diff --git a/.gitattributes b/.gitattributes
index 2d5b426cf005532bc7a32a1ed4e059b6410a7a8c..389d895ad5ac35e826fb1e8209d6b52d129d4345 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3161,3 +3161,5 @@ dataset/desktop_supplies/office_stationery/744f195b77b35368a9506b4116b4b7bf/mark
 dataset/desktop_supplies/office_stationery/744f195b77b35368a9506b4116b4b7bf/mesh/marker_033.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/mesh/sharpener_022.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/77c7bb826c725205aa954400fbf36192/sharpener_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mesh/sharpener_039.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/sharpener_039.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d0943c61fb65cb0b5ed9c7507e7a562c3cfe074b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_039_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_039_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3096d3e627af857a9d4a0affc7e341a699a85039
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b66a5cac3ecc47673118960e7640b9713b785b916616aea3dde80ba1f4fcf104
+size 10036038
diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mesh/sharpener_039.glb b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mesh/sharpener_039.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5db6856430fd4d39a7d52698a350bd851aa9f130
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mesh/sharpener_039.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37b2fc031efce5313bd59678b64335f533057b97d1c6e19611ea39bb81c11ec6
+size 12390468
diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mesh/sharpener_039.mtl b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mesh/sharpener_039.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fa5024329cc57aa8b9cd90fbe081b4b000ef9c90
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mesh/sharpener_039.mtl
@@ -0,0 +1,6 @@
+newmtl sharpener_039_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/739514b7bb225e9ca292d2d72bca1885/mesh/sharpener_039.obj b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mesh/sharpener_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6d4f4ca928fd848897dd1f891079f6f4bc531dd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mesh/sharpener_039.obj
@@ -0,0 +1,105618 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sharpener_039_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mesh/sharpener_039_collision.obj b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mesh/sharpener_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a88586d452855ba7c8e32dc21cee28b091f01c5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mesh/sharpener_039_collision.obj
@@ -0,0 +1,13409 @@
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diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mesh/sharpener_039_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mesh/sharpener_039_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039.obj b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039.obj
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diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision.obj b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ae569e9913bef967e87e50c4c593752f52726f8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision.obj
@@ -0,0 +1,13409 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_0.obj b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c443335f8f9538f179b38ef1b8e1e6e8f82c6934
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_0.obj
@@ -0,0 +1,703 @@
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diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_1.obj b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a8d5377e048f44ba3151d135d5ee5da46e196a9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_10.obj b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d93bd1947a9768aa7b0576b21b3dcb7072702c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_10.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+v -0.00011589 -0.03014481 0.01217465
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+
diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_11.obj b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0894492d2343af30d5ac816fbd85b20735129149
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_11.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_12.obj b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6c7d1e4f9d53c5db859720a769f8de6c5a6f9d7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_12.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_13.obj b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fac3edf9946502e5257d32c3315b832b10cbb9c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_13.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.00286778 0.02987100 -0.00461404
+v -0.00508832 0.02987696 -0.02602776
+v -0.00508832 0.02987100 -0.00461404
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+
diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_14.obj b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3105b5188fac8d96eabf31b571455a574b908a2f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_14.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.01073084 0.03314169 0.02023942
+v -0.00958846 0.02833265 0.02023940
+v -0.00958846 0.02606762 0.01818070
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+v -0.00958846 -0.02966807 0.02023919
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+v -0.00958846 -0.02683180 0.01818050
+v -0.01073084 -0.03046514 0.01856324
+v -0.01073084 -0.02907690 0.01818049
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+f 3 11 7
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+
diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_15.obj b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6771123409f964d034d85b51296c68e21d9a9f35
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_15.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.00446499 -0.03020971 0.00103257
+v -0.00446499 -0.03020972 0.00155228
+v -0.00446499 -0.03011985 -0.00461366
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+
diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_16.obj b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bcb9d5e9a40d3ebf505d788e5a2c20668fa9196
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_16.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v -0.00066212 -0.03837744 0.00632862
+v -0.00011631 -0.03834325 0.00632862
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+
diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_17.obj b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..889f2c24b3f4e2d8947fe1172dd11332f8d473b1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_17.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.00958846 -0.02967133 0.02023919
+v -0.00958846 -0.02682740 0.01818050
+v -0.00877435 -0.02823446 0.01818050
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+
diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_18.obj b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..009c97c5404f3e70cd7ec3551b68b4eb4746b514
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_18.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
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+f 3 8 4
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+f 4 11 9
+f 5 9 10
+f 5 10 6
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+
diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_19.obj b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad2d321261d853b55ddc3588b253162ea90cfbe4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_19.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_2.obj b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71f0c2dcb91b98a623b7843352fdb5444c92b2fb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_2.obj
@@ -0,0 +1,2221 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_20.obj b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bba084e3e54d6858113936cc8e08829d9a89165
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_20.obj
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diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_3.obj b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1859bb4c86f9f75f72267afcf8d58581625be93c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_3.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_4.obj b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a32d735cb82297057e6358169c816202791e2f90
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_4.obj
@@ -0,0 +1,667 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_5.obj b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b94324bfdec74b8fcafa96dc8e3ee7a45c79ed7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_5.obj
@@ -0,0 +1,757 @@
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diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_6.obj b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3eed12715ff4b2ee607aab1752aab661eca0080
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_7.obj b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a418c92db7c8a2014bd23db284469a132a477ff
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_7.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_8.obj b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0eb264413e50d40494ef60d145097311b05360b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_8.obj
@@ -0,0 +1,2074 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_9.obj b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abfe4f04063cbebcfcc50e916782314aae179823
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/mesh/sharpener_039_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/sharpener_039.xml b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/sharpener_039.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e51488d1961890d2cc47120defff00267ae891c0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/mjcf/sharpener_039.xml
@@ -0,0 +1,56 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sharpener_039">
+  <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_039.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sharpener_039_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sharpener_039_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sharpener_039_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sharpener_039_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sharpener_039_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sharpener_039_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sharpener_039_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sharpener_039_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sharpener_039_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sharpener_039_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sharpener_039_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sharpener_039_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sharpener_039_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/sharpener_039_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/sharpener_039_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/sharpener_039_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/sharpener_039_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/sharpener_039_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/sharpener_039_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/sharpener_039_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/sharpener_039_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sharpener_039">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/sharpener_039.urdf b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/sharpener_039.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8d1127ff0984c4a21548b0d7fc59cdfa5dc4b35f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/sharpener_039.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_039">
+   <link name="sharpener_039">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_039.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_039_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <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>739514b7bb225e9ca292d2d72bca1885</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>single-hole sharpener</name>
+         <color>green,black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>teal rectangular pencil sharpener with single blade and zebra logo</description>
+         <min_height>0.0900</min_height>
+         <max_height>0.0900</max_height>
+         <real_height>0.0900</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611150702</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.038447 -0.038950 -0.045337</min>
+            <max>0.038602 0.038537 0.044663</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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/739514b7bb225e9ca292d2d72bca1885/sharpener_039.usd b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/sharpener_039.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/sharpener_039.usd
@@ -0,0 +1,3 @@
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+size 4301805
diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/textures/material_0.png b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/textures/material_0.png
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/video.mp4 b/dataset/desktop_supplies/office_stationery/739514b7bb225e9ca292d2d72bca1885/video.mp4
new file mode 100644
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--- /dev/null
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