diff --git a/.gitattributes b/.gitattributes
index a4f55bbada2752004800f83474a95dc824314399..93301b695d9a097a160bd5f0d7896f2f3e00d59b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3228,3 +3228,5 @@ dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mesh
 dataset/desktop_supplies/office_stationery/b3bb48dd95d755d0884989fd25a9947b/mesh/open_notebook_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b4b1c7ff57de5e7bbb352458eb655350/marker_014.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b4b1c7ff57de5e7bbb352458eb655350/mesh/marker_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mesh/sharpener_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/sharpener_015.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..edc352c1f17a715e98593b049c9a25e7c3996d9c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_015_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_015_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b665138f5402e551b209d768ccf58d64a48fcf8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee740a524aa3310029081922b948f27044b3af43c21e7b043cad265f0b8f9d31
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diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mesh/sharpener_015.glb b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mesh/sharpener_015.glb
new file mode 100644
index 0000000000000000000000000000000000000000..83af9175500560603ef379e6d824e38d099d315c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mesh/sharpener_015.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fe59adcff4e3133f0d62dbd21cf370eb5d01721c4bd7e3a846a303980ea62dd
+size 14321848
diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mesh/sharpener_015.mtl b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mesh/sharpener_015.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7fe42c537638a5ca80213f323f2fc05e8ee1e989
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mesh/sharpener_015.mtl
@@ -0,0 +1,6 @@
+newmtl sharpener_015_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/b5a46a7a1ac056449de967d9f8104c80/mesh/sharpener_015.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mesh/sharpener_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5550f1094871581e04afe179736df4ae27c2c508
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mesh/sharpener_015.obj
@@ -0,0 +1,107528 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sharpener_015_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mesh/sharpener_015_collision.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mesh/sharpener_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7ed0c340f91c501c843fb39c362f4193f824fb2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mesh/sharpener_015_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mesh/sharpener_015_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mesh/sharpener_015_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b665138f5402e551b209d768ccf58d64a48fcf8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mesh/sharpener_015_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee740a524aa3310029081922b948f27044b3af43c21e7b043cad265f0b8f9d31
+size 11037290
diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b665138f5402e551b209d768ccf58d64a48fcf8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee740a524aa3310029081922b948f27044b3af43c21e7b043cad265f0b8f9d31
+size 11037290
diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..191f94f05ff5eae1adeecd1ff2319461dd8ca01f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6a509101791257c6715390cfed49f0cced6d945
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision.obj
@@ -0,0 +1,8869 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_0.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..137fd82249296c345055134a810d8e3b2d4426a1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_0.obj
@@ -0,0 +1,1933 @@
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diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_1.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e40e9ad7fe480624fa28a25ec3fca3e9c4cc002e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_10.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4785f4a2bf06517350bfbbc51308fdab929873a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_11.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fea8a779f84421e952241abe4587b46ea3bb80c5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_11.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_12.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a469c82adbffdbb17ac49f2ada3f578c3447a21
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_12.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
+v -0.03068249 0.02462756 0.01881375
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diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_13.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77d6efd8c82cdc1be694a2b71ab041c57757086c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_13.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_14.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cca0cc8b0b00f50eba9112c25260c99b976ef4e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_14.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_15.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..939c888939089eab5ff51637165a91713b50c147
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_15.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01425291 0.00201893 0.01881367
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+
diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_16.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36e8017cb46c01a2947c69d8c7e7338335ead6b0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_16.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_17.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..560cde3c4a8d7a205a60a2f7a1ede998b863ae0d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_17.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_18.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74f8cf31aba9d06b1dd1f293c20fd040555806d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_18.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_19.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..524d9852c8b03daffa24a5c17833e46dc3b205c2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_19.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_2.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d13595b47fd828c42c29df9a1d49be6b24bc626
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_2.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v 0.01478768 -0.00325665 0.01881365
+v 0.01415612 -0.00325666 0.02258034
+v 0.02933462 -0.00327135 0.01881365
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+
diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_20.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3794a3e946116d9203b5de8168db6971aa6dcfa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_20.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.01564974 -0.00003490 0.02603635
+v -0.01564974 0.00240906 0.02258036
+v -0.01564974 -0.00003495 0.03985188
+v -0.01905441 -0.00003490 0.02750903
+v -0.01992231 0.00475332 0.02258037
+v -0.01564974 0.00684504 0.02258038
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+v -0.01992231 0.00684504 0.02258038
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+v -0.01564974 0.00448252 0.03984514
+v -0.01672760 0.00341377 0.03985020
+v -0.01672760 -0.00003495 0.03985019
+v -0.01992231 -0.00003495 0.03952555
+v -0.01992231 0.00684498 0.03868018
+v -0.01672760 0.00684498 0.03874613
+v -0.01564974 0.00598701 0.03937847
+v -0.01564974 0.00479837 0.03984176
+v -0.01672760 0.00479837 0.03983330
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+v -0.01812293 0.00064591 0.03980116
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+v -0.01992231 0.00585097 0.03920432
+v -0.01951910 0.00589609 0.03924828
+v -0.01812293 0.00596613 0.03934128
+v -0.01972572 0.00684498 0.03868864
+v -0.01812293 0.00684498 0.03873260
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+v -0.01951910 0.00479837 0.03959321
+v -0.01951910 0.00684498 0.03869709
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+
diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_21.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..368a9c658630536ac5e10f8b230b9da367c6246e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_21.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.01487526 -0.00003421 0.02695728
+v 0.01747559 -0.00003421 0.02755936
+v 0.01487526 -0.00003426 0.03985297
+v 0.01487526 0.00453066 0.02258037
+v 0.01747559 0.00478092 0.02258037
+v 0.01747559 -0.00003426 0.03985297
+v 0.01747559 0.00030694 0.03985466
+v 0.01487526 0.00291484 0.03985637
+v 0.01487526 0.00694984 0.02258038
+v 0.01747559 0.00694984 0.02258038
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+v 0.01747559 0.00694978 0.03874693
+v 0.01487526 0.00479863 0.03985130
+v 0.01747559 0.00479863 0.03984961
+v 0.01677511 0.00479863 0.03985130
+v 0.01487526 0.00694910 0.03874862
+v 0.01487781 0.00694978 0.03874862
+v 0.01627266 0.00694978 0.03874862
+v 0.01677511 0.00598908 0.03938621
+v 0.01747559 0.00598908 0.03938452
+v 0.01487526 0.00555967 0.03955534
+v 0.01487526 0.00599045 0.03938621
+v 0.01537950 0.00599045 0.03938621
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+
diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_22.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0d41208604064d5d479cff733d8142f545d7092
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_22.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.00227075 -0.00718851 0.02258032
+v -0.00227075 -0.00718857 0.03874454
+v -0.00227768 -0.00003491 0.02258207
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+v 0.01541735 -0.00718851 0.02258032
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+v 0.01262002 -0.00718857 0.03874454
+v -0.00227075 -0.00608003 0.03938471
+v -0.00227768 0.00694984 0.02258210
+v 0.01414599 -0.00003491 0.02258035
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+v 0.01541735 -0.00718857 0.03873077
+v -0.00227768 0.00064591 0.04016085
+v -0.00227075 -0.00489124 0.03984763
+v -0.00227075 -0.00346716 0.03995950
+v -0.00227075 -0.00074218 0.04015397
+v 0.01541735 -0.00489124 0.03984591
+v 0.01541735 -0.00350730 0.03985280
+v 0.01541561 -0.00718857 0.03874282
+v 0.01541735 -0.00607865 0.03938471
+v 0.01398144 -0.00608003 0.03938471
+v -0.00227768 0.00694978 0.03874804
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+v 0.01487520 0.00598933 0.03938475
+v 0.01487520 0.00555891 0.03955340
+v -0.00227768 0.00521708 0.03969107
+v 0.01119105 0.00599209 0.03938648
+v 0.01258538 0.00599071 0.03938648
+f 1 2 6
+f 1 6 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 12
+f 1 12 19
+f 1 19 7
+f 1 7 2
+f 2 7 21
+f 2 21 8
+f 2 8 6
+f 3 6 13
+f 3 13 26
+f 3 26 35
+f 3 35 40
+f 3 40 31
+f 3 31 22
+f 3 22 9
+f 4 9 23
+f 4 23 10
+f 5 11 24
+f 5 24 27
+f 5 27 18
+f 5 18 17
+f 5 17 20
+f 5 20 25
+f 5 25 12
+f 6 8 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 27
+f 6 27 13
+f 7 19 20
+f 7 20 21
+f 8 21 30
+f 8 30 14
+f 9 22 33
+f 9 33 34
+f 9 34 23
+f 10 23 11
+f 11 23 24
+f 12 25 19
+f 13 27 28
+f 13 28 29
+f 13 29 26
+f 14 30 15
+f 15 30 17
+f 15 17 16
+f 17 21 20
+f 17 30 21
+f 19 25 20
+f 22 31 32
+f 22 32 33
+f 23 34 27
+f 23 27 24
+f 26 29 36
+f 26 36 35
+f 27 34 37
+f 27 37 38
+f 27 38 39
+f 27 39 29
+f 27 29 28
+f 29 39 36
+f 31 40 32
+f 32 41 33
+f 32 40 41
+f 33 41 42
+f 33 42 38
+f 33 38 37
+f 33 37 34
+f 35 41 40
+f 35 36 41
+f 36 39 42
+f 36 42 41
+f 38 42 39
+
diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_23.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ee8d4e1881cb6868d8fe0c9162bcd998dead23c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_23.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.02440831 -0.00728612 0.02636620
+v -0.02440831 -0.00403031 0.02636622
+v -0.01991662 -0.00728612 0.02636620
+v -0.02440831 -0.00728616 0.03865622
+v -0.01991662 -0.00350081 0.02636622
+v -0.02440831 -0.00003490 0.02850883
+v -0.01991662 -0.00003490 0.02815581
+v -0.01991662 -0.00728616 0.03867426
+v -0.01991662 -0.00593898 0.03920122
+v -0.01991662 -0.00515892 0.03944473
+v -0.01991662 -0.00489134 0.03949884
+v -0.02440831 -0.00489133 0.03888041
+v -0.02440831 -0.00003494 0.03892037
+v -0.01991662 -0.00003495 0.03952721
+v -0.01991662 -0.00390118 0.03951818
+v -0.02440831 -0.00350794 0.03891779
+v -0.02440831 -0.00481396 0.03888299
+v -0.02440831 -0.00212314 0.03891907
+v -0.01991662 -0.00251780 0.03952591
+v -0.01991662 -0.00350795 0.03952462
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 4
+f 1 4 12
+f 1 12 17
+f 1 17 16
+f 1 16 18
+f 1 18 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 14
+f 3 14 19
+f 3 19 20
+f 3 20 15
+f 3 15 11
+f 3 11 10
+f 3 10 9
+f 3 9 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 6 13 14
+f 6 14 7
+f 11 15 16
+f 11 16 17
+f 11 17 12
+f 13 18 19
+f 13 19 14
+f 15 20 16
+f 16 20 19
+f 16 19 18
+
diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_24.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df015f9c128d279faf6dea6ff82601072cad97d9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_24.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.01541735 -0.00718851 0.02258032
+v 0.01541735 -0.00480420 0.02258033
+v 0.02085410 -0.00718851 0.02258032
+v 0.01541735 -0.00718857 0.03873050
+v 0.02085410 -0.00487212 0.02258033
+v 0.01541735 -0.00003490 0.02728793
+v 0.02085410 -0.00718857 0.03874234
+v 0.01677560 -0.00718857 0.03874403
+v 0.01541735 -0.00718787 0.03874403
+v 0.02085410 -0.00003490 0.02756355
+v 0.01541735 -0.00003495 0.03985332
+v 0.02085410 -0.00605418 0.03935785
+v 0.01956716 -0.00607869 0.03938491
+v 0.01821316 -0.00718857 0.03874403
+v 0.01541735 -0.00607939 0.03938491
+v 0.02085410 -0.00003495 0.03985332
+v 0.01541735 -0.00350813 0.03985331
+v 0.01956716 -0.00003495 0.03985501
+v 0.02085410 -0.00498353 0.03978397
+v 0.01956716 -0.00489180 0.03984653
+v 0.01677560 -0.00607939 0.03938491
+v 0.01541735 -0.00489180 0.03984653
+v 0.02085410 -0.00361456 0.03985331
+v 0.02085410 -0.00489180 0.03981948
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 22
+f 1 22 17
+f 1 17 11
+f 1 11 6
+f 1 6 2
+f 2 6 5
+f 3 5 10
+f 3 10 16
+f 3 16 23
+f 3 23 24
+f 3 24 19
+f 3 19 12
+f 3 12 7
+f 4 8 9
+f 5 6 10
+f 6 11 18
+f 6 18 16
+f 6 16 10
+f 7 12 13
+f 7 13 14
+f 8 14 21
+f 8 21 15
+f 8 15 9
+f 11 17 18
+f 12 19 13
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 15 21 20
+f 15 20 22
+f 16 18 23
+f 17 22 23
+f 17 23 18
+f 19 24 20
+f 20 24 23
+f 20 23 22
+
diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_25.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cde65dba0bed548f4c1ff6122f3fec2be9204a7b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_25.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.01911965 0.00320880 0.01881367
+v -0.01812379 0.00257566 0.01881367
+v -0.01555641 0.00201892 0.02258036
+v -0.01608246 0.00320879 0.02258036
+v 0.01467985 0.00320880 0.01881367
+v -0.01677062 0.00201893 0.01881367
+v 0.01414719 0.00201892 0.02258036
+v 0.01416042 0.00320879 0.02258036
+v 0.01415050 0.00227190 0.02258036
+v 0.01425306 0.00201893 0.01881367
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 10
+f 1 10 6
+f 1 6 2
+f 2 6 3
+f 3 6 10
+f 3 10 7
+f 3 7 9
+f 3 9 8
+f 3 8 4
+f 5 8 9
+f 5 9 7
+f 5 7 10
+
diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_26.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b595d00b643a30d9a4cddec67163908e5dd0d1c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_26.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.02370694 0.02141002 0.04235975
+v -0.01992272 0.02141002 0.04235781
+v -0.01992272 0.02256997 0.04206739
+v -0.02370694 0.02257207 0.04206739
+v -0.02441227 0.02198580 0.04221454
+v -0.02441227 0.02141002 0.04235781
+v -0.02370694 0.01033823 0.04211188
+v -0.01992272 0.01033823 0.04211769
+v -0.01992272 0.02326091 0.04147495
+v -0.02441227 0.02326510 0.04148076
+v -0.02441227 0.02257207 0.04206546
+v -0.02441227 0.01033823 0.04210995
+v -0.02441227 0.00965148 0.04201507
+v -0.01992272 0.00924529 0.04193181
+v -0.01992272 0.02362523 0.04097737
+v -0.01992272 0.02377388 0.04077408
+v -0.02441227 0.02351845 0.04113420
+v -0.02441227 0.00909454 0.04192020
+v -0.01992272 0.00318176 0.03952908
+v -0.01992272 0.02412773 0.03962984
+v -0.02370694 0.02413192 0.03962984
+v -0.02370694 0.02377598 0.04077989
+v -0.02441227 0.02377598 0.04077989
+v -0.02441227 0.00318177 0.03892501
+v -0.01992272 0.00318181 0.02681076
+v -0.01992272 0.02452560 0.02422613
+v -0.02441227 0.02455491 0.02353300
+v -0.02441227 0.02413192 0.03962984
+v -0.02441227 0.00318181 0.02720379
+v -0.01992272 0.00475425 0.02258230
+v -0.01992272 0.02454655 0.02282632
+v -0.02441227 0.02456958 0.02282632
+v -0.02441227 0.00506412 0.02258230
+v -0.01992272 0.02454655 0.02258237
+v -0.02441227 0.02457168 0.02258237
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 7
+f 1 7 8
+f 1 8 2
+f 2 8 14
+f 2 14 19
+f 2 19 25
+f 2 25 30
+f 2 30 34
+f 2 34 31
+f 2 31 26
+f 2 26 20
+f 2 20 16
+f 2 16 15
+f 2 15 9
+f 2 9 3
+f 3 9 10
+f 3 10 4
+f 4 11 5
+f 4 10 11
+f 5 11 10
+f 5 10 17
+f 5 17 23
+f 5 23 28
+f 5 28 27
+f 5 27 32
+f 5 32 35
+f 5 35 33
+f 5 33 29
+f 5 29 24
+f 5 24 18
+f 5 18 13
+f 5 13 12
+f 5 12 6
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 9 15 10
+f 10 15 16
+f 10 16 17
+f 13 18 14
+f 14 18 19
+f 16 20 21
+f 16 21 22
+f 16 22 17
+f 17 22 23
+f 18 24 19
+f 19 24 29
+f 19 29 25
+f 20 26 27
+f 20 27 21
+f 21 28 23
+f 21 23 22
+f 21 27 28
+f 25 29 30
+f 26 31 32
+f 26 32 27
+f 29 33 30
+f 30 33 35
+f 30 35 34
+f 31 34 35
+f 31 35 32
+
diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_27.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..591ac2c2dc0239e9a34fedadf2e00e08c3048b01
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_27.obj
@@ -0,0 +1,550 @@
+# https://github.com/mikedh/trimesh
+v -0.02441227 0.02141011 0.04235934
+v -0.02441227 0.02257283 0.04206699
+v -0.02510355 0.02257283 0.04206699
+v -0.02789557 0.02141011 0.04235354
+v -0.03208185 0.01864056 0.04235740
+v -0.03208185 0.00318175 0.04228183
+v -0.02441227 0.01033819 0.04210955
+v -0.02441227 0.02326417 0.04148038
+v -0.02510355 0.02326417 0.04148038
+v -0.02649898 0.02326208 0.04148038
+v -0.02649898 0.02256864 0.04206312
+v -0.02929100 0.02141011 0.04234966
+v -0.03208185 0.02002533 0.04233416
+v -0.03347844 0.01725787 0.04222186
+v -0.03347844 0.01587310 0.04222961
+v -0.03347844 0.01310564 0.04222960
+v -0.03347844 0.00318175 0.04222762
+v -0.03231695 0.00318175 0.04227408
+v -0.02789557 0.00318176 0.04209210
+v -0.02673408 0.00318176 0.04199723
+v -0.02649898 0.00318176 0.04197787
+v -0.02572699 0.00318176 0.04179781
+v -0.02441227 0.00965104 0.04201662
+v -0.02441227 0.02377744 0.04077952
+v -0.02510355 0.02377744 0.04078145
+v -0.02649898 0.02377744 0.04077952
+v -0.02789557 0.02325160 0.04147069
+v -0.02789557 0.02256026 0.04205538
+v -0.02789557 0.02377115 0.04076984
+v -0.03068642 0.02141011 0.04227028
+v -0.02929100 0.02251207 0.04202634
+v -0.03344803 0.01988707 0.04193920
+v -0.03347844 0.01864057 0.04214830
+v -0.03201401 0.02138708 0.04198568
+v -0.03296378 0.02090942 0.04184629
+v -0.03432646 0.01725788 0.04185207
+v -0.03434049 0.01587311 0.04186562
+v -0.03434283 0.01448833 0.04186755
+v -0.03434283 0.00895341 0.04186947
+v -0.03362348 0.00318176 0.04216761
+v -0.02441227 0.00318177 0.03892468
+v -0.02441227 0.00909587 0.04191980
+v -0.02441227 0.02395342 0.04021031
+v -0.02789557 0.02414196 0.03962949
+v -0.02929100 0.02320551 0.04139519
+v -0.02929100 0.02407283 0.03962949
+v -0.02929100 0.02371459 0.04069627
+v -0.03068642 0.02234029 0.04191211
+v -0.03417674 0.01933400 0.04173011
+v -0.03424575 0.01864057 0.04178626
+v -0.03150286 0.02217269 0.04179014
+v -0.03243392 0.02183330 0.04142422
+v -0.03339539 0.02133470 0.04095376
+v -0.03427265 0.02083400 0.04048135
+v -0.03389367 0.02025788 0.04141647
+v -0.03502475 0.01725788 0.04108732
+v -0.03503762 0.01587311 0.04110862
+v -0.03504113 0.01310565 0.04111055
+v -0.03504113 0.01033819 0.04111247
+v -0.03504113 0.00895341 0.04111246
+v -0.03445863 0.00318176 0.04173973
+v -0.03434049 0.00318176 0.04186751
+v -0.02441227 0.00318181 0.02720370
+v -0.02441227 0.02413149 0.03962949
+v -0.02510355 0.02413358 0.03962949
+v -0.02929100 0.02419016 0.03822778
+v -0.03072853 0.02308191 0.04100796
+v -0.03029224 0.02360355 0.04052783
+v -0.03068642 0.02397438 0.03822778
+v -0.03072853 0.02373554 0.03963917
+v -0.03445512 0.01988707 0.04098085
+v -0.03558620 0.01801626 0.04035356
+v -0.03201401 0.02243875 0.04098667
+v -0.03289711 0.02219783 0.04049103
+v -0.03380010 0.02172227 0.03962948
+v -0.03442237 0.02103093 0.03962948
+v -0.03515225 0.01989964 0.03951718
+v -0.03547508 0.01893805 0.03991020
+v -0.03560725 0.01725788 0.04038647
+v -0.03562129 0.01587311 0.04040776
+v -0.03562246 0.01448833 0.04040969
+v -0.03562363 0.01033819 0.04041161
+v -0.03562363 0.00756864 0.04041160
+v -0.03562246 0.00479908 0.04041159
+v -0.03503879 0.00318176 0.04111051
+v -0.03068642 0.00318181 0.02718240
+v -0.02441227 0.00506312 0.02258230
+v -0.02441227 0.02455683 0.02353299
+v -0.02510355 0.02455264 0.02422610
+v -0.02649898 0.02458198 0.02282632
+v -0.03068642 0.02452960 0.02258237
+v -0.03068642 0.02443741 0.02562588
+v -0.03068642 0.02439341 0.02702760
+v -0.03068642 0.02434732 0.02842738
+v -0.03068642 0.02425094 0.03122887
+v -0.03068642 0.02404560 0.03682799
+v -0.03122096 0.02341710 0.04011351
+v -0.03173913 0.02366641 0.03682799
+v -0.03164439 0.02362242 0.03822778
+v -0.03152040 0.02355957 0.03917839
+v -0.03564936 0.01854210 0.03951718
+v -0.03575229 0.01725788 0.03962946
+v -0.03202453 0.02310495 0.03963916
+v -0.03310181 0.02236962 0.03962948
+v -0.03399076 0.02190664 0.03822777
+v -0.03455688 0.02121320 0.03822777
+v -0.03525401 0.02010077 0.03822776
+v -0.03558152 0.01935496 0.03897702
+v -0.03575463 0.01587311 0.03962946
+v -0.03575346 0.00756864 0.03962943
+v -0.03575229 0.00318176 0.03962941
+v -0.03562246 0.00318176 0.04040965
+v -0.03208185 0.00318181 0.02718627
+v -0.03068642 0.00506312 0.02258230
+v -0.02441227 0.02457150 0.02258237
+v -0.02441227 0.02456941 0.02282632
+v -0.02510355 0.02457779 0.02282632
+v -0.02649898 0.02458407 0.02258237
+v -0.03208185 0.02420069 0.02258237
+v -0.03208185 0.02419022 0.02282632
+v -0.03188885 0.02373347 0.03402650
+v -0.03277780 0.02348628 0.03051059
+v -0.03273921 0.02346533 0.03122887
+v -0.03251112 0.02333332 0.03542821
+v -0.03243626 0.02328513 0.03682799
+v -0.03234268 0.02322437 0.03822778
+v -0.03576984 0.01864058 0.03822776
+v -0.03584820 0.01725789 0.03822775
+v -0.03329246 0.02253094 0.03822777
+v -0.03406328 0.02198206 0.03682798
+v -0.03461186 0.02129072 0.03682798
+v -0.03531015 0.02018457 0.03682797
+v -0.03560608 0.01940943 0.03822776
+v -0.03579557 0.00318177 0.03822770
+v -0.03636169 0.01864064 0.02258235
+v -0.03313105 0.00318181 0.02733535
+v -0.03208185 0.00506940 0.02258230
+v -0.02486026 0.02457569 0.02258237
+v -0.02510355 0.02457779 0.02258237
+v -0.03293571 0.02379636 0.02258237
+v -0.03208185 0.02398489 0.02702760
+v -0.03311701 0.02369790 0.02282632
+v -0.03325035 0.02362248 0.02258237
+v -0.03382583 0.02322025 0.02258237
+v -0.03336615 0.02259379 0.03682798
+v -0.03615115 0.02002541 0.02258235
+v -0.03587979 0.01864059 0.03542819
+v -0.03593476 0.01864060 0.03402648
+v -0.03598857 0.01864060 0.03262670
+v -0.03604120 0.01864061 0.03122885
+v -0.03619794 0.01864062 0.02702758
+v -0.03412059 0.02204282 0.03542820
+v -0.03415802 0.02208263 0.03450470
+v -0.03528910 0.02169930 0.02258236
+v -0.03558620 0.02074187 0.02797433
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diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_28.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c25a280df7e3f7e7df93a95fc4f5805464401e50
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_28.obj
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diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_3.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d1f471f96fdba4e6b970d87ef5ea4205d11d1a9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_3.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_4.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44bac72277e971bf19830b6091889df164cb4a91
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_4.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_5.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04cae554e67d6d00d6b53d40f2e0455cec070efc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_5.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_6.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45245d33b762a99ff24791c51667478ea8d5f55c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_6.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.02880383 0.00270838 0.01831428
+v 0.02880383 0.00270838 0.01931429
+v 0.02880383 0.00370838 0.01831428
+v 0.02880383 0.00370838 0.01931429
+v 0.02980383 0.00270838 0.01831428
+v 0.02980383 0.00270838 0.01931429
+v 0.02980383 0.00370838 0.01831428
+v 0.02980383 0.00370838 0.01931429
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+
diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_7.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6c3329b39811fc389ae8291c60ba298c08d21ff
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_7.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_8.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0539da6d645fc0955a2307cbbdb65679f0ecc7b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_8.obj
@@ -0,0 +1,475 @@
+# https://github.com/mikedh/trimesh
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+v -0.00161450 -0.02464975 0.02258026
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diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_9.obj b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be2f773c6d1ae46bc08cb9fb94fd4b5042fe3b5b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/mesh/sharpener_015_collision_9.obj
@@ -0,0 +1,226 @@
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diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/sharpener_015.xml b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/sharpener_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5cfd0db0535d735a360b35f3bb3c6fc2a912e836
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/mjcf/sharpener_015.xml
@@ -0,0 +1,72 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sharpener_015">
+  <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_015.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/sharpener_015_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sharpener_015_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sharpener_015_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sharpener_015_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sharpener_015_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sharpener_015_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/sharpener_015_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/sharpener_015_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sharpener_015_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sharpener_015_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sharpener_015_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sharpener_015_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/sharpener_015_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/sharpener_015_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/sharpener_015_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/sharpener_015_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/sharpener_015_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/sharpener_015_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/sharpener_015_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/sharpener_015_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/sharpener_015_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/sharpener_015_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/sharpener_015_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/sharpener_015_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/sharpener_015_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/sharpener_015_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/sharpener_015_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/sharpener_015_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/sharpener_015_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="sharpener_015">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" 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/b5a46a7a1ac056449de967d9f8104c80/sharpener_015.urdf b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/sharpener_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..82193c12db94df1eb2d8871cacfbc5aa9d9e1793
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/sharpener_015.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_015">
+   <link name="sharpener_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_015.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_015_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0250" />
+         <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>b5a46a7a1ac056449de967d9f8104c80</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>blue sharpener</name>
+         <color>blue,transparent</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>small rectangular plastic pencil sharpener with translucent shavings container</description>
+         <min_height>0.0850</min_height>
+         <max_height>0.0850</max_height>
+         <real_height>0.0850</real_height>
+         <min_mass>0.015</min_mass>
+         <max_mass>0.035</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518180549</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.037178 -0.025285 -0.042785</min>
+            <max>0.035810 0.025190 0.042215</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>12</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":"Text decals are segmented as parts; real body pieces are mostly merged. Unsupported by merging alone.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/sharpener_015.usd b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/sharpener_015.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/sharpener_015.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b046a59aa8b1d853cc3b15c69b877e2832af63f7bdb373e8383944b5c6326c1
+size 4870813
diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/textures/material_0.png b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/textures/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11037290
diff --git a/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/video.mp4 b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/b5a46a7a1ac056449de967d9f8104c80/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33f2e94b9b81597f4ea5f228ed30c59721a0062b064dfc95d6e2a59b91e8aaae
+size 550284