040_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/sharpener_040_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/sharpener_040_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/sharpener_040_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/sharpener_040_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/sharpener_040_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/sharpener_040_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/sharpener_040_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/sharpener_040_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/sharpener_040_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/sharpener_040_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/sharpener_040_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/sharpener_040_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/sharpener_040_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/sharpener_040_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sharpener_040">
+      <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/12000fee1cef577187049e5d5dfce3bd/sharpener_040.urdf b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/sharpener_040.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f6b49f7428918e9178bf2c92b64887e3e7e3397f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/sharpener_040.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_040">
+   <link name="sharpener_040">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_040.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_040_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0250" />
+         <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>12000fee1cef577187049e5d5dfce3bd</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>double-hole sharpener</name>
+         <color>blue</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>blue rectangular double-hole pencil sharpener with rounded edges</description>
+         <min_height>0.0900</min_height>
+         <max_height>0.0900</max_height>
+         <real_height>0.0900</real_height>
+         <min_mass>0.015</min_mass>
+         <max_mass>0.035</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611150731</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.083238 -0.047942 -0.044357</min>
+            <max>0.089736 0.047986 0.045643</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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>NO: {"summary":"Blade area is merged into body and only holes/scraper are separated; key functional blade parts missing.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/sharpener_040.usd b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/sharpener_040.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/sharpener_040.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b48f05801c15025c92f37524f9fa578aa2438e0ab90f8bbbfd9f9c77b35d514
+size 4700232
diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/textures/material_0.png b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/textures/material_0.png
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/video.mp4 b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/12000fee1cef577187049e5d5dfce3bd/video.mp4
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+size 290424