diff --git a/.gitattributes b/.gitattributes
index a639c88008d958975a5a49666689f5721ee0486e..de7218122c11a42b751be8e36905d2ce3568e292 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5359,3 +5359,5 @@ dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/ball
 dataset/desktop_supplies/office_stationery/68df3162f1945acdb51143d432073c97/mesh/ballpoint_pen_038.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/correction_tape_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/68fdc76234f05236b96519e8460af2d4/mesh/correction_tape_033.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mesh/sharpener_029.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/sharpener_029.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a41bb856b13742c2ce4ca1189361764ded305ad2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_029_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..445536e0ded827873cc3058f3f928f32a6d3c868
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mesh/sharpener_029.glb b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mesh/sharpener_029.glb
new file mode 100644
index 0000000000000000000000000000000000000000..606350c986620df7647bf027f61e39f887e20f1d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mesh/sharpener_029.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13620504
diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mesh/sharpener_029.mtl b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mesh/sharpener_029.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..df3ed784051af1088e043a478f4a5d2255567418
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mesh/sharpener_029.mtl
@@ -0,0 +1,6 @@
+newmtl sharpener_029_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/6905a8e610c3539d805afb64cab56efb/mesh/sharpener_029.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mesh/sharpener_029.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6097b0effa4a3dc07e4fa960f86772a0dc1b332
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mesh/sharpener_029.obj
@@ -0,0 +1,109650 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sharpener_029_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mesh/sharpener_029_collision.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mesh/sharpener_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42c16bcf3147a6ab0b5c2bf645572029c17902c5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mesh/sharpener_029_collision.obj
@@ -0,0 +1,44976 @@
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mesh/sharpener_029_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mesh/sharpener_029_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029.obj
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2e51edfcf822e0eb9f2dd623930373fb70ba2e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision.obj
@@ -0,0 +1,44976 @@
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_0.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f47d568c9a05ced1df215c481be1c6b4fab50305
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_1.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c690127f8cc81ca7e32cd446ca9d2f0cbcf6944c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_1.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_10.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a430e76a9ddef560a8ecfd999af5fa4baa8b84c4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_10.obj
@@ -0,0 +1,1036 @@
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_11.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f70c0a124760247a03ca52dd4ec2b8bd3eed71c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_11.obj
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_12.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb7344f670474b9ab3f2b7a1bf1fa9aa852e8fa3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_12.obj
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_13.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1aa7133386898eec3ab4b51728ad990ae3aeeb3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_13.obj
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_14.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f878189de59a63b63edd542c4fa711e8e3d2564a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_14.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_15.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c9e0ea6f476e0c26efe6252da07424b67b84efc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_15.obj
@@ -0,0 +1,3040 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_16.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7069f36df455504a2a3a4735bdc6d3744dd28a5a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_16.obj
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_17.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4cc240be650de6b6f3bd6de5af747d71dad1566
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_17.obj
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_18.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f69a29b1671607cb1cf9678d55dd417e391510f8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_18.obj
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_19.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b705cdb93b80598e85dce3d130dbb94fe91dcd3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_19.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+v 0.00234986 -0.02906720 0.01316122
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+
diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_2.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c79141d74dcc50e6679d87a7542c26f0957960e6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_2.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
+v 0.01288128 -0.01561168 -0.03228620
+v 0.01288128 -0.01533066 -0.03508369
+v 0.01577814 -0.01697657 -0.03643481
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_20.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42ff4dce3e6d723da22c40f86b4b8325be3f8c8a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_20.obj
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_21.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..138f6515267a979e3ea6f94ec57bc5bc8e44c54e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_21.obj
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_22.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3bac2447c56c5ff91cceff48c4d8575a04b4037
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_22.obj
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_23.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cd3885713a663f250c422ea9ee4b8817cb638d4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_23.obj
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_24.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3db3e18e42a458c628d602bd87d6e2185b1f3d3a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_24.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_25.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dda9cf0bc2c52c42fb76c08dae021bd834b7627
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_25.obj
@@ -0,0 +1,1237 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_26.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f43e614e1cb0a2cee27f47268f4b52b81f1f070c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_26.obj
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_27.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a93fc72a4954112b49fa3d383ba453c64cf80538
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_27.obj
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_3.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8de7716c25cc10d6d92a26fdf9653b8eb4c2f5fd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_3.obj
@@ -0,0 +1,526 @@
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_4.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04ea88b616bcca2a214b33789f29d60b8da8937d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_4.obj
@@ -0,0 +1,2509 @@
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_5.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1c2ce52b285fd0534cb425276b6a5f07821b05a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_6.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaf3be4bbfc4ad70f3556d535cfab082c81b7492
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_7.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b2774a320d698636360bb4e47e2a383efb24982
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_7.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_8.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a53d9bed70d71c4e2cfe3f76e6b68872eb4ef47
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_8.obj
@@ -0,0 +1,532 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_9.obj b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..973dac6484b5e3da24e03e564121f2ca2a42da39
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/mesh/sharpener_029_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/sharpener_029.xml b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/sharpener_029.xml
new file mode 100644
index 0000000000000000000000000000000000000000..98cc21176b6691c689d77051318009ffa2beaf43
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mjcf/sharpener_029.xml
@@ -0,0 +1,70 @@
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/sharpener_029.urdf b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/sharpener_029.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..27c44b972b3560a9d6ddd5fa7a88c955e8fe8433
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/sharpener_029.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_029">
+   <link name="sharpener_029">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_029.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_029_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0650" />
+         <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>6905a8e610c3539d805afb64cab56efb</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>chick sharpener</name>
+         <color>yellow,orange</color>
+         <shape>irregular</shape>
+         <material>plastic</material>
+         <description>round chick-shaped pencil sharpener with wings, beak, and feet</description>
+         <min_height>0.0800</min_height>
+         <max_height>0.0800</max_height>
+         <real_height>0.0800</real_height>
+         <min_mass>0.04</min_mass>
+         <max_mass>0.09</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611150215</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.040972 -0.041941 -0.037878</min>
+            <max>0.041011 0.035444 0.042122</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>NO: {"summary":"Face features and cutting area are mislabeled; several distinct parts are merged or inconsistently colored.","merge_groups":[{"colors":["Green","Teal"],"target_part":"feet","reason":"Both colors mark repeated foot pieces"},{"colors":["Purple","Pink"],"target_part":"face details","reason":"Small facial features are inconsistently split"}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/sharpener_029.usd b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/sharpener_029.usd
new file mode 100644
index 0000000000000000000000000000000000000000..06ca4c7f33b4dcc373899fd0698a63f79f2c6ae1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/sharpener_029.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77aadc5100359ae60fcefa546200014a5d75ba1c60d9332a48f6a645db5cf281
+size 4975049
diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/textures/material_0.png b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..445536e0ded827873cc3058f3f928f32a6d3c868
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3213d1eb8e22f792c092b71c949da61674841711684476245732211cbe0eedb2
+size 10172945
diff --git a/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/video.mp4 b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..05350c66c92eb6abe81fa9e651e44fc787558e23
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36d932ad151b4d3f515abfc30bb69a6761e0d0b06ebe355fc3ba6470d0f1c76f
+size 197531