diff --git a/.gitattributes b/.gitattributes
index 6f08d0bdf0dd10574f0f7306f9e20a3401f3948a..d79a1bcad60b41736f7a3d9e698c3b335ffeb0d8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3192,7 +3192,5 @@ dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/86a4
 dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/eraser_002.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mesh/eraser_002.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/8ea5a2833892579bae1d08dc199791c2/8ea5a2833892579bae1d08dc199791c2.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/glue_stick_035.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mesh/glue_stick_035.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mesh/pen_holder_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/pen_holder_007.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mesh/sharpener_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/sharpener_014.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cdcba5eff2cfae91e9544b60be4688a9a3fa8d34
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_014_geometry_Looks_material_0
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+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6e9fdda412089aa9d87eec84a6dfdf444db7711
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/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/8bd96215a928539eafd42e472ad1292c/mesh/sharpener_014.glb b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mesh/sharpener_014.glb
new file mode 100644
index 0000000000000000000000000000000000000000..05b37f50c8da8cb4067c347e5a8e8b28d949c1a7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mesh/sharpener_014.glb
@@ -0,0 +1,3 @@
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+size 12077304
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mesh/sharpener_014.mtl b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mesh/sharpener_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85434b2a85c45ec75b325aecd61ba8534648e6ce
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mesh/sharpener_014.mtl
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+newmtl sharpener_014_geometry_Looks_material_0
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+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/8bd96215a928539eafd42e472ad1292c/mesh/sharpener_014.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mesh/sharpener_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b7a8b610b561c057d9b31128a375002fdb75fdf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mesh/sharpener_014.obj
@@ -0,0 +1,108000 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sharpener_014_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mesh/sharpener_014_collision.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mesh/sharpener_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7f21bfa82cee8fe0c0dbe378441f82dbf878683
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mesh/sharpener_014_collision.obj
@@ -0,0 +1,28452 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mesh/sharpener_014_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mesh/sharpener_014_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2748870cea07f52845a12a5879ee0981bda271b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision.obj
@@ -0,0 +1,28452 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_0.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94478e0a81dfe1e59db69ba2af6cba135e2d2c17
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_1.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d46dcf85084f4c4af04f5ca1bb23b3deccb4c422
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_1.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_10.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8db3add2d060a61bf2e49fd3ca6aaecfdaa795ca
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_10.obj
@@ -0,0 +1,571 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_11.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6182dcc7c461425d40609b264d7c4e9ca3738b99
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_11.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_12.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..009c268a113d63db83af39244eb5b47de8092de1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_12.obj
@@ -0,0 +1,586 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_13.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..114f9f089ca55b0df5ce8f322ed8d031049318ba
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_13.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_14.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..174c20fea159b71d419c06da097b1ffc14a652b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_14.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_15.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f63fe2925bae3925edf07a6821e23d4494023a94
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_15.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_16.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9652dce1f01ace5e97a5ca4e67bc583f623b2cdb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_16.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_17.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..863ef5d3cf6aa0eaf3745a56f9d387a4a03e2cd9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_17.obj
@@ -0,0 +1,757 @@
+# https://github.com/mikedh/trimesh
+v 0.02035624 -0.01161972 0.01617117
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_18.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd60dc897e8f58655e716ccc84d4df9d6675ceb7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_18.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_19.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6da59d63e03854162b964f75ddfc071fc73aeb03
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_19.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_2.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c07bf7537cf6e14d410c2c64fddb7586669030f6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_2.obj
@@ -0,0 +1,613 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_20.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8796fcad10418732ca7f9de61b138a6f867e2bb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_20.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_21.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6f550e6e79483122e658a3586ed5fb2f8cd5dfe
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_21.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_22.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce944a880209ed1021ec76c925087448a46f97ca
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_22.obj
@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_23.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77d8ab214476b4cd00643baff6d492253eeecf7c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_23.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.01885929 0.00989743 0.01049722
+v 0.01886520 0.00983007 0.01101151
+v 0.01888296 0.00985877 0.01049722
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_24.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe9b51b6c085d69a699cf3cb07c31049340f65d4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_24.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.00355290 -0.00675625 0.00915499
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_25.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63eb38190100bc78669cd7d5c2bf523f5b75008f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_25.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_26.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b043b53f20e790dfe9f050d3d65288f82a11f06a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_26.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_27.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d434c45936c2815be4935a09d9388d8b31a23af
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_27.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_28.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebeb001715a19d90244d5b6e0690b22dbb19b579
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_28.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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+f 74 80 87
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_29.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..902ae085e0012899d025c94610f4dd62d8e2e435
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_29.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.00656914 0.00834101 0.00168591
+v 0.00558962 0.00817550 0.00168591
+v -0.00147202 0.00678930 0.00938673
+v 0.00656914 0.00824791 0.00259885
+v 0.00703840 0.00783263 0.00707837
+v 0.00707332 0.00783263 0.00707837
+v 0.00714014 0.00786367 0.00654840
+v 0.00719178 0.00789323 0.00603652
+v 0.00723734 0.00791983 0.00555856
+v 0.00729656 0.00797155 0.00457174
+v 0.00733149 0.00801885 0.00358642
+v 0.00734820 0.00806318 0.00259885
+v 0.00735275 0.00809865 0.00168591
+v 0.00553799 0.00816220 0.00168591
+v 0.00029263 0.00678636 0.00168590
+v -0.00029812 0.00662824 0.00168590
+v -0.00036645 0.00660016 0.00168590
+v -0.00136723 0.00614352 0.00168590
+v -0.00138849 0.00612283 0.00168590
+v -0.00387601 0.00312141 0.00168589
+v -0.00387601 0.00301353 0.00259883
+v -0.00387601 0.00289383 0.00358339
+v -0.00387601 0.00270318 0.00512054
+v -0.00387601 0.00258939 0.00603574
+v -0.00290105 0.00240170 0.00938672
+v 0.00657066 0.00740850 0.00938674
+v 0.00755169 0.00731392 0.00938674
+v 0.00813181 0.00697107 0.00938674
+v 0.00738920 0.00803954 0.00168591
+v 0.00812422 0.00697402 0.00852129
+v -0.00387601 -0.00048295 0.00168588
+v -0.00387601 -0.00506711 0.00603571
+v -0.00290105 -0.00675625 0.00938669
+v 0.00942113 0.00427555 0.00938673
+v 0.00782505 0.00732872 0.00168591
+v 0.00811055 0.00697107 0.00753522
+v -0.00387601 -0.00500948 0.00593168
+v -0.00308025 -0.00675623 0.00168586
+v 0.00367007 -0.00675625 0.00938669
+v 0.00809840 0.00696073 0.00654840
+v 0.01055251 0.00054558 0.00938671
+v 0.00801943 0.00676863 0.00168590
+v 0.00784175 0.00728734 0.00168591
+v 0.00009977 -0.00675623 0.00168586
+v 0.00853273 -0.00637350 0.00938669
+v 0.01144850 -0.00247062 0.00938670
+v 0.01002554 0.00005497 0.00168588
+v 0.00931938 0.00243127 0.00168589
+v 0.00908703 0.00320860 0.00168589
+v 0.00860562 -0.00513065 0.00168586
+v 0.00817129 -0.00594345 0.00577713
+v 0.00943783 -0.00607794 0.00938669
+v 0.01162011 -0.00344745 0.00938670
+v 0.01076056 -0.00246617 0.00168587
+v 0.01048113 -0.00148491 0.00168587
+v 0.01021386 -0.00057901 0.00168588
+v 0.00911437 -0.00495183 0.00168586
+v 0.00853273 -0.00546463 0.00358637
+v 0.00853273 -0.00562424 0.00457169
+v 0.00897921 -0.00588287 0.00714165
+v 0.00953199 -0.00604691 0.00938669
+v 0.01163833 -0.00438290 0.00938669
+v 0.01102177 -0.00369127 0.00277371
+v 0.01090028 -0.00344300 0.00168587
+v 0.01077423 -0.00254449 0.00168587
+v 0.00946669 -0.00482326 0.00168586
+v 0.00995417 -0.00490011 0.00320793
+v 0.00951377 -0.00527844 0.00457169
+v 0.00997543 -0.00588730 0.00938669
+v 0.01124501 -0.00519865 0.00938669
+v 0.01118730 -0.00512623 0.00852124
+v 0.01110985 -0.00504052 0.00753517
+v 0.01102177 -0.00399865 0.00277371
+v 0.01086839 -0.00351836 0.00168587
+v 0.00953351 -0.00479814 0.00168586
+v 0.01008325 -0.00495331 0.00386455
+v 0.01045076 -0.00569814 0.00938669
+v 0.00981142 -0.00484839 0.00259880
+v 0.01046139 -0.00427796 0.00168586
+v 0.01097773 -0.00490603 0.00608170
+v 0.01104151 -0.00496958 0.00673983
+f 1 2 3
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+f 1 5 6
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+f 1 13 29
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+f 77 80 81
+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_3.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce2d4eec0ea346d80341938279f092bbc253df1d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_3.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.00165016 0.00777564 0.01101150
+v 0.00755263 0.00716249 0.01101150
+v 0.00755263 0.00721655 0.01049721
+v 0.00755263 0.00730619 0.00950996
+v 0.00755263 0.00731472 0.00938739
+v 0.00657142 0.00741004 0.00938739
+v 0.00164172 0.00777564 0.01098654
+v -0.00315626 0.00777564 0.01101150
+v 0.01328284 0.00598742 0.01101149
+v 0.00813190 0.00697187 0.00938739
+v 0.01328284 0.00598742 0.01002917
+v 0.00080237 0.00777565 0.00938739
+v 0.00103374 0.00777564 0.00976655
+v 0.00148128 0.00777564 0.01059530
+v -0.00305831 0.00777564 0.01049721
+v -0.00397028 0.00216490 0.00938737
+v -0.00397028 0.00199417 0.01080751
+v -0.00397028 0.00196857 0.01101148
+v 0.01328284 -0.00529809 0.01101145
+v 0.00942048 0.00427604 0.00938738
+v 0.01328284 -0.00344729 0.01003073
+v 0.01163791 -0.00438477 0.00938734
+v 0.01162103 -0.00344728 0.00938735
+v 0.01144876 -0.00247137 0.00938735
+v 0.01055368 0.00054313 0.00938736
+v -0.00275094 0.00777565 0.00938739
+v -0.00283031 0.00777565 0.00949995
+v -0.00397028 -0.00675483 0.00938734
+v -0.00397028 -0.00675484 0.01101145
+v 0.00848655 -0.00663392 0.01101145
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+v 0.00943568 -0.00607909 0.00938734
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+v 0.00959443 -0.00602646 0.00938734
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+v 0.01328284 -0.00441892 0.01017237
+v 0.00366831 -0.00675483 0.00938734
+v 0.00448233 -0.00675484 0.01101145
+v 0.00997610 -0.00588846 0.00938734
+v 0.01328284 -0.00515868 0.01066059
+v 0.01045067 -0.00569926 0.00938734
+v 0.01328284 -0.00504202 0.01056822
+f 1 2 3
+f 1 3 4
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+f 1 5 6
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+f 1 13 12
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+f 1 26 27
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+f 30 40 32
+f 35 42 36
+f 36 42 43
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+f 38 43 44
+f 42 44 43
+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_30.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c566cc08247d593085a923ff738a57803adbdba
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_30.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.01428916 -0.00675677 0.01925244
+v 0.01428916 -0.00848773 0.01925654
+v 0.01428916 -0.00675676 0.01710107
+v 0.00579225 -0.00675677 0.01931107
+v 0.01428916 -0.00946794 0.01925395
+v 0.01428916 -0.00676628 0.01710107
+v 0.00579225 -0.00675676 0.01710107
+v 0.00579225 -0.01031342 0.01929050
+v 0.01115355 -0.01161926 0.01926346
+v 0.01213499 -0.01161926 0.01925805
+v 0.01246102 -0.01161926 0.01925372
+v 0.01311642 -0.01161926 0.01924377
+v 0.01344246 -0.01129411 0.01924269
+v 0.01428916 -0.01044815 0.01923879
+v 0.01428916 -0.01161925 0.01710797
+v 0.01428666 -0.00702478 0.01710106
+v 0.00579225 -0.00778743 0.01710106
+v 0.00579225 -0.01129411 0.01928444
+v 0.01017212 -0.01161926 0.01926692
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+v 0.01409786 -0.01161926 0.01920591
+v 0.01428916 -0.01142883 0.01920440
+v 0.01428916 -0.01161926 0.01919207
+v 0.00579225 -0.01161925 0.01740455
+v 0.00949593 -0.00762652 0.01710106
+v 0.00951672 -0.00762414 0.01710106
+v 0.00579225 -0.01161926 0.01928206
+f 1 2 5
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+f 1 22 23
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+f 1 15 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 2
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+f 3 16 26
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+f 3 25 17
+f 3 17 7
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+f 4 18 8
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+f 18 27 19
+f 21 23 22
+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_31.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4aa4f75ca6b48d5787c06693c374656506ca2c8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_31.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.00998902 0.00304160 -0.03498780
+v -0.00998902 0.00347020 -0.03591922
+v -0.00815110 0.00372336 -0.03571850
+v -0.00716922 0.00384550 -0.03552584
+v -0.00667665 0.00390657 -0.03541871
+v -0.00657249 0.00388103 -0.03498780
+v -0.00998902 0.01101506 -0.03498777
+v -0.00917422 0.00364675 -0.03596721
+v -0.00998902 0.00386771 -0.03646701
+v -0.00953008 0.00388325 -0.03643826
+v 0.00068152 0.00579640 -0.03554793
+v 0.00109489 0.00584636 -0.03546098
+v 0.00109489 0.00578196 -0.03498779
+v -0.00809577 0.01163464 -0.03498777
+v -0.00759018 0.01172791 -0.03531416
+v -0.00998902 0.01089181 -0.03541773
+v -0.00998902 0.00467606 -0.03741457
+v 0.00109489 0.00671022 -0.03651284
+v -0.00176939 0.00586746 -0.03640571
+v 0.00109489 0.00620501 -0.03594249
+v -0.00029928 0.00567870 -0.03572632
+v 0.00109489 0.01438499 -0.03498776
+v -0.00769542 0.01176122 -0.03498777
+v -0.00725384 0.01189669 -0.03498777
+v -0.00488539 0.01260953 -0.03498776
+v -0.00453820 0.01267838 -0.03515761
+v -0.00081572 0.01371878 -0.03543530
+v -0.00388506 0.01277498 -0.03552058
+v -0.00693595 0.01182895 -0.03559280
+v -0.00989788 0.01086295 -0.03562060
+v -0.00998902 0.01078300 -0.03572155
+v -0.00998902 0.00967710 -0.03741455
+v -0.00233140 0.00740309 -0.03741456
+v 0.00098965 0.00892317 -0.03741456
+v 0.00109489 0.00897535 -0.03741456
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+v -0.00815110 0.01129376 -0.03591159
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+v -0.00998902 0.01008793 -0.03692069
+v -0.00911671 0.01044657 -0.03684301
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+v -0.00741550 0.01069196 -0.03728889
+v -0.00676561 0.01079856 -0.03741455
+v 0.00097663 0.01308478 -0.03741454
+v 0.00109489 0.01346452 -0.03696867
+v 0.00109489 0.01372988 -0.03657766
+v -0.00067142 0.01269504 -0.03734470
+v -0.00128116 0.01293487 -0.03672091
+v -0.00207427 0.01281939 -0.03654488
+v -0.00520653 0.01186115 -0.03657815
+v -0.00577722 0.01177566 -0.03644441
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_32.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f41c1d5cb560af78bee105d8d6c2226bd313a036
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_32.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_33.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbee33fc02798a5fe743c07e022d9520d535b94b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_33.obj
@@ -0,0 +1,583 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_34.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12984907141cf222e74dd3d61995c12ad2ad07c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_34.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+v -0.01234949 0.00128390 -0.01114940
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+v -0.01234949 0.00412746 -0.02383230
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_35.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c8c6a4151e16c3015ea0aee576ae6452c8d976f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_35.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_36.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8644e8f14237246336cce9c88f1f7d560ca0595
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_36.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
+v 0.02252867 -0.00675673 0.00936338
+v 0.02252706 -0.00675673 0.00947487
+v 0.02239801 -0.00720518 0.00936337
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_37.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..667c499dd31a29d98836e875dd57a1efcf4bdc31
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_37.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00109489 0.00847861 -0.01114937
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_38.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdcc60098e0bc6f451070719ec0c7b55f3fa8c3d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_38.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_39.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ba185b323941c7271a28ac3edd117e10e725e63
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_39.obj
@@ -0,0 +1,472 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_4.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a2ac03d335b2f86abea541d642367fe8502ddea
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_4.obj
@@ -0,0 +1,115 @@
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+f 9 35 28
+f 9 28 19
+f 9 19 10
+f 10 19 20
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+f 13 22 14
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+f 13 27 22
+f 14 22 18
+f 16 24 25
+f 16 25 26
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+f 16 27 23
+f 19 28 20
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_40.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dd95faffe792736f48e47d02b76941852b834cb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_40.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.01685273 0.00340453 0.00603652
+v -0.01696102 0.00340454 0.00168513
+v -0.01948468 0.00340453 0.00603652
+v -0.01702926 -0.00675624 0.00603649
+v -0.01711192 -0.00675623 0.00168510
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+v -0.01934916 -0.00675623 0.00168510
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+v -0.01972657 0.00243480 0.00603652
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+v -0.01973042 -0.00639023 0.00603649
+v -0.01938536 -0.00653245 0.00168510
+v -0.01943022 0.00281276 0.00168513
+v -0.01951960 0.00236121 0.00168513
+v -0.01991207 0.00145413 0.00603652
+v -0.01986786 -0.00540956 0.00603649
+v -0.01946065 -0.00604211 0.00168510
+v -0.01967018 0.00145414 0.00168513
+v -0.02003542 0.00047346 0.00603651
+v -0.01955421 -0.00533595 0.00168510
+v -0.01954555 -0.00540955 0.00168510
+v -0.01946930 -0.00597846 0.00168510
+v -0.01997647 -0.00442889 0.00603649
+v -0.01966057 -0.00442888 0.00168510
+v -0.01977815 0.00047347 0.00168512
+v -0.02010398 -0.00050721 0.00603651
+v -0.02001492 -0.00395646 0.00603650
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+v -0.01983358 -0.00050720 0.00168512
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+v -0.02005625 -0.00344822 0.00603650
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+v -0.01984319 -0.00148787 0.00168511
+v -0.02010719 -0.00246755 0.00603650
+f 1 2 6
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_41.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5ec7fb098722d791d9a27f7a764f5daf517f18e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_41.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v -0.01690976 -0.01513023 0.01674065
+v -0.01653865 -0.01577233 0.01674065
+v -0.01652754 -0.01575664 0.01701712
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+v -0.01566310 -0.01687105 0.01674065
+v -0.01635421 -0.01555784 0.01767539
+v -0.01672754 -0.01522532 0.01737148
+v -0.01562755 -0.01682772 0.01713359
+v -0.01669198 -0.01513023 0.01755546
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+v 0.00014564 -0.01513062 0.01674065
+v -0.01536533 -0.01713299 0.01674065
+v -0.01619199 -0.01513024 0.01808687
+v -0.01537421 -0.01657580 0.01779186
+v -0.01569866 -0.01592232 0.01799859
+v -0.01509644 -0.01713299 0.01742736
+v -0.01505422 -0.01713299 0.01748275
+v 0.00579225 -0.01513024 0.01926692
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+v -0.01601643 -0.01522533 0.01812619
+v -0.01601643 -0.01513024 0.01815785
+v -0.01472089 -0.01685793 0.01797114
+v -0.01503644 -0.01622837 0.01809355
+v -0.01499644 -0.01713299 0.01752207
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+v 0.00579225 -0.01713300 0.01924912
+v -0.01502089 -0.01521709 0.01840216
+v -0.01502089 -0.01513024 0.01842269
+v -0.01410978 -0.01713300 0.01801912
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+v -0.00732318 -0.01713300 0.01894694
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+v 0.00166340 -0.01513024 0.01924492
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+v -0.00715429 -0.01713300 0.01895880
+v -0.00814984 -0.01619740 0.01899689
+v -0.01013649 -0.01526513 0.01896400
+v -0.01054759 -0.01513024 0.01894965
+v 0.00068119 -0.01513024 0.01923156
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+v -0.00618763 -0.01713300 0.01902606
+v -0.00913205 -0.01521709 0.01903299
+v -0.01013426 -0.01513024 0.01897760
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+v -0.00324544 -0.01713300 0.01913462
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+v -0.00221878 -0.01713300 0.01916009
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_42.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9fb4f400cb6df44846fbf5aa239aa75d953fd66
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_42.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.01221378 0.00995737 0.00938708
+v 0.01221378 0.01019339 0.00843030
+v 0.01256428 0.00932339 0.00938707
+v 0.01221378 0.01643677 0.00938710
+v 0.01221378 0.01043458 0.00762243
+v 0.01835179 -0.00053440 0.00938704
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+v 0.01221378 0.01619215 0.00603657
+v 0.01221378 0.01049833 0.00746663
+v 0.01880751 -0.00028115 0.00764371
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+v 0.01251329 0.01626966 0.00938710
+v 0.01302581 0.01572183 0.00603657
+v 0.01246165 0.01605949 0.00603657
+v 0.01221378 0.01315143 0.00603656
+v 0.01221378 0.01064821 0.00728492
+v 0.01880751 0.00004446 0.00710251
+v 0.01880751 0.00981610 0.00938708
+v 0.01321301 0.01584758 0.00938710
+v 0.01364291 0.01554954 0.00938710
+v 0.01370358 0.01550647 0.00938710
+v 0.01326271 0.01555299 0.00603657
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+v 0.01852995 0.00349349 0.00603652
+v 0.01880751 0.00090414 0.00671547
+v 0.01880751 0.00017367 0.00702346
+v 0.01221378 0.01079292 0.00712945
+v 0.01880751 0.00922003 0.00603654
+v 0.01866228 0.00947672 0.00603654
+v 0.01856158 0.01022440 0.00938708
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_43.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97fb32b9cf9af3df0298052562ca4b5630a5d435
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_43.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.01211700 -0.01970274 0.00851019
+v 0.01211700 -0.01926934 0.00457326
+v 0.01261155 -0.01946450 0.00851395
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+v 0.01211700 -0.01756366 0.00851396
+v 0.01343545 -0.01903111 0.00851395
+v 0.01211700 -0.01894872 0.00373838
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+v 0.01310712 -0.01873203 0.00457326
+v 0.02047842 -0.01162035 0.00936239
+v 0.01706961 -0.01162035 0.00936239
+v 0.01211700 -0.01690977 0.00851396
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_44.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a4888db5c2e2f9e40913bbbd6a1ac6e86527736
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_44.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.00755261 0.01747524 0.00603657
+v 0.00806100 0.01744749 0.00603657
+v 0.00846025 0.01723704 0.00168518
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_45.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..591a6c187d2501485b8d566ee365581fffced22c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_45.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.01386831 0.00189427 0.01291217
+v -0.01843732 0.00189427 0.01291217
+v -0.01534254 -0.00239476 0.01291215
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+v -0.02042822 -0.00041855 0.01101085
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_46.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07c24721c1910ec688225a0aa25e449a6b90387b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_46.obj
@@ -0,0 +1,622 @@
+# https://github.com/mikedh/trimesh
+v -0.00510942 0.01429266 0.01706103
+v -0.00520778 0.01423858 0.01740939
+v -0.00510942 0.01427053 0.01741399
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_47.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5091b906fbe7a1d493f2ae753c192707a951c5ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_47.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_48.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddc3a70398a61aa633329c77df1f6c17c6483757
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_48.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+v -0.01224050 0.00417679 -0.01114794
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_49.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da56f356fd62ec88a575d365408328cb2fb38308
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_49.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_5.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f6b0cdab4fe4d72ea7ec998b70ae07863b10d65
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_5.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_50.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faa0dbddd23002c75ddc387a73009ad46b9e1a3f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_50.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_51.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d85add65cacaad7cf41e79c55a03778d426968ad
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_51.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_52.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..059f4a91d36baa155b1ae74d38b4bed776157a48
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_52.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.00362434 -0.01345819 0.00168465
+v -0.00362434 -0.01337187 0.00122616
+v -0.00316950 -0.01329870 0.00168465
+v -0.00362434 -0.01034143 0.00168466
+v -0.00362434 -0.01325740 0.00062196
+v -0.00266449 -0.01279580 -0.00003374
+v -0.00202079 -0.01289432 0.00168465
+v -0.00220166 -0.01293842 0.00158039
+v -0.00298102 -0.00387333 0.00168469
+v -0.00362434 -0.00646093 -0.00138029
+v -0.00362434 -0.01261753 -0.00274196
+v -0.00330629 -0.01258938 -0.00230609
+v -0.00230692 -0.01260722 -0.00036411
+v -0.00199761 -0.01268509 0.00062196
+v -0.00226170 -0.01221597 -0.00233999
+v -0.00226170 -0.01240363 -0.00135268
+v -0.00171299 -0.01278549 0.00168465
+v -0.00362434 -0.00387328 -0.01017446
+v -0.00362434 -0.00461261 -0.00722005
+v -0.00362434 -0.00573287 -0.00337377
+v -0.00362434 -0.00608095 -0.00233872
+v 0.00025763 -0.00387333 0.00168469
+v -0.00362434 -0.01250494 -0.00332732
+v -0.00324321 -0.01237171 -0.00332732
+v -0.00218000 -0.01198329 -0.00339640
+v -0.00179811 -0.01177407 -0.00377198
+v -0.00127677 -0.01261943 0.00168465
+v -0.00362434 -0.00387328 -0.01114670
+v 0.00025763 -0.00462391 0.00168468
+v 0.00025763 -0.00387332 -0.00054621
+v -0.00362434 -0.01224692 -0.00428574
+v -0.00165258 -0.01183881 -0.00311377
+v -0.00324321 -0.01210900 -0.00431463
+v -0.00252541 -0.01186413 -0.00431463
+v -0.00274961 -0.01178532 -0.00480829
+v -0.00221990 -0.01067070 -0.00732935
+v -0.00140672 -0.01016782 -0.00727534
+v -0.00085840 -0.01169807 -0.00168680
+v -0.00075276 -0.01182099 -0.00102859
+v -0.00122357 -0.01198424 -0.00135644
+v -0.00068322 -0.01189229 -0.00036535
+v -0.00058519 -0.01199644 0.00062197
+v -0.00049589 -0.01209965 0.00160929
+v -0.00048981 -0.01210716 0.00168466
+v -0.00362434 -0.00679396 -0.01114671
+v -0.00091730 -0.00387328 -0.01114670
+v 0.00023331 -0.00793583 0.00168467
+v 0.00025763 -0.00461734 0.00160931
+v 0.00025763 -0.00434243 -0.00028620
+v 0.00006118 -0.00387329 -0.00723134
+v -0.00251933 -0.01088180 -0.00703541
+v -0.00362434 -0.01192230 -0.00491632
+v -0.00324321 -0.01072230 -0.00751023
+v -0.00226170 -0.01017532 -0.00814709
+v -0.00158190 -0.00999424 -0.00796495
+v -0.00089374 -0.00938440 -0.00736577
+v -0.00078354 -0.01081615 -0.00384735
+v -0.00022913 -0.01129372 0.00160929
+v -0.00022039 -0.01129372 0.00168466
+v -0.00329489 -0.00667012 -0.01114671
+v -0.00324321 -0.00970058 -0.00868346
+v -0.00362434 -0.01015374 -0.00810941
+v -0.00049323 -0.00387328 -0.01098466
+v -0.00079190 -0.00442965 -0.01114671
+v 0.00022913 -0.00792738 0.00160930
+v 0.00002622 -0.00387329 -0.00826263
+v 0.00002888 -0.00387329 -0.00820987
+v 0.00025763 -0.00452070 0.00062199
+v 0.00025763 -0.00457980 0.00121991
+v -0.00362434 -0.01040894 -0.00775643
+v -0.00324321 -0.01023161 -0.00818980
+v -0.00218760 -0.00624323 -0.01114671
+v -0.00162142 -0.00598709 -0.01114671
+v -0.00115441 -0.00547764 -0.01114671
+v -0.00101799 -0.00524496 -0.01114671
+v -0.00070944 -0.00909168 -0.00709695
+v -0.00076986 -0.00498038 -0.01091810
+v -0.00005472 -0.00387329 -0.00916453
+v 0.00019721 -0.00787108 0.00107544
+v -0.00079722 -0.00471674 -0.01114671
+v -0.00023179 -0.00387328 -0.01023852
+v -0.00006308 -0.00387329 -0.00924995
+f 1 2 3
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+f 1 44 59
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+f 1 47 29
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+f 1 22 9
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+f 1 11 5
+f 1 5 2
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+f 47 66 67
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+f 59 66 79
+f 59 79 65
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+f 65 79 66
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+f 76 82 78
+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_53.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a03f9afaf344b775936c09e78e81da88ea87e5f1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_53.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.00362456 -0.00933953 -0.00879070
+v -0.00362456 -0.00679229 -0.01114923
+v -0.00362456 -0.00933956 -0.00109889
+v -0.00364704 -0.00933953 -0.00878839
+v -0.00606759 -0.00476094 -0.02014031
+v -0.00451917 -0.00400836 -0.02071956
+v -0.00403803 -0.00401231 -0.02029493
+v -0.00403803 -0.00370386 -0.02076340
+v -0.00403803 -0.00348061 -0.02103803
+v -0.00362456 -0.00387350 -0.01114922
+v -0.00403803 -0.00287634 -0.02145804
+v -0.00403803 -0.00271305 -0.02155497
+v -0.00403803 -0.00128206 -0.02233960
+v -0.00362456 -0.00740291 -0.00103889
+v -0.00582750 -0.00933956 -0.00036733
+v -0.00424321 -0.00933953 -0.00847684
+v -0.00606759 -0.00481143 -0.01999262
+v -0.00606759 -0.00427105 -0.02099881
+v -0.00520622 -0.00412590 -0.02087419
+v -0.00436708 -0.00933953 -0.00840299
+v -0.00443643 -0.00933953 -0.00835453
+v -0.00489343 -0.00933953 -0.00794144
+v -0.00587628 -0.00128205 -0.02389504
+v -0.00520622 -0.00128205 -0.02358118
+v -0.00362456 -0.00387350 -0.01017534
+v -0.00438956 -0.00128206 -0.02283808
+v -0.00403803 -0.00128208 -0.01692557
+v -0.00362456 -0.00736899 -0.00104119
+v -0.00362456 -0.00651938 -0.00133658
+v -0.00582750 -0.00743445 -0.00150275
+v -0.00606759 -0.00462450 -0.01114923
+v -0.00606759 -0.00767897 -0.01114924
+v -0.00582750 -0.00933954 -0.00647369
+v -0.00606759 -0.00506387 -0.01924490
+v -0.00606759 -0.00131439 -0.02392273
+v -0.00533559 -0.00933953 -0.00736449
+v -0.00582750 -0.00914547 -0.00733911
+v -0.00606759 -0.00510489 -0.01912259
+v -0.00606759 -0.00128205 -0.02394351
+v -0.00362456 -0.00461189 -0.00722140
+v -0.00606759 -0.00128207 -0.02012414
+v -0.00582750 -0.00668740 -0.00333050
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+v -0.00606759 -0.00579199 -0.01700867
+v -0.00606759 -0.00573677 -0.01717944
+v -0.00606759 -0.00542595 -0.01813948
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+f 33 37 36
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+f 41 46 42
+f 42 46 43
+f 43 46 45
+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_54.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7c60484c06a97635b6849be93f1c5b5c1c5f962
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_54.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.00579225 -0.00725432 0.01599803
+v 0.00579225 -0.00778718 0.01710106
+v 0.00579225 -0.00675628 0.01599804
+v 0.00853528 -0.00733465 0.01599803
+v 0.00579225 -0.00675628 0.01710107
+v 0.00949593 -0.00762641 0.01710106
+v 0.01063788 -0.00675628 0.01599804
+v 0.00909587 -0.00726361 0.01599803
+v 0.01428916 -0.00702564 0.01710095
+v 0.01428916 -0.00675628 0.01710107
+v 0.01428666 -0.00702483 0.01710106
+v 0.01428916 -0.00675628 0.01679149
+v 0.01065036 -0.00675749 0.01599804
+v 0.00953834 -0.00716612 0.01599803
+v 0.01428916 -0.00676627 0.01710107
+v 0.01002823 -0.00701565 0.01599803
+v 0.01044326 -0.00686406 0.01599803
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 13
+f 1 13 17
+f 1 17 16
+f 1 16 14
+f 1 14 8
+f 1 8 4
+f 1 4 2
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+f 2 6 11
+f 2 11 15
+f 2 15 10
+f 2 10 5
+f 3 5 10
+f 3 10 12
+f 3 12 7
+f 4 8 9
+f 4 9 6
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+f 8 14 9
+f 9 12 10
+f 9 10 15
+f 9 15 11
+f 9 14 12
+f 12 14 16
+f 12 16 17
+f 12 17 13
+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_55.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03e05f4d70bd3f0f3a370afb9ff0ff475a4cee98
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_55.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.00520741 -0.01513020 0.00874162
+v -0.00422605 -0.01513021 0.00964841
+v -0.00642783 -0.01713297 0.01066248
+v -0.00716795 -0.01713297 0.01019969
+v -0.00721380 -0.01713297 0.01017620
+v -0.01100497 -0.01713296 0.00949336
+v -0.01100497 -0.01513021 0.01001019
+v 0.00014259 -0.01513023 0.01673830
+v 0.00014696 -0.01513062 0.01673987
+v -0.00640819 -0.01713297 0.01068206
+v -0.01100497 -0.01713299 0.01673987
+v -0.01100497 -0.01513023 0.01673987
+v 0.00014259 -0.01513023 0.01673987
+v -0.00496398 -0.01713299 0.01673987
+v -0.00602394 -0.01713297 0.01149645
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 13
+f 1 13 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 15
+f 3 15 14
+f 3 14 11
+f 3 11 6
+f 3 6 5
+f 3 5 4
+f 6 11 12
+f 6 12 7
+f 8 13 9
+f 9 14 15
+f 9 15 10
+f 9 13 12
+f 9 12 11
+f 9 11 14
+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_56.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..664e65c0c4fb0d88622362211c4f7dca26830aea
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_56.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
+v -0.00970568 0.00190689 0.00168470
+v -0.00806467 -0.00396940 -0.01114670
+v -0.00970568 0.00195845 0.00125515
+v -0.01109570 0.00161622 0.00168470
+v -0.00806467 -0.00676873 0.00168467
+v -0.00806467 -0.00648378 0.00054422
+v -0.00806467 -0.00470538 -0.00738748
+v -0.00970568 0.00344332 -0.01114668
+v -0.00806467 -0.00707080 -0.01114672
+v -0.01207659 0.00140145 0.00168470
+v -0.01019512 0.00333880 -0.01114668
+v -0.01150382 0.00290638 -0.00989319
+v -0.00806467 -0.01118171 0.00168465
+v -0.00806467 -0.01040132 -0.00440322
+v -0.00992154 -0.00632624 -0.01114671
+v -0.01212579 0.00138570 0.00168470
+v -0.01167801 0.00294504 -0.01055134
+v -0.01256554 0.00194271 -0.00382666
+v -0.01109972 0.00314263 -0.01114668
+v -0.00847781 -0.01055169 0.00168465
+v -0.00841606 -0.01045718 -0.00036641
+v -0.00806467 -0.01099270 -0.00036641
+v -0.00806467 -0.01043998 -0.00431530
+v -0.01001240 -0.00628758 -0.01114671
+v -0.01278942 0.00112653 0.00168469
+v -0.01182610 0.00298083 -0.01114668
+v -0.01231253 0.00285626 -0.01114668
+v -0.01262427 0.00198138 -0.00448481
+v -0.00877348 -0.01009780 0.00168465
+v -0.00876595 -0.01001187 0.00062081
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_57.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57b103a1e6d81ac485bf3c2dd79d5a58dfe7721c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_57.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00579225 -0.00754546 0.01164551
+v 0.00579225 -0.00754546 0.01599793
+v 0.00579225 -0.00654547 0.01164551
+v 0.00579225 -0.00654547 0.01599793
+v 0.01064991 -0.00754546 0.01164551
+v 0.01064991 -0.00754546 0.01599793
+v 0.01064991 -0.00654547 0.01164551
+v 0.01064991 -0.00654547 0.01599793
+f 2 4 1
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+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_58.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c9f88da2a7298c6dfefdc45fa811cbce127b804
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_58.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_59.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76bfbecbc73861d72b8e91d74a4bf3a95d5d14d7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_59.obj
@@ -0,0 +1,538 @@
+# https://github.com/mikedh/trimesh
+v -0.01567216 -0.01713379 0.00852294
+v -0.01441156 -0.01853826 0.00951035
+v -0.01574504 -0.01713379 0.00879026
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_6.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b08a7ee0c60a6f482ebf3545e7cfa332e5ebed73
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_60.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..358ffc5b2c1409153023719230d6e9c7aa57f0e3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_60.obj
@@ -0,0 +1,178 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_61.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4374ad9141fe4cc29b7e73abe1439ba6a82f383b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_61.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_62.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d914750f2c0230c28f58240aa645f41fd4d7111
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_62.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_63.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a3d40d7589fb0f53966fa680a73649fdda1049a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_63.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_64.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88f37e08f888d6b596e549c11c0564bfe91c99d6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_64.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_65.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b36e0600b99da61b892cdb0d20907426916f080a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_65.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+v -0.00877615 -0.00132357 -0.01947323
+v -0.00606807 0.00046832 -0.02047056
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_66.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6d80b80fa855b90e7fa927884556b822059ade4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_66.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_67.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8122cb1c1d97cfc0fa7d0c54a0c6f37dd99c5a5d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_67.obj
@@ -0,0 +1,541 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_68.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b4b966a405808a132b4345daae5a8e4e8668a59
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_68.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_69.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8123e43b960226c4420c3c056c3df2f25582f8c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_69.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.00073771 -0.00675625 0.00745865
+v -0.00250695 -0.00675625 0.00745865
+v 0.00067424 -0.00883457 0.00915498
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_7.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd80066e0f10d7a235fc18d4e043217950dab1c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_7.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_70.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c28bd5f14fc87c7ba014ec35db0523280683f40e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_70.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.01119301 0.01389460 0.00603656
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_71.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8be17e4952ef9071293da120b724144b85d090ce
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_71.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_72.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6f3158bb300ddf3f3aae034f6f5895a15d89977
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_72.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_73.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11ea8ac2252eee222474d9023acafab91f883aa4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_73.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_74.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a30be1e89ff256fc07d0912bc2df13aa5780c7f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_74.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+v -0.01386476 -0.00545669 0.01149609
+v -0.01386476 -0.00532469 0.01247130
+f 1 2 5
+f 1 5 11
+f 1 11 22
+f 1 22 28
+f 1 28 13
+f 1 13 6
+f 1 6 3
+f 1 3 7
+f 1 7 15
+f 1 15 31
+f 1 31 48
+f 1 48 62
+f 1 62 74
+f 1 74 73
+f 1 73 72
+f 1 72 71
+f 1 71 70
+f 1 70 69
+f 1 69 68
+f 1 68 67
+f 1 67 66
+f 1 66 65
+f 1 65 64
+f 1 64 55
+f 1 55 42
+f 1 42 23
+f 1 23 12
+f 1 12 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 4 12 8
+f 6 13 30
+f 6 30 14
+f 6 14 15
+f 6 15 7
+f 8 12 16
+f 8 16 9
+f 9 16 17
+f 9 17 10
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 10 17 18
+f 11 20 21
+f 11 21 22
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 16
+f 13 28 21
+f 13 21 29
+f 13 29 30
+f 14 30 29
+f 14 29 47
+f 14 47 49
+f 14 49 31
+f 14 31 15
+f 16 27 32
+f 16 32 33
+f 16 33 34
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+f 16 35 36
+f 16 36 37
+f 16 37 17
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+f 17 39 18
+f 18 39 19
+f 19 38 40
+f 19 40 41
+f 19 41 20
+f 19 39 38
+f 20 41 40
+f 20 40 54
+f 20 54 53
+f 20 53 52
+f 20 52 33
+f 20 33 32
+f 20 32 51
+f 20 51 61
+f 20 61 47
+f 20 47 29
+f 20 29 21
+f 21 28 22
+f 23 42 43
+f 23 43 44
+f 23 44 45
+f 23 45 24
+f 24 46 25
+f 24 45 32
+f 24 32 46
+f 25 46 32
+f 25 32 26
+f 26 32 27
+f 31 49 48
+f 32 45 50
+f 32 50 51
+f 33 52 34
+f 34 52 35
+f 35 52 53
+f 35 53 38
+f 35 38 36
+f 36 38 37
+f 38 53 54
+f 38 54 40
+f 42 55 56
+f 42 56 57
+f 42 57 58
+f 42 58 59
+f 42 59 60
+f 42 60 43
+f 43 60 50
+f 43 50 44
+f 44 50 45
+f 47 61 77
+f 47 77 76
+f 47 76 75
+f 47 75 63
+f 47 63 49
+f 48 49 62
+f 49 63 55
+f 49 55 64
+f 49 64 65
+f 49 65 66
+f 49 66 67
+f 49 67 68
+f 49 68 69
+f 49 69 70
+f 49 70 71
+f 49 71 72
+f 49 72 73
+f 49 73 74
+f 49 74 62
+f 50 60 51
+f 51 60 59
+f 51 59 58
+f 51 58 61
+f 55 63 75
+f 55 75 76
+f 55 76 77
+f 55 77 56
+f 56 77 61
+f 56 61 57
+f 57 61 58
+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_75.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3d15cfa19af93e0bb991df3239e80cf00db4fb0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_75.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.00577529 0.00163790 0.01934798
+v 0.00577529 0.00065813 0.01934595
+v 0.00882225 0.00272174 0.01929588
+v 0.00882225 0.00370151 0.01929709
+v 0.00882225 0.00566254 0.01929710
+v 0.00577529 0.00243480 0.01934757
+v 0.00577529 -0.00050599 0.01934272
+v 0.00577529 -0.00148725 0.01933988
+v 0.00882225 -0.00675629 0.01926515
+v 0.00882225 0.00664379 0.01929589
+v 0.00882225 0.00843235 0.01929347
+v 0.00577529 0.00261916 0.01934717
+v 0.00577529 -0.00228266 0.01933705
+v 0.00577529 -0.00326391 0.01933301
+v 0.00577529 -0.00344827 0.01933221
+v 0.00577529 -0.00442953 0.01932695
+v 0.00577529 -0.00639055 0.01931402
+v 0.00577529 -0.00675629 0.01931119
+v 0.00882225 -0.00675628 0.01522202
+v 0.00882225 0.00843236 0.01719880
+v 0.00577529 0.00843235 0.01928701
+v 0.00577529 0.00458018 0.01933143
+v 0.00577529 0.00439583 0.01933345
+v 0.00577529 0.00359893 0.01934152
+v 0.00577529 0.00341457 0.01934273
+v 0.00577529 -0.00675628 0.01522202
+v 0.00882225 0.00662299 0.01522206
+v 0.00577529 0.00843236 0.01714266
+v 0.00577529 0.00622454 0.01522206
+v 0.00755335 0.00663042 0.01522206
+v 0.00657200 0.00646093 0.01522206
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 28
+f 1 28 29
+f 1 29 26
+f 1 26 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 19
+f 3 19 27
+f 3 27 20
+f 3 20 11
+f 3 11 10
+f 3 10 5
+f 3 5 4
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 26
+f 9 26 19
+f 11 20 28
+f 11 28 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 12
+f 19 26 29
+f 19 29 31
+f 19 31 30
+f 19 30 27
+f 20 27 28
+f 27 30 28
+f 28 30 31
+f 28 31 29
+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_76.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..810e4fc7a7fef47a2647be4578565941275be284
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_76.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.00970522 -0.00054795 0.00168470
+v -0.00582771 0.00049026 0.00168470
+v -0.00970522 0.00190720 0.00168471
+v -0.00970522 -0.00045515 -0.00005630
+v -0.00582771 0.00271201 0.00168471
+v -0.00582771 0.00049547 0.00163696
+v -0.00926299 0.00199904 0.00168471
+v -0.00582771 0.00428854 -0.01114667
+v -0.00970522 0.00195928 0.00125637
+v -0.00582771 0.00061762 0.00062201
+v -0.00582771 0.00049878 0.00160933
+v -0.00970522 0.00056178 -0.00791592
+v -0.00582771 0.00170083 -0.00826261
+v -0.00582771 0.00157774 -0.00727529
+v -0.00582771 0.00211744 -0.01114668
+v -0.00730013 0.00396898 -0.01114668
+v -0.00970522 0.00338100 -0.01061660
+v -0.00970522 0.00070712 -0.00881783
+v -0.00582771 0.00179930 -0.00898237
+v -0.00970522 0.00115735 -0.01114669
+v -0.00970522 0.00344443 -0.01114668
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 9
+f 1 9 17
+f 1 17 21
+f 1 21 20
+f 1 20 18
+f 1 18 12
+f 1 12 4
+f 1 4 2
+f 2 4 6
+f 2 6 11
+f 2 11 10
+f 2 10 14
+f 2 14 13
+f 2 13 19
+f 2 19 15
+f 2 15 8
+f 2 8 5
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 6
+f 4 12 13
+f 4 13 14
+f 4 14 10
+f 5 8 7
+f 8 15 20
+f 8 20 21
+f 8 21 16
+f 8 16 9
+f 9 16 17
+f 12 18 15
+f 12 15 19
+f 12 19 13
+f 15 18 20
+f 16 21 17
+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_77.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f539880270b999132f042d2a9846eb89127668cc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_77.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.00582792 -0.00961927 -0.00555212
+v -0.00582792 -0.00609627 -0.00555210
+v -0.00616104 -0.00958099 -0.00555212
+v -0.00582792 -0.00914600 -0.00733858
+v -0.00806437 -0.00515300 -0.00555210
+v -0.00582792 -0.00590974 -0.00613941
+v -0.00618860 -0.00957773 -0.00555212
+v -0.00582792 -0.00759505 -0.01114864
+v -0.00770006 -0.00592272 -0.01772493
+v -0.00752714 -0.00592272 -0.01772493
+v -0.00716131 -0.00531505 -0.01947325
+v -0.00629157 -0.00506254 -0.01947325
+v -0.00606807 -0.00498760 -0.01947325
+v -0.00892170 -0.00352385 -0.01114862
+v -0.00806437 -0.00861003 -0.00555211
+v -0.00582792 -0.00582013 -0.00646100
+v -0.00582792 -0.00572890 -0.00679350
+v -0.00582792 -0.00549756 -0.00763972
+v -0.00606807 -0.00227672 -0.01947324
+v -0.00740994 -0.00174155 -0.01947324
+v -0.00877603 -0.00132367 -0.01947323
+v -0.00892170 -0.00129761 -0.01947323
+v -0.00892170 -0.00132530 -0.01936966
+v -0.00718584 -0.00933662 -0.00555211
+v -0.00670403 -0.00885439 -0.00781416
+v -0.00582792 -0.00457708 -0.01114863
+v -0.00769915 -0.00691570 -0.01383993
+v -0.00892170 -0.00464711 -0.01947325
+v -0.00857495 -0.00487681 -0.01947325
+v -0.00812827 -0.00514399 -0.01947325
+v -0.00745597 -0.00530772 -0.01947325
+v -0.00892170 -0.00662898 -0.01114863
+v -0.00892170 -0.00661513 -0.01122630
+v -0.00892170 -0.00521568 -0.01716350
+v -0.00892170 -0.00472775 -0.01915711
+f 1 2 5
+f 1 5 15
+f 1 15 24
+f 1 24 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 26
+f 1 26 18
+f 1 18 17
+f 1 17 16
+f 1 16 6
+f 1 6 2
+f 2 6 5
+f 3 7 4
+f 4 7 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 8
+f 5 14 32
+f 5 32 15
+f 5 6 16
+f 5 16 17
+f 5 17 18
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+f 5 19 20
+f 5 20 21
+f 5 21 22
+f 5 22 23
+f 5 23 14
+f 7 24 25
+f 7 25 9
+f 8 13 19
+f 8 19 26
+f 9 27 28
+f 9 28 29
+f 9 29 30
+f 9 30 31
+f 9 31 11
+f 9 11 10
+f 9 25 24
+f 9 24 27
+f 11 31 30
+f 11 30 29
+f 11 29 28
+f 11 28 22
+f 11 22 21
+f 11 21 20
+f 11 20 19
+f 11 19 13
+f 11 13 12
+f 14 23 22
+f 14 22 28
+f 14 28 35
+f 14 35 34
+f 14 34 33
+f 14 33 32
+f 15 32 33
+f 15 33 24
+f 18 26 19
+f 24 33 34
+f 24 34 35
+f 24 35 27
+f 27 35 28
+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_78.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddae05a4db32a799f52c8923a98bb034879250e2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_78.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.00097181 -0.00402058 -0.01114941
+v 0.00109489 -0.00401941 -0.01114941
+v -0.00030009 -0.00350567 -0.01114941
+v 0.00098176 -0.00401354 -0.01122653
+v 0.00109489 -0.00396545 -0.01184635
+v 0.00109489 -0.00401589 -0.01120907
+v 0.00109489 0.00796201 -0.01114937
+v -0.00078744 -0.00175332 -0.01114941
+v -0.00078744 -0.00170406 -0.01221445
+v -0.00078744 -0.00160083 -0.01265822
+v -0.00078744 -0.00144952 -0.01325039
+v -0.00078744 0.00089401 -0.02072748
+v 0.00008647 -0.00309162 -0.01287210
+v 0.00073615 -0.00371327 -0.01220572
+v 0.00109489 -0.00396076 -0.01187399
+v -0.00078744 0.00796201 -0.01114937
+v 0.00109489 0.00796207 -0.02601191
+v -0.00078744 0.00202472 -0.02331296
+v 0.00109489 -0.00027070 -0.02074931
+v -0.00078744 0.00796207 -0.02601191
+v 0.00109489 0.00538515 -0.02601192
+v -0.00078744 0.00248216 -0.02398661
+v 0.00109489 -0.00026367 -0.02075949
+v -0.00078744 0.00492419 -0.02601192
+v 0.00109489 0.00276131 -0.02379892
+v 0.00068235 0.00270619 -0.02387458
+v -0.00029862 0.00258186 -0.02400552
+f 1 2 7
+f 1 7 16
+f 1 16 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 5
+f 2 5 15
+f 2 15 19
+f 2 19 23
+f 2 23 25
+f 2 25 21
+f 2 21 17
+f 2 17 7
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 5
+f 3 5 4
+f 7 17 20
+f 7 20 16
+f 8 16 20
+f 8 20 24
+f 8 24 22
+f 8 22 18
+f 8 18 12
+f 8 12 11
+f 8 11 10
+f 8 10 9
+f 12 18 13
+f 13 18 19
+f 13 19 14
+f 14 19 15
+f 17 21 24
+f 17 24 20
+f 18 22 19
+f 19 22 23
+f 21 25 26
+f 21 26 27
+f 21 27 24
+f 22 24 27
+f 22 27 23
+f 23 27 26
+f 23 26 25
+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_79.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abcafa1efacc2a8f3d7aa6bb3e903ea7a3c9cf97
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_79.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.01314374 0.00047374 0.00168512
+v -0.01310796 -0.00050677 0.00168512
+v -0.01314832 -0.00050677 0.00259800
+v -0.01318776 -0.00050677 0.00358542
+v -0.01322079 -0.00050678 0.00457242
+v -0.01324280 -0.00050678 0.00555984
+v -0.01324830 -0.00050678 0.00603651
+v -0.01310154 0.00047374 0.00259800
+v -0.01278875 0.00112831 0.00168512
+v -0.01299422 -0.00082150 0.00168512
+v -0.01303642 -0.00082150 0.00259800
+v -0.01307953 -0.00082150 0.00358542
+v -0.01311805 -0.00082151 0.00457242
+v -0.01315016 -0.00082151 0.00555984
+v -0.01315474 -0.00082151 0.00603651
+v -0.01294927 0.00037216 0.00603651
+v -0.01273005 0.00107501 0.00259800
+v -0.01212557 0.00138589 0.00168513
+v -0.00999200 -0.00082150 0.00168512
+v -0.00387841 -0.00082151 0.00603651
+v -0.01258787 0.00062588 0.00603651
+v -0.01259337 0.00097923 0.00420607
+v -0.01265025 0.00101631 0.00358542
+v -0.01207695 0.00140249 0.00168513
+v -0.00387841 -0.00048321 0.00168512
+v -0.00387841 -0.00082151 0.00424995
+v -0.00387841 0.00259152 0.00603652
+v -0.01212190 0.00086338 0.00603651
+v -0.01245578 0.00093714 0.00486464
+v -0.01207695 0.00129552 0.00259800
+v -0.01109547 0.00161643 0.00168513
+v -0.00387841 0.00312368 0.00168513
+v -0.00387841 0.00289468 0.00358287
+v -0.01011400 0.00147238 0.00457243
+v -0.01109456 0.00108697 0.00603651
+v -0.01163208 0.00097421 0.00603651
+v -0.01176783 0.00100317 0.00555984
+v -0.01210722 0.00105299 0.00455026
+v -0.01207695 0.00117696 0.00358542
+v -0.01109547 0.00150830 0.00259801
+v -0.01015619 0.00181338 0.00168513
+v -0.00387841 0.00301401 0.00259801
+v -0.00990303 0.00186629 0.00168513
+v -0.01109547 0.00138897 0.00358543
+v -0.01109547 0.00114567 0.00555984
+v -0.01155044 0.00099159 0.00603651
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 18
+f 1 18 24
+f 1 24 31
+f 1 31 41
+f 1 41 43
+f 1 43 32
+f 1 32 25
+f 1 25 19
+f 1 19 10
+f 1 10 2
+f 2 10 11
+f 2 11 3
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 6
+f 6 14 7
+f 7 14 15
+f 7 15 20
+f 7 20 27
+f 7 27 35
+f 7 35 46
+f 7 46 36
+f 7 36 28
+f 7 28 21
+f 7 21 16
+f 7 16 8
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 10 19 26
+f 10 26 20
+f 10 20 15
+f 10 15 14
+f 10 14 13
+f 10 13 12
+f 10 12 11
+f 16 21 22
+f 16 22 23
+f 16 23 17
+f 17 23 18
+f 18 23 22
+f 18 22 24
+f 19 25 26
+f 20 26 25
+f 20 25 32
+f 20 32 42
+f 20 42 33
+f 20 33 27
+f 21 28 29
+f 21 29 22
+f 22 29 24
+f 24 29 30
+f 24 30 31
+f 27 33 34
+f 27 34 35
+f 28 36 29
+f 29 36 37
+f 29 37 38
+f 29 38 39
+f 29 39 30
+f 30 39 40
+f 30 40 31
+f 31 40 41
+f 32 43 40
+f 32 40 42
+f 33 42 44
+f 33 44 34
+f 34 44 45
+f 34 45 35
+f 35 45 46
+f 36 46 44
+f 36 44 37
+f 37 44 38
+f 38 44 39
+f 39 44 40
+f 40 43 41
+f 40 44 42
+f 44 46 45
+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_8.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47d1408360f1a31178e217de218ba9dc3525518f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_8.obj
@@ -0,0 +1,799 @@
+# https://github.com/mikedh/trimesh
+v 0.00248423 -0.00583698 0.00168467
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_80.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d27ee61ae32c03d9357553fad11f9f79d81399bd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_80.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+v -0.00473185 -0.01374183 0.00113709
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_81.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfa08549faffe1ce6b04de9b87dc057af17295c9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_81.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.00422434 0.00843180 0.00938674
+v -0.00422434 0.00805848 0.00938674
+v -0.00422434 0.00843180 0.00794532
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_82.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4dc1185877040b75123d09ff31281eae8831bdf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_82.obj
@@ -0,0 +1,652 @@
+# https://github.com/mikedh/trimesh
+v 0.00579225 -0.01713447 0.01924884
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_83.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f07d0d141ce25dd26fef298a2c863c8b80855ec4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_83.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_84.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1117843a291eba097793d988123406e873d16218
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_84.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_85.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e94750cdde49a909ceb3c0ee44aa7f10f2e07e8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_85.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00647079 0.00638535 0.01285856
+v 0.00647079 0.00638535 0.01385856
+v 0.00647079 0.00738535 0.01285856
+v 0.00647079 0.00738535 0.01385856
+v 0.00815926 0.00638535 0.01285856
+v 0.00815926 0.00638535 0.01385856
+v 0.00815926 0.00738535 0.01285856
+v 0.00815926 0.00738535 0.01385856
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_86.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf956dc9f7d677303e607f9295eee1b674cf894f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_86.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_87.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d6418bbb6d403d429562d2e33619b7b63da7096
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_87.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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+v -0.00405346 -0.00675707 0.00814306
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_88.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1cb88a732502861d62872b0c4c293b6741e9e81
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_88.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.00545772 -0.01513019 0.00915495
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_89.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a637608ae04d105d1808a419a341fa468dfd5ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_89.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_9.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8eaf48008c1b4bd36c0b78df2fb635ed4242eb38
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_9.obj
@@ -0,0 +1,682 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_90.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21faa436b53ab4acc0329e2fbee0b4c91b1130a5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_90.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_91.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cacd1eed54dc48543fb748643d7b681a43354bc5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_91.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_92.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf1182e9cdff94f59997ab650c31ea70e3ff20b4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_92.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_93.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d01f6596675b557b65c2e851a1a55f03c598c3c5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_93.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_94.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9cbc2efe401f8816577f321a3867c80eb81a36f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_94.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_95.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d11f767f19c1b4db185b03122f08297c7a9808c5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_95.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_96.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34bc3dc4f0a0d4f91f26de0c1210324d530398e5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_96.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_97.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94c330516c7618c048c1b1daeb1540ac56c9f0ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_97.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_98.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..631fd040b478a6d64398ec18507d8dec9b93e354
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_98.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_99.obj b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68895e508c0dca95baee44c50b55eccaf511da94
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/mesh/sharpener_014_collision_99.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.00470274 -0.01139016 0.01543671
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+
diff --git a/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/sharpener_014.xml b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/sharpener_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d881de940fe72acada4499ac751e3cfa6095b357
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mjcf/sharpener_014.xml
@@ -0,0 +1,214 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sharpener_014">
+  <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_014.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sharpener_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sharpener_014_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sharpener_014_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sharpener_014_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sharpener_014_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sharpener_014_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sharpener_014_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sharpener_014_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sharpener_014_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sharpener_014_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sharpener_014_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sharpener_014_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sharpener_014_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/sharpener_014_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/sharpener_014_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/sharpener_014_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/sharpener_014_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/sharpener_014_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/sharpener_014_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/sharpener_014_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/sharpener_014_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/sharpener_014_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/sharpener_014_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/sharpener_014_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/sharpener_014_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/sharpener_014_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/sharpener_014_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/sharpener_014_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/sharpener_014_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/sharpener_014_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/sharpener_014_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/sharpener_014_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/sharpener_014_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/sharpener_014_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/sharpener_014_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/sharpener_014_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/sharpener_014_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/sharpener_014_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/sharpener_014_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/sharpener_014_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/sharpener_014_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/sharpener_014_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/sharpener_014_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_71" file="mesh/sharpener_014_collision_71.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_73" file="mesh/sharpener_014_collision_73.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_76" file="mesh/sharpener_014_collision_76.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_78" file="mesh/sharpener_014_collision_78.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_79" file="mesh/sharpener_014_collision_79.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_80" file="mesh/sharpener_014_collision_80.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_81" file="mesh/sharpener_014_collision_81.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_82" file="mesh/sharpener_014_collision_82.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_83" file="mesh/sharpener_014_collision_83.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_84" file="mesh/sharpener_014_collision_84.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_85" file="mesh/sharpener_014_collision_85.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_86" file="mesh/sharpener_014_collision_86.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_87" file="mesh/sharpener_014_collision_87.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_88" file="mesh/sharpener_014_collision_88.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_89" file="mesh/sharpener_014_collision_89.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_90" file="mesh/sharpener_014_collision_90.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_91" file="mesh/sharpener_014_collision_91.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_92" file="mesh/sharpener_014_collision_92.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_93" file="mesh/sharpener_014_collision_93.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_94" file="mesh/sharpener_014_collision_94.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_95" file="mesh/sharpener_014_collision_95.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_96" file="mesh/sharpener_014_collision_96.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_97" file="mesh/sharpener_014_collision_97.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_98" file="mesh/sharpener_014_collision_98.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_99" file="mesh/sharpener_014_collision_99.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sharpener_014">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_99" 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/8bd96215a928539eafd42e472ad1292c/sharpener_014.urdf b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/sharpener_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..45141bb6e2a88fe17198bb3b798cca335b7a3b14
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/sharpener_014.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_014">
+   <link name="sharpener_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_014.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_014_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <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>8bd96215a928539eafd42e472ad1292c</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>canister sharpener</name>
+         <color>white,red</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact plastic pencil sharpener with shavings container and translucent side</description>
+         <min_height>0.0600</min_height>
+         <max_height>0.0600</max_height>
+         <real_height>0.0600</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518180500</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.020435 -0.023657 -0.040869</min>
+            <max>0.022826 0.017623 0.019131</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
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+         <visual_seg>
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+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
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