diff --git a/.gitattributes b/.gitattributes
index 143b392b06cc45990255dfb6fd3141fd7ffd07ef..b610452040b2137329544973c586b19f58733b98 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5342,5 +5342,5 @@ dataset/desktop_supplies/office_stationery/5cd3b5051b02507fbfd53fce38e7be52/shar
 dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/ballpoint_pen_030.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/5d6ddbc8f8b35ffd9b649eae8a749a12/mesh/ballpoint_pen_030.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/5dd2748b096c59c4b5848998d6916a1b/5dd2748b096c59c4b5848998d6916a1b.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/5e0b1ffd62b15b349be2f8bb96b3f148/ballpoint_pen_006.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/5e0b1ffd62b15b349be2f8bb96b3f148/mesh/ballpoint_pen_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mesh/sharpener_001.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/sharpener_001.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..038c0c1b01842206219bac610f60ecfc0da41053
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl sharpener_001_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..95a70fd7ce935cc07e36ea81f7561bf313685ed3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f370dbc783c80d54e47835d71e986dc85224514190efd82477acca8d05a4e7d
+size 17956249
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mesh/sharpener_001.glb b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mesh/sharpener_001.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4e103bb8098f1282806f6492f0f4e0ed53e00bc9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mesh/sharpener_001.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 20903588
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mesh/sharpener_001.mtl b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mesh/sharpener_001.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..652544dd86fcff34560531dbaefab9c8bd4d83a1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mesh/sharpener_001.mtl
@@ -0,0 +1,6 @@
+newmtl sharpener_001_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/5dd29d7d3e5659eab9acfa66fec9e80a/mesh/sharpener_001.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mesh/sharpener_001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2220b99286ea1b86ddd90b312936df2ddbaa6bad
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mesh/sharpener_001.obj
@@ -0,0 +1,107094 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl sharpener_001_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mesh/sharpener_001_collision.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mesh/sharpener_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7be6cd187aacc4a2b7d10a3513a7c1c6004de5f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mesh/sharpener_001_collision.obj
@@ -0,0 +1,10736 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mesh/sharpener_001_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mesh/sharpener_001_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..95a70fd7ce935cc07e36ea81f7561bf313685ed3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mesh/sharpener_001_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 17956249
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..95a70fd7ce935cc07e36ea81f7561bf313685ed3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:1f370dbc783c80d54e47835d71e986dc85224514190efd82477acca8d05a4e7d
+size 17956249
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001.obj
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index 0000000000000000000000000000000000000000..f47d0861159b5c32949c627b8ded52ba52b7724d
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..888a9e208936c94d0657069854fce9659bbc599d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision.obj
@@ -0,0 +1,10736 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_0.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75601ce15434c354160b880440a5e7b7f2b928c3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_1.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16aab94b9d2bcd35e4cea570db8815f9be853325
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_1.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_10.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a62f5da39577d274c6df8bb1b1a0aada6f97f88b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_10.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_11.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c16b0d2d59500979398d5e27f21c002d50850b7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_11.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_12.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20cee767b5bf2965a8dd7964fa3ba1d352e20a57
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_12.obj
@@ -0,0 +1,202 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_13.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8eb7588d0e42f904d6eabc543d7356f7084f5ef8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_13.obj
@@ -0,0 +1,541 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_14.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..371d288eb50906b790a4f25bedf43c7eb05be449
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_14.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_15.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..830eaf2d9a75d0e34405b750400ca8e9669b9cc0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_15.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_16.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56bc6d50d682b2c078ba0cb5a2ff63540c3942d7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_16.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_17.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..757652c0fedc74297dc2bf46d08272927c978eb1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_17.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00459883 0.02102630 0.00758404
+v -0.00459883 0.02102633 0.00099086
+v -0.00216307 0.02102630 0.00702253
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+v -0.00285982 0.03736561 0.00444173
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+v -0.00216307 0.03683462 0.00598128
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+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_18.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a60befcd16e7614b866c12c67a3c0359c17b254f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_18.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.00216283 0.03716395 -0.00218471
+v -0.00215034 0.03716073 -0.00218471
+v -0.00216283 0.03716398 -0.01092902
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+v -0.00216283 0.03539994 -0.01346610
+v -0.00216283 0.03497541 -0.01353152
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+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_19.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc8e7728cb0c44666e5583609705e25848c229a6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_19.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.00088679 0.00965066 0.00921877
+v -0.00216283 0.00965066 0.00814492
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+f 8 19 9
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+f 17 24 23
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+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_2.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..884d56a0b360a453f447ba1f2722d52e6abf9df8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_2.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.01812557 0.00964892 0.00234596
+v -0.01812413 0.00964890 0.00917050
+v -0.00600726 0.00964892 0.00234596
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+v -0.00341192 -0.00831047 0.00426977
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+v -0.00533178 -0.00831050 0.01249747
+v -0.00341192 -0.00595962 0.00824332
+v -0.00532026 -0.00114363 0.01254427
+v -0.00532602 -0.00355251 0.01254530
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+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_20.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..454147a40670fbe667d8d25b0d5903dc1f3d4ec7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_20.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.00459883 0.00965065 0.00961013
+v -0.00459883 0.00969185 0.00960841
+v -0.00459883 0.00965068 0.00334260
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+v -0.00216307 0.01691522 0.00810832
+v -0.00459883 0.00993571 0.00959721
+v -0.00216307 0.02102633 0.00080771
+v -0.00216307 0.00965068 0.00360626
+v -0.00459883 0.02102633 0.00099124
+v -0.00459883 0.01691522 0.00914573
+v -0.00459883 0.01626158 0.00924913
+v -0.00459883 0.01571151 0.00932064
+v -0.00459883 0.01496323 0.00935682
+v -0.00459883 0.01089667 0.00955154
+v -0.00216307 0.01775703 0.00789810
+v -0.00216307 0.02102630 0.00702355
+v -0.00459883 0.02102630 0.00758361
+v -0.00216307 0.01817905 0.00778694
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+f 7 17 12
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+f 9 19 18
+f 12 17 20
+f 12 20 18
+f 12 18 19
+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_21.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63ee8ec7f4f988420bf5f016322948a30aaaa595
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_21.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.00309666 -0.02161303 0.01297130
+v 0.00190565 -0.02040957 0.01296501
+v 0.00190565 -0.02161303 0.01293351
+v 0.00309666 -0.02281648 0.01274040
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+v 0.00450399 -0.02259906 0.01280757
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+v 0.00190565 -0.00831226 0.01295456
+v 0.00071463 -0.01800113 0.01295137
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+v 0.00071463 -0.02040957 0.01287055
+v 0.00063065 -0.02168652 0.01254203
+v 0.00097186 -0.02251026 0.01235627
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+v 0.00230850 -0.02349628 0.01222296
+v 0.00309666 -0.02357897 0.01231637
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+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_22.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f5f843ba29884785f2add4da7358b00b7d97bc7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_22.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.00088679 0.02011756 0.00816232
+v -0.00216283 0.02011756 0.00715557
+v -0.00088679 0.02011759 0.00063596
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+v -0.00216283 0.02011758 0.00163056
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+v -0.00114875 0.03674023 0.00325926
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diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_23.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b105b33fb21ada55f0754615e18a6a6d8b43f30
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_23.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_24.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..238437bf953f98f48fb1b2417bbd5b19b841b834
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_24.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_25.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa36aa8766f59bcdf25b99b9f318310fd7e07ed3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_25.obj
@@ -0,0 +1,739 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_26.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5471f98f2fb785ffa7a7ad5941e41d449bdc4956
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_26.obj
@@ -0,0 +1,55 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_27.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29648485fbf06a9fd6d6f2d893342cd6aae82902
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_27.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.00667127 -0.02161315 0.01296819
+v 0.00450399 -0.02161315 0.01296702
+v 0.00450399 -0.02259931 0.01280673
+v 0.00705660 -0.02161315 0.01296584
+v 0.00705660 -0.02122262 0.01296584
+v 0.00705660 -0.00831226 0.01295410
+v 0.00450399 -0.00831226 0.01295410
+v 0.00450399 -0.02281754 0.01276076
+v 0.00548006 -0.02281754 0.01271126
+v 0.00705660 -0.02242702 0.01272305
+v 0.00705660 -0.00831221 0.00101974
+v 0.00450399 -0.00831222 0.00225019
+v 0.00450399 -0.02346569 0.01241661
+v 0.00450399 -0.02359860 0.01234118
+v 0.00548006 -0.02354937 0.01229168
+v 0.00705660 -0.02285364 0.01255687
+v 0.00667127 -0.02281754 0.01260755
+v 0.00705660 -0.01474278 0.00092779
+v 0.00705660 -0.01593405 0.00093014
+v 0.00705660 -0.02507369 0.00101379
+v 0.00450399 -0.02507370 0.00372690
+v 0.00450399 -0.02507372 0.00931457
+v 0.00665303 -0.02507373 0.00959272
+v 0.00687018 -0.02507373 0.00961629
+v 0.00705660 -0.02507373 0.00963515
+v 0.00705660 -0.02343778 0.01215143
+v 0.00705660 -0.02327207 0.01228343
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 12
+f 2 12 21
+f 2 21 22
+f 2 22 14
+f 2 14 13
+f 2 13 8
+f 2 8 3
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 16
+f 4 16 27
+f 4 27 26
+f 4 26 25
+f 4 25 20
+f 4 20 19
+f 4 19 18
+f 4 18 11
+f 4 11 6
+f 4 6 5
+f 6 11 12
+f 6 12 7
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 10 17 16
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 20 25 24
+f 20 24 23
+f 20 23 22
+f 20 22 21
+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_28.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d3e00afd05aaf966b243f63a0901b3492869f32
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_28.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.02005823 -0.00114935 0.00137411
+v 0.02111925 -0.00831222 0.00137408
+v 0.02112134 -0.00831221 0.00083838
+v 0.02005823 -0.00114933 -0.00232582
+v -0.00021409 -0.00114935 0.00137411
+v 0.00657189 -0.00831222 0.00137408
+v 0.02111925 -0.00831220 -0.00232585
+v 0.00133777 -0.00114933 -0.00232582
+v 0.00146935 -0.00238334 -0.00232583
+v -0.00002820 -0.00234900 0.00137410
+v 0.00279772 -0.00631747 0.00137409
+v 0.00891117 -0.00831220 -0.00232585
+v 0.00181606 -0.00321770 -0.00232583
+v 0.00042503 -0.00372534 0.00137410
+v 0.00017648 -0.00309151 0.00137410
+v 0.00202910 -0.00578460 0.00137409
+v 0.00377729 -0.00531832 -0.00232584
+v 0.00195809 -0.00355354 -0.00232583
+v 0.00093466 -0.00461369 0.00137409
+v 0.00144429 -0.00522298 0.00137409
+v 0.00240297 -0.00426450 -0.00232584
+v 0.00311728 -0.00484996 -0.00232584
+v 0.00226094 -0.00404785 -0.00232583
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 10
+f 1 10 15
+f 1 15 14
+f 1 14 19
+f 1 19 20
+f 1 20 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 7
+f 2 7 3
+f 3 7 4
+f 4 7 12
+f 4 12 17
+f 4 17 22
+f 4 22 21
+f 4 21 23
+f 4 23 18
+f 4 18 13
+f 4 13 9
+f 4 9 8
+f 5 8 9
+f 5 9 10
+f 6 11 12
+f 9 13 14
+f 9 14 15
+f 9 15 10
+f 11 16 17
+f 11 17 12
+f 13 18 14
+f 14 18 19
+f 16 20 21
+f 16 21 22
+f 16 22 17
+f 18 23 19
+f 19 23 21
+f 19 21 20
+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_29.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..041cf7136c1d289d92d37b0b361585c5e5066e05
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_29.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00092548 -0.01800112 0.01014834
+v -0.00340194 -0.02395254 0.00886575
+v -0.00092548 -0.01920458 0.01004228
+v -0.00092548 -0.00831224 0.00949846
+v -0.00340194 -0.00831224 0.00823007
+v -0.00340194 -0.02395253 0.00621674
+v -0.00092548 -0.02395254 0.00858272
+v -0.00092548 -0.00831222 0.00384959
+v -0.00340194 -0.00831223 0.00426889
+v -0.00092548 -0.02395253 0.00588870
+v -0.00340194 -0.02375196 0.00618159
+v -0.00340194 -0.00957387 0.00439097
+v -0.00340194 -0.00837041 0.00427382
+v -0.00340194 -0.00834438 0.00427136
+v -0.00092548 -0.01439074 0.00460801
+v -0.00340194 -0.01571975 0.00508157
+v -0.00340194 -0.01493888 0.00498415
+v -0.00340194 -0.01443668 0.00492187
+v -0.00340194 -0.01318576 0.00477758
+v -0.00340194 -0.01198230 0.00464440
+v -0.00340194 -0.01077885 0.00451368
+v -0.00092548 -0.02356823 0.00583258
+v -0.00340194 -0.02339674 0.00612610
+v -0.00340194 -0.02226831 0.00595592
+v -0.00092548 -0.01562329 0.00476648
+v -0.00340194 -0.01745297 0.00530232
+v -0.00340194 -0.01679612 0.00521846
+v -0.00340194 -0.01622961 0.00514631
+v -0.00092548 -0.02352536 0.00582642
+v -0.00340194 -0.02106486 0.00578141
+v -0.00092548 -0.02236324 0.00566611
+v -0.00340194 -0.01986140 0.00561802
+v -0.00340194 -0.01920456 0.00553108
+v -0.00340194 -0.01800110 0.00537384
+v -0.00092548 -0.02281645 0.00572839
+v -0.00340194 -0.02040954 0.00569201
+f 1 2 3
+f 1 3 7
+f 1 7 10
+f 1 10 22
+f 1 22 29
+f 1 29 35
+f 1 35 31
+f 1 31 25
+f 1 25 15
+f 1 15 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 6 10
+f 2 10 7
+f 2 7 3
+f 2 5 9
+f 2 9 14
+f 2 14 13
+f 2 13 12
+f 2 12 21
+f 2 21 20
+f 2 20 19
+f 2 19 18
+f 2 18 17
+f 2 17 16
+f 2 16 28
+f 2 28 27
+f 2 27 26
+f 2 26 34
+f 2 34 33
+f 2 33 32
+f 2 32 36
+f 2 36 30
+f 2 30 24
+f 2 24 23
+f 2 23 11
+f 2 11 6
+f 4 8 9
+f 4 9 5
+f 6 11 10
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 12
+f 10 11 23
+f 10 23 24
+f 10 24 22
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 16
+f 22 24 30
+f 22 30 29
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 29 30 35
+f 30 31 35
+f 30 36 31
+f 31 36 32
+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_3.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8030b19c99ed592676bd78035444e36113ae781f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_3.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.01812706 0.00964894 -0.00342080
+v -0.00871058 0.00964894 -0.00342080
+v -0.01812581 0.00964897 -0.00980893
+v -0.01744645 -0.00831041 -0.00980900
+v -0.01744645 -0.00831042 -0.00852962
+v -0.01744521 -0.00831044 -0.00342087
+v -0.00541706 0.00964897 -0.00980893
+v -0.00877777 0.00926915 -0.00342081
+v -0.00924312 -0.00831041 -0.00980900
+v -0.01222559 -0.00831044 -0.00342087
+v -0.00612877 0.00601103 -0.00980895
+v -0.00891837 0.00848670 -0.00342081
+v -0.00899552 0.00806470 -0.00342081
+v -0.00921077 0.00689367 -0.00342081
+v -0.00933769 0.00622375 -0.00342082
+v -0.00948575 0.00546240 -0.00342082
+v -0.01076733 -0.00111368 -0.00342084
+v -0.01100871 -0.00234801 -0.00342085
+v -0.00902662 -0.00745060 -0.00980900
+v -0.00866579 -0.00596307 -0.00980899
+v -0.00856003 -0.00551294 -0.00980899
+v -0.00838708 -0.00475687 -0.00980899
+v -0.00825270 -0.00414849 -0.00980899
+v -0.00764924 -0.00139146 -0.00980898
+v -0.00761067 -0.00121387 -0.00980897
+v -0.00734938 0.00000112 -0.00980897
+v -0.01197674 -0.00712886 -0.00342087
+v -0.01109208 -0.00277000 -0.00342085
+v -0.01124761 -0.00355245 -0.00342085
+v -0.01148899 -0.00475690 -0.00342086
+v -0.01156862 -0.00515076 -0.00342086
+v -0.01170922 -0.00584001 -0.00342086
+v -0.01186600 -0.00659785 -0.00342086
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 27
+f 1 27 33
+f 1 33 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 28
+f 1 28 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 8
+f 1 8 2
+f 2 8 7
+f 3 7 11
+f 3 11 26
+f 3 26 25
+f 3 25 24
+f 3 24 23
+f 3 23 22
+f 3 22 21
+f 3 21 20
+f 3 20 19
+f 3 19 9
+f 3 9 4
+f 4 9 10
+f 4 10 6
+f 4 6 5
+f 7 8 12
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 11
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 23
+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 11 18 28
+f 11 28 29
+f 11 29 30
+f 11 30 31
+f 11 31 26
+f 26 31 32
+f 26 32 33
+f 26 33 27
+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_30.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14d9dc3781bfc8cd449be95695e0ea61f1762799
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_30.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.01143404 0.00967959 0.01297041
+v 0.01024490 0.00965064 0.01333243
+v 0.01143404 0.00965064 0.01296880
+v 0.01143404 0.01201671 0.01292857
+v 0.00941156 0.00965064 0.01356251
+v 0.01143404 0.00965070 -0.00267372
+v 0.01135428 0.01201671 0.01293340
+v 0.00786243 0.00965064 0.01376202
+v 0.00904212 0.00965064 0.01362848
+v 0.01143404 0.01201677 -0.00267372
+v 0.00386156 0.00965070 -0.00267372
+v 0.01016619 0.01201671 0.01294466
+v 0.00786243 0.00969163 0.01375076
+v 0.00667120 0.00969163 0.01372341
+v 0.00667120 0.00965064 0.01373306
+v 0.00191675 0.01201677 -0.00267372
+v 0.00071187 0.00965068 0.00200842
+v 0.00667120 0.01201671 0.01296236
+v 0.00548626 0.01201671 0.01296558
+v 0.00190625 0.01201671 0.01295593
+v 0.00663026 0.00965064 0.01373145
+v 0.00071187 0.01201676 0.00029485
+v 0.00071187 0.00965064 0.01287065
+v 0.00182439 0.01201671 0.01294949
+v 0.00071187 0.01201671 0.01283686
+v 0.00071187 0.01089204 0.01285617
+v 0.00071501 0.00969163 0.01287226
+v 0.00071501 0.00965064 0.01287226
+v 0.00071187 0.00968839 0.01287065
+f 1 2 3
+f 1 3 6
+f 1 6 10
+f 1 10 4
+f 1 4 2
+f 2 5 9
+f 2 9 8
+f 2 8 15
+f 2 15 21
+f 2 21 28
+f 2 28 23
+f 2 23 17
+f 2 17 11
+f 2 11 6
+f 2 6 3
+f 2 4 5
+f 4 7 8
+f 4 8 9
+f 4 9 5
+f 4 10 16
+f 4 16 22
+f 4 22 25
+f 4 25 24
+f 4 24 20
+f 4 20 19
+f 4 19 18
+f 4 18 12
+f 4 12 7
+f 6 11 16
+f 6 16 10
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 11 17 16
+f 12 18 13
+f 13 18 19
+f 13 19 20
+f 13 20 14
+f 14 21 15
+f 14 20 21
+f 16 17 22
+f 17 23 29
+f 17 29 26
+f 17 26 25
+f 17 25 22
+f 20 24 21
+f 21 24 25
+f 21 25 26
+f 21 26 27
+f 21 27 28
+f 23 28 27
+f 23 27 29
+f 26 29 27
+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_31.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6926ffa1c8c052ce52876495600bb4be22d6592
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_31.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v -0.00459883 0.00965866 0.00960882
+v -0.00459883 0.00965065 0.00960882
+v -0.00459883 0.00993545 0.00959740
+v -0.00484370 0.00965065 0.01153547
+v -0.00459883 0.00965068 0.00334274
+v -0.00459883 0.01089621 0.00955172
+v -0.00459883 0.01571146 0.00932009
+v -0.00459883 0.01626161 0.00924831
+v -0.00487410 0.01089621 0.01153547
+v -0.00541824 0.01450820 0.01253061
+v -0.00538623 0.01210058 0.01254039
+v -0.00537023 0.01089620 0.01254365
+v -0.00535583 0.00969182 0.01254365
+v -0.00535583 0.00965064 0.01254365
+v -0.00871669 0.00965070 -0.00370150
+v -0.00829578 0.01190734 -0.00370150
+v -0.00818535 0.01250896 -0.00370149
+v -0.00804291 0.01330388 -0.00370149
+v -0.00783486 0.01450826 -0.00370149
+v -0.00763641 0.01571150 -0.00370148
+v -0.00744916 0.01691588 -0.00370148
+v -0.00727152 0.01811912 -0.00370147
+v -0.00712268 0.01921942 -0.00370147
+v -0.00710027 0.01939556 -0.00370147
+v -0.00697544 0.02048442 -0.00370146
+v -0.00459883 0.02133537 0.00082721
+v -0.00459883 0.01691584 0.00914553
+v -0.00497333 0.01450821 0.01153548
+v -0.00490611 0.01210059 0.01153547
+v -0.00544865 0.01571144 0.01251431
+v -0.00643450 0.01571144 0.01292704
+v -0.00643450 0.01450820 0.01293845
+v -0.00643450 0.01210058 0.01295312
+v -0.00539264 0.00965064 0.01255833
+v -0.01812549 0.00965070 -0.00370150
+v -0.00690022 0.02122214 -0.00370146
+v -0.00688902 0.02133538 -0.00370146
+v -0.00459883 0.02133534 0.00755823
+v -0.00501814 0.01571145 0.01153549
+v -0.00651772 0.02133532 0.01254695
+v -0.00597999 0.02133533 0.01153551
+v -0.00762681 0.02133532 0.01295969
+v -0.00643450 0.01089620 0.01295639
+v -0.00643450 0.00969182 0.01295802
+v -0.00643450 0.00965064 0.01295802
+v -0.01812709 0.00965070 -0.00269495
+v -0.02054211 0.01571150 -0.00370148
+v -0.02094701 0.02133538 -0.00370146
+v -0.01715564 0.02133532 0.01295806
+v -0.01477263 0.01932344 0.01296131
+v -0.01120052 0.00969182 0.01296454
+v -0.01120052 0.00965064 0.01296291
+v -0.01812709 0.00965069 -0.00028705
+v -0.02054371 0.01571150 -0.00146977
+v -0.02081417 0.01691588 -0.00370148
+v -0.02094701 0.02133533 0.01035277
+v -0.02086219 0.01811912 -0.00370147
+v -0.02086379 0.01811912 -0.00146976
+v -0.02086539 0.01811908 0.00798890
+v -0.01715564 0.02052782 0.01295806
+v -0.01596494 0.01691582 0.01296130
+v -0.01754774 0.02133532 0.01295643
+v -0.01834635 0.02052782 0.01295316
+v -0.01124053 0.00965064 0.01296291
+v -0.01596494 0.01210058 0.01295639
+v -0.01596494 0.00965064 0.01294986
+v -0.02054371 0.01571148 0.00325956
+v -0.01812389 0.00965066 0.00916998
+v -0.02054211 0.01571146 0.00917000
+v -0.02081417 0.01691584 0.00917000
+v -0.02086539 0.01811908 0.00917001
+v -0.02086379 0.01811907 0.01035276
+v -0.02084138 0.01811907 0.01153550
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diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_32.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0870bd404a8f084c81032c28dd562fc341261ac2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_32.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_33.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f219c287a5cdbd5568b7096759feecad3d81e401
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_33.obj
@@ -0,0 +1,817 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_34.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f068f7a5d4ad4866e7c2bd484269af952be5df1a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_34.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_35.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5d43b4a26a399bc2d3b864bf8f1dbe72a958cff
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_35.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.00021560 -0.00114935 0.00137563
+v -0.00002829 -0.00234900 0.00137562
+v -0.00341192 -0.00114935 0.00343170
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+v 0.00017583 -0.00309151 0.00137562
+v -0.00341192 -0.00831223 0.00426932
+v -0.00341192 -0.00234900 0.00355630
+v -0.00341192 -0.00114937 0.00825457
+v 0.02005738 -0.00114937 0.00917530
+v 0.02112122 -0.00831222 0.00137560
+v 0.00042558 -0.00372534 0.00137562
+v -0.00341192 -0.00831224 0.00823377
+v 0.00093469 -0.00461369 0.00137561
+v 0.00144380 -0.00522298 0.00137561
+v 0.00202975 -0.00578460 0.00137561
+v 0.00279821 -0.00631747 0.00137561
+v 0.00657328 -0.00831222 0.00137560
+v -0.00341192 -0.00194236 0.00825456
+v -0.00026123 -0.00831226 0.01251552
+v -0.00023962 -0.00114939 0.01250632
+v 0.02005498 -0.00114938 0.01035795
+v 0.02111402 -0.00831224 0.00798802
+v -0.00341192 -0.00716447 0.00823839
+v -0.00341192 -0.00314412 0.00825226
+v -0.00341192 -0.00355358 0.00825110
+v -0.00341192 -0.00596061 0.00824301
+v -0.00021560 -0.00831226 0.01253514
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+v 0.02070817 -0.00596062 0.01153596
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+v 0.00071616 -0.00234904 0.01292168
+v 0.00071616 -0.00831226 0.01292858
+v 0.00071616 -0.00716449 0.01292743
+v 0.00655887 -0.00114939 0.01313860
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+v 0.01977641 -0.00716449 0.01280512
+v 0.01858289 -0.00475677 0.01293667
+v 0.01977641 -0.00831226 0.01282589
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+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_36.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0c179ee7f6ed2fa608d8ab8b09bee972620d29f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_36.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.00459893 0.03714501 -0.00506520
+v -0.00216307 0.03716383 -0.00588284
+v -0.00235052 0.03721716 -0.00588284
+v -0.00286014 0.03735990 -0.00588284
+v -0.00405086 0.03724696 -0.00588284
+v -0.00563859 0.03701325 -0.00506520
+v -0.00459893 0.02394547 -0.00506525
+v -0.00216307 0.03716385 -0.01093004
+v -0.00216307 0.02319098 -0.00588289
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+v -0.00563859 0.02393449 -0.00506525
+v -0.00563859 0.02133851 -0.00773579
+v -0.00216307 0.03710424 -0.01173907
+v -0.00216307 0.02152517 -0.00915344
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+v -0.00563859 0.03685171 -0.01476862
+v -0.00405086 0.03718424 -0.01211039
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+v -0.00216307 0.03693328 -0.01269810
+v -0.00563859 0.03674663 -0.01532438
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+v -0.00563859 0.02654620 -0.01748346
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+v -0.00216307 0.02455724 -0.01478712
+v -0.00216307 0.02414314 -0.01479327
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+v -0.00216307 0.02711245 -0.01464448
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+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_37.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..663b66b8094e360eef159a502160622d09f07316
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_37.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.00563859 0.03497673 0.01000127
+v -0.00459894 0.03377236 0.00748273
+v -0.00459894 0.03497674 0.00744735
+v -0.00459894 0.03564085 0.00738542
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+v -0.00459894 0.03712699 0.00498486
+v -0.00563859 0.03690870 0.00711264
+v -0.00563859 0.02393456 -0.00506279
+v -0.00459894 0.02394540 -0.00506279
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+v -0.00459894 0.03714561 -0.00506274
+v -0.00563859 0.03702172 0.00483445
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+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_38.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8083724f4f6c30bd903ec8d58a3be670e9c9ac79
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_38.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.02044555 0.00965065 0.01035397
+v 0.02044337 0.00952380 0.00826233
+v 0.02044337 0.00965066 0.00826234
+v 0.02042155 0.00965065 0.01153126
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+v -0.00173264 0.00965066 0.00826234
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+v 0.02005497 -0.00114938 0.01035854
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+v 0.02005715 -0.00114514 0.00826230
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+f 2 22 16
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+f 16 22 23
+f 16 23 17
+f 17 23 24
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+f 19 25 26
+f 22 28 29
+f 22 29 23
+f 23 29 24
+f 24 29 30
+f 24 30 31
+f 24 31 32
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+f 26 33 34
+f 26 34 35
+f 27 36 37
+f 28 38 39
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+f 39 60 40
+f 39 56 57
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+f 41 84 83
+f 41 83 76
+f 41 76 65
+f 41 65 53
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+f 41 52 51
+f 41 51 50
+f 41 50 49
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+f 41 48 47
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+f 44 63 45
+f 45 63 46
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+f 58 69 59
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+f 59 70 71
+f 59 71 61
+f 59 61 60
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+f 59 72 73
+f 59 73 70
+f 63 74 75
+f 63 75 64
+f 65 76 77
+f 66 78 73
+f 66 73 72
+f 66 72 67
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+f 68 72 69
+f 70 79 71
+f 70 73 79
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+f 73 81 79
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+f 77 85 82
+f 80 82 85
+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_39.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b23a85b9200199dcf3674e38f33f662612405b29
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_39.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.01134747 0.00965064 0.01297519
+v 0.01024524 0.00965064 0.01333315
+v 0.01219595 0.00923306 0.01297518
+v 0.00224279 0.00965064 0.01297519
+v 0.01024524 0.00939375 0.01349948
+v 0.00941129 0.00965064 0.01356246
+v 0.01024524 0.00848670 0.01386102
+v 0.01143602 0.00728258 0.01381141
+v 0.01446519 0.00552874 0.01297517
+v 0.00117492 0.00725510 0.01297518
+v 0.00428867 0.00728258 0.01399131
+v 0.00548078 0.00848670 0.01396677
+v 0.00663191 0.00965064 0.01373248
+v 0.00904256 0.00965064 0.01362901
+v 0.00905313 0.00848670 0.01402204
+v 0.01024524 0.00728258 0.01405841
+v 0.01143602 0.00607847 0.01396709
+v 0.01446386 0.00487436 0.01297517
+v 0.01143602 0.00487436 0.01401996
+v 0.00100972 0.00607847 0.01297517
+v 0.00309789 0.00607847 0.01376221
+v 0.00428867 0.00607847 0.01408196
+v 0.00667156 0.00848670 0.01402790
+v 0.00667156 0.00965064 0.01373455
+v 0.00786235 0.00965064 0.01376201
+v 0.00786235 0.00848670 0.01403734
+v 0.00428867 0.00487436 0.01408435
+v 0.01024524 0.00246824 0.01406523
+v 0.01402641 0.00367236 0.01297516
+v 0.01143602 0.00367236 0.01399411
+v 0.01143602 0.00246824 0.01384103
+v 0.00097271 0.00487436 0.01297517
+v 0.00309789 0.00487436 0.01381053
+v 0.00782137 0.00965064 0.01376169
+v 0.00428867 0.00367236 0.01406317
+v 0.00548078 0.00246824 0.01406208
+v 0.00905313 0.00126413 0.01402798
+v 0.01024524 0.00126413 0.01387554
+v 0.01254486 0.00132967 0.01297515
+v 0.01225939 0.00246824 0.01347253
+v 0.01209815 0.00176945 0.01336037
+v 0.01138712 0.00132650 0.01351888
+v 0.00096611 0.00398211 0.01297516
+v 0.00098725 0.00277693 0.01297516
+v 0.00111413 0.00166797 0.01297516
+v 0.00309789 0.00367236 0.01373224
+v 0.00428867 0.00246824 0.01395318
+v 0.00548078 0.00126413 0.01395187
+v 0.00667156 0.00126413 0.01401278
+v 0.00786235 0.00006001 0.01371898
+v 0.00903991 -0.00002139 0.01358609
+v 0.01024524 0.00033593 0.01350629
+v 0.01095759 0.00056323 0.01337632
+v 0.01151928 0.00011499 0.01297515
+v 0.00205248 0.00020379 0.01297515
+v 0.00662002 -0.00004359 0.01360682
+v 0.00324855 -0.00098870 0.01297515
+v 0.00786235 -0.00114939 0.01316178
+v 0.00904124 -0.00114939 0.01310587
+v 0.00655790 -0.00114939 0.01313931
+v 0.00987782 -0.00114622 0.01297515
+v 0.01024524 -0.00090095 0.01297515
+v 0.01139241 -0.00000447 0.01297515
+v 0.00478428 -0.00114727 0.01297515
+v 0.00985271 -0.00114939 0.01297515
+v 0.00547549 -0.00114939 0.01301706
+v 0.00545038 -0.00114939 0.01297515
+f 1 2 3
+f 1 3 9
+f 1 9 18
+f 1 18 29
+f 1 29 39
+f 1 39 54
+f 1 54 63
+f 1 63 62
+f 1 62 61
+f 1 61 65
+f 1 65 67
+f 1 67 64
+f 1 64 57
+f 1 57 55
+f 1 55 45
+f 1 45 44
+f 1 44 43
+f 1 43 32
+f 1 32 20
+f 1 20 10
+f 1 10 4
+f 1 4 13
+f 1 13 24
+f 1 24 34
+f 1 34 25
+f 1 25 14
+f 1 14 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 6 7
+f 6 14 7
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+f 7 16 8
+f 8 16 17
+f 8 17 9
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+f 9 19 18
+f 10 20 21
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+f 18 31 29
+f 19 28 30
+f 20 32 33
+f 20 33 21
+f 21 33 22
+f 22 26 23
+f 22 33 27
+f 23 26 25
+f 23 25 34
+f 23 34 24
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+f 27 36 28
+f 28 37 38
+f 28 38 31
+f 28 31 30
+f 28 36 37
+f 29 31 40
+f 29 40 41
+f 29 41 39
+f 31 42 41
+f 31 41 40
+f 31 38 42
+f 32 43 33
+f 33 43 44
+f 33 44 45
+f 33 45 46
+f 33 46 35
+f 35 47 36
+f 35 46 47
+f 36 47 48
+f 36 48 49
+f 36 49 37
+f 37 50 51
+f 37 51 38
+f 37 49 50
+f 38 52 53
+f 38 53 42
+f 38 51 52
+f 39 41 54
+f 41 42 54
+f 42 53 54
+f 45 55 47
+f 45 47 46
+f 47 55 48
+f 48 56 50
+f 48 50 49
+f 48 55 57
+f 48 57 56
+f 50 58 59
+f 50 59 51
+f 50 56 60
+f 50 60 58
+f 51 59 61
+f 51 61 52
+f 52 61 62
+f 52 62 53
+f 53 63 54
+f 53 62 63
+f 56 57 60
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+f 58 60 66
+f 58 66 67
+f 58 67 65
+f 58 65 59
+f 59 65 61
+f 60 64 66
+f 64 67 66
+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_4.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fc6aec6cee616ea6ce72abbd060e426888c6a3e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_4.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.01812956 0.00964899 -0.01684089
+v -0.01812668 0.00964897 -0.00980893
+v -0.01812812 0.00964900 -0.01802332
+v -0.01747983 -0.00831038 -0.01905403
+v -0.00541586 0.00964897 -0.00980893
+v -0.01744525 -0.00831041 -0.00980900
+v -0.01810363 0.00964900 -0.01920575
+v -0.01747695 -0.00831038 -0.01920688
+v -0.00341192 0.00964897 -0.01067293
+v -0.00612898 0.00601103 -0.00980895
+v -0.00341192 -0.00234798 -0.01105403
+v -0.00341192 -0.00114354 -0.01099777
+v -0.00924222 -0.00831041 -0.00980900
+v -0.01809931 0.00964900 -0.01923759
+v -0.01698280 -0.00831038 -0.02015049
+v -0.01791490 0.00964900 -0.01999439
+v -0.00341192 0.00964900 -0.02005383
+v -0.00734921 0.00000112 -0.00980897
+v -0.00764886 -0.00139146 -0.00980898
+v -0.00825249 -0.00414849 -0.00980899
+v -0.00838791 -0.00475687 -0.00980899
+v -0.00856079 -0.00551294 -0.00980899
+v -0.00341192 -0.00290536 -0.01109012
+v -0.00341192 -0.00831041 -0.01163359
+v -0.00341192 -0.00530370 -0.01130666
+v -0.00341192 -0.00410981 -0.01118354
+v -0.00902612 -0.00745060 -0.00980900
+v -0.01596427 -0.00831037 -0.02057506
+v -0.01789906 0.00964900 -0.02000713
+v -0.01715856 0.00964900 -0.02041577
+v -0.00401843 0.00964900 -0.02040304
+v -0.00341192 0.00891403 -0.02025020
+v -0.00866596 -0.00596307 -0.00980899
+v -0.00341192 -0.00831037 -0.02065148
+v -0.01482904 -0.00831037 -0.02064511
+v -0.01596427 -0.00716395 -0.02059310
+v -0.01711534 0.00964901 -0.02043170
+v -0.00341192 0.00793642 -0.02043383
+v -0.00405157 0.00964900 -0.02041790
+v -0.00643440 -0.00831037 -0.02065148
+v -0.00524298 0.00728233 -0.02065248
+v -0.00341192 -0.00660657 -0.02065147
+v -0.01477285 -0.00831037 -0.02064724
+v -0.01596427 0.00848677 -0.02064399
+v -0.01596427 0.00964901 -0.02064611
+v -0.00341192 0.00663703 -0.02062277
+v -0.00405157 0.00848677 -0.02058880
+v -0.00520265 0.00964901 -0.02064823
+v -0.01244621 -0.00831037 -0.02064936
+v -0.01239003 0.00607788 -0.02065143
+v -0.01119861 0.00728233 -0.02065142
+v -0.00643440 0.00848677 -0.02065142
+v -0.00524298 0.00848677 -0.02065142
+v -0.00341192 0.00422814 -0.02065037
+v -0.01363763 -0.00831037 -0.02064830
+v -0.01358144 0.00487520 -0.02065037
+v -0.01477285 0.00964901 -0.02064823
+v -0.00341192 0.00543258 -0.02064400
+v -0.00405157 0.00728233 -0.02064824
+v -0.00524298 0.00964901 -0.02065035
+v -0.01358144 0.00607788 -0.02065037
+v -0.01358144 0.00964901 -0.02064929
+v -0.00762581 0.00964901 -0.02065035
+f 1 2 5
+f 1 5 9
+f 1 9 17
+f 1 17 31
+f 1 31 39
+f 1 39 48
+f 1 48 60
+f 1 60 63
+f 1 63 62
+f 1 62 57
+f 1 57 45
+f 1 45 37
+f 1 37 30
+f 1 30 29
+f 1 29 16
+f 1 16 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 13
+f 2 13 27
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+f 2 33 22
+f 2 22 21
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+f 4 35 43
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+f 9 23 26
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+f 9 24 34
+f 9 34 42
+f 9 42 54
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+f 9 46 38
+f 9 38 32
+f 9 32 17
+f 10 18 11
+f 11 18 19
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+f 11 22 23
+f 13 24 25
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+f 13 26 23
+f 13 23 27
+f 15 16 29
+f 15 29 30
+f 15 30 28
+f 17 32 31
+f 22 33 23
+f 23 33 27
+f 28 30 36
+f 28 36 35
+f 30 37 36
+f 31 32 38
+f 31 38 39
+f 34 40 41
+f 34 41 42
+f 35 36 44
+f 35 44 43
+f 36 37 44
+f 37 45 44
+f 38 46 47
+f 38 47 39
+f 39 47 48
+f 40 49 50
+f 40 50 41
+f 41 50 51
+f 41 51 52
+f 41 52 53
+f 41 53 54
+f 41 54 42
+f 43 44 45
+f 43 45 56
+f 43 56 55
+f 45 57 61
+f 45 61 56
+f 46 58 59
+f 46 59 48
+f 46 48 47
+f 48 59 60
+f 49 55 56
+f 49 56 50
+f 50 56 61
+f 50 61 57
+f 50 57 62
+f 50 62 51
+f 51 62 52
+f 52 62 63
+f 52 63 60
+f 52 60 53
+f 53 60 54
+f 54 60 59
+f 54 59 58
+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_40.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5498301f209cdf6794ebecc872435495a7a6fe90
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_40.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00459859 0.02152474 -0.00876540
+v -0.00216331 0.01450563 -0.00929695
+v -0.00216331 0.02152474 -0.00915267
+v -0.00459859 0.02152477 -0.01557793
+v -0.00459859 0.01446961 -0.00961759
+v -0.00459859 0.01374666 -0.00971244
+v -0.00216331 0.01330498 -0.00945688
+v -0.00216331 0.02152476 -0.01478849
+v -0.00376601 0.01202997 -0.01677349
+v -0.00459836 0.01374087 -0.01677348
+v -0.00459859 0.01369089 -0.01677348
+v -0.00459859 0.01277615 -0.00986375
+v -0.00459859 0.00965073 -0.01040468
+v -0.00216331 0.01306206 -0.00951802
+v -0.00216331 0.00965075 -0.01607343
+v -0.00280300 0.00965075 -0.01677349
+v -0.00281612 0.00968911 -0.01677349
+v -0.00327986 0.01087581 -0.01677349
+v -0.00459859 0.00965075 -0.01677349
+v -0.00216331 0.00965073 -0.01051914
+v -0.00216331 0.01091415 -0.01012011
+v -0.00216331 0.01210085 -0.00978223
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 11
+f 1 11 19
+f 1 19 13
+f 1 13 12
+f 1 12 6
+f 1 6 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 14
+f 2 14 22
+f 2 22 21
+f 2 21 20
+f 2 20 15
+f 2 15 8
+f 2 8 3
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 17
+f 9 17 16
+f 9 16 19
+f 9 19 11
+f 9 11 10
+f 13 19 16
+f 13 16 15
+f 13 15 20
+f 13 20 21
+f 13 21 22
+f 13 22 14
+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_41.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adc01e28ea79c4261383f23226ffb5fbe89f9239
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_41.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.00450399 -0.02395440 0.01064862
+v 0.00428830 -0.02395440 0.01084932
+v 0.00450399 -0.02715216 0.01013384
+v 0.00450399 -0.02395437 0.00365582
+v 0.00309699 -0.02395440 0.01031905
+v 0.00108243 -0.02715216 0.00979159
+v 0.00450399 -0.02715213 0.00383045
+v 0.00108243 -0.02395438 0.00539029
+v 0.00108243 -0.02395439 0.00914373
+v 0.00108243 -0.02715214 0.00576632
+v 0.00108243 -0.02439765 0.00543395
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 10
+f 3 10 7
+f 4 7 8
+f 5 9 6
+f 6 9 8
+f 6 8 11
+f 6 11 10
+f 7 10 11
+f 7 11 8
+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_42.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99176639cbb011c1d9f8b4fe0a908cefaf8f9850
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_42.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.01143404 0.01201677 -0.00267532
+v 0.00191675 0.01201677 -0.00267532
+v 0.01143404 0.00965070 -0.00267532
+v 0.01143404 0.01201684 -0.02064735
+v 0.00386156 0.00965070 -0.00267532
+v 0.00071187 0.01201678 -0.00656041
+v 0.00071187 0.00965072 -0.00879503
+v 0.01143404 0.00965077 -0.02064207
+v 0.01143404 0.00965100 -0.02064735
+v 0.00913553 0.01201684 -0.02064911
+v 0.00071187 0.01201684 -0.02045028
+v 0.00071187 0.00965077 -0.02059280
+v 0.01028584 0.00965077 -0.02064559
+v 0.00552089 0.00965077 -0.02064911
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+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_43.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a06b0b41ded911dd67ee081ba78363d496ada15
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_43.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_44.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ff044bbf104342cd62fa9d80ca54fcb5884c6c3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_44.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_45.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cb73ec3b6052330dc3029c1675030b3ad66e345
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_45.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+f 60 64 62
+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_46.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..055ece31ce4bf2203083fb54b4b59cbf83a554c0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_46.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.00088667 0.03660015 -0.00265119
+v 0.00071030 0.03600924 -0.00265119
+v 0.00071171 0.03600924 -0.00265295
+v -0.00088667 0.03660015 -0.00265295
+v -0.00088667 0.02255562 -0.00265124
+v 0.00071171 0.01318821 -0.00265127
+v 0.00071171 0.03600927 -0.01093116
+v -0.00088667 0.03659753 -0.00784243
+v -0.00088667 0.01450985 -0.00684048
+v -0.00041318 0.01571274 -0.00265126
+v 0.00071171 0.01317238 -0.00265127
+v 0.00071171 0.03600664 -0.01211074
+v -0.00088667 0.03659490 -0.01020864
+v -0.00088667 0.00965073 -0.00984132
+v -0.00014076 0.01450983 -0.00265127
+v 0.00071155 0.01315656 -0.00265127
+v 0.00071171 0.01315656 -0.00265303
+v 0.00071171 0.03599609 -0.01329385
+v -0.00088667 0.03659226 -0.01093116
+v -0.00088667 0.00965075 -0.01743919
+v 0.00071171 0.00965072 -0.00879533
+v 0.00060265 0.01328318 -0.00265127
+v 0.00010334 0.01388463 -0.00265127
+v 0.00071171 0.03595125 -0.01447519
+v -0.00088667 0.03657380 -0.01139350
+v -0.00062677 0.00965076 -0.01920945
+v -0.00088667 0.03377229 -0.01468088
+v 0.00071171 0.00965077 -0.02059296
+v 0.00071171 0.03579034 -0.01610306
+v -0.00088667 0.03651840 -0.01211074
+v -0.00024450 0.00965076 -0.02018512
+v 0.00040393 0.03377231 -0.01920586
+v -0.00088667 0.03497520 -0.01441366
+v 0.00071171 0.00965341 -0.02061054
+v -0.00020742 0.00965076 -0.02020094
+v 0.00071171 0.03523111 -0.01920585
+v -0.00088667 0.03638387 -0.01266450
+v 0.00071171 0.03377231 -0.01987915
+v 0.00056353 0.03497522 -0.01920585
+v 0.00071171 0.03497522 -0.01955744
+v -0.00088667 0.03523900 -0.01429588
+v -0.00088667 0.03588794 -0.01390737
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 19
+f 1 19 25
+f 1 25 30
+f 1 30 37
+f 1 37 42
+f 1 42 41
+f 1 41 33
+f 1 33 27
+f 1 27 20
+f 1 20 14
+f 1 14 9
+f 1 9 5
+f 1 5 10
+f 1 10 15
+f 1 15 23
+f 1 23 22
+f 1 22 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 6 11
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+f 3 17 21
+f 3 21 28
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+f 3 38 40
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+f 3 36 29
+f 3 29 24
+f 3 24 18
+f 3 18 12
+f 3 12 7
+f 4 7 8
+f 5 9 10
+f 7 12 13
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+f 9 14 10
+f 10 14 15
+f 11 16 17
+f 12 18 19
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+f 14 20 26
+f 14 26 31
+f 14 31 35
+f 14 35 28
+f 14 28 21
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+f 14 23 15
+f 16 21 17
+f 18 24 19
+f 19 24 25
+f 20 27 26
+f 24 29 30
+f 24 30 25
+f 26 27 32
+f 26 32 31
+f 27 33 32
+f 28 35 34
+f 29 36 30
+f 30 36 37
+f 31 34 35
+f 31 32 38
+f 31 38 34
+f 32 33 39
+f 32 39 40
+f 32 40 38
+f 33 41 39
+f 36 40 39
+f 36 39 42
+f 36 42 37
+f 39 41 42
+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_47.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb76e275e2db96e3fa69efa61741d618e8c2514a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_47.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.00450399 -0.03611874 0.01035342
+v 0.00450399 -0.03611435 0.01056705
+v 0.00309699 -0.03608977 0.01153598
+v 0.00309699 -0.03611347 0.01035342
+v 0.00450399 -0.03611697 0.00917085
+v 0.00450399 -0.03609416 0.01153598
+v 0.00190601 -0.03575977 0.01246648
+v 0.00190601 -0.03608363 0.01153598
+v 0.00190601 -0.03610557 0.01035342
+v 0.00309699 -0.03611083 0.00917085
+v 0.00428830 -0.03611609 0.00917085
+v 0.00450399 -0.03611170 0.00798918
+v 0.00450399 -0.03576503 0.01247006
+v 0.00428830 -0.03576503 0.01247006
+v 0.00309699 -0.03576240 0.01246916
+v 0.00108243 -0.03485837 0.01287408
+v 0.00108243 -0.03575625 0.01246380
+v 0.00108243 -0.03607748 0.01153598
+v 0.00108243 -0.03609943 0.01035342
+v 0.00108243 -0.03609327 0.00917085
+v 0.00309699 -0.03610205 0.00798918
+v 0.00428830 -0.03611083 0.00798918
+v 0.00450399 -0.03610117 0.00680662
+v 0.00450399 -0.03560090 0.01254514
+v 0.00428830 -0.03485837 0.01288212
+v 0.00108243 -0.03365417 0.01295722
+v 0.00108243 -0.03605465 0.00798918
+v 0.00190601 -0.03608537 0.00798918
+v 0.00428830 -0.03610030 0.00680662
+v 0.00450399 -0.03602744 0.00562405
+v 0.00450399 -0.03485837 0.01288212
+v 0.00428830 -0.03365417 0.01295364
+v 0.00108243 -0.03244996 0.01296169
+v 0.00108243 -0.03575273 0.00691835
+v 0.00450399 -0.03574833 0.00448171
+v 0.00428830 -0.03601164 0.00562405
+v 0.00309699 -0.03605817 0.00680662
+v 0.00450399 -0.03365417 0.01295275
+v 0.00450399 -0.03223229 0.01295811
+v 0.00428830 -0.03244996 0.01295811
+v 0.00108243 -0.03207782 0.01296079
+v 0.00108243 -0.03485834 0.00639544
+v 0.00450399 -0.03526997 0.00394182
+v 0.00450399 -0.03565002 0.00420551
+v 0.00450399 -0.03124664 0.01295544
+v 0.00108243 -0.03124664 0.01295723
+v 0.00108243 -0.02715214 0.00576620
+v 0.00450399 -0.03485833 0.00386137
+v 0.00450399 -0.03102897 0.01295365
+v 0.00450399 -0.03004243 0.01291522
+v 0.00108243 -0.03004243 0.01288393
+v 0.00450399 -0.02715213 0.00383012
+v 0.00450399 -0.03444669 0.00385691
+v 0.00108243 -0.02715216 0.00979122
+v 0.00450399 -0.02983705 0.01283298
+v 0.00450399 -0.02903044 0.01248885
+v 0.00108243 -0.02913313 0.01246829
+v 0.00450399 -0.02715216 0.01013356
+v 0.00450399 -0.02892161 0.01235388
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 23
+f 1 23 30
+f 1 30 35
+f 1 35 44
+f 1 44 43
+f 1 43 48
+f 1 48 53
+f 1 53 52
+f 1 52 58
+f 1 58 59
+f 1 59 56
+f 1 56 55
+f 1 55 50
+f 1 50 49
+f 1 49 45
+f 1 45 39
+f 1 39 38
+f 1 38 31
+f 1 31 24
+f 1 24 13
+f 1 13 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 4 8 9
+f 5 11 22
+f 5 22 12
+f 6 13 14
+f 6 14 15
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+f 13 24 14
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+f 16 46 51
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+f 16 34 27
+f 16 27 20
+f 16 20 19
+f 16 19 18
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+f 20 27 28
+f 20 28 29
+f 20 29 21
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+f 23 29 30
+f 24 31 25
+f 25 31 26
+f 26 31 32
+f 26 32 40
+f 26 40 33
+f 27 34 35
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+f 27 36 30
+f 27 30 37
+f 27 37 28
+f 28 37 29
+f 29 37 30
+f 30 36 35
+f 31 38 32
+f 32 38 39
+f 32 39 40
+f 33 40 39
+f 33 39 41
+f 34 42 43
+f 34 43 44
+f 34 44 35
+f 39 45 41
+f 41 45 46
+f 42 47 48
+f 42 48 43
+f 45 49 46
+f 46 49 50
+f 46 50 51
+f 47 52 53
+f 47 53 48
+f 47 54 58
+f 47 58 52
+f 50 55 51
+f 51 55 56
+f 51 56 57
+f 54 57 58
+f 56 59 57
+f 57 59 58
+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_5.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ee58e5ab11a3612a61efbbc1139e9d65cfade01
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_5.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.00477468 -0.00831347 -0.00829030
+v 0.00477468 -0.00831342 -0.02064878
+v -0.00340138 -0.00831346 -0.01163252
+v -0.00340138 -0.00840400 -0.01163979
+v -0.00340138 -0.00894076 -0.01169787
+v -0.00340138 -0.00957322 -0.01177895
+v -0.00340138 -0.01012162 -0.01186003
+v -0.00340138 -0.01077737 -0.01196530
+v 0.00477468 -0.02152543 -0.01087144
+v -0.00047644 -0.00831342 -0.02065120
+v 0.00477468 -0.02152539 -0.02065125
+v -0.00340138 -0.00831342 -0.02065120
+v -0.00340138 -0.01132577 -0.01207421
+v -0.00340138 -0.02152542 -0.01441695
+v -0.00340138 -0.01198151 -0.01220853
+v -0.00056370 -0.02152539 -0.02065125
+v -0.00340138 -0.01679676 -0.02065123
+v -0.00340138 -0.02152539 -0.02064762
+v -0.00175560 -0.02152539 -0.02065004
+v -0.00340138 -0.02106495 -0.02064883
+v -0.00340138 -0.01920505 -0.02065003
+v -0.00294671 -0.02152539 -0.02064883
+f 1 2 10
+f 1 10 12
+f 1 12 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 11
+f 1 11 2
+f 2 11 10
+f 3 12 17
+f 3 17 21
+f 3 21 20
+f 3 20 18
+f 3 18 14
+f 3 14 15
+f 3 15 13
+f 3 13 8
+f 3 8 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 8 13 9
+f 9 14 18
+f 9 18 22
+f 9 22 19
+f 9 19 16
+f 9 16 11
+f 9 13 15
+f 9 15 14
+f 10 11 16
+f 10 16 17
+f 10 17 12
+f 16 19 20
+f 16 20 21
+f 16 21 17
+f 18 20 22
+f 19 22 20
+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_6.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..374562d991c4c165a287e7e6d19b97401e387cfd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_6.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.02044580 0.00964894 -0.00232578
+v 0.02112063 -0.00831044 -0.00232585
+v 0.02044580 0.00964895 -0.00501788
+v 0.00380412 0.00964894 -0.00232578
+v 0.02111853 -0.00831042 -0.00873221
+v 0.00891267 -0.00831044 -0.00232585
+v 0.02044369 0.00964896 -0.00873214
+v 0.00079365 0.00964896 -0.00873214
+v 0.00174809 0.00159588 -0.00232581
+v 0.00398492 -0.00831042 -0.00873221
+v 0.00377889 -0.00531780 -0.00232584
+v -0.00027221 0.00006090 -0.00873218
+v 0.00143485 0.00006088 -0.00232582
+v 0.00148110 0.00037561 -0.00232582
+v 0.00166610 0.00125653 -0.00232582
+v 0.00296110 -0.00760534 -0.00873221
+v 0.00311667 -0.00485009 -0.00232584
+v -0.00035630 -0.00114355 -0.00873218
+v 0.00136547 -0.00065300 -0.00232582
+v 0.00240190 -0.00426281 -0.00232584
+v 0.00215803 -0.00689674 -0.00873221
+v -0.00034789 -0.00132290 -0.00873218
+v 0.00133814 -0.00114357 -0.00232582
+v 0.00226104 -0.00404654 -0.00232583
+v 0.00049092 -0.00481314 -0.00873220
+v 0.00067382 -0.00509095 -0.00873220
+v 0.00106905 -0.00569054 -0.00873220
+v 0.00140331 -0.00611429 -0.00873220
+v 0.00156729 -0.00630771 -0.00873220
+v 0.00175860 -0.00652222 -0.00873220
+v -0.00028692 -0.00234799 -0.00873219
+v 0.00147059 -0.00238142 -0.00232583
+v 0.00195831 -0.00355245 -0.00232583
+v 0.00014615 -0.00403245 -0.00873219
+v -0.00027221 -0.00244821 -0.00873219
+v 0.00181536 -0.00321662 -0.00232583
+v -0.00006618 -0.00336429 -0.00873219
+v -0.00001993 -0.00355243 -0.00873219
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 14
+f 1 14 13
+f 1 13 19
+f 1 19 23
+f 1 23 32
+f 1 32 36
+f 1 36 33
+f 1 33 24
+f 1 24 20
+f 1 20 17
+f 1 17 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 5
+f 3 5 7
+f 4 8 9
+f 5 10 16
+f 5 16 21
+f 5 21 30
+f 5 30 29
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+f 5 37 35
+f 5 35 31
+f 5 31 22
+f 5 22 18
+f 5 18 12
+f 5 12 8
+f 5 8 7
+f 6 11 10
+f 8 12 13
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 10 11 16
+f 11 17 16
+f 12 18 19
+f 12 19 13
+f 16 17 20
+f 16 20 21
+f 18 22 23
+f 18 23 19
+f 20 24 25
+f 20 25 26
+f 20 26 27
+f 20 27 28
+f 20 28 29
+f 20 29 30
+f 20 30 21
+f 22 31 23
+f 23 31 32
+f 24 33 25
+f 25 33 34
+f 31 35 32
+f 32 35 37
+f 32 37 38
+f 32 38 34
+f 32 34 36
+f 33 36 34
+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_7.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a41c8b2254e15015a55b145b96ad1b7c7646a3a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_7.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.01812726 0.00964894 -0.00146994
+v -0.01812608 0.00964893 0.00089411
+v -0.01812608 0.00964894 -0.00342023
+v -0.01744505 -0.00831044 -0.00342030
+v -0.01744505 -0.00831046 0.00234589
+v -0.01812489 0.00964892 0.00234596
+v -0.00871156 0.00964894 -0.00342023
+v -0.01222584 -0.00831044 -0.00342030
+v -0.00955987 -0.00831046 0.00234589
+v -0.00600644 0.00964892 0.00234596
+v -0.00615475 0.00857987 0.00234595
+v -0.00877800 0.00926915 -0.00342024
+v -0.01206923 -0.00756492 -0.00342030
+v -0.00843986 -0.00363687 0.00234591
+v -0.00717154 0.00294273 0.00234593
+v -0.00891800 0.00848670 -0.00342024
+v -0.01197787 -0.00712886 -0.00342030
+v -0.01179397 -0.00624794 -0.00342029
+v -0.01170973 -0.00584001 -0.00342029
+v -0.01156854 -0.00515076 -0.00342029
+v -0.01148905 -0.00475690 -0.00342029
+v -0.01133125 -0.00397445 -0.00342028
+v -0.01124701 -0.00355245 -0.00342028
+v -0.01100853 -0.00234801 -0.00342028
+v -0.00745866 0.00135673 0.00234592
+v -0.00899512 0.00806470 -0.00342024
+v -0.01076650 -0.00111368 -0.00342027
+v -0.00933801 0.00622375 -0.00342025
+v -0.00921106 0.00689367 -0.00342024
+f 1 2 6
+f 1 6 10
+f 1 10 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 12
+f 3 12 16
+f 3 16 26
+f 3 26 29
+f 3 29 28
+f 3 28 27
+f 3 27 24
+f 3 24 23
+f 3 23 22
+f 3 22 21
+f 3 21 20
+f 3 20 19
+f 3 19 18
+f 3 18 17
+f 3 17 13
+f 3 13 8
+f 3 8 4
+f 4 8 9
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+f 5 9 14
+f 5 14 25
+f 5 25 15
+f 5 15 11
+f 5 11 10
+f 5 10 6
+f 7 10 11
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+f 8 13 14
+f 8 14 9
+f 11 15 16
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+f 13 17 14
+f 14 17 18
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+f 14 24 25
+f 15 25 16
+f 16 25 26
+f 24 27 25
+f 25 27 28
+f 25 28 29
+f 25 29 26
+
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_8.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a83fb8766b62742bc220f872d0d6c19798b08a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_8.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.00877976 -0.03241121 0.01296393
+v -0.00877976 -0.03361670 0.01295609
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diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_9.obj b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12b80fdb10661b9fb84a7697da1e63c34949822e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/mesh/sharpener_001_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/sharpener_001.xml b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/sharpener_001.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ffc3b766fdadbdbeb36a24cce694019aa6cd9b24
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/mjcf/sharpener_001.xml
@@ -0,0 +1,110 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="sharpener_001">
+  <asset>
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+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
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+    <mesh name="collision_mesh_0_0" file="mesh/sharpener_001_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/sharpener_001_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/sharpener_001_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/sharpener_001_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/sharpener_001_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/sharpener_001_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_7" file="mesh/sharpener_001_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/sharpener_001_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/sharpener_001_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/sharpener_001_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/sharpener_001_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_15" file="mesh/sharpener_001_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_20" file="mesh/sharpener_001_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_24" file="mesh/sharpener_001_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_30" file="mesh/sharpener_001_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_34" file="mesh/sharpener_001_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/sharpener_001_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/sharpener_001_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/sharpener_001_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/sharpener_001_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/sharpener_001_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/sharpener_001_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/sharpener_001_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/sharpener_001_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/sharpener_001_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_45" file="mesh/sharpener_001_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/sharpener_001_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/sharpener_001_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
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+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_47" 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/5dd29d7d3e5659eab9acfa66fec9e80a/sharpener_001.urdf b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/sharpener_001.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..71d73dbfec0e0b5c439291915d02ec86ce44eec4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/sharpener_001.urdf
@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="sharpener_001">
+   <link name="sharpener_001">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/sharpener_001.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_001_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>5dd29d7d3e5659eab9acfa66fec9e80a</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>sharpener</category>
+         <name>metal sharpener</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>metal</material>
+         <description>compact metallic sharpener with blade and textured grip</description>
+         <min_height>0.0346</min_height>
+         <max_height>0.0346</max_height>
+         <real_height>0.0346</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260416203142</generate_time>
+         <gs_model>""</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Blade is missed; screw and shavings hole are segmented instead of functional parts.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/sharpener_001.usd b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/sharpener_001.usd
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+++ b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/sharpener_001.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b51aa172d4a48ea634237d5e95fb44db48ebc0ff376be99f8eac9a819cfcb155
+size 4668370
diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/textures/material_0.png b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/video.mp4 b/dataset/desktop_supplies/office_stationery/5dd29d7d3e5659eab9acfa66fec9e80a/video.mp4
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