diff --git a/.gitattributes b/.gitattributes
index 3338199edd80f7c1ce0775bec7a028be2a9a4887..95af3bf1b1a6e98ead7e9aca7fb57497c45d1ce3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3095,4 +3095,5 @@ dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/glue
 dataset/desktop_supplies/office_stationery/1e1d1417c0f951d3ab57d35f8d6278af/mesh/glue_stick_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/1daf9ce988dd5fada39bd745edcdc3a8/glue_stick_018.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/1daf9ce988dd5fada39bd745edcdc3a8/mesh/glue_stick_018.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/1e7cfd9a38ca56a891842b62f92cebfa/1e7cfd9a38ca56a891842b62f92cebfa.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mesh/sharpener_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/sharpener_006.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d8009cd1e54f214e6dad13cb73a4769945c2f744
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_006_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
+map_Kd sharpener_006_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..11bc73a901eff14a8437eb347b1e39cfb504716f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:001dccefb103f76810cf72dce1195bd33b0f084078448b660974f1f3365cb276
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mesh/sharpener_006.glb b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mesh/sharpener_006.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2d7791de386177941421fd9dc17e086cd2e352e8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mesh/sharpener_006.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5559c901d56f84eaf18280ded74e96d51bacce0a1b89feeaac9f2ee46b52aa49
+size 12954564
diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mesh/sharpener_006.mtl b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mesh/sharpener_006.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..798aad67e7b4f2a07c64350aa02b022eac210ea2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mesh/sharpener_006.mtl
@@ -0,0 +1,6 @@
+newmtl sharpener_006_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/1d25e7e3a4d658c5b482f9a6a8a2509b/mesh/sharpener_006.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mesh/sharpener_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1683082f7a7d642a0046bddc59b5f89a282b3481
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mesh/sharpener_006.obj
@@ -0,0 +1,112622 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sharpener_006_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mesh/sharpener_006_collision.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mesh/sharpener_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baccce540cc71188fe773f87c54233a25a40063f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mesh/sharpener_006_collision.obj
@@ -0,0 +1,19967 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mesh/sharpener_006_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mesh/sharpener_006_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..11bc73a901eff14a8437eb347b1e39cfb504716f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mesh/sharpener_006_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:001dccefb103f76810cf72dce1195bd33b0f084078448b660974f1f3365cb276
+size 9642810
diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..11bc73a901eff14a8437eb347b1e39cfb504716f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:001dccefb103f76810cf72dce1195bd33b0f084078448b660974f1f3365cb276
+size 9642810
diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95b1c387b97efe1affb3192b6a80648bb3385e32
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+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sharpener_006_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8513b06cc95b13c513be348b495fbe348ebbcbd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision.obj
@@ -0,0 +1,19967 @@
+# https://github.com/mikedh/trimesh
+
+o sharpener_006_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_0.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..313c3aba4c94abc1536d0badc50bd53de990ebea
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_1.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fa3843b7b34e7bd002298fb127a3d22fa2258d3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_10.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3336e1489a3b71ae652473574aa8f424b82d6e1a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_11.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf9b38fcbb63abbbd4d48f9eaa60f5db82a74545
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_11.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_12.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5dad2ab822e63cbce8794fec1a1e5daffe3bc43
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_12.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_13.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fbc49d0fded432c00f0be340081047b9c89a5ad
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_13.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00096879 0.04610494 -0.02027504
+v 0.00096879 0.04610494 -0.01261357
+v 0.00096879 0.04710494 -0.02027504
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+
diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_14.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac9eabe9e4bfd1a0b1e144b7921e80983de1f538
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_14.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.00001205 -0.02444565 0.04058301
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_15.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca51e1e75e7f9ca5ff885fc3f080587795ee75cd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_15.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_16.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aff52455288c02cbb0d49f80d001e30e18b42f38
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_16.obj
@@ -0,0 +1,637 @@
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_17.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd07e6864d83e4b542290057fc3cf1b65fc13b12
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_17.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.00001205 -0.02410059 0.02559885
+v 0.00234861 -0.02388383 0.02291647
+v 0.00246583 -0.02412281 0.02291647
+v 0.00591629 -0.02680157 0.02810399
+v -0.00001205 -0.02408393 0.02707615
+v -0.00001205 -0.02295573 0.02508290
+v 0.00195923 -0.02297239 0.02291648
+v 0.00362237 -0.02438957 0.02291647
+v -0.00001205 -0.02349482 0.02810400
+v -0.00001205 -0.02368934 0.02785770
+v -0.00001205 -0.02376714 0.02775258
+v 0.00591629 -0.02375601 0.02291647
+v 0.00591629 0.02997453 0.02810420
+v -0.00001205 -0.01177390 0.02291652
+v -0.00001205 0.02997453 0.02810420
+v 0.00591629 0.02997455 0.02291667
+v -0.00001205 0.02997455 0.02291667
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+
diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_18.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6af61c51d3a687f5acb32f5ca8307dd7942e93d0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_18.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.00511551 0.02997455 0.02291717
+v -0.00511551 0.02647679 0.02291716
+v -0.00511551 0.02997456 0.01809750
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+v -0.00544653 0.02708548 0.03680114
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+v -0.00511551 0.02647680 0.01779045
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+v -0.00662824 0.02708549 0.03632104
+v -0.00588902 0.02708549 0.03664855
+v -0.00570036 0.02708549 0.03671368
+v -0.01055298 0.02708553 0.02402438
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+v -0.00771505 0.02647680 0.01977972
+v -0.00676659 0.02997456 0.01923078
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+
diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_19.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..772ee2db4612b985697bbcfea1fb8c8305188a0a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_19.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.00544634 -0.02648876 0.02822828
+v -0.00544634 -0.02392424 0.02291647
+v -0.00349891 -0.02436087 0.02291647
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+v -0.00167010 -0.02307309 0.02291648
+v -0.00001258 -0.01177601 0.02291652
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+
diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_2.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6762918b7849279a8a8e2e86901b991cdb110bb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_2.obj
@@ -0,0 +1,2131 @@
+# https://github.com/mikedh/trimesh
+v -0.01493752 0.02383876 -0.01039049
+v -0.01478052 0.02386931 -0.01039634
+v -0.01478052 0.02404649 -0.01077361
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+v -0.01631891 0.02445586 -0.01254881
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+v -0.01631891 0.02365546 -0.01076191
+v -0.01667686 0.02335608 -0.01039049
+v -0.01478052 -0.01972447 -0.01039065
+v -0.01478052 0.02531124 -0.01376251
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_20.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ac1658e9080627251e6fac4750274b5d05759cf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_20.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_21.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12b0e033073aa127695b4140a33c827415434312
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_21.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_22.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f58e80ffb7ebf77c86e9cfc3c9629348410c5343
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_22.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_23.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd6c4ae8fcb2a30e1c1fc7908349d8d23f0b17a5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_23.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00571938 0.04610494 -0.02027887
+v -0.00571938 0.04610494 -0.01263540
+v -0.00571938 0.04710494 -0.02027887
+v -0.00571938 0.04710494 -0.01263540
+v 0.00096879 0.04610494 -0.02027887
+v 0.00096879 0.04610494 -0.01263540
+v 0.00096879 0.04710494 -0.02027887
+v 0.00096879 0.04710494 -0.01263540
+f 2 4 1
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+
diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_24.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0655f7f2019c1ae7b23131f51f8918f023da5964
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_24.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_25.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95136980b7f6da70bb1e241ec8a4d02ddbf5b01e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_25.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_26.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc682c79002557986e5c6551412cdee70266c647
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_26.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_27.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88456ab2156a6201dee26b5cc511674239f57118
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_27.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_28.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57efb18c631d4574deeb9192b9e461cd387373e6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_28.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_29.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cc05c45806573b2508412cc660d6cff7b8d6da4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_29.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_3.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9af25976ee0fd46806f260c0486b4ec860099036
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_3.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_30.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73dd67f85df74682ace91b4f82e958dd36726cef
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_30.obj
@@ -0,0 +1,1309 @@
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_31.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ac4d00a8c4ba73e7790d91196f8761be393349d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_31.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_32.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa643de7d49ab926f2473c32e783337733902d93
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_32.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.00566161 -0.03119613 0.01622013
+v -0.00546550 -0.03111829 0.01622013
+v -0.00566161 -0.03115421 0.01632593
+v -0.00566161 0.02474129 0.01622033
+v 0.00001332 -0.02654366 0.01622014
+v -0.00566161 -0.03023809 0.01697444
+v -0.00566161 0.02531611 0.01759733
+v -0.00421385 0.02997457 0.01760073
+v -0.00413441 0.02997457 0.01756114
+v -0.00347053 0.02997457 0.01729019
+v -0.00272665 0.02997457 0.01705966
+v -0.00207499 0.02997457 0.01686128
+v -0.00123000 0.02997457 0.01671669
+v -0.00065056 0.02997457 0.01662264
+v 0.00001332 0.02997457 0.01659453
+v -0.00487607 0.02492092 0.01622033
+v 0.00001332 -0.02374738 0.01760053
+v -0.00053112 -0.02431023 0.01760053
+v -0.00566161 -0.02908246 0.01760051
+v 0.00001332 0.02557957 0.01622033
+v -0.00566161 0.02476524 0.01760071
+v 0.00001332 0.02997457 0.01760073
+v 0.00001332 0.02647174 0.01628844
+v -0.00207499 0.02534006 0.01622033
+v -0.00065056 0.02554364 0.01622033
+f 1 2 3
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+
diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_33.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aecc08bc08400952b93d076777b1f1cab9a44d46
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_33.obj
@@ -0,0 +1,19 @@
+# https://github.com/mikedh/trimesh
+v 0.00750037 -0.02475943 0.02291647
+v 0.00750037 -0.02475942 0.01795590
+v 0.00637756 -0.02475943 0.02291647
+v 0.00750037 -0.02722180 0.02291646
+v 0.00340706 -0.02475942 0.01795590
+v 0.00750037 -0.03111346 0.01795588
+v 0.00719463 -0.03081802 0.01795588
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 4
+f 4 7 6
+f 4 5 7
+
diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_34.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5776680e43c2b99c40d0e634b7d27227167bccb8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_34.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.01058270 0.02997455 0.02291667
+v 0.01042575 0.02997455 0.02253258
+v 0.00750077 0.02997455 0.02291667
+v 0.01151888 0.02625764 0.02291666
+v 0.01151888 0.02470440 0.01795608
+v 0.01024442 0.02997455 0.02218443
+v 0.00750077 0.02997456 0.01895928
+v 0.00750077 -0.02721749 0.02291646
+v 0.01151888 -0.03146021 0.02291644
+v 0.00750077 0.02529065 0.01795608
+v 0.00807664 0.02997456 0.01946330
+v 0.00852389 0.02997456 0.01989352
+v 0.00882913 0.02997456 0.02018874
+v 0.00959538 0.02997455 0.02117639
+v 0.01005718 0.02997455 0.02184162
+v 0.01151888 -0.03176239 0.01795587
+v 0.00750077 -0.03110966 0.01795588
+v 0.00847590 -0.02948994 0.02291645
+v 0.01074476 -0.03145417 0.02291644
+v 0.01151888 -0.03147229 0.02277416
+v 0.01151888 -0.03175634 0.01811805
+v 0.01074476 -0.03176843 0.01795587
+v 0.00759360 -0.03120032 0.01795588
+v 0.00969844 -0.03121241 0.02291645
+v 0.00898647 -0.03039046 0.02291645
+v 0.00855142 -0.02966521 0.02291645
+v 0.00902856 -0.03168382 0.01795587
+v 0.00932043 -0.03168986 0.01825352
+v 0.00932043 -0.03171403 0.01795587
+v 0.01074476 -0.03156900 0.02115431
+v 0.01151888 -0.03152669 0.02194336
+v 0.01151888 -0.03175030 0.01825352
+v 0.01045250 -0.03176239 0.01795587
+v 0.01074476 -0.03175030 0.01825352
+v 0.00771869 -0.03128493 0.01795588
+v 0.00791615 -0.03135141 0.01795587
+v 0.01074476 -0.03165964 0.01970440
+f 1 2 6
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+f 33 34 37
+
diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_35.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4618411e762b8b4d7cb9b06efcde047c06ab5df8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_35.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00001388 -0.02468441 0.01970443
+v 0.00340775 -0.02475942 0.01795590
+v 0.00077459 -0.02471120 0.01970443
+v 0.00637730 -0.02475943 0.02291647
+v 0.00362321 -0.02438975 0.02291647
+v 0.00246603 -0.02412186 0.02291647
+v 0.00001388 -0.02423438 0.02095283
+v 0.00001388 -0.02440045 0.01878185
+v 0.00750077 -0.02475942 0.01795590
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+v 0.00065880 -0.02422901 0.01795590
+v 0.00750077 -0.02475943 0.02291647
+v 0.00234877 -0.02388613 0.02291647
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+v 0.00750077 0.02529195 0.01795608
+v 0.00001388 -0.02393434 0.01795590
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+v 0.00750077 0.02997455 0.02291667
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+v 0.00750077 0.02997456 0.01895928
+v 0.00001388 0.02997456 0.01795610
+v 0.00001388 0.02997455 0.02291667
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+
diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_36.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cae945cf59651ed5a4d7c43cc3854c55c644101
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_36.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.00295638 -0.01635759 -0.01075997
+v 0.00296246 -0.01635849 -0.01039064
+v 0.00763838 -0.01635849 -0.01087984
+v 0.00767123 -0.01635849 -0.01150209
+v 0.00766149 -0.01635849 -0.01210943
+v 0.00293691 -0.01635847 -0.01511173
+v 0.00024062 -0.01635847 -0.01624899
+v -0.00248487 -0.01635847 -0.01624899
+v -0.00252502 -0.01635849 -0.01039064
+v 0.00651168 -0.01714868 -0.01039064
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+v 0.00774180 -0.01865210 -0.01039065
+v 0.00783792 -0.01862794 -0.01075998
+v 0.00779412 -0.01862794 -0.01221095
+v 0.00738651 -0.02021188 -0.01624900
+v 0.00716993 -0.01951565 -0.01624900
+v 0.00653723 -0.01874604 -0.01624900
+v 0.00293447 -0.01636115 -0.01624899
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+
diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_37.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a5feb4eab5afc834e9e206b5f99c121965b9f64
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_37.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.00001388 0.02997455 0.02291667
+v 0.00001388 0.02997457 0.01760073
+v -0.00511494 0.02997455 0.02291667
+v 0.00001388 -0.01177623 0.02291652
+v -0.00421378 0.02997457 0.01760073
+v 0.00001388 -0.02374895 0.01760053
+v -0.00511494 0.02997456 0.01809611
+v -0.00511494 -0.02392554 0.02291647
+v -0.00166996 -0.02307685 0.02291648
+v 0.00001388 -0.02304838 0.02152297
+v -0.00440104 0.02997457 0.01769387
+v -0.00508130 0.02616972 0.01760072
+v 0.00001388 -0.02418184 0.01812036
+v -0.00053133 -0.02431284 0.01760053
+v -0.00488651 0.02997456 0.01795509
+v -0.00511494 0.02594758 0.01760072
+v -0.00511494 -0.02821451 0.01760052
+v -0.00500901 -0.02397680 0.02291647
+v -0.00175731 -0.02334456 0.02291647
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+v -0.00474293 -0.02405085 0.02291647
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+
diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_38.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69b5218260edcaeabdc5c534ad4974c8bf1f7c5a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_38.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.00001388 -0.02665593 0.01617425
+v 0.00560783 -0.03109423 0.01617424
+v 0.00561470 -0.03109423 0.01618505
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+v 0.00703277 -0.03044899 0.01795588
+v 0.00001388 0.02997456 0.01795610
+v 0.00001388 0.02997457 0.01659458
+v 0.00077444 0.02997457 0.01656127
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+v 0.00703277 -0.03163092 0.01617423
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+
diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_39.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17d9145e4c0b55d41e6c427b918c3dd18bfc9920
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_39.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.00459225 -0.02383102 -0.02605299
+v -0.00459225 -0.02341681 -0.01801336
+v -0.00459225 -0.01837434 -0.02605297
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_4.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf1afe20361e89d88ddb70c161b3b47aad38777a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_40.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3618bf739ca1a25e6b160f8b20e8c3a860847db6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_40.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_41.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbf54dc54828c6aaa31b0605150d1ea2252c09de
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_41.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_5.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d147a24d4a160d7478fed27ae39c28b1f16cd03
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_6.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df93887b9f0ca74ca6dd6c29d79796066c91f964
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_7.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03b5c6ecdb31e67517e1f80122d2a5deeb66106e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_7.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_8.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1996a4020cc4a9183b49fc55c155533517fa3b72
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_8.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_9.obj b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..095f5876a9f23b1205e4acd9a06a2a5ae4557c29
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/mesh/sharpener_006_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/sharpener_006.xml b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/sharpener_006.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2de72783f2f2c2cc6a8482f4df3656c1b4c8af91
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/mjcf/sharpener_006.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sharpener_006">
+  <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" />
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+    <mesh name="collision_mesh_0_0" file="mesh/sharpener_006_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sharpener_006_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sharpener_006_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sharpener_006_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sharpener_006_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sharpener_006_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sharpener_006_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sharpener_006_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sharpener_006_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sharpener_006_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sharpener_006_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sharpener_006_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sharpener_006_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/sharpener_006_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/sharpener_006_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/sharpener_006_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/sharpener_006_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/sharpener_006_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/sharpener_006_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_25" file="mesh/sharpener_006_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_27" file="mesh/sharpener_006_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/sharpener_006_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/sharpener_006_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/sharpener_006_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/sharpener_006_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/sharpener_006_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_34" file="mesh/sharpener_006_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/sharpener_006_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/sharpener_006_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/sharpener_006_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/sharpener_006_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/sharpener_006_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/sharpener_006_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/sharpener_006_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sharpener_006">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" 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/1d25e7e3a4d658c5b482f9a6a8a2509b/sharpener_006.urdf b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/sharpener_006.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ac656be9907bb94d83020aa3f3b7d3fd5e759ccc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/sharpener_006.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_006">
+   <link name="sharpener_006">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_006.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_006_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>1d25e7e3a4d658c5b482f9a6a8a2509b</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>manual sharpener</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact manual sharpener with crank handle and pencil insertion slot</description>
+         <min_height>0.0805</min_height>
+         <max_height>0.0805</max_height>
+         <real_height>0.0805</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427234227</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Main body is over-segmented into multiple colors; only crank is cleanly separated.","merge_groups":[{"colors":["Yellow","Lime Green","Olive"],"target_part":"main body","reason":"same housing and shavings bin surfaces"}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/sharpener_006.usd b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/sharpener_006.usd
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@@ -0,0 +1,3 @@
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+size 4895371
diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/textures/material_0.png b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/textures/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/video.mp4 b/dataset/desktop_supplies/office_stationery/1d25e7e3a4d658c5b482f9a6a8a2509b/video.mp4
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