diff --git a/.gitattributes b/.gitattributes
index 1e043b8af92cce888b12cb6d1725e24f605ad2fe..06d16787c84c34930832731dd93346cfab9846e6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3121,3 +3121,5 @@ dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/mesh
 dataset/desktop_supplies/office_stationery/3771df35afdf51daab6f958fbbd1349e/stapler_021.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/3bfc50d25a6a52b89e0477abfad2cd02/marker_030.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/3bfc50d25a6a52b89e0477abfad2cd02/mesh/marker_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mesh/sharpener_033.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/sharpener_033.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..25e8e387e500fade7d5de317fbd73ccf7a0bfa6d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_033_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_033_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..38553a567d5ec4bd835bcae7fdbcec07a4d85eba
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef5b276522f9907e31394dd27c29bde838bef69930b2f714389e3a62b19e577b
+size 11261400
diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mesh/sharpener_033.glb b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mesh/sharpener_033.glb
new file mode 100644
index 0000000000000000000000000000000000000000..56c04c12f99d582326e09294ec436226c9d27415
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mesh/sharpener_033.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a6cf5172a0a7441d741f90214787324081a214f7f3d0e937df496373e1a34ac
+size 14381040
diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mesh/sharpener_033.mtl b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mesh/sharpener_033.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ea7583e8b698d273919add56d7323420f7b43dc9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mesh/sharpener_033.mtl
@@ -0,0 +1,6 @@
+newmtl sharpener_033_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/3ee17957c0425668947b92185ef22ce4/mesh/sharpener_033.obj b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mesh/sharpener_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8e781f385250226bada1887e6a8f5be5679e028
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mesh/sharpener_033.obj
@@ -0,0 +1,113454 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sharpener_033_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mesh/sharpener_033_collision.obj b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mesh/sharpener_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cf1f09dbefe311a4030cd1f76655fc42c5ed50b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mesh/sharpener_033_collision.obj
@@ -0,0 +1,15483 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033.obj b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033.obj
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diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision.obj b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da82e768df3f616baced03e5ed777e78dcf66900
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision.obj
@@ -0,0 +1,15483 @@
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diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_0.obj b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fba02891f68acfee0d7ec54560492c671562c82a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_0.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_1.obj b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abff6fd81369033649f1ac4d5ef0a754239f73bf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_1.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.02971774 -0.00688843 -0.00738923
+v -0.02971774 -0.00657387 -0.00621512
+v -0.03180429 -0.00483029 -0.00442135
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+v -0.02971774 -0.00676772 -0.00887381
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+v -0.03286241 -0.00461447 -0.00738922
+v -0.03207599 -0.00493515 -0.00594116
+v -0.03428181 -0.00309159 -0.00787581
+v -0.03367109 -0.00383901 -0.00887380
+v -0.03422737 -0.00302208 -0.00969828
+v -0.03282875 -0.00456569 -0.00984571
+v -0.03284558 -0.00303913 -0.01625630
+v -0.02971774 -0.00629463 -0.01027882
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+v -0.03033836 -0.00473398 -0.00293023
+v -0.03114408 -0.00411946 -0.00293023
+v -0.03311332 -0.00226981 -0.00293022
+v -0.03410414 -0.00283432 -0.00688695
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+v -0.03428923 -0.00310256 -0.00887380
+v -0.03453520 -0.00229661 -0.00738399
+v -0.03336672 -0.00222830 -0.01625630
+v -0.03285845 -0.00301962 -0.01625630
+v -0.02971774 -0.00418769 -0.01625631
+v -0.02971774 0.00425336 -0.00293019
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+v -0.03474752 -0.00075665 -0.01035577
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+v -0.03455599 -0.00075667 -0.00609508
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+v -0.03476633 0.00071380 -0.00738920
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+v -0.03284954 0.00448750 -0.01275614
+v -0.03196266 0.00495813 -0.01184034
+v -0.02971774 0.00509958 -0.01304705
+v -0.02971774 0.00530805 -0.00590589
+v -0.03196266 0.00521051 -0.00738918
+v -0.03298217 0.00461427 -0.00616028
+v -0.03357062 0.00218545 -0.00293020
+v -0.03390865 0.00360838 -0.00739702
+v -0.03469011 0.00218547 -0.00887378
+v -0.03353004 0.00218550 -0.01625628
+v -0.03374483 0.00075041 -0.01625629
+v -0.03452778 0.00223912 -0.00739702
+v -0.03439811 0.00178554 -0.00637163
+v -0.03374384 0.00072231 -0.00293021
+v -0.03351668 0.00221111 -0.01625628
+v -0.03305097 0.00467160 -0.01184034
+v -0.02971774 0.00538732 -0.01184034
+v -0.03196266 0.00530319 -0.01035575
+v -0.02971774 0.00548485 -0.00738918
+v -0.03196266 0.00536170 -0.00887377
+v -0.03316529 0.00479718 -0.00738918
+v -0.03427933 0.00308530 -0.00789536
+v -0.03395220 0.00384492 -0.00887378
+v -0.03428775 0.00310969 -0.00887378
+v -0.03422786 0.00300728 -0.00970609
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+v -0.03319548 0.00484474 -0.01035575
+v -0.02971774 0.00545926 -0.01143331
+v -0.02971774 0.00553363 -0.01035575
+v -0.02971774 0.00556776 -0.00887377
+v -0.02971774 0.00554704 -0.00999308
+v -0.03321082 0.00487521 -0.00887377
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+
diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_10.obj b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..460ddb64d4aec8bad5913f20037495186b475667
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_10.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.00030603 0.02993901 0.03042410
+v 0.00362245 0.02973298 0.03022654
+v 0.00310479 0.02978301 0.03022654
+v 0.00214058 0.02987426 0.03022654
+v 0.00065777 0.02994489 0.03022654
+v -0.00082504 0.02993312 0.03042410
+v 0.00030603 0.00736694 0.03042402
+v 0.00521998 0.02950340 0.03022654
+v 0.00359495 0.02984783 0.01489844
+v 0.00214058 0.02998322 0.01489844
+v 0.00065777 0.03005386 0.01489844
+v -0.00082504 0.03004503 0.01490147
+v -0.00153990 0.02989486 0.03042410
+v -0.00446571 0.00522422 0.03042401
+v 0.00521998 0.00484748 0.03022645
+v 0.00521998 0.02960942 0.01489844
+v 0.00507682 0.02963297 0.01489844
+v 0.00030603 0.03005091 0.01489844
+v -0.00230691 0.02996556 0.01490147
+v -0.00230691 0.02985365 0.03042410
+v -0.00446571 0.00003227 0.02914741
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+v -0.00378972 0.02981545 0.01490147
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+v -0.00446571 0.00003233 0.01490136
+v 0.00030603 -0.00001483 0.02907750
+v -0.00378972 0.02970060 0.03042410
+v -0.00446571 0.02970655 0.01491667
+f 1 2 3
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+
diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_11.obj b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..912ccfe37e5067720f844ba0f589cfc0d775d049
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_11.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.00452466 -0.00543652 0.03117049
+v -0.00452466 -0.02962727 0.03117040
+v 0.00030670 -0.00729690 0.03117048
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+v 0.00541636 -0.00002051 0.02927666
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+v -0.00452466 0.00002673 0.01489833
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+v -0.00378901 -0.02973931 0.03117040
+v -0.00082500 -0.02998402 0.03117040
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+v 0.00065701 -0.03009305 0.01489822
+v 0.00213999 -0.03002229 0.01489822
+v 0.00362199 -0.02987782 0.01489822
+f 1 2 9
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+
diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_12.obj b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b0db691cfd87f1e018a91838faa4360e77c2b1e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_12.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v 0.00065795 -0.02723998 0.04595155
+v 0.00030578 -0.02723998 0.04595006
+v 0.00065795 -0.02840095 0.04558989
+v 0.00214070 -0.02723998 0.04594560
+v 0.00510570 -0.01399950 0.04575961
+v 0.00030578 -0.02839846 0.04558841
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+v 0.00065795 -0.02913681 0.04493354
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+v 0.00541636 -0.01369372 0.04574473
+v 0.00541636 -0.00655639 0.04530124
+v 0.00362295 -0.01399950 0.04572687
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+v 0.00030578 -0.02913432 0.04493205
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+v 0.00030578 -0.02966383 0.04418939
+v 0.00065795 -0.02966383 0.04419088
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diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_13.obj b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..660de17fc97233f0d8e08c068f20f630966e0565
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_13.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_14.obj b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b62437d9866c15e9d7848030a41229b78d43ee86
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_14.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_15.obj b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97390599cd5f67f668a496fc148fbd3c100745a5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_15.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.02969745 0.00446042 -0.02309346
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diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_16.obj b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4780617c3eb048d1f5e42c87294dbcd876a4f39c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_16.obj
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diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_17.obj b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a24d4f373c33bb61733d830fea53398aad6c946b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_17.obj
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diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_18.obj b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7888b4c0747f07c06af8e9dceb1bb56b0bbc3516
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_18.obj
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diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_19.obj b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55b7355e3790ccd64007fce6c7ca22126700d58e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_19.obj
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diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_2.obj b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06e6cc9d688d78e48c335d31fdaf646ea707f776
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_20.obj b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dc1c5a79cda14e1f06c72c5879a5205fabcd211
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_20.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_21.obj b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daf99b134fc84a9d248e8e69d1bf6b5f82f4d79c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_21.obj
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diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_3.obj b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6c72d9e80c32ee0f7f92e285f969ca6b6122958
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_4.obj b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53cc4274a9687635d81c2518dcdb660e48ad119a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_5.obj b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdd13385bcc205e3a195fa3820cea640bf59e368
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_6.obj b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b3f7548413bafa70168a20a24fa865b8efdb024
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_7.obj b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8655ae860d59afc75a1931b08b008ede36d4ef9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_8.obj b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..228a704845e1a804f6202ab943278cd5330681d6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_8.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.02969785 0.00421589 -0.01625627
+v -0.02969785 0.00446159 -0.02309346
+v -0.03225040 0.00368674 -0.02309347
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+v -0.02969785 0.00320738 -0.01625628
+v -0.02969785 -0.00431432 -0.02309350
+v -0.03307481 0.00339467 -0.02309347
+v -0.03351696 0.00221175 -0.01625628
+v -0.03018877 -0.00356440 -0.01625630
+v -0.02969785 -0.00421470 -0.01625966
+v -0.03294038 -0.00314088 -0.02309349
+v -0.03354670 0.00218514 -0.02309347
+v -0.03353005 0.00218512 -0.01625628
+v -0.03284561 -0.00303953 -0.01625630
+v -0.03284601 -0.00304039 -0.01629311
+v -0.03285870 -0.00301978 -0.01625630
+v -0.03336707 -0.00222774 -0.01625630
+v -0.03315769 -0.00279641 -0.02309349
+v -0.03373109 0.00071362 -0.02309348
+v -0.03374616 0.00071362 -0.02074437
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+v -0.03337658 -0.00219167 -0.01625630
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+v -0.03374695 0.00071361 -0.01926128
+v -0.03374458 -0.00075620 -0.02222812
+v -0.03374775 0.00071361 -0.01777686
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+v -0.03374695 -0.00075622 -0.01625629
+v -0.03361054 -0.00161437 -0.02309349
+v -0.03374695 -0.00075622 -0.01629310
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+
diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_9.obj b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c0f7d130d4efa306cad45d8fcd74aa1891a3a1f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/mesh/sharpener_033_collision_9.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.00030578 -0.02724118 0.04595016
+v -0.00082523 -0.02724118 0.04594437
+v -0.00082523 -0.02839503 0.04558559
+v 0.00030578 -0.02839984 0.04558848
+v 0.00030578 -0.01547188 0.04571149
+v -0.00452466 -0.01400072 0.04572597
+v -0.00230756 -0.02724118 0.04592701
+v -0.00230756 -0.02834935 0.04555810
+v -0.00082523 -0.02913061 0.04492732
+v 0.00030578 -0.02913542 0.04493166
+v 0.00030578 -0.02857532 0.04543223
+v -0.00378988 -0.02724118 0.04588650
+v 0.00030578 -0.01400072 0.04563772
+v -0.00452466 -0.00727472 0.04530210
+v -0.00452466 -0.02724118 0.04585034
+v -0.00230756 -0.02908493 0.04486077
+v -0.00378988 -0.02826522 0.04550602
+v -0.00230756 -0.02961858 0.04411860
+v -0.00082523 -0.02965945 0.04418515
+v 0.00030578 -0.02966185 0.04418949
+v 0.00030578 -0.00880357 0.04530644
+v -0.00452466 -0.00653192 0.04481456
+v -0.00452466 -0.02820272 0.04546262
+v -0.00378988 -0.02900079 0.04472478
+v -0.00378988 -0.02954166 0.04398405
+v -0.00230756 -0.02981330 0.04306393
+v -0.00082523 -0.02989743 0.04306393
+v 0.00030578 -0.02990464 0.04306393
+v 0.00030578 -0.02971955 0.04392329
+v 0.00030578 -0.00793096 0.04445432
+v -0.00452466 -0.00576268 0.04404490
+v -0.00452466 -0.02897675 0.04457721
+v -0.00452466 -0.02938541 0.04403324
+v -0.00452466 -0.02949118 0.04389002
+v -0.00378988 -0.02965704 0.04306393
+v -0.00230756 -0.02985415 0.04158104
+v -0.00082523 -0.02993588 0.04158104
+v 0.00030578 -0.02994309 0.04158104
+v 0.00030578 -0.00737086 0.04377291
+v -0.00452466 -0.00552470 0.04306402
+v -0.00452466 -0.02955127 0.04306393
+v -0.00378988 -0.02969550 0.04158104
+v -0.00230756 -0.02987098 0.04009670
+v -0.00082523 -0.02995511 0.04009670
+v -0.00378988 -0.02971473 0.04009670
+v 0.00030578 -0.02994790 0.04122804
+v 0.00030578 -0.00732759 0.04315371
+v -0.00452466 -0.00548382 0.04205132
+v -0.00452466 -0.02958732 0.04158104
+v -0.00230756 -0.02987818 0.03861236
+v -0.00082523 -0.02996232 0.03861236
+v 0.00030578 -0.02996473 0.03974370
+v 0.00030578 -0.02996233 0.04009670
+v -0.00452466 -0.02960415 0.04009670
+v -0.00378988 -0.02972913 0.03564657
+v -0.00230756 -0.02988779 0.03564657
+v 0.00030578 -0.00728191 0.04158112
+v -0.00452466 -0.00546940 0.04158113
+v -0.00082523 -0.02997192 0.03564657
+v 0.00030578 -0.02996953 0.03861236
+v -0.00452466 -0.02961855 0.03564657
+v -0.00378988 -0.02973394 0.03416223
+v -0.00230756 -0.02989979 0.03119355
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+v 0.00030578 -0.00727470 0.04044833
+v -0.00452466 -0.00545256 0.03861245
+v 0.00030578 -0.02997913 0.03564657
+v -0.00452466 -0.02962336 0.03416223
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+v -0.00378988 -0.02974113 0.03119355
+v -0.00233025 -0.02989738 0.03117040
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+v -0.00082523 -0.02998632 0.03117040
+v 0.00030578 -0.02999113 0.03119355
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+v 0.00030578 -0.02998394 0.03416223
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+v 0.00030578 -0.02999113 0.03117040
+v 0.00030578 -0.00729629 0.03117048
+v -0.00452466 -0.02962815 0.03117040
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+
diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/sharpener_033.xml b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/sharpener_033.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bb16b86d480abcaa2368cec735961b534252547d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/mjcf/sharpener_033.xml
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sharpener_033">
+  <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_033.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sharpener_033_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sharpener_033_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sharpener_033_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sharpener_033_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sharpener_033_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sharpener_033_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sharpener_033_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sharpener_033_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sharpener_033_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sharpener_033_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sharpener_033_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sharpener_033_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sharpener_033_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/sharpener_033_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/sharpener_033_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/sharpener_033_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/sharpener_033_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/sharpener_033_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/sharpener_033_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/sharpener_033_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/sharpener_033_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/sharpener_033_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sharpener_033">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/sharpener_033.urdf b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/sharpener_033.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e0e5ffda566e7f061e19ab871eef1804755c77de
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/sharpener_033.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_033">
+   <link name="sharpener_033">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_033.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_033_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>3ee17957c0425668947b92185ef22ce4</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>pilot sharpener</name>
+         <color>gray,black</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>gray cylindrical pencil sharpener with side blade housing</description>
+         <min_height>0.0900</min_height>
+         <max_height>0.0900</max_height>
+         <real_height>0.0900</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611150418</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.034613 -0.030201 -0.044219</min>
+            <max>0.034444 0.030157 0.045781</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</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/3ee17957c0425668947b92185ef22ce4/sharpener_033.usd b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/sharpener_033.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/sharpener_033.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4850e2be092076dab23bd26ce2e0da7c061c186563442aff2e13dd498a801349
+size 4772903
diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/textures/material_0.png b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/textures/material_0.png
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef5b276522f9907e31394dd27c29bde838bef69930b2f714389e3a62b19e577b
+size 11261400
diff --git a/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/video.mp4 b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3ee17957c0425668947b92185ef22ce4/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a89b9bdaaa81194d9a39628a0943c1cf20890107a9739f8c9da29b805b58d51c
+size 218698