diff --git a/.gitattributes b/.gitattributes
index 8e5b260a39a41de5cc1ead895154561f67a8282f..e28a263452d0beef5f516b7a3694b7f7f9ac5b2f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3159,3 +3159,5 @@ dataset/desktop_supplies/office_stationery/7559a0b264095d9a854ca97e2cfa5d34/mesh
 dataset/desktop_supplies/office_stationery/7559a0b264095d9a854ca97e2cfa5d34/mesh/marker_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/744f195b77b35368a9506b4116b4b7bf/marker_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/744f195b77b35368a9506b4116b4b7bf/mesh/marker_033.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mesh/sharpener_037.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/sharpener_037.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ad47c6a9633e5e1e262eb034d2d06fe59719de2d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_037_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_037_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..61e07444516b7cf79469569bc44f842244bbdf28
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:989f2979fc13fe0703c293885de7b1288c7708e1e1d2bf0b245731786baabc24
+size 11192753
diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mesh/sharpener_037.glb b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mesh/sharpener_037.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7ea0905e263a352f31bcf7ee6656fd94549d19de
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mesh/sharpener_037.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af82fa3ebf9da41f57a88343ebd2f78c0f9762103f9a7e77379223a7dae0ec1d
+size 14437692
diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mesh/sharpener_037.mtl b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mesh/sharpener_037.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c7a1bc3b3a26a4c8030a38fddf0a71191f1c3e6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mesh/sharpener_037.mtl
@@ -0,0 +1,6 @@
+newmtl sharpener_037_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/77c90516d72b52b2bb47c4b62cf66e98/mesh/sharpener_037.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mesh/sharpener_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f30b375bb1fdbe146c28e67990a073a35e73221
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mesh/sharpener_037.obj
@@ -0,0 +1,123072 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sharpener_037_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mesh/sharpener_037_collision.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mesh/sharpener_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b59e0685c4b758a54342b46756e199a517c31f45
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mesh/sharpener_037_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mesh/sharpener_037_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mesh/sharpener_037_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037.obj
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55c42eafba8b84e97b4388e760db83501b198c89
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision.obj
@@ -0,0 +1,14545 @@
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_0.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6bfe66be7c050957b5b9e02d9e415e2ce77684f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_1.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53ea85dfe94cbaf16e8c9f3ccefc3322828cb4f4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_10.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15382d57a90e9546e53a2e56530d1613e6362a2e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_10.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_11.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53811ad5accf11c3eaab9c87c1022250529cd19e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_11.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_12.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..913f3cfb2d542bd4c94e46c0cac8fceee4c4c0a3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_12.obj
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_13.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9b0e3a899b62b332f68a22b27f36f3f04fabde1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_13.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_14.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4beb4e1fcc9af7da3865b068ac0fa6fc5e333c01
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_14.obj
@@ -0,0 +1,1024 @@
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_15.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aee36dbde4e6465ceffb68e484407244878ed22
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_15.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_16.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..102a7cd557a472ef3bf69c3ef8ce505530a030c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_16.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_17.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..748ceaf75192bfa18168fda7857b3bb823d1e869
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_17.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_18.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca6574b3c4e6a4faaa72968980d1da8c89e49429
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_18.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_19.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19a6f99c7503e6fadf0ebed074dc413255034c5a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_19.obj
@@ -0,0 +1,181 @@
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_2.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e66e4b39c77c1bdba8a822d56a9f102daac6ad59
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_20.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71e8d1f88a68d47fef02c8fb07a716124d9b87fa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_20.obj
@@ -0,0 +1,613 @@
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_21.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78b2a52f3dca82fa16dd471aa0c6f1a9142a9587
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_21.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_22.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36ace7b33cf8271a3d07a1d21481ef8ac289aee2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_22.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_23.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2da3d8dbc15e59d0cfcee867a90b617d39171bfc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_23.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_24.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76944e017c87b0c0f152b876bd13e6bcec04199a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_24.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_25.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..040be1d904c64f077f24f8ef1c64943ee7e6aa73
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_25.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
+v -0.00004681 -0.02038584 0.01903167
+v -0.00004681 -0.02801259 0.01903164
+v -0.00004681 -0.02038579 0.00438863
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_26.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c649862d2c12d68a59ddf9a34982ee8b0d00972f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_26.obj
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_27.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..671efeeab98083e067ef47928bd5b5003c5c9889
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_27.obj
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_28.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7b745f311c1c9beaa4233a53de7c583197fbf19
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_28.obj
@@ -0,0 +1,16 @@
+# https://github.com/mikedh/trimesh
+v 0.01996985 -0.01827528 -0.03564050
+v 0.01996985 -0.02190009 -0.03564051
+v 0.01996985 -0.02190009 -0.03603822
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+v 0.01180036 -0.02019751 -0.03564050
+v 0.01174561 -0.02190009 -0.03564051
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 4
+f 2 4 3
+f 4 6 5
+
diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_29.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71f88f83a082e0d377acf29de9a2ce18839e5de7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_29.obj
@@ -0,0 +1,16 @@
+# https://github.com/mikedh/trimesh
+v -0.02065155 -0.01517409 -0.03565153
+v -0.02065155 -0.02187430 -0.03593454
+v -0.02065155 -0.02187430 -0.03565155
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+v -0.01188522 -0.02187430 -0.03565155
+f 1 2 3
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+
diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_3.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf3518ce71ebb1049085869f5e052328ba3aeea5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_3.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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+v 0.02419544 -0.00261106 -0.02128657
+v 0.02452687 -0.00394043 -0.02827729
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+
diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_30.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bad936d68754213750b2011ea2f993217960004
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_30.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.02574401 -0.02190083 -0.03574463
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_31.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e282efaf138632044cf7f3e47aabb05de290f5a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_31.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_4.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe95a62755e59d5085ed3d0103e41f559d080f84
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_4.obj
@@ -0,0 +1,3763 @@
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_5.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..346f792db0985e863de950d9580490727f5c7926
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_5.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00674649 0.04714701 0.01911728
+v -0.00674649 0.04714701 0.02407673
+v -0.00674649 0.04814701 0.01911728
+v -0.00674649 0.04814701 0.02407673
+v -0.00207231 0.04714701 0.01911728
+v -0.00207231 0.04714701 0.02407673
+v -0.00207231 0.04814701 0.01911728
+v -0.00207231 0.04814701 0.02407673
+f 2 4 1
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+f 7 6 5
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+
diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_6.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f1c3b2edeba8851bffdff1271684fac23ede077
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_6.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00191611 0.04713707 0.01919982
+v 0.00191611 0.04713707 0.02451833
+v 0.00191611 0.04813707 0.01919982
+v 0.00191611 0.04813707 0.02451833
+v 0.00668251 0.04713707 0.01919982
+v 0.00668251 0.04713707 0.02451833
+v 0.00668251 0.04813707 0.01919982
+v 0.00668251 0.04813707 0.02451833
+f 2 4 1
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+
diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_7.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a5463e111f042c5bfea5f134c152b598dae7dfa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_7.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v 0.01371406 -0.02744556 0.03682679
+v 0.01370056 -0.02785965 0.03682679
+v 0.01370179 -0.02384709 0.03682680
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_8.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8d75f7565ff3c51c9afbdfc81debaf91b13e7ee
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_8.obj
@@ -0,0 +1,745 @@
+# https://github.com/mikedh/trimesh
+v 0.01260074 0.03997114 0.01942284
+v 0.01258839 0.03356312 0.01939236
+v 0.01260074 0.03997114 0.01928580
+v 0.01259827 0.04092064 0.01941777
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+v 0.01217850 0.03206950 0.02019433
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+v 0.01258839 0.03356312 0.01933399
+v 0.01164267 0.03206949 0.02269668
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_9.obj b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9842419737c5dea075b090fa419fe1a777dcb903
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/mesh/sharpener_037_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/sharpener_037.xml b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/sharpener_037.xml
new file mode 100644
index 0000000000000000000000000000000000000000..500809cfd2bffd6daa7196d4bfd4732e420fc0cf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/mjcf/sharpener_037.xml
@@ -0,0 +1,78 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sharpener_037">
+  <asset>
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
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+    <mesh name="collision_mesh_0_0" file="mesh/sharpener_037_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sharpener_037_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sharpener_037_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sharpener_037_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sharpener_037_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sharpener_037_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sharpener_037_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sharpener_037_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sharpener_037_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sharpener_037_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sharpener_037_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sharpener_037_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sharpener_037_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_14" file="mesh/sharpener_037_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_17" file="mesh/sharpener_037_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_19" file="mesh/sharpener_037_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/sharpener_037_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/sharpener_037_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/sharpener_037_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/sharpener_037_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/sharpener_037_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/sharpener_037_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/sharpener_037_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/sharpener_037_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/sharpener_037_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/sharpener_037_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/sharpener_037_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/sharpener_037_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/sharpener_037.urdf b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/sharpener_037.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0da74786cea7bd48d5a5bf394ab4f6c20232fd7a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/sharpener_037.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_037">
+   <link name="sharpener_037">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_037.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_037_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2250" />
+         <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>77c90516d72b52b2bb47c4b62cf66e98</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>crank sharpener</name>
+         <color>blue,black</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>blue manual desktop pencil sharpener with side crank and black base</description>
+         <min_height>0.0900</min_height>
+         <max_height>0.0900</max_height>
+         <real_height>0.0900</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611150604</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.026554 -0.035905 -0.040001</min>
+            <max>0.026557 0.074383 0.049999</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</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":"Most functional parts are merged into one body color; missing separations cannot be fixed by merging.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/sharpener_037.usd b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/sharpener_037.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/sharpener_037.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fefd97ed7688934f00ee8523c597df6a9c8a3a00327ada8495b6feca4cf0112f
+size 4918496
diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/textures/material_0.png b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:989f2979fc13fe0703c293885de7b1288c7708e1e1d2bf0b245731786baabc24
+size 11192753
diff --git a/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/video.mp4 b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/77c90516d72b52b2bb47c4b62cf66e98/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdc90e9be17e0d1abf6294740050bc267dd68fb97a77807fed42a497128b1235
+size 210720