diff --git a/.gitattributes b/.gitattributes
index ab02dd5fdee8e4268a1bae3483d0f0a188fda3db..dc6b7e6b7833e845f8fde13a8bd7156d9eb2805c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3272,5 +3272,5 @@ dataset/desktop_supplies/office_stationery/d8380724ed0c5739921064fd501cbae8/mesh
 dataset/desktop_supplies/office_stationery/d8380724ed0c5739921064fd501cbae8/sharpener_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/dd16e44ba3c75b43b6fc416f3b05da9c/dd16e44ba3c75b43b6fc416f3b05da9c.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/e10c9ac27c785067aadb50379cfaea97/e10c9ac27c785067aadb50379cfaea97.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/correction_tape_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/e0483f880e215663bf69c7f427071cc7/mesh/correction_tape_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mesh/sharpener_026.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/sharpener_026.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..204f5e499d9be5efdf3000d97d86fd0df1b7fa30
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_026_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_026_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfe3be41dded36269ec558bead467f4ef3c100d9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/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/dd0bb74a62555298a2cca982d5dcfefb/mesh/sharpener_026.glb b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mesh/sharpener_026.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b2d048e4e2add9a7170958198002ec910dd33b21
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mesh/sharpener_026.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46173bbff8a4aef9e9c77f16e9361afa17c1aa033af9a8cd705223abbe6f9b6f
+size 16751040
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mesh/sharpener_026.mtl b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mesh/sharpener_026.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2ca661e60aa3c7c1512c6cff9564cc8ee9abd576
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mesh/sharpener_026.mtl
@@ -0,0 +1,6 @@
+newmtl sharpener_026_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/dd0bb74a62555298a2cca982d5dcfefb/mesh/sharpener_026.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mesh/sharpener_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e258cd94b80147ab2e68d9b115d8e20f2e27e7e7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mesh/sharpener_026.obj
@@ -0,0 +1,118220 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sharpener_026_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mesh/sharpener_026_collision.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mesh/sharpener_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..134dd0ecb835b0d442939b7297c5c2714b9a365d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mesh/sharpener_026_collision.obj
@@ -0,0 +1,18463 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mesh/sharpener_026_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mesh/sharpener_026_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfe3be41dded36269ec558bead467f4ef3c100d9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mesh/sharpener_026_geometry_Looks_material_0.png
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+size 13424811
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dfe3be41dded36269ec558bead467f4ef3c100d9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:ac73dc29d6dc9beaef328abd873ecd566f7008c48c27a173a15dadc348409a51
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8829d0a4dc72a0161d9ff37f4194ea8a8f7ac351
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+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026.obj
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d88d5dbb23f825093091d5c09df013b9a17895c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision.obj
@@ -0,0 +1,18463 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_0.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c466f86e3c8b75d7b33c68f2bedb0971ab1c086a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_0.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_1.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71826389a31ef6ba97632e4dde206e4842eebc13
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_1.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_10.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccfcb413ebc0d0080972a93f8194a2566455f7f6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_10.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.00960922 -0.00697804 0.02604061
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_11.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..624de2d46a6a4c4a3ee913c15ce17ba4120117ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_11.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_12.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b3dfa148b71704f8ec2fc4b51bbc9d9b4ad5230
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_12.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_13.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e328296089f4d1c995396cbaf4a935345de490a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_13.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_14.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa56f7f5011ea99d19d1bf9ed08c62b70358bd98
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_14.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_15.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b97a6f12093ca73f168b7d689d93adcc886c3580
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_15.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_16.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e10516695b8ecc682a94ec30e92b9466e18feabf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_16.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_17.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eba59e0dcfde7fc87a2c837c96daf6d21e35e38a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_17.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_18.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cf8d96064fcc7727b426cc2d06ecea2786709de
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_18.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_19.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..907fe9e5c006cf1384aa074a0d615646947a58ba
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_19.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_2.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1d7434f0ae5929e49eece23c54fdeccb5bea5ed
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_2.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+f 41 47 42
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+f 44 48 49
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+f 48 52 53
+f 48 53 49
+f 50 54 51
+f 51 54 55
+f 51 55 56
+f 52 57 53
+f 53 57 58
+f 55 59 56
+f 56 59 60
+f 56 60 61
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+f 60 64 65
+f 60 65 66
+f 60 66 67
+f 60 67 61
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+f 62 71 63
+f 62 66 65
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+f 62 70 69
+f 62 69 68
+f 62 68 71
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_20.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54cd013997d3f5f8e3d0cdb055e13d3e9d710dd3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_20.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.01207929 0.00593153 0.02344414
+v 0.02528507 0.00593153 0.02344414
+v 0.01207929 0.00593153 0.02563309
+v 0.01207929 0.02818113 0.02344422
+v 0.02547279 0.00593416 0.02563309
+v 0.02534498 0.00593153 0.02503844
+v 0.02567782 0.00964592 0.02344416
+v 0.02567782 0.00961705 0.02344694
+v 0.02492028 0.00593153 0.02563309
+v 0.01207929 0.02866151 0.02563318
+v 0.01233890 0.03089014 0.02563318
+v 0.01315237 0.03165927 0.02413875
+v 0.01326154 0.03098464 0.02344423
+v 0.02534498 0.00593153 0.02504444
+v 0.02567782 0.00846992 0.02563310
+v 0.02567782 0.02651950 0.02344422
+v 0.01276228 0.03200052 0.02563319
+v 0.01380340 0.03210027 0.02344424
+v 0.02567782 0.02651687 0.02563317
+v 0.02546480 0.02672425 0.02344422
+v 0.02567782 0.02651950 0.02415373
+v 0.01325488 0.03232602 0.02563319
+v 0.01405104 0.03222102 0.02344424
+v 0.02343581 0.02866676 0.02503853
+v 0.02343448 0.02866676 0.02563318
+v 0.02329868 0.02880063 0.02344423
+v 0.01386731 0.03257540 0.02563319
+v 0.01386731 0.03247827 0.02503854
+v 0.01517870 0.03274077 0.02344424
+v 0.02278078 0.02929413 0.02372280
+v 0.02277945 0.02929151 0.02563318
+v 0.02278078 0.02929413 0.02344423
+v 0.01458624 0.03272240 0.02563319
+v 0.01517870 0.03274340 0.02503854
+v 0.01649009 0.03274077 0.02344424
+v 0.02208980 0.02995039 0.02372280
+v 0.02208847 0.02995039 0.02503853
+v 0.02246658 0.02958813 0.02563318
+v 0.02208980 0.02995039 0.02344423
+v 0.01517870 0.03274340 0.02563319
+v 0.01589764 0.03274340 0.02563319
+v 0.01676701 0.03272502 0.02344424
+v 0.01649009 0.03274077 0.02563319
+v 0.02195134 0.03008164 0.02344423
+v 0.02172767 0.03028639 0.02563318
+v 0.02208714 0.02994776 0.02563318
+v 0.02143344 0.03056726 0.02372280
+v 0.02143211 0.03056464 0.02563318
+v 0.01780015 0.03266202 0.02372281
+v 0.01780015 0.03266202 0.02344424
+v 0.01780015 0.03265940 0.02563319
+v 0.02143344 0.03056726 0.02344423
+v 0.02086495 0.03108439 0.02344423
+v 0.02071184 0.03122352 0.02372280
+v 0.02071051 0.03122352 0.02503853
+v 0.02110592 0.03086127 0.02563318
+v 0.01807841 0.03258327 0.02344424
+v 0.01911021 0.03228402 0.02563319
+v 0.02071184 0.03122352 0.02344423
+v 0.02057338 0.03133902 0.02344424
+v 0.02005548 0.03176689 0.02503854
+v 0.02035104 0.03152014 0.02563319
+v 0.02070918 0.03122089 0.02563318
+v 0.01911021 0.03228665 0.02372281
+v 0.01911021 0.03228665 0.02344424
+v 0.02005415 0.03176427 0.02563319
+v 0.02005681 0.03176689 0.02344424
+v 0.02005681 0.03176689 0.02372281
+v 0.01931125 0.03217640 0.02344424
+f 1 2 6
+f 1 6 14
+f 1 14 9
+f 1 9 3
+f 1 3 10
+f 1 10 4
+f 1 4 13
+f 1 13 18
+f 1 18 23
+f 1 23 29
+f 1 29 35
+f 1 35 42
+f 1 42 50
+f 1 50 57
+f 1 57 65
+f 1 65 69
+f 1 69 67
+f 1 67 60
+f 1 60 59
+f 1 59 53
+f 1 53 52
+f 1 52 44
+f 1 44 39
+f 1 39 32
+f 1 32 26
+f 1 26 20
+f 1 20 16
+f 1 16 7
+f 1 7 2
+f 2 5 6
+f 2 7 8
+f 2 8 5
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+f 7 21 19
+f 7 19 15
+f 7 15 8
+f 11 17 12
+f 12 17 18
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+f 16 20 21
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+f 19 21 24
+f 19 24 25
+f 20 26 21
+f 21 26 24
+f 22 27 28
+f 22 28 29
+f 22 29 23
+f 24 26 30
+f 24 30 31
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+f 27 29 28
+f 29 33 34
+f 29 34 35
+f 30 32 39
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+f 30 37 31
+f 31 37 38
+f 33 40 34
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+f 34 41 35
+f 35 41 43
+f 35 43 42
+f 36 39 44
+f 36 44 37
+f 37 45 46
+f 37 46 38
+f 37 44 47
+f 37 47 48
+f 37 48 45
+f 42 49 50
+f 42 43 49
+f 43 51 49
+f 44 52 47
+f 47 52 53
+f 47 53 54
+f 47 54 55
+f 47 55 48
+f 48 55 56
+f 49 51 57
+f 49 57 50
+f 51 58 57
+f 53 59 54
+f 54 60 55
+f 54 59 60
+f 55 60 61
+f 55 61 62
+f 55 62 63
+f 55 63 56
+f 57 58 64
+f 57 64 65
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+f 60 67 68
+f 60 68 61
+f 61 66 62
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+f 64 68 69
+f 64 69 65
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_21.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53c22d1e77635dff83d603c250303416d507cbe9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_21.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.03311598 0.01250311 0.01977497
+v -0.03311479 0.01381679 0.02109108
+v -0.03311361 0.01385715 0.01849805
+v -0.03311479 0.01254347 0.01849805
+v -0.03311479 0.01250311 0.01849805
+v -0.03311243 0.01122978 0.01849804
+v -0.03311479 0.01250309 0.02517005
+v -0.03311479 0.01394905 0.02517005
+v -0.03311124 0.01513048 0.02109109
+v -0.03311006 0.01517084 0.01849806
+v -0.03311006 0.01118942 0.01849804
+v -0.03310296 0.01118940 0.02517004
+v -0.03311124 0.01513047 0.02517006
+v -0.03311006 0.01526274 0.02517006
+v -0.03309823 0.01644418 0.01849806
+v -0.03290651 0.00994075 0.01849804
+v -0.03284971 0.00989589 0.02517004
+v -0.03309823 0.01644416 0.02517006
+v -0.03309586 0.01648229 0.01849806
+v -0.03289468 0.00989143 0.01849804
+v -0.03284379 0.00987796 0.02517004
+v -0.03299290 0.01775785 0.02517007
+v -0.03299409 0.01775786 0.02240656
+v -0.03299409 0.01775787 0.01849807
+v -0.03231835 0.00928166 0.01849803
+v -0.03202249 0.00928388 0.02517003
+v -0.03297278 0.01784976 0.02517007
+v -0.03278817 0.01868819 0.02372202
+v -0.03298817 0.01778477 0.01849807
+v -0.03202249 0.00913819 0.01849803
+v -0.03154675 0.00905076 0.01849803
+v -0.03071126 0.00889832 0.01849803
+v -0.03071126 0.00906643 0.02517003
+v -0.03278699 0.01868819 0.02517007
+v -0.03249705 0.01934279 0.02503813
+v -0.03250533 0.01932488 0.01849807
+v -0.03278817 0.01868821 0.01849807
+v -0.02102610 0.00782674 0.01849803
+v -0.02102610 0.00821231 0.02517003
+v -0.03249586 0.01934279 0.02517007
+v -0.03243077 0.01943919 0.02517007
+v -0.03184143 0.02030004 0.02517007
+v -0.03184143 0.02030229 0.02240656
+v -0.03249705 0.01934281 0.01849807
+v -0.02102610 0.03072662 0.01849811
+v -0.02102610 0.03071763 0.02517011
+v -0.03128758 0.02095688 0.02517008
+v -0.03184143 0.02030230 0.01849807
+v -0.03128758 0.02095913 0.02109111
+v -0.02121663 0.03055176 0.01849811
+v -0.02121663 0.03055176 0.01977503
+v -0.02121544 0.03055175 0.02109114
+v -0.02102610 0.03072436 0.02109114
+v -0.02121426 0.03054950 0.02372206
+v -0.02121308 0.03054725 0.02517011
+v -0.03063197 0.02158458 0.02517008
+v -0.03128758 0.02095914 0.01977500
+v -0.03130415 0.02093897 0.01849808
+v -0.02187225 0.02993302 0.01849811
+v -0.02187225 0.02993302 0.01977503
+v -0.02186869 0.02993076 0.02517011
+v -0.03063197 0.02158460 0.01849808
+v -0.02256218 0.02927392 0.02517011
+v -0.02256337 0.02927618 0.01977503
+v -0.03126747 0.02097708 0.01849808
+v -0.03128758 0.02095690 0.01849808
+v -0.02189355 0.02991285 0.01849811
+v -0.02256337 0.02927618 0.01849811
+f 1 2 3
+f 1 3 4
+f 1 4 5
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+f 1 7 8
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+f 2 8 9
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+f 3 20 16
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+f 32 38 33
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+f 38 46 39
+f 42 47 43
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+f 43 49 57
+f 43 57 48
+f 45 50 51
+f 45 51 52
+f 45 52 53
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+f 46 54 55
+f 47 56 49
+f 48 57 58
+f 49 56 62
+f 49 62 57
+f 50 59 60
+f 50 60 51
+f 51 60 52
+f 52 54 53
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+f 52 61 54
+f 54 61 55
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+f 56 64 68
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+f 57 65 66
+f 57 66 58
+f 59 67 60
+f 60 67 64
+f 60 64 63
+f 60 63 61
+f 64 67 68
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_22.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44c62428683fefb4b9c3bdadcbe1f375f4faac66
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_22.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.00747342 -0.00595969 -0.01578901
+v -0.00243862 -0.00982200 -0.01578903
+v -0.00243862 -0.00977509 -0.02759554
+v -0.00746997 -0.00642604 -0.02759552
+v -0.00747342 -0.00642369 -0.02738285
+v -0.00747342 -0.02870231 -0.01578910
+v -0.00243862 -0.02988116 -0.01578910
+v -0.00243862 -0.02989753 -0.02759561
+v -0.00747342 -0.02796872 -0.02759560
+v -0.00747342 -0.02870930 -0.02759561
+v -0.00582045 -0.02949680 -0.01578910
+v -0.00320744 -0.02988116 -0.01578910
+v -0.00317836 -0.02989753 -0.02759561
+v -0.00580025 -0.02948505 -0.02759561
+v -0.00580025 -0.02950380 -0.02497078
+v -0.00580025 -0.02950616 -0.02233787
+v -0.00580025 -0.02950618 -0.01578910
+v -0.00448931 -0.02987881 -0.01578910
+v -0.00448931 -0.02988114 -0.02102372
+v -0.00448931 -0.02988113 -0.02497078
+v -0.00448931 -0.02986003 -0.02759561
+v -0.00579285 -0.02948739 -0.02759561
+v -0.00451888 -0.02987178 -0.01578910
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 10
+f 1 10 6
+f 1 6 11
+f 1 11 17
+f 1 17 23
+f 1 23 18
+f 1 18 12
+f 1 12 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 13
+f 3 13 21
+f 3 21 22
+f 3 22 14
+f 3 14 10
+f 3 10 9
+f 3 9 4
+f 4 9 5
+f 6 10 11
+f 7 12 13
+f 7 13 8
+f 10 14 15
+f 10 15 16
+f 10 16 11
+f 11 16 17
+f 12 18 13
+f 13 18 19
+f 13 19 20
+f 13 20 21
+f 14 22 15
+f 15 20 16
+f 15 22 20
+f 16 20 19
+f 16 19 17
+f 17 19 23
+f 18 23 19
+f 20 22 21
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_23.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..062418a8dfd5c636bcc59cf26fc511a6ca97fad5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_23.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v -0.03312099 -0.00720090 -0.02365394
+v -0.03311597 -0.00900624 -0.02809254
+v -0.03311597 -0.00982979 -0.02628652
+v -0.03311346 -0.01245549 -0.02102316
+v -0.03311346 -0.01245550 -0.01906243
+v -0.03311597 -0.01049835 -0.01906242
+v -0.03311848 -0.00851537 -0.01906241
+v -0.03312099 -0.00588968 -0.02233941
+v -0.03312099 -0.00243721 -0.02809252
+v -0.03311848 -0.00588966 -0.02809253
+v -0.03311094 -0.01245547 -0.02809256
+v -0.03311346 -0.01114101 -0.02760192
+v -0.03311094 -0.01312726 -0.01906243
+v -0.03310844 -0.01376992 -0.02809256
+v -0.03312099 -0.00261810 -0.01906239
+v -0.03312099 0.00029182 -0.02809251
+v -0.03310592 -0.01443848 -0.01906243
+v -0.03310341 -0.01508114 -0.02809257
+v -0.03312099 0.00029179 -0.01906238
+v -0.00961260 0.00029182 -0.02809251
+v -0.03310341 -0.01508117 -0.01906244
+v -0.03309839 -0.01557204 -0.02809257
+v -0.03309839 -0.01575293 -0.01906244
+v -0.00918577 0.00029179 -0.01906238
+v -0.00747593 -0.00642255 -0.02809253
+v -0.03308835 -0.01639236 -0.02809257
+v -0.03309086 -0.01639237 -0.02365397
+v -0.03309086 -0.01639239 -0.01906244
+v -0.00747593 -0.00629662 -0.01906240
+v -0.00747593 -0.02875855 -0.02809262
+v -0.03305069 -0.01688327 -0.02809257
+v -0.03298792 -0.01770683 -0.02365398
+v -0.03298792 -0.01770685 -0.01906245
+v -0.00747593 -0.02870368 -0.01906249
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_24.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c3b3738462a550ca3d779190c9793fad04e1a10
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_24.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00706551 0.00029485 -0.00808152
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_25.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03053f78e38ba75c0d0f096c7f17b00daecc181d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_25.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_26.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71b9249737afae320759f04f8ce32772f29cfc7f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_26.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.00782690 0.00594089 0.03030386
+v -0.00971797 0.00029161 0.03030384
+v -0.00783496 0.00594089 0.02953780
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+v -0.01759919 0.00594085 0.04088404
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_27.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56f1236843734191bbd8acdd824ca339daa983c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_27.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
+v -0.03312225 -0.00326225 0.02503833
+v -0.03312008 -0.00326225 0.02537755
+v -0.03311360 -0.00292160 0.02537755
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+v -0.03311792 -0.00457438 0.02167947
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+v -0.03311792 -0.00982927 0.02240676
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+v -0.03309846 -0.00326224 0.02167948
+v -0.03296653 -0.00189648 0.02537755
+v -0.03311143 -0.00398770 0.02167948
+v -0.03311576 -0.01186687 0.02167945
+v -0.03311576 -0.01245672 0.02372234
+v -0.03311360 -0.01376886 0.02537751
+v -0.03290597 -0.00154006 0.02537755
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+v -0.03310927 -0.01508416 0.02537750
+v -0.03287785 -0.00231283 0.02167948
+v -0.03278702 -0.00115209 0.02537756
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+v -0.01368313 -0.00230967 0.02167948
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+v -0.01464124 -0.03268771 0.02537744
+v -0.01366799 -0.03250476 0.02537744
+v -0.01497863 -0.03269085 0.02167937
+v -0.01497863 -0.03269400 0.02240668
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_28.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..552256b7e39675e50251eaf9f4505a9e61a7539b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_28.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.00243862 -0.03268683 0.00135034
+v -0.00747342 -0.02986033 0.00135035
+v -0.00747342 -0.02987996 0.00098727
+v -0.00747342 -0.02988977 0.00003738
+v -0.00747342 -0.02988977 -0.00032937
+v -0.00747342 -0.02988732 -0.00127926
+v -0.00243862 -0.03267947 0.00120364
+v -0.00243862 -0.02988004 0.02167938
+v -0.00448931 -0.02988004 0.02167938
+v -0.00580025 -0.02950464 0.02167938
+v -0.00747342 -0.02868270 0.02167938
+v -0.00243862 -0.03260831 0.00003737
+v -0.00747342 -0.02870219 -0.01578794
+v -0.00243862 -0.01150536 0.02167945
+v -0.00747342 -0.00936586 0.02167946
+v -0.00580025 -0.02950696 -0.01578794
+v -0.00448931 -0.02987990 -0.01578794
+v -0.00243862 -0.02987990 -0.01578794
+v -0.00747342 -0.00762369 -0.01578786
+v -0.00243862 -0.00762380 0.01302046
+v -0.00747342 -0.00762381 0.01703272
+v -0.00243862 -0.00982208 -0.01578787
+v -0.00619501 -0.00762369 -0.01578786
+v -0.00243862 -0.00762372 -0.00680612
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 12
+f 1 12 18
+f 1 18 22
+f 1 22 24
+f 1 24 20
+f 1 20 14
+f 1 14 8
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_29.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccebe219cd2c45e43248d08c52a2a0fbbd689fdd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_29.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.00743068 0.00029488 -0.00384000
+v 0.00743068 0.00447339 -0.01487695
+v 0.00743068 0.00029483 0.01143555
+v 0.00384808 0.00029486 0.00294878
+v 0.00304589 0.00775874 -0.01487694
+v 0.00743068 0.02940537 -0.01487686
+v 0.00743068 0.00813733 0.01785272
+v 0.00304589 0.01032440 0.01785273
+v 0.00384808 0.00029485 0.00621341
+v 0.00336436 0.00029486 0.00399000
+v 0.00304589 0.02992295 -0.01487686
+v 0.00304589 0.00177816 0.00398040
+v 0.00731093 0.02947796 -0.01487686
+v 0.00304589 0.03252971 0.00135022
+v 0.00337767 0.03232457 0.00135022
+v 0.00425626 0.03171547 0.00135022
+v 0.00743068 0.02940848 -0.00128008
+v 0.00743068 0.02939263 0.01785280
+v 0.00304589 0.02992598 0.01785280
+v 0.00304589 0.00181917 0.00541248
+v 0.00337724 0.00029485 0.00528432
+v 0.00367382 0.00029485 0.00591866
+v 0.00337166 0.00029485 0.00493511
+v 0.00468890 0.02992610 -0.01487686
+v 0.00304589 0.03244134 0.00003667
+v 0.00643277 0.02976831 -0.01487686
+v 0.00304589 0.03248552 0.00059733
+v 0.00468890 0.02992914 0.01785280
+v 0.00529194 0.02992283 0.01785280
+v 0.00599970 0.02991336 0.01785280
+v 0.00660317 0.02971138 0.01785280
+v 0.00731093 0.02946837 0.01785280
+v 0.00736587 0.02943365 0.01785280
+v 0.00743068 0.02939895 0.01694293
+v 0.00743068 0.02940526 0.01582481
+v 0.00743068 0.02940846 0.00661399
+v 0.00599970 0.02991032 -0.01487686
+f 1 2 6
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+f 1 7 3
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_3.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebb76e12961b7fa3c7e25be8db18ec29e4f8b96f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_3.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.00032752 0.02694988 0.04088965
+v 0.00206715 0.02300991 0.04088820
+v 0.00337803 0.02432153 0.04088821
+v 0.00468816 0.02694988 0.04088822
+v 0.00337803 0.02816946 0.04053108
+v -0.00032752 0.02816690 0.04053108
+v -0.00032752 0.01381579 0.04088533
+v 0.00206715 0.01381579 0.04088533
+v 0.00742992 0.02694988 0.04088680
+v 0.00599980 0.01381579 0.04088391
+v 0.00742992 0.02816690 0.04052966
+v 0.00468816 0.02882399 0.04007434
+v 0.00337803 0.02882399 0.04007434
+v 0.00075551 0.02882399 0.04007292
+v -0.00032752 0.02882399 0.04007150
+v -0.00032752 0.01250416 0.04088391
+v 0.00337803 0.01250416 0.04088391
+v 0.00742992 0.01250416 0.04088248
+v 0.00742992 0.02882143 0.04007150
+v 0.00599980 0.02882399 0.04007292
+v 0.00742992 0.03178985 0.03649154
+v 0.00731068 0.03178985 0.03649154
+v -0.00032752 0.03178985 0.03648869
+v -0.00032752 0.01141754 0.04072880
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_30.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04708df14b35a21dd84508837dd2a2a61023332a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_30.obj
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_31.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21b0b805b89026d09075c2c663e0fa4b76284977
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_31.obj
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_32.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b114fe3018409b409977f1c3fc5822a9b44b09c6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_32.obj
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_33.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aabcbc55343bb72e1f4f62fd12bcafd8e39b5a00
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_33.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_34.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad5bb47cbd11edcd202f7ff7de74848f2efd90ac
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_34.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_35.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dfc4f9198ca89647cb99f9e5dbbc62febd3bf44
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_35.obj
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_36.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b10b62b181a47ea0c65a1800a67bdad3f4d0a82
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_36.obj
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_37.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7e0656bd8052c500130626cbc789ba2dc3f9e48
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_37.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.02587028 0.00724304 0.01736347
+v 0.02481174 0.00724303 0.01977108
+v 0.02535106 0.00593455 0.01977107
+v 0.02581543 0.00462061 0.01977107
+v 0.02603847 0.00330804 0.01977106
+v 0.02678439 0.00029166 0.01736344
+v 0.00810912 0.00724304 0.01736347
+v 0.00951502 0.00724303 0.01977108
+v 0.02606590 0.00199479 0.01977106
+v 0.02609515 0.00029165 0.01977105
+v 0.01244748 0.00029166 0.01736344
+v 0.01305994 0.00246770 0.01977106
+v 0.01986457 0.00029165 0.01977105
+v 0.01255535 0.00029166 0.01744828
+v 0.01386801 0.00212067 0.01977106
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 7
+f 1 7 8
+f 1 8 2
+f 2 8 12
+f 2 12 15
+f 2 15 13
+f 2 13 10
+f 2 10 9
+f 2 9 5
+f 2 5 4
+f 2 4 3
+f 5 9 6
+f 6 9 10
+f 6 10 13
+f 6 13 14
+f 6 14 11
+f 7 11 8
+f 8 11 12
+f 11 14 12
+f 12 14 15
+f 13 15 14
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_38.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88081c5fed3711ea382db8cebaa6e63e9fd9927d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_38.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00243862 -0.00762004 -0.00680753
+v 0.00211840 -0.00796650 -0.00680753
+v 0.00211840 -0.00979251 -0.01264219
+v -0.00243862 -0.00956153 -0.01264219
+v -0.00243862 -0.02988098 -0.00680761
+v 0.00211840 -0.02987880 -0.00680761
+v 0.00211840 -0.02987878 -0.01264226
+v -0.00243862 -0.02987878 -0.01264226
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 8 7
+f 5 7 6
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_39.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba5994c09e46a8e276e0bef417c3b406d1614920
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_39.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.00960922 -0.02830190 0.02167925
+v 0.01397856 -0.03208712 0.02167923
+v 0.01262112 -0.03204037 0.02604052
+v 0.00960922 -0.02825826 0.02502995
+v 0.00960922 -0.00752061 0.02167932
+v 0.01517706 -0.03268577 0.02167923
+v 0.01386617 -0.03259848 0.02604052
+v 0.00960922 -0.02813978 0.02604054
+v 0.00960922 -0.02816784 0.02581170
+v 0.00960922 -0.00697811 0.02604061
+v 0.01277846 -0.00198935 0.02604063
+v 0.01321354 -0.00264099 0.02167934
+v 0.01648874 -0.03269824 0.02167923
+v 0.01517706 -0.03269825 0.02372261
+v 0.01517706 -0.03270137 0.02503847
+v 0.01517706 -0.03269826 0.02604052
+v 0.01342306 -0.00129716 0.02604064
+v 0.01323361 -0.00261604 0.02170410
+v 0.01325850 -0.00260357 0.02167934
+v 0.01648874 -0.03269825 0.02372261
+v 0.01779962 -0.03262341 0.02167923
+v 0.01617647 -0.03269826 0.02604052
+v 0.01391835 -0.00095107 0.02604064
+v 0.01381640 -0.00236973 0.02167934
+v 0.01648874 -0.03269514 0.02604052
+v 0.01779962 -0.03262343 0.02604052
+v 0.01780925 -0.03262029 0.02167923
+v 0.01517706 -0.00086688 0.02604064
+v 0.01517706 -0.00213899 0.02167934
+v 0.01461353 -0.00222942 0.02167934
+v 0.01780925 -0.03262031 0.02604052
+v 0.01780925 -0.00212029 0.02167934
+v 0.01780925 -0.00085129 0.02604064
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 10
+f 1 10 5
+f 1 5 12
+f 1 12 19
+f 1 19 24
+f 1 24 30
+f 1 30 29
+f 1 29 32
+f 1 32 27
+f 1 27 21
+f 1 21 13
+f 1 13 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 16
+f 3 16 22
+f 3 22 25
+f 3 25 26
+f 3 26 31
+f 3 31 33
+f 3 33 28
+f 3 28 23
+f 3 23 17
+f 3 17 11
+f 3 11 10
+f 3 10 8
+f 3 8 9
+f 3 9 4
+f 5 10 11
+f 5 11 12
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 13 20 15
+f 13 15 14
+f 13 21 26
+f 13 26 20
+f 15 20 22
+f 15 22 16
+f 17 23 19
+f 17 19 18
+f 19 23 24
+f 20 25 22
+f 20 26 25
+f 21 27 31
+f 21 31 26
+f 23 28 29
+f 23 29 30
+f 23 30 24
+f 27 32 33
+f 27 33 31
+f 28 33 32
+f 28 32 29
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_4.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f42c95908fd3bf7a9f300c430f04c7aaa0f403b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_4.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.00560438 -0.00843100 -0.02760820
+v 0.00560438 -0.00841431 -0.02891989
+v -0.00243862 -0.00977512 -0.02760821
+v 0.00560438 -0.02986775 -0.02760828
+v 0.00560438 -0.00840001 -0.03023509
+v -0.00243862 -0.00976081 -0.02891990
+v -0.00243862 -0.02989873 -0.02760828
+v 0.00470450 -0.02989873 -0.02760828
+v 0.00560438 -0.03191251 -0.02931955
+v 0.00560438 -0.00837140 -0.03286780
+v -0.00243862 -0.00975366 -0.02966196
+v -0.00243862 -0.03191489 -0.02931955
+v 0.00075543 -0.03191489 -0.02932072
+v 0.00560438 -0.03251545 -0.03023518
+v 0.00560438 -0.00836424 -0.03418183
+v -0.00243862 -0.00972028 -0.03360870
+v -0.00243862 -0.00972982 -0.03229350
+v -0.00243862 -0.00974174 -0.03097715
+v -0.00243862 -0.03251784 -0.03023518
+v 0.00560438 -0.03270134 -0.03155153
+v 0.00560438 -0.00835709 -0.03549818
+v -0.00243862 -0.00971312 -0.03492506
+v -0.00243862 -0.03269895 -0.03155153
+v -0.00186626 -0.03270134 -0.03155153
+v 0.00560438 -0.03270133 -0.03418192
+v 0.00560438 -0.00835946 -0.03681454
+v -0.00243862 -0.00971073 -0.03681455
+v -0.00243862 -0.00971074 -0.03549819
+v -0.00243862 -0.03270134 -0.03344103
+v -0.00243862 -0.03265366 -0.03475622
+v 0.00560438 -0.03266796 -0.03457916
+v -0.00243862 -0.03270133 -0.03418192
+v 0.00560438 -0.00846909 -0.03769405
+v -0.00243862 -0.00986564 -0.03813091
+v -0.00243862 -0.00979414 -0.03755660
+v -0.00243862 -0.03258932 -0.03549827
+v 0.00337713 -0.03258932 -0.03549827
+v 0.00560438 -0.03258693 -0.03549827
+v 0.00560438 -0.00853582 -0.03817167
+v -0.00243862 -0.01003961 -0.03859455
+v -0.00243862 -0.03233193 -0.03607258
+v 0.00206628 -0.03199827 -0.03681463
+v 0.00560438 -0.03199589 -0.03681463
+v 0.00560438 -0.00894096 -0.03894750
+v -0.00243862 -0.01025171 -0.03899528
+v -0.00243862 -0.03199827 -0.03681463
+v 0.00075543 -0.03151211 -0.03748446
+v 0.00560438 -0.03150734 -0.03748213
+v 0.00560438 -0.00981559 -0.03929349
+v -0.00243862 -0.01071405 -0.03919681
+v -0.00243862 -0.03178617 -0.03710586
+v 0.00206628 -0.03084243 -0.03796323
+v 0.00560438 -0.03084243 -0.03796207
+v -0.00243862 -0.03150972 -0.03748330
+v -0.00243862 -0.03084243 -0.03796207
+v -0.00055541 -0.03084243 -0.03796323
+v 0.00560438 -0.01114063 -0.03949736
+v 0.00468876 -0.01114063 -0.03948222
+v -0.00243862 -0.01114064 -0.03935291
+v 0.00560438 -0.02982958 -0.03860976
+v -0.00243862 -0.02982958 -0.03860859
+v 0.00075543 -0.02982958 -0.03860976
+v 0.00560438 -0.01245615 -0.03950436
+v -0.00186626 -0.01245615 -0.03950552
+v -0.00243862 -0.01245615 -0.03950552
+v -0.00243862 -0.01188181 -0.03946241
+v 0.00560438 -0.02963177 -0.03870645
+v -0.00243862 -0.02954359 -0.03874839
+v 0.00468876 -0.02917420 -0.03892895
+v 0.00560438 -0.01376928 -0.03950669
+v -0.00243862 -0.01319494 -0.03950669
+v 0.00560438 -0.02917420 -0.03892895
+v -0.00243862 -0.02917182 -0.03892895
+v -0.00243862 -0.02821378 -0.03926094
+v -0.00243862 -0.01508242 -0.03950786
+v 0.00560438 -0.02387875 -0.03950673
+v 0.00337713 -0.02821378 -0.03926094
+v 0.00560438 -0.02888345 -0.03902913
+v -0.00243862 -0.02690063 -0.03947761
+v 0.00468876 -0.02427436 -0.03950673
+v 0.00075543 -0.02427436 -0.03950673
+v -0.00243862 -0.02296123 -0.03950672
+v 0.00560438 -0.02519189 -0.03950556
+v 0.00560438 -0.02690063 -0.03947761
+v 0.00560438 -0.02781817 -0.03932618
+v 0.00560438 -0.02821378 -0.03925978
+v -0.00243862 -0.02558750 -0.03950323
+v 0.00206628 -0.02558750 -0.03950440
+v 0.00560438 -0.02650502 -0.03948577
+v -0.00243862 -0.02501553 -0.03950440
+v -0.00243862 -0.02427436 -0.03950556
+v 0.00560438 -0.02558750 -0.03950440
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 20
+f 1 20 25
+f 1 25 31
+f 1 31 38
+f 1 38 43
+f 1 43 48
+f 1 48 53
+f 1 53 60
+f 1 60 67
+f 1 67 72
+f 1 72 78
+f 1 78 86
+f 1 86 85
+f 1 85 84
+f 1 84 89
+f 1 89 92
+f 1 92 83
+f 1 83 76
+f 1 76 70
+f 1 70 63
+f 1 63 57
+f 1 57 49
+f 1 49 44
+f 1 44 39
+f 1 39 33
+f 1 33 26
+f 1 26 21
+f 1 21 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 11
+f 3 11 18
+f 3 18 17
+f 3 17 16
+f 3 16 22
+f 3 22 28
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+f 3 27 35
+f 3 35 34
+f 3 34 40
+f 3 40 45
+f 3 45 50
+f 3 50 59
+f 3 59 66
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+f 3 75 82
+f 3 82 91
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+f 3 90 87
+f 3 87 79
+f 3 79 74
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+f 3 73 68
+f 3 68 61
+f 3 61 55
+f 3 55 54
+f 3 54 51
+f 3 51 46
+f 3 46 41
+f 3 41 36
+f 3 36 30
+f 3 30 32
+f 3 32 29
+f 3 29 23
+f 3 23 19
+f 3 19 12
+f 3 12 7
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 7 12 8
+f 8 12 9
+f 9 12 13
+f 9 13 14
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 12 19 13
+f 13 19 14
+f 14 19 20
+f 15 21 22
+f 15 22 16
+f 19 23 24
+f 19 24 20
+f 20 24 29
+f 20 29 32
+f 20 32 25
+f 21 26 27
+f 21 27 28
+f 21 28 22
+f 23 29 24
+f 25 30 31
+f 25 32 30
+f 26 33 34
+f 26 34 35
+f 26 35 27
+f 30 36 37
+f 30 37 31
+f 31 37 38
+f 33 39 34
+f 34 39 40
+f 36 41 37
+f 37 41 42
+f 37 42 43
+f 37 43 38
+f 39 44 40
+f 40 44 45
+f 41 46 42
+f 42 46 47
+f 42 47 43
+f 43 47 48
+f 44 49 50
+f 44 50 45
+f 46 51 47
+f 47 52 53
+f 47 53 48
+f 47 51 54
+f 47 54 55
+f 47 55 56
+f 47 56 52
+f 49 57 58
+f 49 58 59
+f 49 59 50
+f 52 60 53
+f 52 56 62
+f 52 62 60
+f 55 61 56
+f 56 61 62
+f 57 63 64
+f 57 64 65
+f 57 65 66
+f 57 66 58
+f 58 66 59
+f 60 62 67
+f 61 68 62
+f 62 68 69
+f 62 69 67
+f 63 70 64
+f 64 70 71
+f 64 71 65
+f 67 69 72
+f 68 73 69
+f 69 73 74
+f 69 74 77
+f 69 77 72
+f 70 75 71
+f 70 76 75
+f 72 77 78
+f 74 79 84
+f 74 84 77
+f 75 76 80
+f 75 80 81
+f 75 81 82
+f 76 83 80
+f 77 84 85
+f 77 85 86
+f 77 86 78
+f 79 87 88
+f 79 88 89
+f 79 89 84
+f 80 83 81
+f 81 83 88
+f 81 88 90
+f 81 90 91
+f 81 91 82
+f 83 92 88
+f 87 90 88
+f 88 92 89
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_40.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb168eac7177596c86681df5431308466daca010
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_40.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.00743068 0.02917589 0.02563237
+v 0.01207796 0.02866117 0.02563237
+v 0.00743068 0.02925861 0.02510948
+v 0.00743068 0.00922627 0.02563229
+v 0.01207796 0.02818093 0.02344369
+v 0.01124412 0.02789603 0.01736414
+v 0.00743068 0.02939421 0.01736415
+v 0.00743068 0.02940338 0.02109071
+v 0.00743068 0.02939418 0.02344370
+v 0.00743068 0.02939188 0.02372214
+v 0.00743068 0.02926780 0.02503421
+v 0.00743068 0.02926320 0.02507873
+v 0.01207796 0.00592891 0.02563228
+v 0.00743068 0.00783612 0.01736407
+v 0.01076011 0.00592891 0.02563228
+v 0.01207796 0.00593121 0.02344361
+v 0.01124412 0.00724558 0.01736407
+v 0.01207796 0.00592891 0.02344846
+v 0.00810757 0.00724558 0.01736407
+v 0.01117953 0.00592891 0.02344361
+f 1 2 3
+f 1 3 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 8
+f 1 8 7
+f 1 7 14
+f 1 14 4
+f 1 4 15
+f 1 15 13
+f 1 13 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 3
+f 2 13 18
+f 2 18 16
+f 2 16 5
+f 4 14 15
+f 5 16 17
+f 5 17 6
+f 6 17 19
+f 6 19 14
+f 6 14 7
+f 13 15 20
+f 13 20 18
+f 14 19 15
+f 15 19 20
+f 16 18 17
+f 17 18 20
+f 17 20 19
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_41.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36b9b9212a22ae7a88604de0315cc678b07be767
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_41.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.02560806 0.00592890 0.02625734
+v 0.02698467 0.00029272 0.02625732
+v 0.02575941 0.00462112 0.02344414
+v 0.02563704 0.00495883 0.02344414
+v 0.02528444 0.00592891 0.02344414
+v 0.01053622 0.00592890 0.02625734
+v 0.02600736 0.00199451 0.02344413
+v 0.02598965 0.00330726 0.02344413
+v 0.02594296 0.00358537 0.02344413
+v 0.02696857 0.00029162 0.02625732
+v 0.02599126 0.00029163 0.02344412
+v 0.01118025 0.00592891 0.02344414
+v 0.01281768 0.00205244 0.02625733
+v 0.01844326 0.00029162 0.02625732
+v 0.01993741 0.00029163 0.02344412
+v 0.01286277 0.00341376 0.02344413
+v 0.01385135 0.00114471 0.02625732
+v 0.01329427 0.00289672 0.02344413
+v 0.01344400 0.00275766 0.02344413
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 6
+f 1 6 13
+f 1 13 17
+f 1 17 14
+f 1 14 10
+f 1 10 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 10 11
+f 2 11 7
+f 3 9 8
+f 3 8 7
+f 3 7 11
+f 3 11 15
+f 3 15 19
+f 3 19 18
+f 3 18 16
+f 3 16 12
+f 3 12 5
+f 3 5 4
+f 6 12 13
+f 10 14 15
+f 10 15 11
+f 12 16 13
+f 13 16 18
+f 13 18 19
+f 13 19 17
+f 14 17 15
+f 15 17 19
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_42.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d683b8d30e5cd4bab6361d60d36fe209a6d807aa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_42.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.00743088 0.02939526 -0.02497168
+v 0.00944950 0.02842114 -0.02497169
+v 0.00944950 0.03201451 -0.02923570
+v 0.00743088 0.03255896 -0.03023590
+v 0.00743088 0.00630484 -0.02497177
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_43.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d160b3d06bfd282c51069b33d199f95ef52eac8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_43.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.02488610 0.00724302 0.02109060
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_44.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bff7821df5ec8706888993c03d4f98e7a36547bd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_44.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.01053805 0.00592890 0.02625734
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_45.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19513f6a78645f85a201806117b2b0b4d757593b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_45.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.01085252 -0.00614962 0.02167774
+v -0.01085252 0.00029166 0.01561240
+v -0.01085252 -0.02663060 0.02167766
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+f 26 28 37
+f 27 37 28
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_46.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdf6bda8937ff82cbaac551116a02d9d766c899c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_46.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.00944950 0.02842096 -0.02497169
+v 0.01234018 0.02830660 -0.02497169
+v 0.01234018 0.03202963 -0.02772050
+v 0.00944950 0.03201694 -0.02923577
+v 0.00944950 0.00268064 -0.02497178
+v 0.01234018 0.00029498 -0.02497179
+v 0.01234018 0.03253791 -0.02890995
+v 0.00944950 0.03261415 -0.03023599
+v 0.00944950 0.00287129 -0.03681365
+v 0.00982898 0.00029503 -0.03681366
+v 0.00982700 0.00029502 -0.03549759
+v 0.00982785 0.00029498 -0.02497179
+v 0.01234018 0.00029504 -0.03948424
+v 0.01234018 0.03273486 -0.03023599
+v 0.01124418 0.03271580 -0.03023599
+v 0.00944950 0.03274122 -0.03155207
+v 0.00944950 0.00342402 -0.03814823
+v 0.00987284 0.00029503 -0.03720351
+v 0.01234018 0.00089860 -0.03949135
+v 0.01163272 0.00029503 -0.03941310
+v 0.00944950 0.00773474 -0.03949701
+v 0.01234018 0.03274122 -0.03155207
+v 0.00993340 0.03274441 -0.03418281
+v 0.00944950 0.03274123 -0.03418281
+v 0.00944950 0.00350979 -0.03825067
+v 0.00998151 0.00029503 -0.03812974
+v 0.01234018 0.00221056 -0.03950130
+v 0.00993340 0.00724871 -0.03950270
+v 0.01124418 0.00029503 -0.03937326
+v 0.00944950 0.00642277 -0.03938747
+v 0.00944950 0.00904669 -0.03950413
+v 0.01234018 0.03274123 -0.03418281
+v 0.01234018 0.03264593 -0.03528262
+v 0.01234018 0.03262687 -0.03549747
+v 0.00944950 0.03262687 -0.03549747
+v 0.00944950 0.00396405 -0.03867324
+v 0.01009131 0.00029503 -0.03839154
+v 0.01234018 0.00352569 -0.03950557
+v 0.01124418 0.00462163 -0.03950271
+v 0.01036042 0.00029503 -0.03901472
+v 0.00944950 0.00505046 -0.03911287
+v 0.01124418 0.00593676 -0.03950556
+v 0.00944950 0.01512996 -0.03950552
+v 0.01234018 0.03203285 -0.03681354
+v 0.00993340 0.03203603 -0.03681354
+v 0.00944950 0.03225520 -0.03632837
+v 0.00944950 0.00476774 -0.03903177
+v 0.01234018 0.01644508 -0.03950694
+v 0.00944950 0.01823989 -0.03950551
+v 0.01234018 0.03162942 -0.03736701
+v 0.00993340 0.03155318 -0.03747941
+v 0.00944950 0.03173107 -0.03723469
+v 0.00944950 0.03203603 -0.03681354
+v 0.00944950 0.02349405 -0.03950407
+v 0.01234018 0.02322404 -0.03950407
+v 0.01234018 0.03155000 -0.03747514
+v 0.00993340 0.03088926 -0.03794752
+v 0.00944950 0.03113386 -0.03777536
+v 0.00944950 0.03155318 -0.03747941
+v 0.00944950 0.02432315 -0.03950264
+v 0.01234018 0.02453917 -0.03950264
+v 0.01234018 0.03088926 -0.03794040
+v 0.00993340 0.02985368 -0.03859773
+v 0.00944950 0.03023487 -0.03835870
+v 0.00944950 0.03088926 -0.03794752
+v 0.00944950 0.02563511 -0.03949980
+v 0.01234018 0.02563511 -0.03949980
+v 0.01234018 0.03001569 -0.03848817
+v 0.00944950 0.02985368 -0.03859773
+v 0.01234018 0.02984415 -0.03859489
+v 0.01234018 0.02929776 -0.03886095
+v 0.00993340 0.02919611 -0.03891643
+v 0.00944950 0.02944071 -0.03879834
+v 0.00944950 0.02612113 -0.03948983
+v 0.00944950 0.02695023 -0.03947133
+v 0.01234018 0.02695023 -0.03946564
+v 0.01234018 0.02918976 -0.03891216
+v 0.00944950 0.02919611 -0.03891643
+v 0.00944950 0.02826218 -0.03924511
+v 0.01234018 0.02716624 -0.03942865
+v 0.01234018 0.02841466 -0.03918251
+v 0.00993340 0.02826218 -0.03924369
+v 0.01234018 0.02826218 -0.03923515
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 24
+f 1 24 35
+f 1 35 46
+f 1 46 53
+f 1 53 52
+f 1 52 59
+f 1 59 58
+f 1 58 65
+f 1 65 64
+f 1 64 69
+f 1 69 73
+f 1 73 78
+f 1 78 79
+f 1 79 75
+f 1 75 74
+f 1 74 66
+f 1 66 60
+f 1 60 54
+f 1 54 49
+f 1 49 43
+f 1 43 31
+f 1 31 21
+f 1 21 30
+f 1 30 41
+f 1 41 47
+f 1 47 36
+f 1 36 25
+f 1 25 17
+f 1 17 9
+f 1 9 5
+f 1 5 12
+f 1 12 6
+f 1 6 2
+f 2 6 13
+f 2 13 19
+f 2 19 27
+f 2 27 38
+f 2 38 48
+f 2 48 55
+f 2 55 61
+f 2 61 67
+f 2 67 76
+f 2 76 80
+f 2 80 83
+f 2 83 81
+f 2 81 77
+f 2 77 71
+f 2 71 70
+f 2 70 68
+f 2 68 62
+f 2 62 56
+f 2 56 50
+f 2 50 44
+f 2 44 34
+f 2 34 33
+f 2 33 32
+f 2 32 22
+f 2 22 14
+f 2 14 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 6 12 11
+f 6 11 10
+f 6 10 18
+f 6 18 26
+f 6 26 37
+f 6 37 40
+f 6 40 29
+f 6 29 20
+f 6 20 13
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 9 17 10
+f 10 17 18
+f 13 20 21
+f 13 21 19
+f 14 22 16
+f 14 16 15
+f 16 22 23
+f 16 23 24
+f 17 25 26
+f 17 26 18
+f 19 21 28
+f 19 28 27
+f 20 29 21
+f 21 31 28
+f 21 29 30
+f 22 32 23
+f 23 32 33
+f 23 33 34
+f 23 34 35
+f 23 35 24
+f 25 36 26
+f 26 36 37
+f 27 28 39
+f 27 39 38
+f 28 31 38
+f 28 38 39
+f 29 40 30
+f 30 40 41
+f 31 42 38
+f 31 43 42
+f 34 44 45
+f 34 45 46
+f 34 46 35
+f 36 47 40
+f 36 40 37
+f 38 42 48
+f 40 47 41
+f 42 43 48
+f 43 49 48
+f 44 50 51
+f 44 51 45
+f 45 51 52
+f 45 52 53
+f 45 53 46
+f 48 49 54
+f 48 54 55
+f 50 56 51
+f 51 56 57
+f 51 57 58
+f 51 58 59
+f 51 59 52
+f 54 60 61
+f 54 61 55
+f 56 62 57
+f 57 62 63
+f 57 63 64
+f 57 64 65
+f 57 65 58
+f 60 66 61
+f 61 66 67
+f 62 68 63
+f 63 69 64
+f 63 68 70
+f 63 70 71
+f 63 71 72
+f 63 72 73
+f 63 73 69
+f 66 74 67
+f 67 74 75
+f 67 75 76
+f 71 77 72
+f 72 78 73
+f 72 77 79
+f 72 79 78
+f 75 79 80
+f 75 80 76
+f 77 81 82
+f 77 82 79
+f 79 82 80
+f 80 82 83
+f 81 83 82
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_47.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..737d1739cda09ca617cb414a10a359a8f3f1a141
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_47.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00706551 0.02719391 -0.00525463
+v -0.00706551 0.02859189 -0.00742444
+v -0.01081009 0.02929953 -0.00797139
+v -0.01081009 0.02648337 -0.00525463
+v -0.00706551 0.00029462 -0.00525473
+v -0.00706551 0.02889516 -0.00858821
+v -0.01081009 0.02977611 -0.00917907
+v -0.01081009 0.00029462 -0.00525473
+v -0.00706551 0.00029463 -0.00808528
+v -0.00706551 0.02891827 -0.00917907
+v -0.01081009 0.02979345 -0.01049454
+v -0.01081009 0.00029469 -0.02564752
+v -0.00958218 0.00029469 -0.02564752
+v -0.00706551 0.00642090 -0.02564750
+v -0.00706551 0.02892117 -0.00982982
+v -0.01081009 0.02979636 -0.01575643
+v -0.01081009 0.02971841 -0.02564741
+v -0.00706551 0.02891544 -0.02564741
+v -0.01081009 0.02979928 -0.02365324
+v -0.00706551 0.02892117 -0.01114729
+v -0.01081009 0.02974729 -0.02526015
+v -0.01081009 0.02979062 -0.02393670
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 14
+f 1 14 18
+f 1 18 20
+f 1 20 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 11
+f 3 11 16
+f 3 16 19
+f 3 19 22
+f 3 22 21
+f 3 21 17
+f 3 17 12
+f 3 12 8
+f 3 8 4
+f 5 8 12
+f 5 12 13
+f 5 13 9
+f 6 10 7
+f 7 10 11
+f 9 13 14
+f 10 15 11
+f 11 15 16
+f 12 17 18
+f 12 18 14
+f 12 14 13
+f 15 19 16
+f 15 20 19
+f 17 21 18
+f 18 21 22
+f 18 22 19
+f 18 19 20
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_48.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fdd19cb602233287f5dd05d633fdb938a31c469
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_48.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.00304589 0.03012069 0.00580637
+v 0.00304589 0.03112492 0.00483737
+v 0.00210855 0.03012069 0.00655903
+v 0.00304589 0.03012072 -0.00399738
+v 0.00304589 0.03170286 0.00398106
+v 0.00273939 0.03155798 0.00465260
+v 0.00075571 0.03012068 0.00696691
+v 0.00206627 0.03165138 0.00479682
+v 0.00075571 0.03127009 0.00564412
+v 0.00206264 0.03012073 -0.00432639
+v 0.00148266 0.03157127 -0.00328302
+v 0.00304589 0.03027114 -0.00385992
+v 0.00304589 0.03170625 0.00397430
+v 0.00131190 0.03284518 0.00327009
+v -0.00032795 0.03012068 0.00696353
+v -0.00032795 0.03126455 0.00564750
+v 0.00075571 0.03177591 0.00498611
+v -0.00032795 0.03177929 0.00498949
+v 0.00201012 0.03012073 -0.00433653
+v 0.00235692 0.03137092 -0.00305317
+v 0.00075571 0.03012073 -0.00454385
+v 0.00075571 0.03161442 -0.00333598
+v 0.00075571 0.03212208 -0.00259796
+v 0.00075571 0.03271266 -0.00162784
+v 0.00197841 0.03182063 -0.00260810
+v 0.00297917 0.03167853 -0.00217544
+v 0.00304589 0.03165696 -0.00213713
+v 0.00304589 0.03219141 0.00276757
+v 0.00211317 0.03267565 0.00276531
+v 0.00170725 0.03296077 0.00239236
+v 0.00082705 0.03304122 0.00276531
+v 0.00043797 0.03290713 0.00339741
+v 0.00082705 0.03250890 0.00389430
+v -0.00032795 0.03012073 -0.00454272
+v -0.00022689 0.03290713 0.00339741
+v -0.00032795 0.03280511 0.00352473
+v -0.00032795 0.03161103 -0.00333147
+v -0.00032795 0.03211284 -0.00259796
+v -0.00032795 0.03270649 -0.00161094
+v 0.00075571 0.03299437 -0.00096983
+v 0.00159099 0.03293180 -0.00079068
+v 0.00204348 0.03252401 -0.00125038
+v 0.00304589 0.03202929 -0.00125151
+v 0.00304589 0.03170597 -0.00203009
+v 0.00304589 0.03253264 0.00134900
+v 0.00259869 0.03281313 0.00134900
+v 0.00194307 0.03303629 0.00134900
+v 0.00075571 0.03326932 0.00134900
+v -0.00032795 0.03303813 0.00275968
+v -0.00032795 0.03294042 0.00323291
+v -0.00032795 0.03289974 0.00338051
+v -0.00032795 0.03293827 -0.00106785
+v -0.00032795 0.03298697 -0.00095293
+v 0.00075571 0.03321168 0.00003410
+v 0.00304589 0.03221793 -0.00073885
+v 0.00185588 0.03301472 0.00003410
+v 0.00251149 0.03276597 0.00003410
+v 0.00304589 0.03248671 0.00059521
+v -0.00032795 0.03325945 0.00134900
+v -0.00032795 0.03308652 0.00245884
+v -0.00032795 0.03324959 0.00112253
+v -0.00032795 0.03319873 0.00003410
+v 0.00304589 0.03244418 0.00003410
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 34
+f 1 34 21
+f 1 21 19
+f 1 19 10
+f 1 10 4
+f 1 4 12
+f 1 12 27
+f 1 27 44
+f 1 44 43
+f 1 43 55
+f 1 55 63
+f 1 63 58
+f 1 58 45
+f 1 45 28
+f 1 28 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 8
+f 3 8 9
+f 3 9 7
+f 4 10 11
+f 4 11 12
+f 5 13 6
+f 6 13 14
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+f 7 9 16
+f 7 16 15
+f 8 17 9
+f 8 14 17
+f 9 17 18
+f 9 18 16
+f 10 19 11
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+f 11 25 20
+f 12 20 26
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+f 15 16 18
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+f 15 36 51
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+f 17 33 32
+f 17 32 18
+f 18 32 35
+f 18 35 36
+f 20 25 26
+f 21 34 22
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+f 23 38 24
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+f 24 38 39
+f 24 39 40
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+f 24 41 25
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+f 26 42 43
+f 26 43 44
+f 26 44 27
+f 28 45 46
+f 28 46 29
+f 29 46 30
+f 30 46 47
+f 30 47 48
+f 30 48 31
+f 31 48 49
+f 31 49 35
+f 31 35 32
+f 35 49 50
+f 35 50 51
+f 35 51 36
+f 39 52 40
+f 40 52 53
+f 40 53 54
+f 40 54 41
+f 41 55 43
+f 41 43 42
+f 41 54 56
+f 41 56 57
+f 41 57 55
+f 45 58 46
+f 46 58 57
+f 46 57 56
+f 46 56 47
+f 47 56 48
+f 48 59 60
+f 48 60 49
+f 48 56 54
+f 48 54 61
+f 48 61 59
+f 53 62 54
+f 54 62 61
+f 55 57 63
+f 57 58 63
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_49.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89f5ed7d6969516ca1576aff3b0fb0b3381118b5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_49.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.01123365 0.00029175 -0.00884873
+v 0.01123365 0.00029182 -0.02630991
+v 0.00863006 0.00029175 -0.00884873
+v 0.01123365 -0.02784555 -0.00884883
+v 0.00983184 0.00029182 -0.02630991
+v 0.01123365 -0.02788387 -0.02631001
+v 0.00560438 -0.00844554 -0.02630994
+v 0.00560438 -0.00733536 -0.00884876
+v 0.00731146 -0.02941940 -0.00884884
+v 0.01123365 -0.02788099 -0.00917870
+v 0.01123365 -0.02790159 -0.02616985
+v 0.00731146 -0.02940161 -0.02631002
+v 0.00560438 -0.02986225 -0.02631002
+v 0.00560438 -0.02986823 -0.00884884
+v 0.00600002 -0.02986527 -0.00884884
+v 0.00600002 -0.02986819 -0.01838959
+v 0.00731146 -0.02941935 -0.02233784
+v 0.01123365 -0.02790161 -0.02233783
+v 0.01123365 -0.02789277 -0.01575912
+v 0.01123365 -0.02788393 -0.01049479
+v 0.00731146 -0.02941344 -0.02497000
+v 0.00728831 -0.02941047 -0.02631002
+v 0.00599340 -0.02985635 -0.02631002
+v 0.00560438 -0.02987112 -0.02536654
+v 0.00560438 -0.02987117 -0.01089304
+v 0.00570357 -0.02986823 -0.00884884
+v 0.00600002 -0.02986817 -0.02497000
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 14
+f 1 14 26
+f 1 26 15
+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 20
+f 1 20 19
+f 1 19 18
+f 1 18 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 22
+f 2 22 23
+f 2 23 13
+f 2 13 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 4 9 10
+f 6 11 12
+f 7 13 24
+f 7 24 25
+f 7 25 14
+f 7 14 8
+f 9 15 16
+f 9 16 27
+f 9 27 17
+f 9 17 11
+f 9 11 18
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 11 17 21
+f 11 21 22
+f 11 22 12
+f 13 23 24
+f 14 25 26
+f 15 26 25
+f 15 25 16
+f 16 25 24
+f 16 24 27
+f 17 27 21
+f 21 27 22
+f 22 27 23
+f 23 27 24
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_5.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2503772937336d3c1fc5d5c919c0b88441db61f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_5.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.01103245 0.00502738 0.01849802
+v -0.00032933 0.01103106 0.01849804
+v -0.00032933 0.01178912 0.02517004
+v -0.01103245 0.00592194 0.02517002
+v -0.01103245 0.02665821 0.01849810
+v -0.00032933 0.02992452 0.01849811
+v -0.00032933 0.02992694 0.02517011
+v -0.01103245 0.02684832 0.02517010
+v -0.00927531 0.02792329 0.01849810
+v -0.00321807 0.02992452 0.01849811
+v -0.00317826 0.02992938 0.02517011
+v -0.00032933 0.02992694 0.02481022
+v -0.00929208 0.02792571 0.02517010
+v -0.00842242 0.02844737 0.01849810
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+v -0.00579981 0.02954913 0.02109114
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+v -0.00452885 0.02991234 0.01849811
+v -0.00579981 0.02954912 0.02372206
+v -0.00579981 0.02953206 0.02517011
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+f 1 5 9
+f 1 9 14
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+f 1 22 23
+f 1 23 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
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+f 2 7 3
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+f 3 13 8
+f 3 8 4
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+f 7 12 11
+f 8 13 9
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+f 11 16 17
+f 11 17 18
+f 13 19 14
+f 14 19 20
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+f 16 21 24
+f 16 24 17
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+f 20 24 21
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_50.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b2b294b09537004648cd2ef7afe27f0a67ee970
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_50.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.00032860 0.02992523 0.01849716
+v -0.00032860 0.02992527 0.00877438
+v -0.00317801 0.02992769 0.01319460
+v -0.00360306 0.02992523 0.01849716
+v -0.00032860 0.01103087 0.01849709
+v -0.00360306 0.02992527 0.00877438
+v -0.00032860 0.00584547 0.00877429
+v -0.00360306 0.01052504 0.01849709
+v -0.00360306 0.00744360 0.01320024
+v -0.00360306 0.00668119 0.01185817
+v -0.00360306 0.00496576 0.00877429
+v -0.00032860 0.00819381 0.01332778
+v -0.00032860 0.00783459 0.01266912
+f 1 2 3
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+f 1 8 5
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+f 1 7 2
+f 2 6 3
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+f 4 11 10
+f 4 10 9
+f 4 9 8
+f 5 8 9
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 7 13 11
+f 11 13 12
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_51.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..740769ff106e84a1592496422c249f2cb4cf274c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_51.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00560322 -0.00762126 -0.01194484
+v -0.00560322 0.00029173 -0.00188464
+v -0.00243862 -0.00762127 -0.00680717
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_52.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eacd5ff4de442a86f7a8dafbddec60f5f407ab0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_52.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.00504061 0.02694998 0.04088780
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+v -0.00842244 0.02694998 0.04088780
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_53.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6562c833a5e90ab328960228182d9bd78fb03604
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_53.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.01781006 -0.03262289 0.02167923
+v 0.01911249 -0.03225238 0.02167923
+v 0.01911249 -0.03225239 0.02372261
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+v 0.01781006 -0.00211832 0.02167934
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_54.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1636e2bc16b2ec363b85693a6dc67b9f13457a10
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_54.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_55.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22c39066c0c1e7e4b86d9aa5205650060878ae12
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_55.obj
@@ -0,0 +1,643 @@
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_56.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53b3b708240eb01128d2967792bb15816c371f07
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_56.obj
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_57.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd3adc1dba690808c53735a481fd9a91f69b4aaf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_57.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_58.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..618112f5d6d71446de117fddda5d8a7d30a182ff
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_58.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_59.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c85980ef0bab4c1b3994d0c3d55934cc7eafd3ab
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_59.obj
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_6.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36300a4f94d4135abb9a0270ec3f8cd391d9f36a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_6.obj
@@ -0,0 +1,40 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_60.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cea76c672df5da8a8067ba0b8e9d066bd9844a8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_60.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.00747342 -0.00325961 -0.00920514
+v -0.00747342 0.00029141 -0.01025723
+v -0.00560371 -0.00325963 -0.00379903
+v -0.00747342 -0.00325969 0.01227592
+v -0.00747342 0.00029133 0.01060403
+v -0.00560353 0.00029138 -0.00188450
+v -0.00560353 -0.00325928 -0.00379683
+v -0.00560353 -0.00325963 -0.00300278
+v -0.00717196 -0.00325968 0.01180390
+v -0.00560353 -0.00325967 0.00932693
+v -0.00560353 0.00029134 0.00762416
+f 1 2 3
+f 1 3 8
+f 1 8 10
+f 1 10 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 6
+f 2 6 3
+f 3 7 8
+f 3 6 7
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 6 11 10
+f 6 10 8
+f 6 8 7
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_61.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e1c3e851e058fda67e0f165958e5d21a7d939bc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_61.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.01318124 0.02821374 0.01849810
+v -0.01081009 0.02675696 0.01849810
+v -0.01081009 0.02675697 0.01686506
+v -0.01081009 0.02675426 0.01028512
+v -0.01081009 0.02674880 0.00924639
+v -0.01318124 0.02819189 0.01582633
+v -0.01318124 0.00212287 0.01849801
+v -0.01081009 0.00534255 0.01849802
+v -0.01081009 0.02654108 0.00827096
+v -0.01318124 0.02802247 0.00529945
+v -0.01318124 0.02816457 0.01319332
+v -0.01318124 0.02816730 0.01336773
+v -0.01318124 0.02818097 0.01450982
+v -0.01318124 0.00029439 0.01740242
+v -0.01281124 0.00235246 0.01849801
+v -0.01226528 0.00029439 0.01698770
+v -0.01104199 0.00029439 0.01581977
+v -0.01081009 0.00029439 0.01556525
+v -0.01081009 0.02571567 0.00529944
+v -0.01318124 0.00029443 0.00529935
+v -0.01081009 0.00029443 0.00529935
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 20
+f 1 20 14
+f 1 14 7
+f 1 7 15
+f 1 15 8
+f 1 8 2
+f 2 8 18
+f 2 18 21
+f 2 21 19
+f 2 19 9
+f 2 9 5
+f 2 5 4
+f 2 4 3
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 7 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 9 19 10
+f 10 19 21
+f 10 21 20
+f 14 20 21
+f 14 21 18
+f 14 18 17
+f 14 17 16
+f 14 16 15
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_62.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..910294ca6fae13f0b44d197f55c96c7f3e507d7e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_62.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.00747342 -0.00762124 -0.01578786
+v -0.00747342 -0.00595701 -0.01578785
+v -0.00619528 -0.00762124 -0.01578786
+v -0.00747342 -0.00762136 0.01703333
+v -0.00747342 -0.00326003 -0.00920497
+v -0.00560371 -0.00326005 -0.00379796
+v -0.00560353 -0.00762126 -0.01194223
+v -0.00560353 -0.00762136 0.01519244
+v -0.00747342 -0.00326011 0.01227530
+v -0.00560353 -0.00326005 -0.00300441
+v -0.00560353 -0.00331641 -0.00386542
+v -0.00560353 -0.00716751 0.01458523
+v -0.00717196 -0.00326010 0.01180303
+v -0.00560353 -0.00326009 0.00932602
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 5 9 13
+f 5 13 14
+f 5 14 10
+f 5 10 6
+f 6 10 11
+f 6 11 7
+f 7 11 10
+f 7 10 14
+f 7 14 12
+f 7 12 8
+f 8 12 9
+f 9 12 13
+f 12 14 13
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_63.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cfb9f37863d5f518e6434d4c172f4d2f291a342
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_63.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.00747342 0.00028876 -0.00523468
+v -0.01085220 0.00028876 -0.00523468
+v -0.00747342 -0.02692346 -0.00523478
+v -0.00747342 0.00028878 -0.01025900
+v -0.01193191 0.00028876 -0.00523874
+v -0.01085220 -0.02638820 -0.00523478
+v -0.01193191 -0.02683128 -0.00523884
+v -0.01193191 -0.02912993 -0.00697273
+v -0.01193191 -0.02977225 -0.00786065
+v -0.00747342 -0.02825864 -0.00775506
+v -0.00747342 -0.00629493 -0.01906240
+v -0.00751663 0.00028878 -0.01048233
+v -0.01193191 0.00028881 -0.01906103
+v -0.01193191 -0.03008151 -0.00918034
+v -0.01104466 -0.02984064 -0.00918034
+v -0.00747342 -0.02869577 -0.00917899
+v -0.00747342 -0.02829729 -0.00784439
+v -0.00918332 0.00028881 -0.01906238
+v -0.00747342 -0.02870168 -0.01906249
+v -0.01085220 0.00028881 -0.01906238
+v -0.01193191 -0.03008444 -0.01906114
+v -0.01193191 -0.03008447 -0.01171551
+v -0.01104466 -0.02985252 -0.01049598
+v -0.00747342 -0.02870172 -0.00929810
+v -0.01104466 -0.02985547 -0.01906114
+v -0.01085220 -0.02976923 -0.01906249
+v -0.01193191 -0.03008743 -0.01575716
+v -0.01104466 -0.02985549 -0.01444153
+f 1 2 6
+f 1 6 3
+f 1 3 10
+f 1 10 17
+f 1 17 16
+f 1 16 24
+f 1 24 19
+f 1 19 11
+f 1 11 4
+f 1 4 12
+f 1 12 18
+f 1 18 20
+f 1 20 13
+f 1 13 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 12
+f 5 13 21
+f 5 21 27
+f 5 27 22
+f 5 22 14
+f 5 14 9
+f 5 9 8
+f 5 8 7
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 11 18 12
+f 11 19 26
+f 11 26 20
+f 11 20 18
+f 13 20 26
+f 13 26 21
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 15 24 16
+f 19 24 28
+f 19 28 25
+f 19 25 26
+f 21 26 25
+f 21 25 27
+f 22 27 28
+f 22 28 23
+f 23 28 24
+f 25 28 27
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_64.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abcf67ffc9fae0e601d36f7d69c52ba0bbd4f013
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_64.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.01085264 0.00028872 0.00425233
+v -0.01193191 0.00028872 0.00425233
+v -0.01085264 -0.02565846 0.00425224
+v -0.00747342 0.00028873 0.00395974
+v -0.01193191 0.00028876 -0.00523699
+v -0.01193191 -0.02592317 0.00425223
+v -0.00747342 -0.02693737 0.00395964
+v -0.00747342 0.00028876 -0.00523420
+v -0.01085264 0.00028876 -0.00523699
+v -0.01193191 -0.02683027 -0.00523709
+v -0.01193191 -0.02953685 0.00264992
+v -0.00747342 -0.02716936 0.00385653
+v -0.00747342 -0.02692544 -0.00523430
+v -0.01085264 -0.02639306 -0.00523709
+v -0.01193191 -0.02956955 -0.00267806
+v -0.01193191 -0.03003949 0.00141453
+v -0.00747342 -0.02953090 0.00236755
+v -0.00747342 -0.02940003 0.00263042
+v -0.00747342 -0.02939704 -0.00267621
+v -0.01193191 -0.02963498 -0.00250622
+v -0.01193191 -0.03005733 0.00134858
+v -0.00747342 -0.02985806 0.00134858
+v -0.00747342 -0.02988482 -0.00128105
+v -0.01193191 -0.03008410 -0.00128198
+v -0.01193191 -0.03009302 0.00003237
+v -0.00747342 -0.02987887 0.00098632
+v -0.00747342 -0.02988780 -0.00033081
+v -0.00747342 -0.02988780 0.00003330
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 2
+f 2 5 10
+f 2 10 15
+f 2 15 20
+f 2 20 24
+f 2 24 25
+f 2 25 21
+f 2 21 16
+f 2 16 11
+f 2 11 6
+f 3 6 7
+f 4 7 12
+f 4 12 18
+f 4 18 17
+f 4 17 22
+f 4 22 26
+f 4 26 28
+f 4 28 27
+f 4 27 23
+f 4 23 19
+f 4 19 13
+f 4 13 8
+f 5 9 14
+f 5 14 10
+f 6 11 7
+f 7 11 12
+f 8 13 14
+f 8 14 9
+f 10 14 13
+f 10 13 15
+f 11 16 17
+f 11 17 18
+f 11 18 12
+f 13 19 15
+f 15 19 20
+f 16 21 22
+f 16 22 17
+f 19 23 24
+f 19 24 20
+f 21 25 26
+f 21 26 22
+f 23 27 25
+f 23 25 24
+f 25 27 28
+f 25 28 26
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_65.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acafaa2caa1e95782b13018bde540a0a1c6cacad
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_65.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.00032860 0.03013495 -0.00447461
+v -0.00032860 0.02992409 -0.01705260
+v -0.00360306 0.02992409 -0.01705260
+v -0.00055588 0.03013244 -0.00447461
+v -0.00032860 0.00575491 -0.00447470
+v -0.00032860 0.00862984 -0.01705268
+v -0.00360306 0.02994664 -0.00447461
+v -0.00345080 0.02996673 -0.00447461
+v -0.00319243 0.02999937 -0.00447461
+v -0.00360306 0.00785902 -0.01705268
+v -0.00360306 0.00448444 -0.00447470
+v -0.00032860 0.00650064 -0.00787563
+v -0.00032860 0.00676678 -0.00905154
+v -0.00360306 0.00477820 -0.00566663
+v -0.00360306 0.00582021 -0.00969675
+v -0.00360306 0.00603112 -0.01046018
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 7
+f 1 7 11
+f 1 11 5
+f 1 5 12
+f 1 12 13
+f 1 13 6
+f 1 6 2
+f 2 6 10
+f 2 10 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 3 10 16
+f 3 16 15
+f 3 15 14
+f 3 14 11
+f 3 11 7
+f 5 11 12
+f 6 13 11
+f 6 11 14
+f 6 14 15
+f 6 15 16
+f 6 16 10
+f 11 13 12
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_66.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ac0b026d798a0edbd8d1701ba17a5808ddf92db
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_66.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.01123365 -0.00326866 0.01763802
+v 0.01123365 0.00029131 0.01633650
+v 0.01098789 0.00029131 0.01609798
+v 0.01031895 0.00029131 0.01543944
+v 0.00966378 0.00029132 0.01473423
+v 0.00909788 0.00029132 0.01407569
+v 0.00865320 -0.00326865 0.01448014
+v 0.01123365 -0.00326857 -0.00884874
+v 0.01123365 0.00029140 -0.00884873
+v 0.00890061 0.00029132 0.01379828
+v 0.00805479 -0.00326865 0.01372049
+v 0.00878710 -0.00326857 -0.00884874
+v 0.00863006 0.00029140 -0.00884873
+v 0.00845153 0.00029132 0.01315789
+v 0.00765915 -0.00326865 0.01316047
+v 0.00560438 -0.00326859 -0.00253039
+v 0.00560438 0.00029137 -0.00007771
+v 0.00791979 0.00029132 0.01233342
+v 0.00686237 -0.00326864 0.01192895
+v 0.00560438 -0.00326864 0.00983666
+v 0.00560438 0.00029134 0.00838478
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 11
+f 1 11 15
+f 1 15 19
+f 1 19 20
+f 1 20 16
+f 1 16 12
+f 1 12 8
+f 1 8 9
+f 1 9 2
+f 2 9 13
+f 2 13 17
+f 2 17 21
+f 2 21 18
+f 2 18 14
+f 2 14 10
+f 2 10 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 6 10 11
+f 6 11 7
+f 8 12 13
+f 8 13 9
+f 10 14 15
+f 10 15 11
+f 12 16 13
+f 13 16 17
+f 14 18 19
+f 14 19 15
+f 16 20 21
+f 16 21 17
+f 18 21 20
+f 18 20 19
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_67.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..babe9af2a12d806e532efdb68403289a9b643073
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_67.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.01318124 0.02802051 0.00529945
+v -0.01318124 0.00029170 0.00529935
+v -0.01081009 0.02571740 0.00529944
+v -0.01318124 0.02960981 0.00479682
+v -0.01318124 0.00029173 -0.00292977
+v -0.01081009 0.00029170 0.00529935
+v -0.01081009 0.02934138 0.00233437
+v -0.01318124 0.03048225 0.00400259
+v -0.01081009 0.00029173 -0.00292977
+v -0.01318124 0.03107101 -0.00292966
+v -0.01081009 0.02942984 0.00216843
+v -0.01318124 0.03091847 0.00351525
+v -0.01081009 0.02868554 -0.00292966
+v -0.01318124 0.03144927 -0.00138629
+v -0.01081009 0.02993013 -0.00128158
+v -0.01081009 0.02942376 -0.00253335
+v -0.01081009 0.02921632 -0.00264531
+v -0.01081009 0.02984776 0.00135003
+v -0.01318124 0.03145537 0.00135004
+v -0.01318124 0.03145231 -0.00006927
+v -0.01081009 0.02993318 -0.00020139
+v -0.01081009 0.02986607 0.00111482
+v -0.01081009 0.02993318 0.00003463
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 19
+f 1 19 20
+f 1 20 14
+f 1 14 10
+f 1 10 5
+f 1 5 2
+f 2 5 9
+f 2 9 6
+f 3 6 9
+f 3 9 13
+f 3 13 17
+f 3 17 16
+f 3 16 15
+f 3 15 21
+f 3 21 23
+f 3 23 22
+f 3 22 18
+f 3 18 11
+f 3 11 7
+f 3 7 4
+f 4 7 8
+f 5 10 13
+f 5 13 9
+f 7 11 12
+f 7 12 8
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 10 17 13
+f 11 18 12
+f 12 18 19
+f 14 20 21
+f 14 21 15
+f 18 22 19
+f 19 22 23
+f 19 23 21
+f 19 21 20
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_68.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10ea0206a09b474f5b6405aa0acd910383e7fc64
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_68.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.01193191 -0.00460649 0.02167947
+v -0.01085295 0.00029166 0.01561171
+v -0.01104192 0.00029166 0.01581983
+v -0.01193191 0.00029166 0.01664888
+v -0.01193191 -0.02682992 0.02167939
+v -0.01085295 -0.00614894 0.02167947
+v -0.01085295 0.00029170 0.00425233
+v -0.01193191 0.00029170 0.00425233
+v -0.01193191 -0.02680068 0.00967178
+v -0.01085295 -0.02662281 0.01056224
+v -0.01085295 -0.02662547 0.01319269
+v -0.01085295 -0.02663080 0.01977393
+v -0.01085295 -0.02663081 0.02167939
+v -0.01085295 -0.02566174 0.00425224
+v -0.01193191 -0.02592191 0.00425223
+v -0.01193191 -0.02679536 0.00924702
+v -0.01085295 -0.02660952 0.00924702
+v -0.01085295 -0.02661218 0.00947390
+v -0.01085295 -0.02649271 0.00851690
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 16
+f 1 16 9
+f 1 9 5
+f 1 5 13
+f 1 13 6
+f 1 6 2
+f 2 7 8
+f 2 8 4
+f 2 4 3
+f 2 6 13
+f 2 13 12
+f 2 12 11
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_69.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9228c22bc15bab575895f8ff936af79f21ce5e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_69.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_7.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d96f07de15ed2e264a13f58dab091578bfd3d71
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_7.obj
@@ -0,0 +1,859 @@
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_70.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e7b0e502bc670254a43ce949d20e0b98bff5cb5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_70.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.00032860 0.02992573 0.00877438
+v -0.00032860 0.03289875 0.00338114
+v -0.00360306 0.02992573 0.00877438
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_71.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..983325f7791631ce9f73305a23321043bd590764
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_71.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.00706551 0.02891607 0.01849811
+v -0.00706551 0.02891891 0.00924711
+v -0.00842281 0.02844812 0.01450934
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_72.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..172006d0e3b83783748a3aadcbfc10dcef12904a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_72.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.02567990 0.00847047 0.02563310
+v 0.02567990 0.00961729 0.02344694
+v 0.02697867 0.00960845 0.02344416
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+v 0.03324071 0.01716263 0.02563313
+v 0.03329604 0.01644344 0.02563313
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_73.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb300a5b5f42bab0e25af1165bf7cca5628a5fa6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_73.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.01124437 0.00724304 0.01736407
+v 0.02565321 0.00724304 0.01736407
+v 0.01124437 0.00724301 0.02344415
+v 0.01124437 0.02789860 0.01736414
+v 0.02565321 0.00724304 0.01741228
+v 0.02565321 0.02654570 0.01736414
+v 0.02477302 0.00724301 0.02344415
+v 0.01124437 0.02789857 0.02344422
+v 0.01124437 0.02801091 0.02109016
+v 0.01380312 0.03209958 0.02344424
+v 0.01400765 0.03212457 0.01736416
+v 0.02565321 0.00961435 0.02344416
+v 0.02557563 0.02662058 0.01736414
+v 0.02565321 0.02654568 0.02240617
+v 0.01405138 0.03222189 0.02344424
+v 0.01517842 0.03272115 0.01736416
+v 0.01498094 0.03262130 0.01736416
+v 0.02565321 0.02654317 0.02344422
+v 0.02546701 0.02672541 0.01977474
+v 0.02344145 0.02867241 0.01736415
+v 0.02546701 0.02672540 0.02109016
+v 0.02343722 0.02866989 0.02240618
+v 0.02358110 0.02853010 0.02344422
+v 0.01517842 0.03273859 0.02344424
+v 0.01626878 0.03273612 0.01736416
+v 0.02289698 0.02919410 0.01736415
+v 0.02278413 0.02929642 0.02109017
+v 0.02278131 0.02929392 0.02344423
+v 0.01545629 0.03274109 0.02344424
+v 0.01649023 0.03274111 0.01845875
+v 0.01649023 0.03273862 0.01736416
+v 0.02278696 0.02929894 0.01736415
+v 0.02278555 0.02929893 0.01845874
+v 0.02209014 0.02995291 0.02240618
+v 0.02223543 0.02981311 0.02344423
+v 0.01649023 0.03274109 0.02344424
+v 0.01649023 0.03274359 0.02240619
+v 0.01758059 0.03267871 0.01736416
+v 0.02209296 0.02995542 0.01736415
+v 0.02209296 0.02995541 0.01845874
+v 0.02143564 0.03056945 0.02109017
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+v 0.01676670 0.03272611 0.02344424
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+v 0.01911105 0.03228679 0.02344424
+v 0.01931135 0.03217696 0.02344424
+v 0.02005753 0.03176761 0.01845875
+v 0.02005612 0.03176762 0.01736416
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+f 1 7 3
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+f 1 11 17
+f 1 17 16
+f 1 16 25
+f 1 25 31
+f 1 31 38
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_74.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd48687fec47fe69c59345d0d1d1c54055c6e033
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_74.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.00211840 -0.00518219 0.00892243
+v 0.00211840 -0.00362250 0.00755670
+v -0.00243862 -0.00476606 0.00853134
+v -0.00243862 -0.00521609 0.00892243
+v 0.00211840 -0.02988134 0.00892234
+v 0.00211840 -0.00358243 0.00751358
+v -0.00243862 -0.00358243 0.00749049
+v -0.00243862 -0.02988442 0.00892234
+v 0.00075522 -0.02988442 0.00892234
+v 0.00051256 -0.03284965 0.00338544
+v 0.00138640 -0.03280958 0.00331307
+v 0.00211840 -0.03264930 0.00279726
+v 0.00211840 -0.00280257 0.00665903
+v -0.00243862 -0.00297211 0.00675449
+v -0.00243862 -0.03232873 0.00274953
+v -0.00189576 -0.03261231 0.00275569
+v -0.00108481 -0.03279417 0.00325456
+v -0.00021051 -0.03284965 0.00338544
+v 0.00087164 -0.03298528 0.00279110
+v 0.00173211 -0.03291130 0.00243542
+v 0.00211840 -0.03284965 0.00196118
+v 0.00211840 -0.00241728 0.00615862
+v -0.00243862 -0.00247584 0.00610473
+v -0.00243862 -0.03268628 0.00134837
+v -0.00234450 -0.03274176 0.00134837
+v -0.00147779 -0.03290205 0.00237845
+v -0.00061064 -0.03297911 0.00275569
+v 0.00075522 -0.03321645 0.00134837
+v 0.00196094 -0.03299143 0.00134837
+v 0.00211840 -0.03293903 0.00134837
+v 0.00211840 -0.00186245 0.00533794
+v -0.00243862 -0.00222000 0.00575059
+v -0.00227268 -0.03270477 0.00003497
+v -0.00243862 -0.03260614 0.00003497
+v -0.00161696 -0.03295753 0.00003497
+v -0.00168878 -0.03297602 0.00134837
+v -0.00055532 -0.03320412 0.00134837
+v -0.00055532 -0.03315172 0.00003497
+v 0.00075522 -0.03315172 0.00003497
+v 0.00183827 -0.03295753 0.00003497
+v 0.00211840 -0.03285581 0.00003497
+v 0.00211840 -0.00185012 0.00527481
+v -0.00243862 -0.00193951 0.00530868
+v -0.00138189 -0.03287430 -0.00077185
+v -0.00243862 -0.03254141 -0.00019445
+v -0.00055532 -0.03293903 -0.00094276
+v 0.00075522 -0.03293287 -0.00093506
+v 0.00156885 -0.03286814 -0.00076261
+v 0.00211840 -0.03252907 -0.00099203
+v 0.00211840 -0.00176380 0.00403532
+v -0.00243862 -0.00173298 0.00398143
+v -0.00243862 -0.00183779 0.00469587
+v -0.00055532 -0.03264928 -0.00160023
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+v -0.00183821 -0.03247051 -0.00123839
+v -0.00243862 -0.02987820 -0.00680761
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+v 0.00211840 -0.02987820 -0.00680761
+v 0.00211840 -0.03243969 -0.00123531
+v 0.00211840 -0.00176380 0.00401530
+v -0.00243862 -0.00207204 0.00270961
+v -0.00243862 -0.03192492 -0.00184658
+v -0.00243862 -0.00762029 -0.00680753
+v 0.00211840 -0.00796860 -0.00680753
+v 0.00211840 -0.00234021 0.00271731
+v -0.00243862 -0.00256830 0.00142239
+v -0.00243862 -0.00397078 -0.00123982
+v 0.00211840 -0.00503111 -0.00223604
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+v -0.00243862 -0.00328032 -0.00002805
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+v 0.00211840 -0.00296593 0.00140083
+v 0.00211840 -0.00307689 0.00118219
+v 0.00211840 -0.00366562 0.00002431
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_75.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0145325bde8611134af5b1ed6bba9161bafe085
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_75.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.00243862 -0.01050443 0.01785905
+v 0.00211840 -0.01052861 0.01785905
+v -0.00243862 -0.01028919 0.01751960
+v -0.00243862 -0.02988017 0.01785898
+v 0.00211840 -0.00518162 0.00892243
+v 0.00211840 -0.02988259 0.01785898
+v -0.00243862 -0.00814411 0.01390472
+v -0.00243862 -0.02988257 0.01262035
+v -0.00186676 -0.02988496 0.00892234
+v -0.00055532 -0.02988258 0.01714160
+v 0.00015883 -0.02988259 0.01785898
+v -0.00243862 -0.00521548 0.00892243
+v -0.00243862 -0.00761691 0.01301412
+v 0.00211840 -0.02988255 0.00892234
+v -0.00243862 -0.02988255 0.00892234
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 12
+f 1 12 15
+f 1 15 8
+f 1 8 4
+f 1 4 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 14
+f 2 14 5
+f 3 5 7
+f 4 8 9
+f 4 9 10
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+f 5 12 13
+f 5 13 7
+f 5 14 9
+f 5 9 15
+f 5 15 12
+f 6 11 9
+f 6 9 14
+f 8 15 9
+f 9 11 10
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_76.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89077dc9bf7d7bbff448351d95880eabd80ea745
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_76.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.02565462 0.00724493 0.01736407
+v 0.02587077 0.00724493 0.01736407
+v 0.02565462 0.00724493 0.01741228
+v 0.02565462 0.02654614 0.01736414
+v 0.03091136 0.00758885 0.01736407
+v 0.02960018 0.00961267 0.02344416
+v 0.02828974 0.00961078 0.02344416
+v 0.02697856 0.00960889 0.02344416
+v 0.02565462 0.00961456 0.02344416
+v 0.03091136 0.00962023 0.02344416
+v 0.02565462 0.02654802 0.02015091
+v 0.02612220 0.02610206 0.01736414
+v 0.03165064 0.00776648 0.01736407
+v 0.03222254 0.00983566 0.02344416
+v 0.02565462 0.02654422 0.02344422
+v 0.02612295 0.02610204 0.02109016
+v 0.02612295 0.02610205 0.01977474
+v 0.03015182 0.02225467 0.01736412
+v 0.03222479 0.00790821 0.01736407
+v 0.03305188 0.01028918 0.02344416
+v 0.02598260 0.02623242 0.02344422
+v 0.02612145 0.02610014 0.02344422
+v 0.03083706 0.02159515 0.02240615
+v 0.03083781 0.02159705 0.01977472
+v 0.03083781 0.02159706 0.01736412
+v 0.03306990 0.00870566 0.01736407
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+v 0.03327554 0.01672165 0.02344418
+v 0.03329656 0.01644387 0.02344418
+v 0.03319524 0.01775531 0.02344419
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_77.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff407abc32622bd9c56a26d30ce16343b8755dd0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_77.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.01318124 0.03196788 -0.02554211
+v -0.01081009 0.02972505 -0.02554212
+v -0.01081009 0.03213310 -0.02890877
+v -0.01081009 0.03223158 -0.02907963
+v -0.01081009 0.03270493 -0.03023601
+v -0.01318124 0.03197741 -0.02557218
+v -0.01318124 0.00029498 -0.02554223
+v -0.01081009 0.00029498 -0.02554223
+v -0.01318124 0.03266362 -0.02809136
+v -0.01318124 0.03233640 -0.02676548
+v -0.01081009 0.03272399 -0.03047112
+v -0.01318124 0.00029504 -0.03950502
+v -0.01081009 0.00029503 -0.03927948
+v -0.01318124 0.03274305 -0.02940631
+v -0.01081009 0.03274306 -0.03155096
+v -0.01318124 0.01513079 -0.03950633
+v -0.01081009 0.01489571 -0.03950497
+v -0.01081009 0.00724910 -0.03950362
+v -0.01104500 0.00593708 -0.03950363
+v -0.01235581 0.00029504 -0.03950365
+v -0.01104500 0.00029503 -0.03937380
+v -0.01081009 0.00330984 -0.03939293
+v -0.01081009 0.03274623 -0.03310238
+v -0.01318124 0.03274307 -0.03418223
+v -0.01318124 0.02432134 -0.03950356
+v -0.01081009 0.02432134 -0.03950356
+v -0.01081009 0.01644600 -0.03950496
+v -0.01081009 0.00593708 -0.03948859
+v -0.01104500 0.00462187 -0.03949817
+v -0.01104500 0.00330984 -0.03946810
+v -0.01196770 0.00029503 -0.03946538
+v -0.01081009 0.03274307 -0.03418223
+v -0.01081009 0.03272401 -0.03441733
+v -0.01318124 0.03270177 -0.03467021
+v -0.01318124 0.02563654 -0.03949946
+v -0.01104500 0.02563654 -0.03950083
+v -0.01081009 0.02563654 -0.03950083
+v -0.01081009 0.03262870 -0.03549854
+v -0.01318124 0.03262870 -0.03549854
+v -0.01318124 0.02694856 -0.03946254
+v -0.01081009 0.02694856 -0.03946801
+v -0.01081009 0.03203465 -0.03681486
+v -0.01318124 0.03240950 -0.03598516
+v -0.01318124 0.02777771 -0.03931902
+v -0.01081009 0.02802868 -0.03928075
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+v -0.01318124 0.02826376 -0.03923427
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+v -0.01081009 0.02919457 -0.03891578
+v -0.01104500 0.02919457 -0.03891578
+v -0.01318124 0.02960438 -0.03871485
+v -0.01318124 0.02984899 -0.03859729
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+v -0.01081009 0.02973463 -0.03865470
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+v -0.01081009 0.03089099 -0.03794529
+v -0.01081009 0.02985217 -0.03859729
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_78.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50abd5953985b60e0f1c9714c1c032aba8702c39
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_78.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.01318148 0.00570158 0.01849802
+v -0.02062509 0.00570158 0.01849802
+v -0.01318148 0.00212179 0.01849801
+v -0.01318148 0.00570180 -0.03950281
+v -0.02195140 0.00029166 0.01761223
+v -0.02060707 0.00466047 0.01849802
+v -0.02195140 0.00570159 0.01641419
+v -0.01348794 0.00193168 0.01849801
+v -0.01362100 0.00029166 0.01764062
+v -0.01318148 0.00029166 0.01740214
+v -0.01318148 0.00029187 -0.03950283
+v -0.01759992 0.00068109 -0.03950851
+v -0.02195140 0.00570180 -0.03950281
+v -0.02069978 0.00029165 0.01799833
+v -0.02043452 0.00330481 0.01849801
+v -0.02044997 0.00334718 0.01849801
+v -0.02060621 0.00462076 0.01849802
+v -0.02195140 0.00029187 -0.03950283
+v -0.01359439 0.00188667 0.01849801
+v -0.01497907 0.00171191 0.01849801
+v -0.02018729 0.00029165 0.01799833
+v -0.01511900 0.00170609 0.01849801
+v -0.01641783 0.00171403 0.01849801
+v -0.01759992 0.00172621 0.01849801
+v -0.01894854 0.00178076 0.01849801
+v -0.01984648 0.00213238 0.01849801
+v -0.01989112 0.00218533 0.01849801
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+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_79.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f0a29313c54770c3fc53b766f858cff09785bfd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_79.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.01318124 0.03107190 -0.00292966
+v -0.01081009 0.02868440 -0.00292966
+v -0.01081009 0.02977585 -0.00917819
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+v -0.01081009 0.02979141 -0.02393738
+v -0.01081009 0.02974800 -0.02525880
+v -0.01081009 0.02972629 -0.02553991
+f 1 2 3
+f 1 3 4
+f 1 4 8
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+f 1 5 6
+f 1 6 2
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+f 8 13 14
+f 8 14 15
+f 8 15 10
+f 8 10 9
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_8.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..068193b7f6e044e44cfbd077e43fd539d322be98
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_8.obj
@@ -0,0 +1,820 @@
+# https://github.com/mikedh/trimesh
+v 0.00560438 -0.03269542 0.03030340
+v 0.01518047 -0.03269864 0.02604095
+v 0.01255722 -0.03270188 0.02898674
+v 0.00862370 -0.03269865 0.03030340
+v 0.00560438 -0.03269543 0.03293529
+v 0.00560438 -0.03250487 0.02898674
+v 0.01649074 -0.03269541 0.02604095
+v 0.01518047 -0.03269866 0.03162007
+v 0.01386749 -0.03259852 0.02604095
+v 0.01255722 -0.03269866 0.03293529
+v 0.00993397 -0.03269866 0.03293529
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+v 0.00560438 -0.03268252 0.03425050
+v 0.00560438 -0.03232401 0.02871207
+v 0.01649074 -0.03269543 0.03293529
+v 0.01748904 -0.03264050 0.02604095
+v 0.00560438 -0.03190416 0.02807844
+v 0.00560438 -0.02961115 0.02604096
+v 0.01255722 -0.03268575 0.03425050
+v 0.00560438 -0.03243707 0.03516897
+v 0.01780101 -0.03262115 0.03293529
+v 0.01649074 -0.03267929 0.03425050
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+v 0.01780101 -0.03262113 0.02604095
+v 0.00560438 -0.01003661 0.02604103
+v 0.01386749 -0.03232403 0.03556572
+v 0.00993397 -0.03232726 0.03556572
+v 0.00560438 -0.03232726 0.03556572
+v 0.01780101 -0.03259855 0.03425050
+v 0.01911128 -0.03224972 0.02767152
+v 0.01911128 -0.03224328 0.03293529
+v 0.01649074 -0.03231111 0.03556572
+v 0.01518047 -0.03232080 0.03556572
+v 0.01911128 -0.03224972 0.02604095
+v 0.00560438 -0.00873832 0.02787071
+v 0.01025950 0.00029162 0.02800299
+v 0.01277966 -0.00198847 0.02604106
+v 0.01386749 -0.03173625 0.03648709
+v 0.00993397 -0.03173948 0.03649000
+v 0.00862370 -0.03173948 0.03649145
+v 0.00560438 -0.03173948 0.03649291
+v 0.01911128 -0.03220777 0.03425050
+v 0.01780101 -0.03219162 0.03556572
+v 0.01983559 -0.03184925 0.02604095
+v 0.02006075 -0.03172330 0.02767152
+v 0.02005804 -0.03172331 0.02898674
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+v 0.00560438 -0.00822159 0.02915541
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_80.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b325aa5ab257f3aad6734b52c161944a3883141c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_80.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_81.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec7bd04794212ca01d50c11d657321140012324b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_81.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_82.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e4da202dcfbb8dd9de73141c775d29c9cca664c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_82.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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+f 72 82 73
+f 73 85 74
+f 73 82 88
+f 76 89 90
+f 76 90 77
+f 77 90 78
+f 78 90 91
+f 78 91 92
+f 78 92 79
+f 79 92 93
+f 81 94 82
+f 82 94 88
+f 83 95 84
+f 84 95 96
+f 84 96 97
+f 84 97 98
+f 84 98 86
+f 86 99 100
+f 86 100 87
+f 86 98 99
+f 89 101 102
+f 89 102 91
+f 89 91 90
+f 91 102 103
+f 91 103 92
+f 92 103 104
+f 92 104 105
+f 92 105 93
+f 97 106 98
+f 98 106 99
+f 99 107 108
+f 99 108 109
+f 99 109 100
+f 99 106 110
+f 99 110 111
+f 99 111 112
+f 99 112 107
+f 101 113 103
+f 101 103 102
+f 103 113 107
+f 103 107 112
+f 103 112 104
+f 104 112 105
+f 105 112 111
+f 107 113 108
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_83.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ffc903a8d3da626499d4fe043a53bf101b0cf05
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_83.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.03332298 0.00029167 0.01451101
+v 0.03330998 0.00029167 0.01490049
+v 0.03330874 -0.00153494 0.01582550
+v 0.03332236 -0.00153494 0.01541363
+v 0.03332174 -0.00063254 0.01319456
+v 0.03332236 0.00029167 0.01358502
+v 0.03316078 0.00029166 0.01585570
+v 0.03307287 -0.00153495 0.01795695
+v 0.03326293 -0.00153494 0.01673008
+v 0.03332112 -0.00153493 0.01319455
+v 0.03331803 -0.00153493 0.01278268
+v 0.03331122 -0.00153492 0.01187908
+v 0.03332174 0.00029167 0.01319456
+v 0.03309515 0.00029166 0.01621305
+v 0.03300105 -0.00153495 0.01813221
+v 0.03298062 0.00029166 0.01654411
+v 0.03296824 0.00025214 0.01661129
+v 0.03331122 0.00029168 0.01187909
+v 0.03308896 -0.00153492 0.01082748
+v 0.03315521 0.00029168 0.01108552
+v 0.03293729 -0.00119845 0.01791898
+v 0.03222224 -0.00153495 0.01883523
+v 0.03289395 0.00029166 0.01662395
+v 0.03230396 -0.00153492 0.01019554
+v 0.03253984 0.00029168 0.01031434
+v 0.03308896 0.00029168 0.01080217
+v 0.03211886 -0.00153495 0.01887125
+v 0.03217953 0.00029166 0.01700954
+v 0.03091102 -0.00153492 0.01019749
+v 0.03091102 0.00029168 0.01017705
+v 0.03231758 0.00029168 0.01017510
+v 0.03091102 -0.00153495 0.01926853
+v 0.03091102 0.00029166 0.01721889
+v 0.02699840 -0.00153495 0.02012149
+v 0.03090112 0.00029168 0.01017997
+v 0.02973847 -0.00153492 0.01070479
+v 0.02699840 0.00029168 0.01143897
+v 0.02699840 0.00029166 0.01733086
+v 0.02699840 -0.00153493 0.01241072
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 18
+f 1 18 20
+f 1 20 26
+f 1 26 25
+f 1 25 31
+f 1 31 30
+f 1 30 35
+f 1 35 37
+f 1 37 38
+f 1 38 33
+f 1 33 28
+f 1 28 23
+f 1 23 16
+f 1 16 14
+f 1 14 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 8
+f 3 8 15
+f 3 15 22
+f 3 22 27
+f 3 27 32
+f 3 32 34
+f 3 34 39
+f 3 39 36
+f 3 36 29
+f 3 29 24
+f 3 24 19
+f 3 19 12
+f 3 12 11
+f 3 11 10
+f 3 10 4
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 18
+f 5 18 13
+f 5 13 6
+f 7 14 8
+f 8 14 16
+f 8 16 17
+f 8 17 15
+f 12 19 20
+f 12 20 18
+f 15 17 21
+f 15 21 22
+f 16 23 17
+f 17 23 22
+f 17 22 21
+f 19 24 25
+f 19 25 26
+f 19 26 20
+f 22 23 28
+f 22 28 27
+f 24 29 30
+f 24 30 31
+f 24 31 25
+f 27 28 32
+f 28 33 34
+f 28 34 32
+f 29 35 30
+f 29 36 37
+f 29 37 35
+f 33 38 34
+f 34 38 37
+f 34 37 39
+f 36 39 37
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_84.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71446333d980435db738b2aace674c1fec2c4cd1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_84.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.02699840 -0.00153495 0.02012066
+v 0.02607314 0.00029164 0.02167935
+v 0.02644730 -0.00153496 0.02167934
+v 0.02699840 -0.00153493 0.01241071
+v 0.02699840 0.00029166 0.01733039
+v 0.01993799 0.00029164 0.02167935
+v 0.01950295 -0.00153496 0.02167934
+v 0.02627036 -0.00153491 0.00793119
+v 0.02699840 0.00029168 0.01143890
+v 0.01870755 -0.00153495 0.01994164
+v 0.01870755 0.00029165 0.01816222
+v 0.02604229 -0.00153491 0.00792849
+v 0.02616323 -0.00148341 0.00792849
+v 0.02629715 0.00029169 0.00792850
+v 0.01870755 -0.00153491 0.00792849
+v 0.01870755 0.00029169 0.00792850
+f 1 2 3
+f 1 3 7
+f 1 7 10
+f 1 10 15
+f 1 15 12
+f 1 12 8
+f 1 8 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
+f 2 6 7
+f 2 7 3
+f 2 5 9
+f 2 9 14
+f 2 14 16
+f 2 16 11
+f 2 11 6
+f 4 8 9
+f 6 10 7
+f 6 11 10
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 10 11 16
+f 10 16 15
+f 12 15 16
+f 12 16 14
+f 12 14 13
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_85.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c89f830af49db8a30efb61e883031cfe1c8c52d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_85.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.01870674 -0.00153495 0.01994092
+v 0.01870674 0.00029165 0.01816171
+v 0.01415164 0.00029165 0.01784537
+v 0.01386708 0.00029165 0.01782538
+v 0.01517721 -0.00153495 0.01948347
+v 0.01870674 -0.00153491 0.00792850
+v 0.01870674 0.00029169 0.00792851
+v 0.01255475 0.00029166 0.01744790
+v 0.01386708 -0.00153495 0.01921183
+v 0.01123365 -0.00153491 0.00792850
+v 0.01123365 0.00029169 0.00792851
+v 0.01164403 0.00029166 0.01674115
+v 0.01271349 -0.00153495 0.01829340
+v 0.01123365 -0.00153494 0.01663530
+v 0.01123365 0.00029166 0.01633779
+v 0.01155478 -0.00153494 0.01701278
+v 0.01136898 -0.00153494 0.01679523
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 13
+f 1 13 16
+f 1 16 17
+f 1 17 14
+f 1 14 10
+f 1 10 6
+f 1 6 7
+f 1 7 2
+f 2 7 11
+f 2 11 15
+f 2 15 12
+f 2 12 8
+f 2 8 4
+f 2 4 3
+f 4 8 9
+f 4 9 5
+f 6 10 11
+f 6 11 7
+f 8 12 9
+f 9 12 13
+f 10 14 15
+f 10 15 11
+f 12 15 13
+f 13 15 16
+f 14 17 15
+f 15 17 16
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_9.obj b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e86d07a1649480ff970c7d2e760fd6e38e3fbad2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/mesh/sharpener_026_collision_9.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.00560438 -0.00990844 0.02645231
+v 0.00560438 -0.00928435 0.01785993
+v -0.00243862 -0.01108386 0.02645231
+v 0.00560438 -0.02961798 0.02645224
+v -0.00243862 -0.01050420 0.01785992
+v 0.00560438 -0.02987040 0.01785985
+v -0.00243862 -0.02991285 0.02645224
+v 0.00481709 -0.02978763 0.02645224
+v 0.00560438 -0.02980378 0.02503826
+v -0.00243862 -0.02988050 0.01785985
+v 0.00560438 -0.02987042 0.02372185
+v 0.00337713 -0.02991487 0.02645224
+v 0.00468876 -0.02988252 0.01845875
+v 0.00468876 -0.02988050 0.01785985
+v -0.00055541 -0.02991487 0.02645224
+v 0.00468876 -0.02980985 0.02645224
+v -0.00055541 -0.02988252 0.01785985
+v 0.00206628 -0.02991689 0.02645224
+v 0.00409199 -0.02988252 0.01785985
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 18
+f 1 18 12
+f 1 12 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 14
+f 2 14 19
+f 2 19 17
+f 2 17 10
+f 2 10 5
+f 3 5 10
+f 3 10 7
+f 4 8 9
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 7 10 17
+f 7 17 15
+f 8 16 9
+f 9 16 11
+f 11 16 12
+f 12 18 19
+f 12 19 14
+f 12 14 13
+f 15 17 18
+f 17 19 18
+
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/sharpener_026.xml b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/sharpener_026.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e816c17471cb985702b2bbacc9df84db265f2bde
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/mjcf/sharpener_026.xml
@@ -0,0 +1,186 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sharpener_026">
+  <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_026.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sharpener_026_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sharpener_026_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sharpener_026_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sharpener_026_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sharpener_026_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sharpener_026_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sharpener_026_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sharpener_026_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sharpener_026_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sharpener_026_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sharpener_026_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sharpener_026_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sharpener_026_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/sharpener_026_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/sharpener_026_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/sharpener_026_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/sharpener_026_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/sharpener_026_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/sharpener_026_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/sharpener_026_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/sharpener_026_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/sharpener_026_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/sharpener_026_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/sharpener_026_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/sharpener_026_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/sharpener_026_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/sharpener_026_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/sharpener_026_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/sharpener_026_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/sharpener_026_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/sharpener_026_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/sharpener_026_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/sharpener_026_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/sharpener_026_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/sharpener_026_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/sharpener_026_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/sharpener_026_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/sharpener_026_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/sharpener_026_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/sharpener_026_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/sharpener_026_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/sharpener_026_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/sharpener_026_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/sharpener_026_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/sharpener_026_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/sharpener_026_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/sharpener_026_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/sharpener_026_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/sharpener_026_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/sharpener_026_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/sharpener_026_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/sharpener_026_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/sharpener_026_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/sharpener_026_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/sharpener_026_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/sharpener_026_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/sharpener_026_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/sharpener_026_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/sharpener_026_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/sharpener_026_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/sharpener_026_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/sharpener_026_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/sharpener_026_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/sharpener_026_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/sharpener_026_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/sharpener_026_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/sharpener_026_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_74" file="mesh/sharpener_026_collision_74.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_75" file="mesh/sharpener_026_collision_75.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_80" file="mesh/sharpener_026_collision_80.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_82" file="mesh/sharpener_026_collision_82.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_83" file="mesh/sharpener_026_collision_83.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_84" file="mesh/sharpener_026_collision_84.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_85" file="mesh/sharpener_026_collision_85.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sharpener_026">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+      <geom type="mesh" mesh="collision_mesh_0_85" 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/dd0bb74a62555298a2cca982d5dcfefb/sharpener_026.urdf b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/sharpener_026.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8564a51ed8eccc4ad987c094432a46edd9bad3c4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/sharpener_026.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_026">
+   <link name="sharpener_026">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_026.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_026_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0400" />
+         <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>dd0bb74a62555298a2cca982d5dcfefb</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>wooden sharpener</name>
+         <color>brown,silver</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>compact reddish wooden pencil sharpener with single metal blade</description>
+         <min_height>0.0800</min_height>
+         <max_height>0.0800</max_height>
+         <real_height>0.0800</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.06</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611150038</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.032959 -0.033053 -0.039299</min>
+            <max>0.033162 0.033102 0.040701</max>
+         </aabb>
+         <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>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/sharpener_026.usd b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/sharpener_026.usd
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4910656
diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/textures/material_0.png b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/textures/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/video.mp4 b/dataset/desktop_supplies/office_stationery/dd0bb74a62555298a2cca982d5dcfefb/video.mp4
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+version https://git-lfs.github.com/spec/v1
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+size 439252