diff --git a/.gitattributes b/.gitattributes
index dd213d600196bc33af69618d658ce097337f688c..e96ef774dba18154110e95525bfd6487cde3fb09 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5337,3 +5337,5 @@ dataset/desktop_supplies/office_stationery/5bfb24d7e8dc513395bdab3545784e44/note
 dataset/desktop_supplies/office_stationery/5cb90cfd30bc57b59457b9d7af4d7aa6/correction_tape_006.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/5cb90cfd30bc57b59457b9d7af4d7aa6/mesh/correction_tape_006.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/5d3916ba0ecb5822ad9af922b9e06941.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mesh/sharpener_034.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/sharpener_034.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..de20956fa93880ef06679c77211462b97c152ff8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_034_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mesh/material_0.png
@@ -0,0 +1,3 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mesh/sharpener_034.glb b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mesh/sharpener_034.glb
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mesh/sharpener_034.mtl b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mesh/sharpener_034.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e02c39a5492261f7313be19d873c8cbd43c4aefe
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mesh/sharpener_034.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mesh/sharpener_034.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mesh/sharpener_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e4180b23d5b65bfe2d262f57485e81ecf52cb42
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mesh/sharpener_034.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mesh/sharpener_034_collision.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mesh/sharpener_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4072fd08e1c93bb22ea4f4ef5ab377077835eb90
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mesh/sharpener_034_collision.obj
@@ -0,0 +1,12340 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ff0c8aa71ab29f5cb1cd238dd8df6c95de9d5d7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision.obj
@@ -0,0 +1,12340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_0.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a7a827b7827bf704561511e0abb994fa09e89a5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_0.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_1.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b722898c90501fe8ac60671ab89dcafae4baf107
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_1.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_10.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..238605d4d51b307696973594c626a96e31c15e04
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_10.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_11.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfc7692c14651f51961e87a3e20d456f979c4786
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_11.obj
@@ -0,0 +1,661 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_12.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f406eefa419953177c73a4f040daabdb4971dd7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_12.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_13.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ad1d0f442d98702904c20d68f49ac2dd70fd6a5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_13.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_14.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d616d64fc47c064c377339fe51d0a0a541f5d6e6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_14.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_15.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acca13829dcd3724322c3545da40afaed9ac8879
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_15.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_16.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..957e3c7a690ba3ceaa13a8279ccf69d52008b8e3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_16.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_17.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c5efc7fb44ca1f74dad56d72f60a1fc4c4876bb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_17.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_18.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f518035ead479807386a13473652a1f81b91dcc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_18.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_19.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21b9089c5b27fa1b1fe198250be1d85e9313fa3c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_19.obj
@@ -0,0 +1,520 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_2.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..687af092a28586c96d88ef72d39cdd0d06eac55d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_2.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_20.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c250a69bd4e8676cd59afc3df561ae5b38ed40d0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_20.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_21.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e98b4c02e6b46d35be2042592060216accce47ba
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_21.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_22.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c83429323262eb9f71fc5bdb619ebb3db1e8ba21
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_22.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_23.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ff2a24b20c2208002179dfc03841a7814c8a0e4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_23.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_24.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..095d5c0d327f2bd16d9b43b5cc3573a294c9f965
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_24.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.02492941 -0.01050691 0.01620140
+v 0.02492941 -0.00356954 0.01620143
+v 0.02928045 -0.01050691 0.01620140
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+
diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_25.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a57c577d0d593bba305eda1d802cd7680626989
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_25.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.03335965 0.00089142 0.03337659
+v 0.03335965 -0.00006117 0.03337479
+v 0.03516547 0.00089142 0.03223307
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+
diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_26.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a93a646b0995b788e95e3847556981fbdb248ba5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_26.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.03335965 -0.00006120 0.03337572
+v 0.03516227 -0.00006120 0.03223395
+v 0.03335965 -0.00006115 0.01925253
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+
diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_27.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b65fb59fe73dd59dd90e52204b8c219d2c005f3e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_27.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.02492941 0.02315685 0.01492164
+v 0.02632310 0.02300741 0.01492163
+v 0.02632651 0.02300741 0.01491738
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+
diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_28.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01882c5680e8e587c793afd68128a3ea8c1adb0b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_28.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_29.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..846b8a0fffc64ae471b18eb803e5425cd7aa4c1e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_29.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_3.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be0b148e2473c86a38d885a2ddd164cf8ce96e5a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_3.obj
@@ -0,0 +1,934 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_30.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8999d512d4456c7f4812c81fc5ff7af639913f17
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_30.obj
@@ -0,0 +1,337 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_31.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7167adba33d47cafcb07c6c57d476f80b98389f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_31.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_4.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73cde41294765826730a0e8e9636c05d03423b65
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_4.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_5.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6c960f8fc7f17a0a39a28c2f3975f031ef074e9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_6.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47801512132048604f6751b14b57ed2eaf0571a5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_7.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_7.obj
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_8.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cccde22aa8dbb28774d03d0e1c6ece3436af927e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_8.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_9.obj b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2261aff1cd5814246fad02b823070547c94106c6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/mesh/sharpener_034_collision_9.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/sharpener_034.xml b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/sharpener_034.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1296e3a092f9f520e82018b867ef6a6e99b4db7e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/mjcf/sharpener_034.xml
@@ -0,0 +1,78 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sharpener_034">
+  <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_034.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sharpener_034_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sharpener_034_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sharpener_034_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sharpener_034_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sharpener_034_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sharpener_034_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sharpener_034_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sharpener_034_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sharpener_034_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sharpener_034_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sharpener_034_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sharpener_034_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sharpener_034_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/sharpener_034_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/sharpener_034_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/sharpener_034_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/sharpener_034_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/sharpener_034_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/sharpener_034_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/sharpener_034_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/sharpener_034_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/sharpener_034_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/sharpener_034_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/sharpener_034_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/sharpener_034_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/sharpener_034_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/sharpener_034_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/sharpener_034_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/sharpener_034_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/sharpener_034_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/sharpener_034_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/sharpener_034_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sharpener_034">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/sharpener_034.urdf b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/sharpener_034.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..16c33b24f782a25115b3ab3827b51e83937e417b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/sharpener_034.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_034">
+   <link name="sharpener_034">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_034.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_034_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>5cd3b5051b02507fbfd53fce38e7be52</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>hand crank sharpener</name>
+         <color>blue,black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact blue manual pencil sharpener with transparent shavings container</description>
+         <min_height>0.0900</min_height>
+         <max_height>0.0900</max_height>
+         <real_height>0.0900</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611150443</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.090523 -0.024313 -0.039296</min>
+            <max>0.036139 0.024047 0.050704</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Crank handle and top knob are merged, while front opening and blade area are incorrectly split/assigned.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/sharpener_034.usd b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/sharpener_034.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/sharpener_034.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf7682cb6cbba5e242fd787d7f6c51afad9b25ee5050971a64b166230d413cd3
+size 4812970
diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/textures/material_0.png b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/textures/material_0.png
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/video.mp4 b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/video.mp4
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/video.mp4
@@ -0,0 +1,3 @@
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+size 262788