diff --git a/.gitattributes b/.gitattributes
index f4eff395a798fbe6cf9251661579bdedd70a599d..39b54d7d005d3478fe25c9a03c603ceae9c68f25 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3111,3 +3111,5 @@ dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/ball
 dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mesh/ballpoint_pen_026.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mesh/pen_holder_004.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/pen_holder_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mesh/sharpener_038.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/sharpener_038.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9ac2c53e5c056b11b29494d037fc02ac4591a320
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_038_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_038_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f91948fbf29b71d5ec16a290cf45a51139c010e6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f6b63393506e4a11cd60da37f7d90cc31d6f3f8902cf1a11808849816cfa3c7
+size 12279326
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mesh/sharpener_038.glb b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mesh/sharpener_038.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5164d86dc86828ebee3e14b9e1e4869ac241abe2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mesh/sharpener_038.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcca6a15c07ee1f6d9523d92da67865c936af86872b80534c1536cbcfe74c747
+size 15339956
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mesh/sharpener_038.mtl b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mesh/sharpener_038.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..60a503afd42b51912227d05bfb375812e088c866
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mesh/sharpener_038.mtl
@@ -0,0 +1,6 @@
+newmtl sharpener_038_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/28edeb24b27f5cf2bf9205b8fd3e6ba8/mesh/sharpener_038.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mesh/sharpener_038.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd365be0f81c5999e9b7709e96ef12d23ea45259
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mesh/sharpener_038.obj
@@ -0,0 +1,118298 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sharpener_038_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mesh/sharpener_038_collision.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mesh/sharpener_038_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e69f437567253851477bc4bffc08aa49fa69021
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mesh/sharpener_038_collision.obj
@@ -0,0 +1,13258 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038.obj
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diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dd7fc115f291687c77a863dff595acc0eefd285
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision.obj
@@ -0,0 +1,13258 @@
+# https://github.com/mikedh/trimesh
+
+o sharpener_038_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_0.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f36b6dc00dd196555ffff0152e0756208b8c5ca7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_0.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_1.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32ee449f51a30ca3758dfdf1e3f027c8d5568bf6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_1.obj
@@ -0,0 +1,649 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_10.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b96cf6d5693f44a4109d20451e18557024f1a5d4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_10.obj
@@ -0,0 +1,580 @@
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diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_11.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25688c21153c462b3c908050670cd5239e5467e2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_11.obj
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diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_12.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c660a4a1172d5dec03e338b8fbefd2d650345bda
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_12.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+v 0.03707921 -0.00774654 -0.00876392
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+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_13.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a952484dadd54e1a0ed2b89dfd8dc9a5fbe4ddd5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_13.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v 0.01975786 -0.01398805 0.04608737
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+v 0.01679289 -0.01251863 0.04605865
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+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_14.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0300d87465d773d6375622653ef2e414993f720
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_14.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.02454742 0.00588974 0.02623819
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diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_15.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a72b7d95a6753ab5c8bd6dbf088d7d8938fb5c9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_15.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_16.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42d2d39c108323edb4fe4ea4e2b65d6557a22c8e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_16.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_17.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2133792e678c39111f1d302e5aac45644ebfad5c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_17.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.02454881 -0.02709241 0.02979191
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diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_18.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8df2be7aa412a82c90673c54551e6aa0e9e9404b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_18.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_19.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b6a2aea910e22f48f10e07e5fc242c9858cd7b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_19.obj
@@ -0,0 +1,808 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_2.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3be2741cd352efdb8519aa0ce1131506a5facfc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_2.obj
@@ -0,0 +1,790 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_20.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d59364df17b3de2cba95303db0b0c9057b05d004
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_20.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.00222425 -0.00101039 0.03446501
+v 0.01270869 -0.00101039 0.03446501
+v 0.00222425 -0.00101043 0.04531333
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+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_21.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eea16a0923282a1ca0c65a70207b5f2e727f0c59
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_21.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.02123885 -0.00101034 0.02169952
+v 0.02275068 -0.00101034 0.02183864
+v 0.01975776 -0.00101034 0.02174791
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+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_22.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f61ff93c29826912303ce2a8e4cca368281cb4f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_22.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
+v 0.03498976 0.02270987 -0.02682871
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+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_23.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3739dd5703af8c78cae248d3fa8c534091d3acd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_23.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.02454742 0.00234246 -0.02682651
+v 0.03453961 0.00362195 -0.02682651
+v 0.03457836 0.00743585 -0.02112743
+v 0.02454742 0.00694236 -0.02112743
+v 0.02454742 0.02515448 -0.02682643
+v 0.03457836 0.00362865 -0.02682651
+v 0.03604474 0.00801195 -0.02112743
+v 0.02454742 0.02515446 -0.02112737
+v 0.03332268 0.02515448 -0.02682643
+v 0.03462074 0.00364652 -0.02682651
+v 0.03655089 0.00842505 -0.02112743
+v 0.03591397 0.00437223 -0.02682650
+v 0.03197255 0.02515446 -0.02112737
+v 0.03556886 0.02227393 -0.02112738
+v 0.03556039 0.02226277 -0.02210818
+v 0.03554586 0.02224715 -0.02359111
+v 0.03551316 0.02221143 -0.02682644
+v 0.03405768 0.02374546 -0.02112737
+v 0.03683787 0.00871311 -0.02112743
+v 0.03634141 0.00497067 -0.02682650
+v 0.03622637 0.02127580 -0.02112738
+v 0.03621305 0.02127580 -0.02210818
+v 0.03619247 0.02127581 -0.02359111
+v 0.03617188 0.02127581 -0.02507349
+v 0.03614645 0.02127582 -0.02682644
+v 0.03688630 0.00952367 -0.02112743
+v 0.03686330 0.00617424 -0.02682650
+v 0.03671799 0.01985116 -0.02112739
+v 0.03671436 0.01984446 -0.02210819
+v 0.03669498 0.01981545 -0.02655642
+v 0.03659085 0.02008118 -0.02682645
+v 0.03689599 0.00952367 -0.02210823
+v 0.03688993 0.01099297 -0.02112742
+v 0.03688509 0.00662530 -0.02682650
+v 0.03691657 0.00805440 -0.02655646
+v 0.03674947 0.01960330 -0.02112739
+v 0.03680275 0.01907857 -0.02682645
+v 0.03672646 0.01959885 -0.02682645
+v 0.03669741 0.01978642 -0.02682645
+v 0.03690325 0.00952368 -0.02359116
+v 0.03691778 0.00805440 -0.02682649
+v 0.03690204 0.00979165 -0.02682648
+v 0.03687661 0.01246226 -0.02112741
+v 0.03680638 0.01911651 -0.02112739
+v 0.03680638 0.01910981 -0.02210819
+v 0.03681970 0.01833721 -0.02112739
+v 0.03681728 0.01833722 -0.02359112
+v 0.03681244 0.01833723 -0.02655642
+v 0.03681123 0.01835956 -0.02682645
+v 0.03689115 0.01099299 -0.02682648
+v 0.03687661 0.01246228 -0.02682647
+v 0.03682455 0.01716492 -0.02682646
+f 1 2 3
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+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_24.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ea0a36087339191986530bd1b63d5d16b578724
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_24.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.01499820 -0.00761543 0.03480024
+v 0.02454742 -0.00101038 0.03358374
+v 0.01499820 -0.00101038 0.03358231
+v 0.01499820 -0.02672589 0.03480017
+v 0.02454742 -0.01073029 0.03480023
+v 0.02454742 -0.00101034 0.02236907
+v 0.01499820 -0.00101034 0.02211891
+v 0.01499820 -0.02682035 0.03422550
+v 0.01531134 -0.02677440 0.03480017
+v 0.02454742 -0.02678206 0.03480017
+v 0.02275087 -0.00101034 0.02183872
+v 0.02454742 -0.00736516 0.02019759
+v 0.02429691 -0.00705878 0.02019759
+v 0.02405762 -0.00676772 0.02019760
+v 0.01854364 -0.00101034 0.02181442
+v 0.01499820 -0.00610134 0.02019760
+v 0.01499820 -0.02684332 0.03392673
+v 0.01531134 -0.02686631 0.03423980
+v 0.01679289 -0.02678461 0.03480017
+v 0.01975786 -0.02678461 0.03480017
+v 0.02454742 -0.02681780 0.03458288
+v 0.02123847 -0.00101034 0.02170005
+v 0.02315841 -0.00617538 0.02019760
+v 0.02302661 -0.00610645 0.02019760
+v 0.02217694 -0.00577964 0.02019760
+v 0.02454742 -0.02704753 0.02019752
+v 0.01975786 -0.00101034 0.02174723
+v 0.01828098 -0.00569284 0.02019760
+v 0.01499820 -0.02685604 0.02019752
+v 0.01499820 -0.02698884 0.02979110
+v 0.02454742 -0.02709352 0.02979110
+v 0.01679289 -0.02687652 0.03423980
+v 0.01975786 -0.02687652 0.03423980
+v 0.02454742 -0.02687397 0.03423980
+v 0.02195354 -0.00573624 0.02019760
+v 0.02123847 -0.00566730 0.02019760
+f 1 2 3
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+f 1 17 8
+f 1 8 4
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+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_25.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e6852f1730999d8e581196e666720b5938c3e13
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_25.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.02994893 0.00588971 0.03450993
+v 0.03157465 -0.00106697 0.03450991
+v 0.03038716 0.00588969 0.04015107
+v 0.03834696 0.00588971 0.03450993
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+v 0.03060919 0.00588969 0.04127561
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+v 0.03823470 0.00588971 0.03524043
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+v 0.03159876 0.00588969 0.04195520
+v 0.03805092 0.00588971 0.03642327
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+v 0.03721852 -0.00106699 0.04012965
+v 0.03659151 -0.00106699 0.04084319
+v 0.03610089 0.00588969 0.04153977
+v 0.03704472 -0.00106699 0.04034880
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+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_26.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51dc1c58df753ccb9f86b5b04e0f4fb7c7477765
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_26.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.02454742 -0.00564797 0.01233419
+v 0.02454742 -0.00101030 0.01164242
+v 0.02415203 -0.00564797 0.01262338
+v 0.02454742 -0.00564776 -0.04362709
+v 0.02272096 -0.00101030 0.01201667
+v 0.02123847 -0.00564797 0.01365540
+v 0.02272096 -0.00564797 0.01334920
+v 0.02454742 -0.00101010 -0.04426783
+v 0.02426046 -0.00564776 -0.04363844
+v 0.02454742 -0.00257354 -0.04413175
+v 0.02247138 -0.00101030 0.01204502
+v 0.02052153 -0.00564797 0.01364406
+v 0.02123847 -0.00101030 0.01217544
+v 0.02454742 -0.00110407 -0.04426783
+v 0.02445208 -0.00101010 -0.04427350
+v 0.01679289 -0.00564776 -0.04364411
+v 0.01499820 -0.00564776 -0.04364411
+v 0.01975786 -0.00564797 0.01362705
+v 0.01975786 -0.00101030 0.01211307
+v 0.01499820 -0.00339203 -0.04367245
+v 0.01499820 -0.00223261 -0.04368379
+v 0.01499820 -0.00101010 -0.04369512
+v 0.01499820 -0.00486105 -0.04365544
+v 0.01499820 -0.00564797 0.01323579
+v 0.01910635 -0.00564797 0.01358168
+v 0.01499820 -0.00101030 0.01174449
+f 1 2 3
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+f 17 26 22
+f 17 22 21
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+f 17 20 23
+f 18 19 25
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+f 24 25 26
+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_27.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68e0dc63275bd2b8ad55c3187e753f2c83a3c32b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_27.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.02454742 -0.02092371 0.01642074
+v 0.03649046 -0.02092371 0.01642074
+v 0.02454742 -0.02092374 0.02583870
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+v 0.03651294 -0.02092374 0.02583870
+v 0.03716125 -0.01692545 0.01642076
+v 0.02454742 -0.00784294 0.02583875
+v 0.02454742 -0.00784292 0.01927706
+v 0.03457802 -0.00784293 0.02087853
+v 0.03457802 -0.00935539 0.01642079
+v 0.03687145 -0.01871458 0.02583871
+v 0.03716375 -0.01690112 0.01642076
+v 0.03716125 -0.01692545 0.01644658
+v 0.03723620 -0.00784294 0.02583875
+v 0.03576221 -0.00784293 0.02125470
+v 0.03600454 -0.00976520 0.01642078
+v 0.03694390 -0.01823945 0.02583871
+v 0.03730740 -0.01545651 0.01642076
+v 0.03730740 -0.01545651 0.01644658
+v 0.03715125 -0.01692546 0.01792911
+v 0.03701385 -0.00784294 0.02386665
+v 0.03724369 -0.00811060 0.02583875
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+v 0.03722246 -0.01396325 0.01642077
+v 0.03713377 -0.01251865 0.01642077
+v 0.03713002 -0.01248919 0.01642077
+v 0.03694515 -0.01117906 0.01642078
+v 0.03642426 -0.00784293 0.02208816
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+v 0.03685271 -0.00784293 0.02274184
+v 0.03729740 -0.01545652 0.01792911
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+v 0.03727867 -0.00957953 0.02583874
+v 0.03730740 -0.01104975 0.02583874
+v 0.03674528 -0.01044652 0.01642078
+v 0.03724994 -0.01251868 0.02583873
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+f 1 16 29
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+f 18 35 19
+f 19 35 31
+f 21 27 36
+f 21 36 30
+f 29 30 36
+f 31 35 32
+f 32 37 33
+f 32 35 37
+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_28.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c7a636fd075f44d570109ab374e6515552be786
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_28.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.01606127 0.02710967 0.03446373
+v 0.01606127 0.02714610 0.03423927
+v 0.01508462 0.02710967 0.03446373
+v 0.01606127 0.00709637 0.03446366
+v 0.01530948 0.02714610 0.03423927
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+v 0.00222425 -0.00100759 0.03446363
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+v 0.00222425 0.02692479 0.02031053
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+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_29.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..215419e08aec5d1f0590b6e2eae3537474965c2a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_29.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.02445273 -0.00101010 -0.04427077
+v 0.02420352 -0.00076258 -0.04427700
+v 0.02420352 0.00070656 -0.04432684
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+v 0.02454742 0.00756147 -0.04378483
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+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_3.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77cb9bbc1bc09210b9c1faf4191146a744511576
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_3.obj
@@ -0,0 +1,2248 @@
+# https://github.com/mikedh/trimesh
+v -0.03646437 0.01098986 0.02979229
+v -0.03646058 0.00364263 0.02979226
+v -0.03589632 0.00511100 0.03384827
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+v -0.03574106 0.01539497 0.03458557
+v -0.03574106 0.01686869 0.03457896
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diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_30.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1911f70aab67df8ef1eb98499669ec372ddefdfd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_30.obj
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diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_31.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..045f08a4c10fdd5da12e6a5acadb7c1382536152
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_31.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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+v 0.01531134 -0.02742522 -0.00728211
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+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_32.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db8eb063e2c0f7b4704638c062c920c99f70ac73
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_32.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.00222425 -0.00101010 -0.04370772
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+v 0.00370466 -0.00101010 -0.04370772
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+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_33.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbf7f70cda86ddb9015891f1fcb4274cccf49d28
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_33.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.01241199 -0.02745137 -0.00728496
+v 0.01382827 -0.02742290 -0.00876395
+v 0.01499795 -0.02742549 -0.00759283
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+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_34.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bba24c69ff54847c87f9f2e1464317272a3fa75
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_34.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.01249782 -0.00101039 0.03519662
+v 0.01499795 -0.00101038 0.03358143
+v 0.01241199 -0.00101039 0.03519662
+v 0.01499795 -0.00773405 0.03519659
+v 0.01499795 -0.00101034 0.02211798
+v 0.01241199 -0.00101034 0.02044872
+v 0.01241199 -0.02608427 0.03519652
+v 0.01499795 -0.02666153 0.03519652
+v 0.01499795 -0.00705247 0.01793636
+v 0.01241199 -0.00543513 0.01793637
+v 0.01241199 -0.02630043 0.03452071
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+v 0.01499795 -0.02681920 0.03422673
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+v 0.01241199 -0.02689797 0.01793629
+v 0.01241199 -0.02654454 0.03373508
+v 0.01241199 -0.02697684 0.02979003
+v 0.01499795 -0.02684208 0.03392599
+v 0.01241199 -0.02665898 0.03281935
+v 0.01499795 -0.02698956 0.02979003
+f 1 2 5
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+f 1 6 3
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+f 1 12 8
+f 1 8 4
+f 1 4 2
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+f 2 18 20
+f 2 20 14
+f 2 14 9
+f 2 9 5
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+f 12 16 13
+f 13 17 18
+f 13 16 19
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+f 14 20 15
+f 15 20 17
+f 17 20 18
+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_35.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4123d4e5105516ed2afc7cbb7e0a7192bec3273
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_35.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.02454742 -0.02092145 -0.02110082
+v 0.02454742 -0.00795799 -0.02110077
+v 0.03666537 -0.02092145 -0.02110082
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+v 0.03452998 -0.00774651 -0.01624965
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+v 0.03666537 -0.02092145 -0.02062894
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+v 0.03543805 -0.00774651 -0.01574380
+v 0.03608028 -0.00774651 -0.01523438
+v 0.02454742 -0.00774655 -0.00417189
+v 0.03702562 -0.01915851 -0.02110081
+v 0.03666165 -0.02092149 -0.01172925
+v 0.03666289 -0.02092148 -0.01321104
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+v 0.02485053 -0.00774655 -0.00417189
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+v 0.03720947 -0.01398834 -0.02110079
+v 0.03717469 -0.01398838 -0.01172922
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+v 0.03706413 -0.00774654 -0.00764668
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+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_36.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc917a31c17261cbc62aa8b1c9ae04144799f788
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_36.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.02454742 0.00400105 -0.01379979
+v 0.02454742 0.00694208 -0.02112743
+v 0.03457775 0.00743777 -0.02112743
+v 0.02560859 0.00406120 -0.01379979
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+v 0.03604501 0.00801228 -0.02112743
+v 0.03457775 0.00502978 -0.01379978
+v 0.03186561 0.02518948 -0.01379971
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+v 0.03409309 0.02375425 -0.01765935
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+v 0.03683786 0.00871124 -0.02112743
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+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_37.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3f58df8c21e2ce57a87c5e5a8feb998ae65bf4d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_37.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.02454867 -0.02092152 -0.00284029
+v 0.02454867 -0.00928252 -0.00284024
+v 0.03657445 -0.02092152 -0.00284029
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+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_38.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..806fbc1a129bd2e23c619074117ac6e90d44f071
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_38.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_39.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c07d9b13af127e54bc90ac56be1fd06f5fb0c13b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_39.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
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+v 0.01189053 -0.00101031 0.01462494
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+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_4.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6132499e7daa434cd912faed649bae698a334ac
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_4.obj
@@ -0,0 +1,670 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_40.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40b9bce2ae7964cf8bb6e2350839d65cb8f7df2e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_40.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_41.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3822219b4d30552088b20266a76c688bfbfeaeee
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_41.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_42.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77f339223c47ea6015ac9c437d5e82ef5d5482cb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_42.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_43.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af0016673fa381c35ee8fc217004e9a29a065f8b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_43.obj
@@ -0,0 +1,184 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_5.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..285594daeddbc8dbd7de73a8e3028ce6a3e87682
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_5.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v -0.03604036 0.02421440 0.02283134
+v -0.03599541 0.02528937 0.02283134
+v -0.03599541 0.02527863 0.02089242
+v -0.03593923 0.02512824 -0.00704504
+v -0.03597294 0.02245154 -0.00704505
+v -0.03597294 -0.02427240 -0.00704522
+v -0.03590177 -0.02511636 0.02283116
+v -0.03555719 0.02602574 0.02283135
+v -0.03528378 0.02585922 -0.00704504
+v -0.03593548 -0.02504101 -0.00704522
+v -0.03592799 -0.02517539 -0.00431377
+v -0.03590927 -0.02512710 0.01940953
+v -0.03532123 -0.02591711 -0.00704523
+v -0.03531374 -0.02591712 -0.00579649
+v -0.03519014 -0.02586347 0.01940952
+v -0.03567705 -0.02534211 0.02283116
+v -0.03481560 0.02678897 0.02283135
+v -0.03480062 0.02677822 0.02089243
+v -0.03516767 0.02597210 -0.00704503
+v -0.03478938 0.02676748 0.01940972
+v -0.03592799 -0.02518613 -0.00704522
+v -0.03590927 -0.02513248 0.01792683
+v -0.03457964 -0.02663735 -0.00704523
+v -0.03445604 -0.02655145 0.01792682
+v -0.03444855 -0.02654608 0.01940952
+v -0.03465455 -0.02632571 0.02283115
+v -0.03516767 -0.02585272 0.02283116
+v -0.03359834 0.02724584 0.02283135
+v -0.03455342 0.02656332 -0.00579629
+v -0.03454218 0.02655259 -0.00704503
+v -0.03359834 0.02722434 0.02089243
+v -0.03359834 -0.02684159 -0.00704523
+v -0.03442982 -0.02653534 0.02237493
+v -0.03442608 -0.02652996 0.02283115
+v -0.03211890 0.02734796 0.02283135
+v -0.03359834 0.02720285 0.01940972
+v -0.03359834 0.02678369 -0.00579629
+v -0.03359834 0.02676220 -0.00704503
+v -0.03211890 0.02734258 0.02237513
+v -0.03211890 0.02730497 0.01940972
+v -0.03359834 -0.02668581 0.01644411
+v -0.02174407 -0.02735221 -0.00704523
+v -0.02322351 -0.02734684 -0.00579649
+v -0.02322351 -0.02733076 0.00458538
+v -0.03359834 -0.02664283 0.02283115
+v -0.03063571 0.02738021 0.02283135
+v -0.02322351 0.02744477 0.00606829
+v -0.03211890 0.02705240 0.00458558
+v -0.03211890 0.02695030 -0.00134817
+v -0.03211890 0.02686969 -0.00579629
+v -0.03235111 0.02683208 -0.00704503
+v -0.01706229 -0.02740596 -0.00704523
+v -0.01729451 -0.02740600 0.00161997
+v -0.02026088 -0.02736837 0.00310268
+v -0.01877770 -0.02738450 0.00310268
+v -0.01877770 -0.02736301 0.00606809
+v -0.02026088 -0.02734688 0.00606809
+v -0.02026088 -0.02733077 0.00755080
+v -0.02322351 -0.02729851 0.00606809
+v -0.03211890 -0.02668046 0.02283115
+v -0.02026088 0.02739638 0.00755100
+v 0.00222290 0.02695559 0.02283135
+v 0.00222290 0.02694491 0.00162017
+v 0.00222290 0.02688043 -0.00283087
+v -0.02322351 0.02741252 0.00458558
+v -0.03211890 0.02684283 -0.00704503
+v -0.01581881 -0.02741671 -0.00704523
+v -0.01433562 -0.02742746 -0.00704523
+v -0.01136925 -0.02743822 -0.00579649
+v -0.01581881 -0.02741137 0.00161997
+v -0.01433562 -0.02741137 0.00310268
+v -0.01729451 -0.02737376 0.00606809
+v -0.01877770 -0.02734152 0.00755080
+v -0.03063571 -0.02671271 0.02283115
+v -0.03166195 -0.02669121 0.02283115
+v 0.00222290 -0.02680408 0.02283115
+v 0.00222290 0.02686431 -0.00308238
+v 0.00048502 0.02679983 -0.00704503
+v -0.02322351 0.02736953 0.00310288
+v -0.02322351 0.02709544 -0.00579629
+v -0.02322351 0.02704170 -0.00704503
+v -0.01285243 -0.02743283 -0.00704523
+v 0.00048502 -0.02746511 -0.00134837
+v -0.00247761 -0.02745974 -0.00134837
+v -0.01136925 -0.02742750 0.00161997
+v -0.01433562 -0.02740063 0.00458538
+v -0.00099442 -0.02745437 0.00161997
+v -0.00988981 -0.02742212 0.00310268
+v -0.01581881 -0.02737914 0.00606809
+v -0.01433562 -0.02737914 0.00606809
+v 0.00196821 -0.02735764 0.00606809
+v 0.00196821 -0.02680408 0.02283115
+v -0.00099442 -0.02679870 0.02283115
+v -0.00350760 -0.02679333 0.02283115
+v -0.00544024 -0.02678796 0.02283115
+v 0.00222290 -0.02733076 0.00606809
+v 0.00222290 0.02659021 -0.00704503
+v 0.00218170 0.02659559 -0.00704503
+v -0.01308840 0.02695033 -0.00704503
+v -0.01262022 -0.02743283 -0.00704523
+v 0.00048502 -0.02744362 0.00161997
+v -0.00099442 -0.02745974 0.00013726
+v 0.00222290 -0.02741135 -0.00283107
+v 0.00196821 -0.02743286 -0.00134837
+v 0.00222290 -0.02742212 0.00161997
+v -0.00099442 -0.02742750 0.00310268
+v 0.00222290 -0.02713184 -0.00704523
+v 0.00048502 -0.02725009 -0.00704523
+v 0.00222290 -0.02742211 -0.00134837
+v 0.00220417 -0.02713721 -0.00704523
+v 0.00222290 -0.02713721 -0.00702476
+f 1 2 3
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+f 1 16 27
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+f 103 110 111
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+f 107 111 110
+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_6.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d08a032165f021f43d65d4e987081af92442f05
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_6.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.03851171 -0.00784170 0.03450212
+v 0.02915599 -0.00784170 0.03450212
+v 0.03850072 -0.00664007 0.03450213
+v 0.03825069 -0.00784170 0.03624055
+v 0.02972658 -0.00784172 0.04169043
+v 0.03201537 -0.00106699 0.04017070
+v 0.03157208 -0.00106697 0.03450215
+v 0.03845767 -0.00223279 0.03450214
+v 0.03824519 -0.00664007 0.03620180
+v 0.03809132 -0.00664008 0.03720570
+v 0.03813070 -0.00784171 0.03702280
+v 0.02990793 -0.00784173 0.04313664
+v 0.03215367 -0.00106699 0.04093108
+v 0.03844485 -0.00106697 0.03450215
+v 0.03844577 -0.00112267 0.03450215
+v 0.03823053 -0.00370232 0.03610440
+v 0.03806201 -0.00370233 0.03720571
+v 0.03791272 -0.00784171 0.03841832
+v 0.03810231 -0.00784171 0.03720569
+v 0.03784495 -0.00517121 0.03868868
+v 0.03041807 -0.00784173 0.04433039
+v 0.03220129 -0.00106699 0.04114179
+v 0.03821588 -0.00106697 0.03601197
+v 0.03822229 -0.00223279 0.03605470
+v 0.03804644 -0.00223280 0.03720571
+v 0.03783029 -0.00370233 0.03868869
+v 0.03785869 -0.00664008 0.03868868
+v 0.03767734 -0.00784172 0.03990031
+v 0.03161513 -0.00784173 0.04465541
+v 0.03309702 -0.00106699 0.04163082
+v 0.03290286 -0.00106699 0.04153441
+v 0.03803270 -0.00106698 0.03720572
+v 0.03781014 -0.00223280 0.03868869
+v 0.03763246 -0.00784172 0.04017067
+v 0.03340201 -0.00784173 0.04455303
+v 0.03480514 -0.00784173 0.04446656
+v 0.03427210 -0.00106699 0.04155130
+v 0.03798325 -0.00106698 0.03751285
+v 0.03779000 -0.00106698 0.03868870
+v 0.03760865 -0.00664009 0.04017068
+v 0.03738335 -0.00784172 0.04138330
+v 0.03553235 -0.00784173 0.04423894
+v 0.03457800 -0.00106699 0.04151453
+v 0.03765719 -0.00106698 0.03903162
+v 0.03700142 -0.00784173 0.04263270
+v 0.03571644 -0.00784173 0.04408090
+v 0.03659203 -0.00106699 0.04084261
+v 0.03721849 -0.00106699 0.04012994
+v 0.03694922 -0.00784173 0.04275397
+v 0.03658287 -0.00784173 0.04328971
+v 0.03704447 -0.00106699 0.04034862
+f 1 2 7
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+f 1 15 8
+f 1 8 3
+f 1 3 4
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+f 1 19 18
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+f 10 20 18
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+f 48 51 50
+f 48 50 49
+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_7.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5ec567560a1329d113cfbce485de832b5c6f07e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_7.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.03864719 -0.00784168 0.02979099
+v 0.03863615 -0.00784168 0.02958830
+v 0.03852712 -0.00106695 0.02871645
+v 0.03853126 -0.00106695 0.02894001
+v 0.03857956 -0.00370230 0.02979101
+v 0.03848433 -0.00106697 0.03423984
+v 0.03849675 -0.00223279 0.03423983
+v 0.03851194 -0.00370232 0.03423983
+v 0.03855196 -0.00784170 0.03423981
+v 0.03857818 -0.00784168 0.02867171
+v 0.03856990 -0.00664005 0.02867917
+v 0.03685298 -0.00784165 0.02274294
+v 0.03688610 -0.00106693 0.02444648
+v 0.03855472 -0.00223277 0.02979101
+v 0.03845121 -0.00106697 0.03446042
+v 0.03846087 -0.00257630 0.03450065
+v 0.03847191 -0.00370232 0.03450065
+v 0.03850365 -0.00694446 0.03450063
+v 0.03851194 -0.00784170 0.03450063
+v 0.03642512 -0.00784165 0.02208866
+v 0.03643755 -0.00106693 0.02385927
+v 0.03844431 -0.00106697 0.03450066
+v 0.03844569 -0.00112267 0.03450066
+v 0.02915717 -0.00784170 0.03450063
+v 0.03576127 -0.00784165 0.02125553
+v 0.03569778 -0.00106692 0.02308725
+v 0.03157246 -0.00106697 0.03450066
+v 0.02454742 -0.00784169 0.03364365
+v 0.02454742 -0.00106696 0.03358406
+v 0.02454742 -0.00189192 0.03359151
+v 0.03457846 -0.00784165 0.02087846
+v 0.03554458 -0.00106692 0.02294715
+v 0.02454742 -0.00784164 0.01927629
+v 0.02454742 -0.00106692 0.02237782
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 19
+f 1 19 24
+f 1 24 28
+f 1 28 33
+f 1 33 31
+f 1 31 25
+f 1 25 20
+f 1 20 12
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+f 1 10 2
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+
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_8.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20ba46eb25b7c8174acc8a3dd9099a6b8d64b3eb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_8.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.03309660 0.02915641 0.01641163
+v 0.03309660 0.02912980 0.01051388
+v 0.03161405 0.02903809 0.01199552
+v 0.03161405 0.02905583 0.01641163
+v 0.03457791 0.02899370 0.01641163
+v 0.03457791 0.02898484 0.01199552
+v 0.03457791 0.02895235 -0.00322064
+v 0.03309660 0.02906477 -0.00322064
+v 0.03161405 0.02902331 0.00903031
+v 0.03013274 0.02890199 0.01641163
+v 0.03460893 0.02897891 0.01641163
+v 0.03588430 0.02836953 -0.00134698
+v 0.03588306 0.02836954 -0.00283054
+v 0.03588182 0.02836954 -0.00322065
+v 0.03492033 0.02880147 -0.00322064
+v 0.03161405 0.02894939 -0.00322064
+v 0.03161405 0.02895235 -0.00283053
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diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_9.obj b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5d5a7e9b34852601c098972e6089259f18a13b7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/mesh/sharpener_038_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/sharpener_038.xml b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/sharpener_038.xml
new file mode 100644
index 0000000000000000000000000000000000000000..198613c5bec88c6fee45b9252ad9733717dfd7cc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/mjcf/sharpener_038.xml
@@ -0,0 +1,102 @@
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+    <mesh name="collision_mesh_0_0" file="mesh/sharpener_038_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_2" file="mesh/sharpener_038_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sharpener_038_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sharpener_038_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_15" file="mesh/sharpener_038_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/sharpener_038_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/sharpener_038_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/sharpener_038_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/sharpener_038_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/sharpener_038_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/sharpener_038_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/sharpener_038_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/sharpener_038_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/sharpener_038_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/sharpener_038_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/sharpener_038_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/sharpener_038_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/sharpener_038_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/sharpener_038_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/sharpener_038_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/sharpener_038_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/sharpener_038_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/sharpener_038_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_35" file="mesh/sharpener_038_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/sharpener_038_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/sharpener_038_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/sharpener_038_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/sharpener_038_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/sharpener_038_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/sharpener_038_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/sharpener_038_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/sharpener_038_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sharpener_038">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_43" 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/28edeb24b27f5cf2bf9205b8fd3e6ba8/sharpener_038.urdf b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/sharpener_038.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cd12046b3ea8dc74788f83a84a8ff6a8eeea5f80
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/sharpener_038.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_038">
+   <link name="sharpener_038">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_038.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_038_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0350" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>28edeb24b27f5cf2bf9205b8fd3e6ba8</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>pocket sharpener</name>
+         <color>blue,transparent</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>compact rectangular plastic sharpener with translucent case and blue top</description>
+         <min_height>0.0900</min_height>
+         <max_height>0.0900</max_height>
+         <real_height>0.0900</real_height>
+         <min_mass>0.02</min_mass>
+         <max_mass>0.05</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611150631</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.036193 -0.029077 -0.044114</min>
+            <max>0.038682 0.029019 0.045886</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Graphic decals are segmented as parts while real functional parts like blade area are not properly separated.","merge_groups":[{"colors":["Orange","Crimson"],"target_part":"main body","reason":"side graphics are non-functional surface markings"},{"colors":["Blue","Orange"],"target_part":"main body","reason":"tiny blue fragment is noise on body"}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/sharpener_038.usd b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/sharpener_038.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/sharpener_038.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:630cb82f6a805127355ec0261231a880b6eff8792b19e734269295da1a960a22
+size 4717239
diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/textures/material_0.png b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/textures/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/textures/material_0.png
@@ -0,0 +1,3 @@
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diff --git a/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/video.mp4 b/dataset/desktop_supplies/office_stationery/28edeb24b27f5cf2bf9205b8fd3e6ba8/video.mp4
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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