diff --git a/.gitattributes b/.gitattributes
index 3af358927f659a5a9a804475094c3a48ce443b97..9039220931f4afc2644a5fa6c8a3bac8861b78e6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3101,5 +3101,5 @@ dataset/desktop_supplies/office_stationery/20d3d1c2ed0b504b92b41f16975cad27/mesh
 dataset/desktop_supplies/office_stationery/20d3d1c2ed0b504b92b41f16975cad27/notebook_036.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/236b30ab9b0d5f3bb17bf30223de7a97/marker_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/236b30ab9b0d5f3bb17bf30223de7a97/mesh/marker_015.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/correction_tape_022.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/2387fc2f340d597ba5e9fdf0ecfb2b6f/mesh/correction_tape_022.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mesh/sharpener_032.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/sharpener_032.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..096c763c7f05fa8d5e7104ceabcfb3ad63f66932
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_032_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_032_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cee1b40bb1455f6109874b838d247fe416220ae3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ba4b0fca49f29bc0dd13bcb8bc6449174647a531c7f42aa34028ec4055a5834
+size 9950081
diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mesh/sharpener_032.glb b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mesh/sharpener_032.glb
new file mode 100644
index 0000000000000000000000000000000000000000..79d3335d6b1a170b6882924b3c32e3c47dd8d2a3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mesh/sharpener_032.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d97f4c4bddb9412d1e2d0c625652752876d46fd4c083eea0f614e5e4899b94e
+size 13119160
diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mesh/sharpener_032.mtl b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mesh/sharpener_032.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c5da2524c36c1b9719744b7e191f58b9eca9adc4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mesh/sharpener_032.mtl
@@ -0,0 +1,6 @@
+newmtl sharpener_032_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/22f62bb8737f529a8648ae00d8bf4d19/mesh/sharpener_032.obj b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mesh/sharpener_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1064d1c28269b6a097547b61e0b950b5aa6365ab
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mesh/sharpener_032.obj
@@ -0,0 +1,112954 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sharpener_032_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mesh/sharpener_032_collision.obj b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mesh/sharpener_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d3c952bbbba7105a816530489b62c3093e984e3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mesh/sharpener_032_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mesh/sharpener_032_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mesh/sharpener_032_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..cee1b40bb1455f6109874b838d247fe416220ae3
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cee1b40bb1455f6109874b838d247fe416220ae3
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+++ b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032.obj b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032.obj
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index 0000000000000000000000000000000000000000..9b4c341f3416d29c7836051863cf08faaea294b3
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diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision.obj b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e5b45d786bc28cab3a7e5fee180116779b3b4f1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision.obj
@@ -0,0 +1,8190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_0.obj b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c7021a6e3827fc57afa288b017cc4b2f0995a5b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_1.obj b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b72b01add11f51a9a21765515f466754c0481824
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_10.obj b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2eadb54d1ae95c4166c1866a72f4fba3b8e53d0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_10.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_11.obj b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e0923979f8720ca63b4927db1cba909f62d6ef5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_11.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v 0.01339655 0.00359773 -0.01185077
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+
diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_12.obj b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..468d9929486b40e166a3b119a8fa5ba5b64bb7e5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_12.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.03346554 0.00359538 0.00417515
+v 0.03346379 0.00096350 0.00417514
+v 0.03336181 0.00096351 0.00223425
+v 0.03336181 0.00359539 0.00223426
+v 0.03302952 0.00359535 0.01387000
+v 0.03303479 0.00346113 0.01387000
+v 0.03303479 0.00096347 0.01386999
+v 0.03235614 0.00096356 -0.01185078
+v 0.03235614 0.00359544 -0.01185077
+v 0.03274469 0.00359534 0.01541439
+v 0.03293106 0.00096347 0.01426328
+v 0.01550592 0.00096356 -0.01185078
+v 0.01550592 0.00359544 -0.01185077
+v 0.03269195 0.00096346 0.01516498
+v 0.03202737 0.00359534 0.01637684
+v 0.01550592 0.00096345 0.01843283
+v 0.01550592 0.00359533 0.01963510
+v 0.03106565 0.00359534 0.01742882
+v 0.02904552 0.00359533 0.01958075
+v 0.03237900 0.00096346 0.01545915
+v 0.02552920 0.00096345 0.01907233
+v 0.02557843 0.00359532 0.02079260
+v 0.02759153 0.00359532 0.02081179
+v 0.03068237 0.00096346 0.01696837
+v 0.03136102 0.00096346 0.01638962
+v 0.03165639 0.00096346 0.01613382
+v 0.02697793 0.00096345 0.01906594
+v 0.02656476 0.00359532 0.02081499
+v 0.02761790 0.00096345 0.01905634
+v 0.02834226 0.00096345 0.01867264
+v 0.02938309 0.00096345 0.01805553
+v 0.03027799 0.00096346 0.01731051
+f 1 2 3
+f 1 3 4
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+f 1 17 22
+f 1 22 28
+f 1 28 23
+f 1 23 19
+f 1 19 18
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+
diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_13.obj b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b6fb72593d6ac1279c05a7366063035fdce2730
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_13.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.01339685 -0.00219538 -0.01185079
+v 0.01339685 0.00359544 -0.01185077
+v 0.01646868 -0.00219538 -0.01185079
+v 0.01339685 -0.00219551 0.02410936
+v 0.01550398 0.00359544 -0.01185077
+v 0.01339685 0.00359531 0.02410938
+v 0.01646868 0.00096305 -0.01185078
+v 0.01646868 -0.00219550 0.02090266
+v 0.01645515 -0.00219551 0.02410936
+v 0.01550398 0.00359533 0.01963548
+v 0.01506583 0.00359531 0.02410938
+v 0.01646868 0.00096294 0.01833308
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 6 11
+f 2 11 10
+f 2 10 5
+f 3 7 12
+f 3 12 8
+f 4 9 11
+f 4 11 6
+f 5 10 12
+f 5 12 7
+f 8 12 9
+f 9 12 11
+f 10 11 12
+
diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_14.obj b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94bb97fffd8c53d61244cab6586f69968eece5a2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_14.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.03346609 -0.00219544 0.00417463
+v 0.03336294 -0.00219543 0.00223478
+v 0.03339289 0.00096320 0.00282476
+v 0.03346443 0.00096319 0.00417464
+v 0.03303517 0.00096316 0.01387069
+v 0.03303351 -0.00037079 0.01387069
+v 0.03302686 -0.00219547 0.01387068
+v 0.03336128 0.00096320 0.00223479
+v 0.03235469 -0.00219538 -0.01185079
+v 0.03235469 0.00096325 -0.01185078
+v 0.03269244 0.00096315 0.01516286
+v 0.03274402 -0.00219548 0.01531675
+v 0.01646898 -0.00219538 -0.01185079
+v 0.01646898 0.00096325 -0.01185078
+v 0.03204190 -0.00219548 0.01630111
+v 0.03272738 -0.00219548 0.01537767
+v 0.03165757 0.00096315 0.01613438
+v 0.02912863 -0.00219549 0.01944335
+v 0.01646898 -0.00219550 0.02090545
+v 0.01646898 0.00096314 0.01833395
+v 0.03068260 0.00096315 0.01697125
+v 0.02760129 -0.00219550 0.02061046
+v 0.03027830 0.00096315 0.01731112
+v 0.02938319 0.00096314 0.01805821
+v 0.02559977 -0.00219550 0.02079323
+v 0.02697738 0.00096314 0.01906821
+v 0.02552989 0.00096314 0.01907142
+v 0.02675443 -0.00219550 0.02070345
+v 0.02834333 0.00096314 0.01867062
+v 0.02761793 0.00096314 0.01905859
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+f 1 16 15
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+
diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_15.obj b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d146d8046db6360cba8d4a45b014aef010325316
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_15.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
+v -0.02900082 -0.02373116 0.02550993
+v -0.02705108 -0.02369742 0.02550993
+v -0.02705108 -0.02350492 0.02744978
+v -0.02900082 -0.02352278 0.02744978
+v -0.02928420 -0.02350691 0.02744978
+v -0.02928420 -0.02371330 0.02550993
+v -0.02928420 -0.02368750 0.02522923
+v -0.02900082 -0.02355254 0.02357009
+v -0.02705108 -0.02352674 0.02357009
+v -0.02691345 -0.02364780 0.02551996
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+v -0.02691345 -0.02346126 0.02744978
+v -0.02691345 -0.02349697 0.02357009
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+v -0.02691345 -0.02342355 0.02763775
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+v -0.02928420 -0.02298297 0.02910893
+v -0.02928420 -0.02353468 0.02357009
+v -0.02900082 -0.02296111 0.02163276
+v -0.02705108 -0.02293730 0.02163276
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+v -0.02691345 -0.02248682 0.03041720
+v -0.02705108 -0.02247094 0.03046733
+v -0.02900082 -0.02244911 0.03043224
+v -0.02928420 -0.02244315 0.03041971
+v -0.02928420 -0.02288374 0.02941470
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+v -0.02691345 -0.01860878 0.01094859
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+v -0.02691345 -0.02169893 0.03155504
+v -0.02900082 -0.02172671 0.03140216
+v -0.02928420 -0.02188944 0.03116156
+v -0.02928420 -0.02284600 0.02141472
+v -0.02928420 -0.01841628 0.01348241
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+v -0.02928420 -0.02076020 0.03256757
+v -0.02928420 -0.01569733 0.01157767
+v -0.02691345 -0.01569733 0.00999872
+v -0.02691345 -0.01956744 0.03367535
+v -0.02928420 -0.01938088 0.03363525
+v -0.02928420 -0.01378216 0.01157517
+v -0.02691345 -0.01378216 0.00991352
+v -0.02691345 -0.01867039 0.03432447
+v -0.02928420 -0.01894625 0.03394352
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diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_2.obj b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d22f0bc580f14cb0216d0021bf67f169658e1c08
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_2.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_3.obj b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71a6c0f8f3b655c82d62325f810c1a7959f03c37
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_3.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_4.obj b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00209696ffb086bebdd336a6cea98157650a0e10
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_5.obj b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7aaf03b89a5052056a927de90d6488b085848ff2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_6.obj b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..023b8a661ba310652524d2b0a23ef0024d9c81c4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_7.obj b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dac57357095d571aa28d4176547b77e113a7825
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_8.obj b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2841db7ad3e0df2eb6acdfc8bd2aed76d3e08ea
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_9.obj b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a95eae710964ecbe58def565e9bd9647b2dc6e34
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/mesh/sharpener_032_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/sharpener_032.xml b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/sharpener_032.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4f457b14e88d9239bf5ba32084bce55cbe1c8374
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/mjcf/sharpener_032.xml
@@ -0,0 +1,46 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sharpener_032">
+  <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_032.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sharpener_032_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sharpener_032_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sharpener_032_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sharpener_032_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sharpener_032_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sharpener_032_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sharpener_032_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sharpener_032_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sharpener_032_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sharpener_032_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sharpener_032_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sharpener_032_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sharpener_032_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/sharpener_032_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/sharpener_032_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/sharpener_032_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sharpener_032">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/sharpener_032.urdf b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/sharpener_032.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2dd836d6946dd4672e3d907678f5babc6967050f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/sharpener_032.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_032">
+   <link name="sharpener_032">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_032.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_032_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2650" />
+         <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>22f62bb8737f529a8648ae00d8bf4d19</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>hand crank sharpener</name>
+         <color>blue,gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>blue and gray desktop pencil sharpener with side crank</description>
+         <min_height>0.0900</min_height>
+         <max_height>0.0900</max_height>
+         <real_height>0.0900</real_height>
+         <min_mass>0.18</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611150354</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.085632 -0.027668 -0.041740</min>
+            <max>0.032830 0.028878 0.048260</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>19</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>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/sharpener_032.usd b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/sharpener_032.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/sharpener_032.usd
@@ -0,0 +1,3 @@
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+size 4805164
diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/textures/material_0.png b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/textures/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/video.mp4 b/dataset/desktop_supplies/office_stationery/22f62bb8737f529a8648ae00d8bf4d19/video.mp4
new file mode 100644
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--- /dev/null
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