diff --git a/.gitattributes b/.gitattributes
index cd6b015c54a2cc5bdfdbe80fb2a6aa70b78bd1c7..d9e7247be7d626a5f0ebb5bb4dd89065530bf046 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3188,3 +3188,5 @@ dataset/desktop_supplies/office_stationery/7c5f32ee66605d9aafb84c7e8ea45686/mesh
 dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/ballpoint_pen_034.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/819d444156aa5d339fac6fd9678ef15e/mesh/ballpoint_pen_034.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/8412916f3ae6508cbd1065fbc9cbcc61/8412916f3ae6508cbd1065fbc9cbcc61.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mesh/sharpener_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/sharpener_013.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a2a34e1b771671a4c33f1441a6063d2f078b56f3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_013_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd sharpener_013_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..25bb994aa8e640bb6a49248f4424f1a3be2630d6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/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/8576deca27115deeadd67abc24b89ea9/mesh/sharpener_013.glb b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mesh/sharpener_013.glb
new file mode 100644
index 0000000000000000000000000000000000000000..91ec090d9a94bd199d71659040d24205ed429de4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mesh/sharpener_013.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13591040
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mesh/sharpener_013.mtl b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mesh/sharpener_013.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9039558522771ce170a0f7684e9242b6b9e98223
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mesh/sharpener_013.mtl
@@ -0,0 +1,6 @@
+newmtl sharpener_013_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/8576deca27115deeadd67abc24b89ea9/mesh/sharpener_013.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mesh/sharpener_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3a27cd3e507c2b8291a2c84459102d204dbf2cc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mesh/sharpener_013.obj
@@ -0,0 +1,112818 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sharpener_013_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mesh/sharpener_013_collision.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mesh/sharpener_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a6dc978c307c8ab5d3325a051b7b7f72b33d726
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mesh/sharpener_013_collision.obj
@@ -0,0 +1,33729 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mesh/sharpener_013_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mesh/sharpener_013_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..25bb994aa8e640bb6a49248f4424f1a3be2630d6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mesh/sharpener_013_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10338506
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..25bb994aa8e640bb6a49248f4424f1a3be2630d6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 10338506
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013.obj
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+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sharpener_013_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e391c9cc9179cf41a1af4eb526385bb9718afbd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision.obj
@@ -0,0 +1,33729 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_0.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b1ee6553fb161e90344dd76e497d42454bdee7b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_1.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..505f2f33bd0c4017e76acad6164fa85edc4267bd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_10.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb0d9a115c46f0af9c1f7a4246fe60c3be4514cf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_11.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef72435918dd54059be1d5172fdbb2fb34778f5b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_11.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_12.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7ee40d8e8148fe25c2aec0ed98bdce7c001debd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_12.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_13.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b9bae7eee9183b002ece3f1b58fa61fd7c644c6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_13.obj
@@ -0,0 +1,1501 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_14.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa31607727eb159e59e2aa645d9e41d20035a3a8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_14.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_15.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..250e1f18e72ca80183cc072b449cc632b3b2537c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_15.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_16.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2946127b95ed2c068d834c39192f3802b48c1aa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_16.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_17.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9b1cc96ed87b60a91ef6b6507e93fe492242e24
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_17.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_18.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c57ecd1b8d5e47d4078be82159b7cb57ff0875b1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_18.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_19.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d531aab2a0cc5af4c33ed28e7e326c2b81849dc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_19.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_2.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44f1a1218cfee63711f751c88ddd975abccbe655
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_2.obj
@@ -0,0 +1,1675 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_20.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5975ed22f9cd65202127163135ed5cc6afed2f0e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_20.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.00048786 0.00063805 0.02022878
+v -0.01376449 0.00063805 0.02022878
+v 0.00048786 -0.00243636 0.02022877
+v 0.00048786 0.00063814 -0.00556768
+v -0.01376449 -0.00199939 0.02022877
+v -0.01376449 0.00063814 -0.00556768
+v -0.00520834 -0.00243636 0.02022877
+v 0.00048786 -0.00243636 0.01957729
+v 0.00048786 -0.00070225 -0.00556768
+v -0.00549015 -0.00243034 0.02022877
+v -0.01376449 -0.00035346 -0.00556768
+v -0.00407412 -0.00243636 0.01979697
+v -0.00073425 -0.00243636 0.01957981
+v -0.00111651 -0.00070074 -0.00556768
+v -0.00515393 -0.00069442 -0.00556768
+v -0.00220748 -0.00243636 0.01960507
+v -0.00368070 -0.00069773 -0.00556768
+f 1 2 5
+f 1 5 10
+f 1 10 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 6 11
+f 2 11 5
+f 3 7 12
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+f 3 13 8
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+f 4 17 15
+f 4 15 11
+f 4 11 6
+f 5 11 10
+f 7 10 12
+f 8 13 9
+f 9 13 14
+f 10 11 15
+f 10 15 12
+f 12 15 16
+f 13 16 17
+f 13 17 14
+f 15 17 16
+
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_21.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f41ab888edd934422884a166020c944021005e02
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_21.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.00048786 -0.03133609 -0.01351980
+v 0.00081745 -0.03133509 -0.01351980
+v 0.00048786 -0.03054262 -0.00968414
+v 0.00048786 -0.02116526 -0.01351976
+v 0.00073912 -0.03051076 -0.00968414
+v 0.00066944 -0.03051972 -0.00968414
+v 0.00368507 -0.03033453 -0.01351979
+v 0.00167753 -0.03019317 -0.00968414
+v 0.00048786 -0.02116527 -0.00968411
+v 0.00265002 -0.02116526 -0.01351976
+v 0.00519772 -0.02949825 -0.01351979
+v 0.00472165 -0.02882126 -0.00968414
+v 0.00418098 -0.02116527 -0.00968411
+v 0.00516212 -0.02636715 -0.01351978
+v 0.00528571 -0.02938575 -0.01351979
+v 0.00517127 -0.02784659 -0.00968413
+v 0.00567379 -0.02775599 -0.01351978
+v 0.00431272 -0.02191593 -0.00968411
+v 0.00568346 -0.02784658 -0.01351978
+v 0.00494850 -0.02623475 -0.00968413
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 14
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+f 1 19 15
+f 1 15 11
+f 1 11 7
+f 1 7 2
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+f 3 13 9
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+f 10 13 14
+f 11 15 12
+f 12 15 16
+f 13 17 14
+f 13 18 17
+f 15 19 16
+f 16 19 17
+f 16 17 20
+f 17 18 20
+
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_22.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e52c352cc60e4d4ded9405cb8081fc7aa1ce2da8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_22.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.00048826 -0.02116526 -0.01351976
+v 0.00264950 -0.02116526 -0.01351976
+v 0.00048826 -0.02116527 -0.00968411
+v 0.00048826 -0.00233576 -0.01351969
+v 0.00418105 -0.02116527 -0.00968411
+v 0.00261513 -0.00569580 -0.01351970
+v 0.00461945 -0.00421946 -0.00968405
+v 0.00460449 -0.00521475 -0.00968405
+v 0.00048826 -0.00278549 -0.00968404
+v 0.00073901 -0.00278549 -0.00968404
+v 0.00221596 -0.00279471 -0.00968404
+v 0.00073901 -0.00234682 -0.01351969
+v 0.00259046 -0.00421945 -0.01351970
+v 0.00224103 -0.00292003 -0.01351969
+v 0.00217430 -0.00278917 -0.01351969
+v 0.00382152 -0.00308961 -0.00968404
+v 0.00332004 -0.00299377 -0.00968404
+v 0.00377380 -0.00307671 -0.00968404
+v 0.00202629 -0.00273941 -0.01351969
+f 1 2 5
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+f 12 16 19
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+
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_23.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2ddecd0f8b113e53e5281882ea48701ea5e6465
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_23.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00048786 -0.00104176 -0.00968403
+v 0.00048786 -0.00104176 0.01266934
+v 0.00048786 -0.00004176 -0.00968403
+v 0.00048786 -0.00004176 0.01266934
+v 0.00935992 -0.00104176 -0.00968403
+v 0.00935992 -0.00104176 0.01266934
+v 0.00935992 -0.00004176 -0.00968403
+v 0.00935992 -0.00004176 0.01266934
+f 2 4 1
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+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/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_24.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ff038b97c0ee34a2d3a907d44b47024bd217fcf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_24.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
+v -0.02735568 -0.02489267 -0.04368671
+v -0.02723329 -0.02489267 -0.04220587
+v -0.02709626 -0.02406467 -0.04151308
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_25.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7805e039c65b4bd4a6e746ebf73ef0b948156b6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_25.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_26.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..604c9547ab9a7e3293a74af2069ffe3f2d3059cf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_26.obj
@@ -0,0 +1,982 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_27.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f89648d64b7bc0a9c70ffcfa347492819bfa986d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_27.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_28.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..703795e02e3fe73c5a718ffe15129e7346ef6f00
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_28.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_29.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4603b24ee27b09220ae01a96821753194ac9a934
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_29.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.00651007 -0.02039698 -0.00556775
+v 0.00048786 -0.02039698 -0.00556775
+v -0.00659615 -0.02039698 -0.00518357
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+v -0.00648331 -0.01273895 -0.00556773
+v 0.00048786 -0.01273895 -0.00556773
+v 0.00048786 -0.02039703 0.00941227
+v -0.00661061 -0.02039698 -0.00511759
+v -0.00665980 -0.01273895 -0.00484190
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+v -0.00605078 -0.02039703 0.00941227
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+v -0.00687172 -0.02039700 0.00074040
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+
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_3.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d90704ccf61f6227d54567f5da8e2db1f259ac42
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_3.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.00605360 -0.01273901 0.00962473
+v -0.00601774 -0.01273901 0.00980090
+v -0.00605168 -0.01273900 0.00941229
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+v 0.00048722 -0.01865029 0.01529379
+f 1 2 9
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+
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_30.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23b377158c461545b462195aa4da91ce23c8e860
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_30.obj
@@ -0,0 +1,1012 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_31.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce1eccfc291926baa2cfa03c2ce9c0a4fcd0affd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_31.obj
@@ -0,0 +1,112 @@
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+v -0.01078558 -0.02541523 -0.00556777
+v -0.01118196 -0.02636947 -0.00556778
+v 0.00041132 -0.02630563 0.02022868
+v 0.00048786 -0.02878190 0.00889853
+v 0.00048786 -0.02996078 -0.00556779
+v -0.00650992 -0.02039773 -0.00556775
+v -0.00566576 -0.02341754 0.02022869
+v -0.00687660 -0.02039774 -0.00370170
+v -0.00856036 -0.02244911 -0.00556776
+v -0.01076388 -0.02741208 -0.00556778
+v -0.00073441 -0.02622760 0.02022868
+v 0.00048786 -0.02894455 0.00812332
+v -0.00220799 -0.02607060 0.02022868
+v 0.00017715 -0.02997113 -0.00556779
+v 0.00048786 -0.02899061 0.00789101
+v -0.00659674 -0.02039773 -0.00518393
+v -0.00515400 -0.02463031 0.02022869
+v -0.00661044 -0.02039773 -0.00511828
+v -0.00513572 -0.02972293 -0.00556779
+v -0.00371584 -0.02586283 0.02022869
+v -0.00503977 -0.02489355 0.02022869
+v -0.00066473 -0.02879507 0.00803999
+v -0.00063275 -0.02998711 -0.00556779
+v -0.00073441 -0.02905641 0.00666381
+v -0.00410879 -0.02999933 -0.00556779
+v -0.00368042 -0.03000121 -0.00556779
+v -0.00302588 -0.03000121 -0.00556779
+v -0.00220799 -0.02999839 -0.00556779
+v -0.00102342 -0.02998993 -0.00556779
+v -0.00477590 -0.02983293 -0.00556779
+f 1 2 5
+f 1 5 15
+f 1 15 25
+f 1 25 29
+f 1 29 28
+f 1 28 21
+f 1 21 19
+f 1 19 11
+f 1 11 3
+f 1 3 12
+f 1 12 20
+f 1 20 23
+f 1 23 13
+f 1 13 4
+f 1 4 14
+f 1 14 24
+f 1 24 26
+f 1 26 16
+f 1 16 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 5
+f 3 11 12
+f 4 13 22
+f 4 22 31
+f 4 31 37
+f 4 37 36
+f 4 36 35
+f 4 35 34
+f 4 34 33
+f 4 33 38
+f 4 38 27
+f 4 27 18
+f 4 18 10
+f 4 10 9
+f 4 9 8
+f 4 8 17
+f 4 17 14
+f 5 10 15
+f 6 16 17
+f 6 17 8
+f 6 8 7
+f 10 18 15
+f 11 19 12
+f 12 19 21
+f 12 21 20
+f 13 23 22
+f 14 17 24
+f 15 18 25
+f 16 26 17
+f 17 26 24
+f 18 27 28
+f 18 28 29
+f 18 29 25
+f 20 21 28
+f 20 28 30
+f 20 30 23
+f 22 23 31
+f 23 30 32
+f 23 32 33
+f 23 33 34
+f 23 34 35
+f 23 35 36
+f 23 36 37
+f 23 37 31
+f 27 38 32
+f 27 32 28
+f 28 32 30
+f 32 38 33
+
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_32.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..479a7706f82312fd1d9846a8896e1fe32fa0769a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_32.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.00048786 -0.03055683 -0.00962507
+v 0.00073933 -0.03052463 -0.00962507
+v 0.00073933 -0.03043448 -0.00814374
+v 0.00048786 -0.03048063 -0.00839756
+v 0.00048786 -0.03054287 -0.00968414
+v 0.00073933 -0.03051068 -0.00968414
+v 0.00167741 -0.03019297 -0.00968414
+v 0.00168981 -0.03020049 -0.00962507
+v 0.00177171 -0.03021660 -0.00814374
+v 0.00378848 -0.02889755 0.00652074
+v 0.00221262 -0.02896947 0.00814210
+v 0.00073933 -0.02897698 0.00814210
+v 0.00048786 -0.02898986 0.00789048
+v 0.00048786 -0.01959189 -0.00968410
+v 0.00472159 -0.02882129 -0.00968414
+v 0.00472324 -0.02882021 -0.00962507
+v 0.00742578 -0.02715019 0.00332835
+v 0.00891065 -0.02575061 0.00752509
+v 0.00434768 -0.02850151 0.00692117
+v 0.00331283 -0.02880311 0.00814210
+v 0.00744977 -0.02717810 0.00221899
+v 0.00221262 -0.02875266 0.00905891
+v 0.00073933 -0.02877842 0.00908516
+v 0.00048786 -0.02894371 0.00812460
+v 0.00048786 -0.02878164 0.00889918
+v 0.00418886 -0.01959189 -0.00968410
+v 0.00048786 -0.01959196 0.00855350
+v 0.00517077 -0.02784672 -0.00968413
+v 0.00735547 -0.02703856 0.00004624
+v 0.00741916 -0.02715877 0.00103306
+v 0.00891065 -0.02575061 0.00706778
+v 0.00893795 -0.02489411 0.00756010
+v 0.00752918 -0.02194789 0.01266926
+v 0.00740014 -0.02273570 0.01266926
+v 0.00662916 -0.02489413 0.01266925
+v 0.00621307 -0.02592451 0.01266924
+v 0.00301751 -0.02863889 0.00893419
+v 0.00515753 -0.02628300 0.01266924
+v 0.00376780 -0.02634954 0.01266924
+v 0.00368590 -0.02635276 0.01266924
+v 0.00048786 -0.02874837 0.00905234
+v 0.00082206 -0.02637208 0.01266924
+v 0.00073933 -0.02637208 0.01266924
+v 0.00048786 -0.02636993 0.01266924
+v 0.00474558 -0.01959190 -0.00938215
+v 0.00048786 -0.01978088 0.01266927
+v 0.00515753 -0.01960593 0.01266927
+v 0.00388113 -0.01959197 0.01094288
+v 0.00502270 -0.01959190 -0.00887452
+v 0.00542059 -0.01959190 -0.00814370
+v 0.00583255 -0.01959190 -0.00724878
+v 0.00594422 -0.01959190 -0.00694463
+v 0.00610388 -0.01959191 -0.00650702
+v 0.00610388 -0.02046344 -0.00650703
+v 0.00610388 -0.02194031 -0.00650265
+v 0.00607989 -0.02341719 -0.00646328
+v 0.00600792 -0.02636986 -0.00639108
+v 0.00629166 -0.02636986 -0.00518326
+v 0.00598228 -0.02734121 -0.00632106
+v 0.00739766 -0.02605433 -0.00013756
+v 0.00893795 -0.02489411 0.00691243
+v 0.00890072 -0.02405371 0.00748789
+v 0.00754656 -0.02056547 0.01266926
+v 0.00521544 -0.02627011 0.01266924
+v 0.00515753 -0.01959197 0.01147021
+v 0.00437333 -0.01959197 0.01115294
+v 0.00663082 -0.01966389 0.01266927
+v 0.00636859 -0.01959197 0.01099977
+v 0.00549670 -0.01959197 0.01134330
+v 0.00788820 -0.01959194 0.00370035
+v 0.00890072 -0.02405371 0.00708310
+v 0.00877912 -0.02489410 0.00617286
+v 0.00752008 -0.02043345 0.01266926
+v 0.00767478 -0.01959195 0.00524513
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 24
+f 1 24 25
+f 1 25 41
+f 1 41 44
+f 1 44 46
+f 1 46 27
+f 1 27 14
+f 1 14 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 5 14 26
+f 5 26 28
+f 5 28 15
+f 5 15 7
+f 5 7 6
+f 7 15 8
+f 8 15 9
+f 9 15 16
+f 9 16 10
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 11
+f 10 16 21
+f 10 21 17
+f 11 20 22
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+f 11 23 12
+f 12 24 13
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+f 14 27 48
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+f 14 68 74
+f 14 74 70
+f 14 70 53
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+f 14 52 51
+f 14 51 50
+f 14 50 49
+f 14 49 45
+f 14 45 26
+f 15 28 29
+f 15 29 30
+f 15 30 21
+f 15 21 16
+f 17 21 18
+f 18 20 19
+f 18 21 31
+f 18 31 61
+f 18 61 32
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 36
+f 18 36 20
+f 20 36 37
+f 20 37 22
+f 21 30 31
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 23
+f 23 41 25
+f 23 40 42
+f 23 42 43
+f 23 43 44
+f 23 44 41
+f 26 45 28
+f 27 46 47
+f 27 47 48
+f 28 45 49
+f 28 49 50
+f 28 50 51
+f 28 51 52
+f 28 52 53
+f 28 53 54
+f 28 54 55
+f 28 55 56
+f 28 56 57
+f 28 57 58
+f 28 58 59
+f 28 59 29
+f 29 59 60
+f 29 60 31
+f 29 31 30
+f 31 60 61
+f 32 61 71
+f 32 71 62
+f 32 62 63
+f 32 63 33
+f 33 63 73
+f 33 73 67
+f 33 67 47
+f 33 47 46
+f 33 46 44
+f 33 44 43
+f 33 43 42
+f 33 42 40
+f 33 40 39
+f 33 39 38
+f 33 38 64
+f 33 64 36
+f 33 36 35
+f 33 35 34
+f 36 64 37
+f 37 64 38
+f 47 65 66
+f 47 66 48
+f 47 67 68
+f 47 68 69
+f 47 69 65
+f 53 70 71
+f 53 71 61
+f 53 61 54
+f 54 61 55
+f 55 61 72
+f 55 72 60
+f 55 60 56
+f 56 60 58
+f 56 58 57
+f 58 60 59
+f 60 72 61
+f 62 71 70
+f 62 70 73
+f 62 73 63
+f 67 73 74
+f 67 74 68
+f 70 74 73
+
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_33.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1de03cab0957737feb735ac357921d19e051f325
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_33.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v 0.01891433 0.01214166 0.02034538
+v 0.01891433 0.01214168 0.01488108
+v 0.01395614 0.01214166 0.02034538
+v 0.01891433 -0.00273905 0.02034533
+v 0.01395614 0.01214168 0.01488108
+v 0.01891433 -0.00041720 0.01488104
+v 0.01395614 -0.00221905 0.02034533
+v 0.01395614 -0.00035020 0.01488104
+v 0.01890607 -0.00041720 0.01488104
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 9
+f 2 9 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 4 9 6
+
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_34.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e582fc904ac83459e759c180662fde8567f42ab0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_34.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.01891642 -0.00273817 0.02034533
+v 0.01891642 -0.00041781 0.01488104
+v 0.01912621 -0.00508549 0.02034532
+v 0.01891642 0.01214166 0.02034538
+v 0.02132574 -0.00508547 0.01488102
+v 0.01891642 0.01214168 0.01488108
+v 0.03538790 -0.00508549 0.02034532
+v 0.03527978 0.01214166 0.02034538
+v 0.03539113 -0.00508547 0.01488102
+v 0.03529914 0.01214168 0.01488108
+v 0.03539113 -0.00508548 0.01702951
+v 0.03539919 -0.00126435 0.02034534
+v 0.03528300 0.01202530 0.02034538
+v 0.03528300 0.01214166 0.01987513
+v 0.03539919 -0.00126433 0.01488104
+v 0.03540081 -0.00126435 0.01850982
+v 0.03530237 0.01202532 0.01488108
+v 0.03529592 0.01214167 0.01691401
+v 0.03539597 0.00021284 0.02034534
+v 0.03529269 0.01202530 0.01850986
+v 0.03531205 0.01054811 0.02034538
+v 0.03528946 0.01214166 0.01850986
+v 0.03539758 -0.00059825 0.01488104
+v 0.03539597 0.00021284 0.01999065
+v 0.03532658 0.01054813 0.01488108
+v 0.03532335 0.01054812 0.01702957
+v 0.03531366 0.01054811 0.01999069
+v 0.03539113 0.00133591 0.02034534
+v 0.03533303 0.00907261 0.02034537
+v 0.03538628 0.00235613 0.01488105
+v 0.03538951 0.00169004 0.01702954
+v 0.03534433 0.00907263 0.01488107
+v 0.03533464 0.00907261 0.01999068
+v 0.03534110 0.00907262 0.01702956
+v 0.03538306 0.00316724 0.01488105
+v 0.03537660 0.00464106 0.01488106
+v 0.03537660 0.00464105 0.01554818
+v 0.03538306 0.00316722 0.01850983
+v 0.03538951 0.00169003 0.02034535
+v 0.03534917 0.00749761 0.02034537
+v 0.03535240 0.00781296 0.01702956
+v 0.03535401 0.00799003 0.01488107
+v 0.03535401 0.00701871 0.02034537
+v 0.03535078 0.00746726 0.01999710
+v 0.03536369 0.00665280 0.01488106
+v 0.03536692 0.00611824 0.01554818
+v 0.03538144 0.00316722 0.02034535
+v 0.03535724 0.00665278 0.02034536
+v 0.03536369 0.00611823 0.01850984
+v 0.03536531 0.00611824 0.01702955
+v 0.03535562 0.00683659 0.02034537
+v 0.03537176 0.00464104 0.02034536
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 19
+f 1 19 28
+f 1 28 39
+f 1 39 47
+f 1 47 52
+f 1 52 48
+f 1 48 51
+f 1 51 43
+f 1 43 40
+f 1 40 29
+f 1 29 21
+f 1 21 13
+f 1 13 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 17
+f 2 17 25
+f 2 25 32
+f 2 32 42
+f 2 42 45
+f 2 45 36
+f 2 36 35
+f 2 35 30
+f 2 30 23
+f 2 23 15
+f 2 15 9
+f 2 9 5
+f 3 5 9
+f 3 9 11
+f 3 11 7
+f 4 8 14
+f 4 14 22
+f 4 22 18
+f 4 18 10
+f 4 10 6
+f 7 11 12
+f 8 13 14
+f 9 15 16
+f 9 16 11
+f 10 18 17
+f 11 16 12
+f 12 16 19
+f 13 20 14
+f 13 21 20
+f 14 20 22
+f 15 23 16
+f 16 23 24
+f 16 24 19
+f 17 18 26
+f 17 26 25
+f 18 22 20
+f 18 20 27
+f 18 27 26
+f 19 24 28
+f 20 21 27
+f 21 29 33
+f 21 33 27
+f 23 30 31
+f 23 31 24
+f 24 31 28
+f 25 26 34
+f 25 34 32
+f 26 27 33
+f 26 33 34
+f 28 31 35
+f 28 35 36
+f 28 36 37
+f 28 37 38
+f 28 38 39
+f 29 40 33
+f 30 35 31
+f 32 34 41
+f 32 41 42
+f 33 40 43
+f 33 43 44
+f 33 44 34
+f 34 44 41
+f 36 45 37
+f 37 45 46
+f 37 46 47
+f 37 47 38
+f 38 47 39
+f 41 44 48
+f 41 48 42
+f 42 48 49
+f 42 49 50
+f 42 50 46
+f 42 46 45
+f 43 51 44
+f 44 51 48
+f 46 50 52
+f 46 52 47
+f 48 52 49
+f 49 52 50
+
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_35.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..308dffe42ecef77df27ac70f3e1b2c00088b0b9b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_35.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.01921757 -0.00049201 -0.01066078
+v -0.02124468 -0.00451460 -0.01066080
+v -0.03539008 -0.00049201 -0.01066078
+v -0.01936168 -0.00049211 0.01704036
+v -0.02131753 -0.00451470 0.01704034
+v -0.03538216 -0.00451460 -0.01066080
+v -0.03539166 -0.00103156 -0.01066078
+v -0.03539483 -0.00126475 -0.00073924
+v -0.03539166 -0.00049204 -0.00370295
+v -0.03539325 -0.00049211 0.01704036
+v -0.02145531 -0.00451470 0.01704034
+v -0.03539166 -0.00126471 -0.01066078
+v -0.03538375 -0.00451461 -0.00844275
+v -0.03539642 -0.00126481 0.01702680
+v -0.03538692 -0.00451464 0.00044298
+v -0.03539325 -0.00049211 0.01632180
+v -0.03539642 -0.00126481 0.01704036
+v -0.03538375 -0.00451274 0.01704034
+v -0.03538375 -0.00451470 0.01702678
+v -0.03538692 -0.00451467 0.00932599
+v -0.03538533 -0.00421815 0.01704034
+f 1 2 6
+f 1 6 12
+f 1 12 7
+f 1 7 3
+f 1 3 9
+f 1 9 16
+f 1 16 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 19
+f 2 19 20
+f 2 20 15
+f 2 15 13
+f 2 13 6
+f 3 7 8
+f 3 8 9
+f 4 10 17
+f 4 17 21
+f 4 21 18
+f 4 18 11
+f 4 11 5
+f 6 13 12
+f 7 12 8
+f 8 14 9
+f 8 12 15
+f 8 15 14
+f 9 14 16
+f 10 16 14
+f 10 14 17
+f 11 18 19
+f 12 13 15
+f 14 15 20
+f 14 20 17
+f 17 20 21
+f 18 21 19
+f 19 21 20
+
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_36.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16dc4a66da773979402e0b90005e75fffaa39d36
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_36.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.03539986 -0.00126475 0.01487811
+v 0.03539629 -0.00035770 0.01487811
+v 0.03539092 -0.00508547 0.01487809
+v 0.03539092 -0.00508545 0.00753175
+v 0.03539808 -0.00126975 -0.00961928
+v 0.03539808 -0.00126466 -0.00961928
+v 0.03539629 -0.00035762 -0.00757344
+v 0.01750656 -0.00035770 0.01487811
+v 0.02132589 -0.00508547 0.01487809
+v 0.03538913 -0.00508540 -0.00431401
+v 0.03538735 -0.00508539 -0.00814428
+v 0.03538556 -0.00508538 -0.00961930
+v 0.03539450 -0.00036085 -0.00961928
+v 0.03539450 -0.00035762 -0.00905326
+v 0.01717397 -0.00035769 0.01133565
+v 0.01715788 -0.00035769 0.01110541
+v 0.01713285 -0.00035769 0.00962318
+v 0.02132232 -0.00508546 0.01023476
+v 0.03527291 -0.00508538 -0.00961930
+v 0.01787132 -0.00035761 -0.00961928
+v 0.01718113 -0.00035767 0.00518132
+v 0.02132232 -0.00508214 -0.00961930
+v 0.02132232 -0.00508539 -0.00901490
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_37.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e039fa9702504b5808b402dd40e815077be575d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_37.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.00557639 -0.02039606 0.02022822
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+v 0.00048786 -0.02039606 0.02022822
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+
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_38.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75f81d4c64d7884838a828a83afc83b429a6d8ef
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_38.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_39.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60468e41fabc5ea19e8055202020f0771480dd96
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_39.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.00048918 -0.00069831 0.01266934
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+
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_4.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebe09932df58f6016978526532164981c4ac189d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_4.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_40.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..476ef4d2ade9ef5f44a2670f521613f5978e04a7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_40.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.01376449 -0.00126491 0.04369236
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+
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_41.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e47b90082cf16879d7c2ba82190f70b04051c08d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_41.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_42.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06802118f4336345daa08cb824421ca3377c4905
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_42.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_43.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dfecfc16e71a40862f05172e5ffd41f55b02b79
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_43.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.00878312 -0.00717150 0.01914376
+v 0.00877907 -0.00569457 0.01914377
+v 0.00878312 -0.00741315 0.01914376
+v 0.00694560 -0.00421855 0.00874409
+v 0.00873765 -0.00421906 0.01914377
+v 0.00048786 -0.00741315 0.01914376
+v 0.00830324 -0.00741314 0.01702819
+v 0.00669794 -0.00569500 0.00874409
+v 0.00663217 -0.00357367 0.00874410
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+v 0.00807751 -0.00292740 0.01914378
+v 0.00048786 -0.00257298 0.01914378
+v 0.00048786 -0.00741314 0.01595514
+v 0.00730206 -0.00741313 0.01266980
+v 0.00634716 -0.00718615 0.00874408
+v 0.00639101 -0.00313348 0.00874410
+v 0.00663055 -0.00257345 0.01914378
+v 0.00515760 -0.00278616 0.00874410
+v 0.00515760 -0.00257298 0.01914378
+v 0.00368547 -0.00278616 0.00874410
+v 0.00048786 -0.00278711 0.00874410
+v 0.00048786 -0.00623233 0.00874409
+v 0.00318041 -0.00718615 0.00874408
+v 0.00426117 -0.00741313 0.01266980
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+
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_44.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acabe3c2faa1f2f3c39f207652917beb4810d7e8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_44.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.03539590 -0.00159662 -0.00962169
+v 0.03538615 -0.00508538 -0.00962170
+v 0.03539590 -0.00159661 -0.01288088
+v 0.02095445 -0.00159662 -0.00962169
+v 0.03527405 -0.00508538 -0.00962170
+v 0.03538615 -0.00508537 -0.01288089
+v 0.01880017 -0.00159661 -0.01288088
+v 0.02132162 -0.00508230 -0.00962170
+v 0.02132162 -0.00508538 -0.00962681
+v 0.01992443 -0.00508537 -0.01288089
+f 1 2 6
+f 1 6 3
+f 1 3 7
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+f 1 4 8
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+f 2 9 10
+f 2 10 6
+f 3 6 10
+f 3 10 7
+f 4 7 8
+f 5 8 9
+f 7 10 8
+f 8 10 9
+
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_45.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f5ed430c7697eeaa0041f7712b75d3e45d88b3f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_45.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.00048786 -0.01959189 -0.00968410
+v 0.00048786 -0.00278564 -0.00968404
+v 0.00418827 -0.01959189 -0.00968410
+v 0.00048786 -0.01959192 -0.00231177
+v 0.00073934 -0.00278564 -0.00968404
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+v 0.00221269 -0.00278400 -0.00814536
+v 0.00460426 -0.00521567 -0.00968405
+v 0.00474558 -0.01959190 -0.00938286
+v 0.00558843 -0.01959192 -0.00231177
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+v 0.00252722 -0.01959031 0.00872239
+v 0.00126113 -0.01959031 0.00864302
+v 0.00073934 -0.01959031 0.00860875
+v 0.00048786 -0.01959031 0.00855283
+v 0.00221269 -0.00278564 -0.00962452
+v 0.00221631 -0.00279551 -0.00968404
+v 0.00048786 -0.00278735 0.00874410
+v 0.00368532 -0.00278566 -0.00666440
+v 0.00515795 -0.00278735 0.00874410
+v 0.00461876 -0.00421865 -0.00968405
+v 0.00542029 -0.01959190 -0.00814542
+v 0.00475428 -0.00421866 -0.00946579
+v 0.00610370 -0.01959191 -0.00561642
+v 0.00767489 -0.01959030 0.00524457
+v 0.00651462 -0.01959031 0.00874404
+v 0.00048786 -0.00623416 0.00874409
+v 0.00368532 -0.00280539 -0.00814536
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+v 0.00515795 -0.00278733 0.00221957
+v 0.00515795 -0.00278897 0.00073861
+v 0.00639069 -0.00313450 0.00874410
+v 0.00663130 -0.00288769 0.00370053
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+v 0.00747705 -0.00335659 0.00249375
+v 0.00789014 -0.00569614 0.00370052
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+
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_46.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3678c8167f1d2cfa3432e67d8d679cd65cd477e7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_46.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.00048786 -0.02637001 0.01266987
+v 0.00073937 -0.02637176 0.01266987
+v 0.00073937 -0.02533430 0.01910331
+v 0.00062903 -0.02532730 0.01910331
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+v 0.00810473 -0.02341607 0.01910331
+v 0.00779642 -0.02464002 0.01910331
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+
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_47.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00c4589c25a57ca84a14951699d4d972a86f675a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_47.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.00611119 -0.00421874 0.00931617
+v -0.00607825 -0.00421875 0.00962512
+v -0.00591224 -0.00344896 0.01046421
+v -0.00603497 -0.00354152 0.00931618
+v -0.00605112 -0.01273900 0.00931614
+v -0.00605306 -0.01273901 0.00962509
+v -0.00508090 -0.00421877 0.01529384
+v -0.00480766 -0.00335446 0.01529385
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+v -0.00215021 -0.01273900 0.00931614
+v -0.00601753 -0.01273901 0.00980063
+v -0.00589738 -0.01273901 0.01038751
+v -0.00488518 -0.01273903 0.01529381
+v -0.00367983 -0.00282341 0.01529385
+v -0.00515325 -0.00299975 0.00931618
+v -0.00068261 -0.01273903 0.01529381
+v 0.00048786 -0.00608961 0.00931617
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+v -0.00367983 -0.00279514 0.01406684
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+v 0.00048786 -0.00648525 0.01529384
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+v -0.00195449 -0.00278735 0.01529385
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+v -0.00220770 -0.00278732 0.00931618
+v -0.00073428 -0.00278635 0.00931618
+v 0.00048786 -0.00278636 0.01110609
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+
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_48.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f85f6048aed1aa6c21c56a4ca7c2af1e62f93c4e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_48.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.01395614 -0.00151614 0.02058976
+v 0.01395614 -0.00268330 0.02058976
+v 0.01395614 -0.00151613 0.01997633
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+v 0.00878293 -0.00741315 0.01914478
+v 0.00878293 -0.00691846 0.01914478
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+v 0.00873810 -0.00421874 0.01914479
+v 0.00807893 -0.00292746 0.01914480
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+v 0.00048918 -0.00741316 0.02058974
+v 0.00048918 -0.00741315 0.01914478
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+v 0.00073834 -0.00151613 0.01974946
+v 0.00048918 -0.00257304 0.01914480
+v 0.00073307 -0.00151613 0.01974946
+f 1 2 3
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+f 16 19 17
+
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_49.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a16e66965c47baa10df49573a9e4b15f86fc246
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_49.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.00648312 -0.01273895 -0.00556627
+v 0.00048710 -0.01273895 -0.00556627
+v -0.00658645 -0.01273895 -0.00518310
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+v 0.00048710 -0.01273900 0.00832690
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+v -0.00515275 -0.00299930 0.00931473
+v -0.00515275 -0.00293109 0.00814337
+v -0.00515275 -0.00280536 0.00369977
+v -0.00515275 -0.00284338 0.00518145
+v -0.00637599 -0.00313472 0.00074076
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+
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_5.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bc3125b6a80aba03ae3829ab2bbbe65951f9c69
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_5.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v 0.03539700 -0.00159661 -0.01288089
+v 0.01880216 -0.00159661 -0.01288089
+v 0.03538441 -0.00508537 -0.01288090
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+v 0.03538651 -0.00508534 -0.02060522
+v 0.03539490 -0.00159659 -0.01999273
+v 0.01395614 -0.00159661 -0.01333372
+v 0.01992499 -0.00508537 -0.01288090
+v 0.03538441 -0.00508534 -0.02147606
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+v 0.03538021 -0.00508534 -0.02209436
+v 0.03538021 -0.00159658 -0.02296809
+v 0.01395614 -0.00508526 -0.04253001
+v 0.01547144 -0.00159650 -0.04248356
+v 0.01399812 -0.00508526 -0.04253001
+v 0.03537182 -0.00508534 -0.02297971
+v 0.03536552 -0.00508533 -0.02344415
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+
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_50.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..239ee4854d5d26fea58b7d99b1cf0246887b0740
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_50.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.00310868 -0.01959196 0.00874404
+v 0.00651457 -0.01959196 0.00874404
+v 0.00338050 -0.01959197 0.00962468
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+
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_51.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22e3aa2d4cbd917fa963d434a4368040be8fdfae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_51.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00048786 -0.01742846 0.01611052
+v 0.00451188 -0.01455503 0.01266992
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_6.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c84b1486fbc0bde67ef71d9d6c4ecd63181bc001
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_6.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_7.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..414a473d8fefd7d95abeeedd7d2211f76f8f2dc1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_7.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_8.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3e06c9fdc6eda98cbf1f94abd3e10ddbe9fc719
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_9.obj b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5860d3a006fdbe7ec1678ffb7382ae602f719df
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/mesh/sharpener_013_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/sharpener_013.xml b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/sharpener_013.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c1ed6a95e846a8a0aa5fbf423a14642aa53959de
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/mjcf/sharpener_013.xml
@@ -0,0 +1,118 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sharpener_013">
+  <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_013.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sharpener_013_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sharpener_013_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sharpener_013_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sharpener_013_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sharpener_013_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sharpener_013_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sharpener_013_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sharpener_013_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sharpener_013_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sharpener_013_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sharpener_013_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sharpener_013_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sharpener_013_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/sharpener_013_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/sharpener_013_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/sharpener_013_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/sharpener_013_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/sharpener_013_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/sharpener_013_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/sharpener_013_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/sharpener_013_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/sharpener_013_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/sharpener_013_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/sharpener_013_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/sharpener_013_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/sharpener_013_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/sharpener_013_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/sharpener_013_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/sharpener_013_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/sharpener_013_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/sharpener_013_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/sharpener_013_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/sharpener_013_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/sharpener_013_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/sharpener_013_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/sharpener_013_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/sharpener_013_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/sharpener_013_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/sharpener_013_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/sharpener_013_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/sharpener_013_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/sharpener_013_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/sharpener_013_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/sharpener_013_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/sharpener_013_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/sharpener_013_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/sharpener_013_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/sharpener_013_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/sharpener_013_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/sharpener_013_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/sharpener_013_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/sharpener_013_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sharpener_013">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" 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/8576deca27115deeadd67abc24b89ea9/sharpener_013.urdf b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/sharpener_013.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..64282db00e8fc58edba0a8aa534de6d566e7c267
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/sharpener_013.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_013">
+   <link name="sharpener_013">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_013.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_013_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1850" />
+         <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>8576deca27115deeadd67abc24b89ea9</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>deli sharpener</name>
+         <color>white,red</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rounded rectangular desktop sharpener with transparent front window and colorful buttons</description>
+         <min_height>0.0900</min_height>
+         <max_height>0.0900</max_height>
+         <real_height>0.0900</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518180420</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.035220 -0.037912 -0.046501</min>
+            <max>0.035225 0.030843 0.043499</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Front functional parts are mislabeled and merged inconsistently; only body is coherent.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/sharpener_013.usd b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/sharpener_013.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5717a770617ef66ac23abb1ecaa631bf63f1bdb4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/sharpener_013.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da45a3386f785e7dd076dc491f4268e47c348589efa025bc461a6330a63beb54
+size 4859467
diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/textures/material_0.png b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..25bb994aa8e640bb6a49248f4424f1a3be2630d6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/textures/material_0.png
@@ -0,0 +1,3 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/video.mp4 b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/video.mp4
@@ -0,0 +1,3 @@
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+oid sha256:cff4418d20dce329beca025f03dad8770826f880e0627aa8bd257512f1adb95e
+size 242710