diff --git a/.gitattributes b/.gitattributes
index e9f8566872684c8fd61e268eca75091c3d55e71f..80b37a30d9f598d4f28a52da5f1150a4be0ca250 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3115,5 +3115,8 @@ dataset/desktop_supplies/office_stationery/2da7165c96f654c4b2960ee9d0e8bd5f/corr
 dataset/desktop_supplies/office_stationery/2da7165c96f654c4b2960ee9d0e8bd5f/mesh/correction_tape_035.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/glue_stick_040.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/2ff1d58e0c045d5a8c18cc74f763c553/mesh/glue_stick_040.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/eraser_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/35488e96e4565adeba9dbf2cb22e1a3a/mesh/eraser_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/eraser_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/352716fa3d1457739b17f545a48621bb/mesh/eraser_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/36d169bdcc7353c3bffa8295722dc653/36d169bdcc7353c3bffa8295722dc653.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mesh/sharpener_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/sharpener_003.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..10d51c3fbfbb23070af885053505bf52223a3c2e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_003_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd sharpener_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c66fc49d63eb39e46eecdfcf82aef762c3fa7963
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2be997011e9015a89b9b4d7c7ecf00fa839d67c493410464ae0f2f6536950bb7
+size 9962033
diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mesh/sharpener_003.glb b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mesh/sharpener_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a1c40e64c10e6c1cfd4f49b91ece5fe4012fea5a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mesh/sharpener_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f460b4f669052c21a0961648a13835567a6c4d0560a47321ff6c6e0a607c98a
+size 13155468
diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mesh/sharpener_003.mtl b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mesh/sharpener_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..840b05f93bd42034c8cb65a221e223f4ef1b0ad0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mesh/sharpener_003.mtl
@@ -0,0 +1,6 @@
+newmtl sharpener_003_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mesh/sharpener_003.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mesh/sharpener_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b95d81503aa3e3cce3c580a5619deb5f1f16a6e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mesh/sharpener_003.obj
@@ -0,0 +1,112168 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sharpener_003_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mesh/sharpener_003_collision.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mesh/sharpener_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e41db5b83c50adb594286a5914166bfaca853e3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mesh/sharpener_003_collision.obj
@@ -0,0 +1,15574 @@
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mesh/sharpener_003_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mesh/sharpener_003_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c66fc49d63eb39e46eecdfcf82aef762c3fa7963
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+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mesh/sharpener_003_geometry_Looks_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/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c66fc49d63eb39e46eecdfcf82aef762c3fa7963
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+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2be997011e9015a89b9b4d7c7ecf00fa839d67c493410464ae0f2f6536950bb7
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003.obj
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3435c391d8ba064150e32bc6889e9d2622cd19a7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision.obj
@@ -0,0 +1,15574 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_0.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e60104b8cffb9128c45eaf89b0f03917492f8ca
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_1.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00fda5c14acadc9a0832031c8308357df1f4e736
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_10.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..487d5ccb77212e9638682b9902b10baa2a97b99c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_10.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00882530 -0.01520110 0.03067280
+v 0.00882530 -0.01425137 0.03017896
+v 0.01540303 -0.01133266 0.03307682
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+
diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_11.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bea5aafe4fd599f4237dc6e3d83322cf61788936
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_11.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.00882530 -0.02537209 0.04402340
+v 0.00882530 -0.02620260 0.04397635
+v 0.01540303 -0.02620394 0.04397635
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+
diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_12.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..892334efc2033e0f0b560f2b0e75c0a060c76a30
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_12.obj
@@ -0,0 +1,631 @@
+# https://github.com/mikedh/trimesh
+v -0.01492737 0.02657448 0.04363211
+v -0.01492737 0.02700922 0.04361416
+v -0.01536310 0.02657448 0.04363360
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_13.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfad11e34d12bfcd6c3487d3797942fc9d4d2f6e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_13.obj
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_14.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6967ffee4e79fd148510c2b1b09e4dc60c6ad87f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_14.obj
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_15.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52c936897d45f657b51d294ba04f8c0f3cee042a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_15.obj
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_16.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be3ae993d4a2f1476b9c9793958ac87556b097e6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_16.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_17.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52516a7cebd968d25d9263f23f9f0f856e580b34
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_17.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_18.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17ed86b7b3705da0b3892240bb4c737fe7d37a7f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_18.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_19.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a9e06bbc29cdd576b1f7b3b8d320a77aefed38f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_19.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.00711321 -0.03096955 -0.01051982
+v -0.00974221 -0.03096676 -0.01051982
+v 0.00149473 -0.03091942 -0.01193385
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_2.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cc494e93a76b5fd69446e5ed10821fb46d14196
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_2.obj
@@ -0,0 +1,1006 @@
+# https://github.com/mikedh/trimesh
+v 0.01241408 -0.03214679 -0.01759216
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_20.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5d1bddd7bfc19c493444c05b65cfbbcaa5bc5da
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_20.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.03093128 -0.00251922 -0.01333599
+v -0.03093310 -0.00150330 -0.01333599
+v -0.01234681 -0.00251922 -0.01333599
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+v -0.03093310 -0.00149205 -0.01333599
+v -0.02959226 -0.00011265 0.02906542
+v -0.01234681 0.01662964 -0.01333592
+v -0.01234681 -0.00251936 0.02544203
+v -0.01625474 -0.00251938 0.02906541
+v -0.03093128 0.01254720 -0.01333593
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+v -0.02959407 0.01662948 0.02895757
+v -0.03092764 0.01662964 -0.01333592
+v -0.01234681 0.01662950 0.02495649
+v -0.01234681 -0.00191581 0.02552919
+v -0.01234681 -0.00111169 0.02562881
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+v -0.02959044 0.01662948 0.02906548
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+v -0.01234681 0.00712441 0.02611860
+v -0.01666590 0.01254704 0.02906547
+v -0.01659495 0.01114499 0.02906546
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+
diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_21.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a2dfc7fd6409a7538873b62ab04144d6d1868f6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_21.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.01554215 -0.03098971 -0.01051691
+v 0.01799686 -0.03090890 -0.01193423
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+
diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_22.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bfd08f3c11609181cc54e03ff32706327421517
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_22.obj
@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
+v 0.02256779 -0.03094938 -0.01051631
+v 0.01799686 -0.03093268 -0.01051631
+v 0.01799686 -0.03090764 -0.01193046
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_23.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..548e1919e81615b2be5d20f0fb3d463752838df7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_23.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_24.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11203eba897c4f24a0cc49da24944b0ebedf03df
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_24.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_25.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36f92daef2e6bd424b241d793e622737e99ad3e2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_25.obj
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_26.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5562c81f8a8e0227ce113261429fdbfd6d0a6440
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_26.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_27.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3efaf0dcab5e5211bb4d010ab1db7f0b795758a1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_27.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_28.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfc6f348ae3890152bc534e8c4c7cd3597daa53b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_28.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_29.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffa851ab414a2d5346dd9aec145cca16f6d014ce
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_29.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_3.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..627a2bb22ada74aad3b2b6f8fe415280339e0aef
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_3.obj
@@ -0,0 +1,976 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_30.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c20e8927360002f38d5da30969f41386d3bc2db
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_30.obj
@@ -0,0 +1,100 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_31.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c07588ab067486ba214a11167d543a8f775d320a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_31.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_32.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9016a24feff62c981cbc887819867e882a4e8815
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_32.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_33.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c122b437ac28af47bc233a93748d1282f2b7a807
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_33.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_34.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22611d2f5603a670f958742aec1d9d2a8ac5dd87
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_34.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.01265881 0.02492017 0.02382952
+v 0.01265881 0.02514851 0.02380094
+v 0.00896718 0.02512657 0.02836906
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+v -0.01104560 0.02983850 -0.01333587
+v 0.01265881 0.02991548 -0.00619998
+v 0.00992315 0.02983315 -0.01333587
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+v 0.01265881 0.02803141 0.02297224
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+v -0.01104560 0.03009564 0.00927608
+v -0.00271796 0.03037899 0.02836908
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+v -0.00552787 0.02983850 -0.01333587
+v 0.01265881 0.02997963 -0.00061946
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+v 0.01265881 0.03015549 0.01922469
+v 0.01265881 0.03015816 0.01917570
+v 0.01265881 0.03018063 0.01783670
+v 0.01265881 0.03018063 0.01776322
+v 0.01265881 0.03016834 0.01642422
+v 0.01265881 0.03015230 0.01493417
+v 0.01265881 0.03013786 0.01359517
+v 0.01265881 0.03012237 0.01217861
+v 0.01265881 0.03010686 0.01076613
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+v -0.01104560 0.02910628 0.02209864
+v -0.01104560 0.02904158 0.02218437
+v -0.01104560 0.02987580 0.02069840
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+
diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_35.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81162879d1004580a074ac37af223f1cc3682832
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_35.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.00861237 -0.02537271 0.04402492
+v -0.00861237 -0.02116066 0.04399952
+v -0.00974355 -0.02537271 0.04402492
+v -0.00861237 -0.02553546 0.04401612
+v -0.01214277 -0.02116066 0.04399855
+v -0.00861237 -0.02025345 0.04396924
+v -0.01214277 -0.02003343 0.04396143
+v -0.01214277 -0.02083364 0.04398780
+v -0.01114811 -0.02537271 0.04402394
+v -0.01214277 -0.02620909 0.04397898
+v -0.00974355 -0.02621060 0.04397898
+v -0.00861237 -0.02621060 0.04397898
+v -0.01214277 -0.02537271 0.04402296
+v -0.00861237 -0.02003494 0.04396143
+v -0.01214277 -0.01933117 0.04389498
+v -0.01214277 -0.02691135 0.04360867
+v -0.00861237 -0.02634773 0.04390668
+v -0.00861237 -0.01946981 0.04390671
+v -0.00861237 -0.01933268 0.04389303
+v -0.00861237 -0.01342827 0.04208154
+v -0.01214277 -0.01342827 0.04202682
+v -0.00974355 -0.02691285 0.04360769
+v -0.01214277 -0.02777937 0.04290126
+v -0.00861237 -0.02691285 0.04360672
+v -0.00861237 -0.01342825 0.03404503
+v -0.01214277 -0.01342825 0.03584677
+v -0.01114811 -0.02777937 0.04290126
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+v -0.00861237 -0.02850723 0.03755368
+v -0.01214277 -0.02863081 0.03897826
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+
diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_36.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a957ceb85cfe340146f3e943d57d1e387173697
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_36.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.01255322 0.00270827 0.04453832
+v -0.01395805 0.00130434 0.04449818
+v -0.01255322 -0.00009958 0.04451478
+v -0.01234714 -0.00009958 0.04451340
+v -0.01234714 0.00270827 0.04453555
+v -0.01395805 0.01662943 0.04263963
+v -0.01538323 0.01662943 0.04260503
+v -0.01543639 0.01662943 0.04259811
+v -0.01488574 0.00130434 0.04413835
+v -0.01481453 0.00018533 0.04407054
+v -0.01407914 -0.00021017 0.04428643
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+v -0.01569924 0.01662943 0.04254413
+v -0.01249907 -0.00158411 0.04422968
+v -0.01234714 -0.00158786 0.04423107
+v -0.01234714 0.01662943 0.04234347
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+v -0.01369224 -0.00116986 0.04414666
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+v -0.01234714 -0.00178092 0.04414942
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+v -0.01569924 -0.00251938 0.03040014
+v -0.01280491 -0.00251943 0.04299938
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+v -0.01569924 0.00692009 0.03120285
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+v -0.01234714 -0.00009954 0.03230720
+v -0.01569924 0.00008791 0.03051778
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+
diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_37.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74c723de7a2b777131aaaa86358e02b299471900
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_37.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.00855407 0.01663029 0.03023486
+v -0.01221794 0.01663028 0.03371899
+v -0.00855201 0.01674634 0.03023486
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+v 0.00877483 0.02492015 0.03023489
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+v 0.00289784 0.01955421 0.04369118
+v 0.00430339 0.02492010 0.04365162
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_38.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c98edaa8e9363c58ddd880059555be854f75fee4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_38.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_39.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30368b413850d905ca963220dc97df93e3bc6e33
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_39.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_4.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4e73a41a6c330acf5f9dd89ce7cfdf3b3a4516d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_4.obj
@@ -0,0 +1,589 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_40.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51ac43b520f6e9d317b2bf9005a17ddcc4c3e208
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_40.obj
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_41.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34e19721178cfb4c7018ec0165e84dc419b4261f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_41.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_42.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83dc009a4ede53e3207fcd560504dbc43a15300d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_42.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+v -0.03081581 0.02377847 -0.01333589
+v -0.03023538 0.02492026 0.00030770
+v -0.01820660 0.02492015 0.03023489
+v -0.01234051 0.02394145 0.02394835
+v -0.01736963 0.01953154 0.03023487
+v -0.02955125 0.02236137 0.03023488
+v -0.03091588 0.02237451 -0.01333590
+v -0.03081763 0.02376549 -0.01333589
+v -0.03011530 0.02448605 0.00871819
+v -0.03012803 0.02453637 0.00786520
+v -0.03014805 0.02461834 0.00645350
+v -0.03016806 0.02469625 0.00503753
+v -0.03018808 0.02477011 0.00362583
+v -0.03020809 0.02483909 0.00220987
+v -0.03022810 0.02490078 0.00079390
+v -0.03018626 0.02492025 0.00220987
+v -0.02942024 0.02492015 0.03023489
+v -0.01758433 0.02092900 0.03023488
+v -0.02953123 0.02376533 0.03023489
+v -0.02956580 0.02376533 0.02907482
+v -0.02990059 0.02376537 0.01776416
+v -0.03010256 0.02430426 0.00966075
+v -0.02942206 0.02491365 0.03023489
+v -0.02950030 0.02492016 0.02741149
+v -0.03000249 0.02492023 0.00911483
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 25
+f 1 25 19
+f 1 19 18
+f 1 18 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 6 11
+f 3 11 17
+f 3 17 26
+f 3 26 39
+f 3 39 24
+f 3 24 38
+f 3 38 44
+f 3 44 40
+f 3 40 27
+f 3 27 20
+f 3 20 12
+f 3 12 7
+f 3 5 6
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+f 4 13 21
+f 4 21 28
+f 4 28 29
+f 4 29 22
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+f 4 14 9
+f 5 10 6
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+f 7 12 13
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+f 9 14 23
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+f 17 19 25
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+f 20 27 28
+f 20 28 21
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 23
+f 23 35 36
+f 23 36 37
+f 24 39 25
+f 25 39 26
+f 27 40 28
+f 28 40 41
+f 28 41 42
+f 28 42 43
+f 28 43 29
+f 29 43 30
+f 30 43 40
+f 30 40 44
+f 30 44 45
+f 30 45 31
+f 31 45 32
+f 32 45 46
+f 32 46 33
+f 33 46 34
+f 34 46 35
+f 35 37 36
+f 35 46 37
+f 38 45 44
+f 40 43 41
+f 41 43 42
+
diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_43.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8507b40d1d4a01bde8aedc5337b0f23615bb06af
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_43.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.01019413 0.02492014 0.03142220
+v 0.00877483 0.02492014 0.03142220
+v 0.01032372 0.02376532 0.03142220
+v 0.00903591 0.02492015 0.02907856
+v 0.00877483 0.02492015 0.02907856
+v 0.00877483 0.01663028 0.03142217
+v 0.00916380 0.02376533 0.02907856
+v 0.01062736 0.02095415 0.03142219
+v 0.00877483 0.01663029 0.02907853
+v 0.01093777 0.01663028 0.03142217
+v 0.00924829 0.02297246 0.02907855
+v 0.01064917 0.02072935 0.03142219
+v 0.00945071 0.02106291 0.02907855
+v 0.00971179 0.01663029 0.02907853
+v 0.01093396 0.01674633 0.03142217
+v 0.01075673 0.01955425 0.03142218
+v 0.00945981 0.02094199 0.02907855
+v 0.00970670 0.01674634 0.02907853
+v 0.01090940 0.01721946 0.03142217
+v 0.01079569 0.01901133 0.03142218
+v 0.01084566 0.01828987 0.03142218
+v 0.01088081 0.01775832 0.03142218
+v 0.00963196 0.01815030 0.02907854
+f 1 2 6
+f 1 6 10
+f 1 10 15
+f 1 15 19
+f 1 19 22
+f 1 22 21
+f 1 21 20
+f 1 20 16
+f 1 16 12
+f 1 12 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 6
+f 3 7 4
+f 3 8 7
+f 4 7 11
+f 4 11 13
+f 4 13 17
+f 4 17 23
+f 4 23 18
+f 4 18 14
+f 4 14 9
+f 4 9 5
+f 6 9 14
+f 6 14 10
+f 7 8 11
+f 8 12 13
+f 8 13 11
+f 10 14 15
+f 12 16 13
+f 13 16 17
+f 14 18 15
+f 15 18 19
+f 16 20 17
+f 17 20 21
+f 17 21 22
+f 17 22 23
+f 18 23 22
+f 18 22 19
+
diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_44.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db1b52cf7c35dd485eee7ae8d69b43c5a83ddaf1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_44.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.00877483 0.02492015 0.03023464
+v 0.00877483 0.01663029 0.03023461
+v 0.00877483 0.02492016 0.02767548
+v -0.00819617 0.02492015 0.03023464
+v 0.00877483 0.01663030 0.02767545
+v -0.00855408 0.01663029 0.03023461
+v -0.00773310 0.02492016 0.02767548
+v -0.00828947 0.02376533 0.03023464
+v -0.00783996 0.02376534 0.02767548
+v -0.00649822 0.01663030 0.02767545
+v -0.00855239 0.01672524 0.03023461
+v -0.00822162 0.01663111 0.02767545
+v -0.00818939 0.01663029 0.02896067
+v -0.00837428 0.02236137 0.03023463
+v -0.00794343 0.02237274 0.02767547
+v -0.00852355 0.01815030 0.03023462
+v -0.00849471 0.01929862 0.03023462
+v -0.00848793 0.01955426 0.03023462
+v -0.00843874 0.02095741 0.03023463
+v -0.00816225 0.01816167 0.02767546
+v -0.00838615 0.02210573 0.03023463
+v -0.00802824 0.02096878 0.02767547
+v -0.00809949 0.01956563 0.02767546
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 21
+f 1 21 19
+f 1 19 18
+f 1 18 17
+f 1 17 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 6 13
+f 2 13 10
+f 2 10 5
+f 3 5 10
+f 3 10 12
+f 3 12 20
+f 3 20 23
+f 3 23 22
+f 3 22 15
+f 3 15 9
+f 3 9 7
+f 4 7 9
+f 4 9 8
+f 6 11 12
+f 6 12 13
+f 8 9 15
+f 8 15 22
+f 8 22 14
+f 10 13 12
+f 11 16 12
+f 12 16 17
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 14 22 23
+f 14 23 21
+f 19 21 23
+f 19 23 20
+
diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_45.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce8c0cb2818e7ecc3ddd682f259ac74b4401131a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_45.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.01121940 0.01663045 -0.01333592
+v 0.01121940 0.02492031 -0.01333589
+v 0.01786318 0.01663045 -0.01333592
+v 0.01121940 0.01663031 0.02550776
+v 0.01786318 0.02492031 -0.01333589
+v 0.01121940 0.02492017 0.02443272
+v 0.01786318 0.01663031 0.02561069
+v 0.01786318 0.01815032 0.02548871
+v 0.01786318 0.02083083 0.02526379
+v 0.01786318 0.02095743 0.02525236
+v 0.01786318 0.02212685 0.02514561
+v 0.01786318 0.02236139 0.02512274
+v 0.01121940 0.01674636 0.02549633
+v 0.01786318 0.02492017 0.02481776
+v 0.01121940 0.02379051 0.02463859
+v 0.01786318 0.02471728 0.02485970
+v 0.01786318 0.02342531 0.02500838
+v 0.01121940 0.01758630 0.02541245
+v 0.01121940 0.02095743 0.02500456
+v 0.01121940 0.01959891 0.02517229
+v 0.01121940 0.01953642 0.02517991
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 13
+f 1 13 18
+f 1 18 21
+f 1 21 20
+f 1 20 19
+f 1 19 15
+f 1 15 6
+f 1 6 2
+f 2 6 14
+f 2 14 5
+f 3 5 14
+f 3 14 16
+f 3 16 17
+f 3 17 12
+f 3 12 11
+f 3 11 10
+f 3 10 9
+f 3 9 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 6 15 16
+f 6 16 14
+f 12 17 18
+f 12 18 13
+f 15 19 16
+f 16 19 20
+f 16 20 21
+f 16 21 18
+f 16 18 17
+
diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_46.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c94d5527509ee024c433aa8fc46c36c2514f4086
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_46.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.01770485 0.02492014 0.03298510
+v 0.01224423 0.02492014 0.03309663
+v 0.01770485 0.02517042 0.03301324
+v 0.01770485 0.02492010 0.04321466
+v 0.01224423 0.02517042 0.03312686
+v 0.01224423 0.02492010 0.04301765
+v 0.01224423 0.02573704 0.03320399
+v 0.01770485 0.02657411 0.03321130
+v 0.01770485 0.02592737 0.04346587
+v 0.01694744 0.02492010 0.04324176
+v 0.01273331 0.02492010 0.04305309
+v 0.01224423 0.02508359 0.04312606
+v 0.01224423 0.02657411 0.03333013
+v 0.01770485 0.02788933 0.03352921
+v 0.01770485 0.02657407 0.04361909
+v 0.01224423 0.02517038 0.04318339
+v 0.01694744 0.02657407 0.04363056
+v 0.01224423 0.02657407 0.04363264
+v 0.01224423 0.02700691 0.03343644
+v 0.01224423 0.02787981 0.03366784
+v 0.01224423 0.02866704 0.03401808
+v 0.01770485 0.02860433 0.03386694
+v 0.01770485 0.02733106 0.04359616
+v 0.01770485 0.02797776 0.04356802
+v 0.01554219 0.02797776 0.04356906
+v 0.01224423 0.02748952 0.04359200
+v 0.01770485 0.02876615 0.03395554
+v 0.01224423 0.02888036 0.03418173
+v 0.01770485 0.02917431 0.03425886
+v 0.01770485 0.02865749 0.04326679
+v 0.01273331 0.02797776 0.04357011
+v 0.01224423 0.02797776 0.04357011
+v 0.01224423 0.02945987 0.03470707
+v 0.01770485 0.02952986 0.03462994
+v 0.01770485 0.02923867 0.04300829
+v 0.01554219 0.02923867 0.04300933
+v 0.01224423 0.02923867 0.04300933
+v 0.01224423 0.03011272 0.03539814
+v 0.01770485 0.02999346 0.03512713
+v 0.01770485 0.02961717 0.04259448
+v 0.01694744 0.02994080 0.04224113
+v 0.01413802 0.02994080 0.04224113
+v 0.01224423 0.02994080 0.04224008
+v 0.01224423 0.03012112 0.03542108
+v 0.01770485 0.03024374 0.03559619
+v 0.01770485 0.03014071 0.03533039
+v 0.01770485 0.02994024 0.04224113
+v 0.01770485 0.03011718 0.04185963
+v 0.01770485 0.03026779 0.04153442
+v 0.01554219 0.03026779 0.04153442
+v 0.01224423 0.03015357 0.04177937
+v 0.01224423 0.03034340 0.03609547
+v 0.01770485 0.03037980 0.03611111
+v 0.01770485 0.03042009 0.04091839
+v 0.01224423 0.03045088 0.04078914
+v 0.01224423 0.03026667 0.04153338
+v 0.01554219 0.03054999 0.04039201
+v 0.01770485 0.03051920 0.03680218
+v 0.01224423 0.03059983 0.03756413
+v 0.01770485 0.03054999 0.04039201
+v 0.01224423 0.03054887 0.04039201
+v 0.01770485 0.03059870 0.03962902
+v 0.01770485 0.03064014 0.03897755
+v 0.01770485 0.03060599 0.03756413
+v 0.01224423 0.03063734 0.03897755
+v 0.01770485 0.03062502 0.03821664
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 22
+f 1 22 27
+f 1 27 29
+f 1 29 34
+f 1 34 39
+f 1 39 46
+f 1 46 45
+f 1 45 53
+f 1 53 58
+f 1 58 64
+f 1 64 66
+f 1 66 63
+f 1 63 62
+f 1 62 60
+f 1 60 54
+f 1 54 49
+f 1 49 48
+f 1 48 47
+f 1 47 40
+f 1 40 35
+f 1 35 30
+f 1 30 24
+f 1 24 23
+f 1 23 15
+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 11
+f 1 11 6
+f 1 6 2
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+f 2 12 16
+f 2 16 18
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+f 2 7 5
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+f 4 9 10
+f 6 11 12
+f 7 13 8
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+f 9 15 10
+f 10 16 11
+f 10 15 17
+f 10 17 18
+f 10 18 16
+f 11 16 12
+f 13 19 14
+f 14 19 20
+f 14 20 21
+f 14 21 22
+f 15 23 17
+f 17 23 24
+f 17 24 25
+f 17 25 18
+f 18 25 26
+f 21 27 22
+f 21 28 29
+f 21 29 27
+f 24 30 25
+f 25 31 26
+f 25 30 31
+f 26 31 32
+f 28 33 29
+f 29 33 34
+f 30 35 36
+f 30 36 31
+f 31 36 37
+f 31 37 32
+f 33 38 34
+f 34 38 39
+f 35 40 41
+f 35 41 36
+f 36 41 42
+f 36 42 37
+f 37 42 43
+f 38 44 45
+f 38 45 46
+f 38 46 39
+f 40 47 41
+f 41 47 48
+f 41 48 49
+f 41 49 50
+f 41 50 42
+f 42 50 43
+f 43 50 51
+f 44 52 45
+f 45 52 53
+f 49 54 50
+f 50 55 56
+f 50 56 51
+f 50 54 57
+f 50 57 55
+f 52 58 53
+f 52 59 58
+f 54 60 57
+f 55 57 61
+f 57 62 63
+f 57 63 61
+f 57 60 62
+f 58 59 64
+f 59 65 66
+f 59 66 64
+f 61 63 65
+f 63 66 65
+
diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_47.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85ec609a65a32b59ae4e64820f6c470f97310176
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_47.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.00877483 0.01663045 -0.01333592
+v 0.00877483 0.02492031 -0.01333589
+v 0.01121940 0.01663045 -0.01333592
+v 0.00877483 0.01663029 0.02907853
+v 0.01121940 0.02492031 -0.01333589
+v 0.00877483 0.02492015 0.02907856
+v 0.01121940 0.01663031 0.02550801
+v 0.00971188 0.01663029 0.02907853
+v 0.01121940 0.02492017 0.02443273
+v 0.00903589 0.02492015 0.02907856
+v 0.01121940 0.01758630 0.02541252
+v 0.00970686 0.01674634 0.02907853
+v 0.00916391 0.02376533 0.02907856
+v 0.00924838 0.02297246 0.02907855
+v 0.00945058 0.02106291 0.02907855
+v 0.01121940 0.02379051 0.02463617
+v 0.01121940 0.01959891 0.02517172
+v 0.00963196 0.01815030 0.02907854
+v 0.00945967 0.02094199 0.02907855
+v 0.01121940 0.02095743 0.02500151
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 10
+f 2 10 9
+f 2 9 5
+f 3 5 9
+f 3 9 16
+f 3 16 20
+f 3 20 17
+f 3 17 11
+f 3 11 7
+f 4 8 12
+f 4 12 18
+f 4 18 19
+f 4 19 15
+f 4 15 14
+f 4 14 13
+f 4 13 10
+f 4 10 6
+f 7 11 8
+f 8 11 12
+f 9 10 13
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 11 17 12
+f 12 17 18
+f 15 19 16
+f 16 19 18
+f 16 18 20
+f 17 20 18
+
diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_48.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d23ed61748f23e7f0bcef0c8a3d44236f1f84e92
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_48.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.01554295 0.00130434 0.04456916
+v 0.01554295 0.00270827 0.04450044
+v 0.01498851 0.00270827 0.04451365
+v 0.01498851 0.00074952 0.04455330
+v 0.01554295 -0.00009958 0.04451893
+v 0.01673216 0.00130434 0.04426911
+v 0.01835200 0.01662757 0.04209877
+v 0.01722239 0.01662943 0.04244376
+v 0.01652408 0.01662943 0.04256140
+v 0.01646646 0.01662943 0.04256801
+v 0.01554163 0.01662943 0.04264732
+v 0.01545965 0.01662943 0.04264864
+v 0.01498851 0.01662943 0.04262484
+v 0.01498851 -0.00009958 0.04452290
+v 0.01498851 -0.00073875 0.04440658
+v 0.01554295 -0.00125609 0.04419773
+v 0.01637921 -0.00095618 0.04403912
+v 0.01659420 -0.00009958 0.04418451
+v 0.01743475 0.00130434 0.04351304
+v 0.01835200 0.01662945 0.03844398
+v 0.01822327 0.01662944 0.04213181
+v 0.01835200 0.00130435 0.04218991
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_49.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e93aa2ed5ee3c9cd4b19fbff6f4f96036445153
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_49.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_5.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04bcaf9cb1ac84ca52c0accd9ddb4304e1a98173
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_5.obj
@@ -0,0 +1,523 @@
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_6.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c35e3005751e156551f0d41c06ef4cd851f3902a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_6.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_7.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f198d0e36c0cbef800745f375e65a406798e771
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_7.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_8.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..853a7862218dbf70073af96ee1a042706c691c00
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_8.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+v 0.03228025 -0.00150336 0.00362539
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_9.obj b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75b5ac7e90fe79dce756e03c65e7c4e4ad3e6377
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/mesh/sharpener_003_collision_9.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.02000639 -0.02537245 0.04402172
+v 0.01540303 -0.02537245 0.04402172
+v 0.01540303 -0.02545507 0.04401765
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+v 0.01540303 -0.02115868 0.04400004
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+v 0.01694770 -0.02690614 0.04360432
+v 0.02000639 -0.02690614 0.04360432
+v 0.01540303 -0.02001486 0.04396075
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+v 0.01540303 -0.02699135 0.04353385
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+v 0.02000639 -0.02777626 0.04289694
+v 0.02000639 -0.01926867 0.04390384
+v 0.02000639 -0.00251943 0.04239969
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diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/sharpener_003.xml b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/sharpener_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..36bc063ff0821df710fc07cc7fee174a3d891fbf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/mjcf/sharpener_003.xml
@@ -0,0 +1,114 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sharpener_003">
+  <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_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sharpener_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sharpener_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sharpener_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sharpener_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sharpener_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sharpener_003_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sharpener_003_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sharpener_003_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sharpener_003_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sharpener_003_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sharpener_003_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sharpener_003_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sharpener_003_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/sharpener_003_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/sharpener_003_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/sharpener_003_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/sharpener_003_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/sharpener_003_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/sharpener_003_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/sharpener_003_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/sharpener_003_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/sharpener_003_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/sharpener_003_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/sharpener_003_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/sharpener_003_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/sharpener_003_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/sharpener_003_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/sharpener_003_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/sharpener_003_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/sharpener_003_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/sharpener_003_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/sharpener_003_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/sharpener_003_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/sharpener_003_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/sharpener_003_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/sharpener_003_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/sharpener_003_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/sharpener_003_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/sharpener_003_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/sharpener_003_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/sharpener_003_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/sharpener_003_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/sharpener_003_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/sharpener_003_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/sharpener_003_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/sharpener_003_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/sharpener_003_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/sharpener_003_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/sharpener_003_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/sharpener_003_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sharpener_003">
+      <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_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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/sharpener_003.urdf b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/sharpener_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..057aee156e3e3bd9b9b7333cac666fd2c96430b5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/sharpener_003.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_003">
+   <link name="sharpener_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_003.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_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <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>3515d3603d205fc2a7a5fd5158b53db0</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>dual sharpener</name>
+         <color>green,black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact dual sharpener with green body and black base</description>
+         <min_height>0.0858</min_height>
+         <max_height>0.0858</max_height>
+         <real_height>0.0858</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427234051</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/sharpener_003.usd b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/sharpener_003.usd
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+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/sharpener_003.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42488442e8bc163610a86b08fba4f65543080454a64c8ef401c6638dcfe22860
+size 4823310
diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/textures/material_0.png b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/textures/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9962033
diff --git a/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/video.mp4 b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/video.mp4
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+++ b/dataset/desktop_supplies/office_stationery/3515d3603d205fc2a7a5fd5158b53db0/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 289581