diff --git a/.gitattributes b/.gitattributes
index 6b9dbea622588f66568a63e1a2d01362706e6b3d..6e0baf18702844c93f60c584b15b84dbd96d8060 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3388,3 +3388,6 @@ dataset/desktop_supplies/office_tools/836326f6fd4f5ab680f8eb9a2c99300b/mesh/stam
 dataset/desktop_supplies/office_tools/836326f6fd4f5ab680f8eb9a2c99300b/stamp_020.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/86e32de173b9588fa5416033e246eeb7/cutter_knife_025.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/86e32de173b9588fa5416033e246eeb7/mesh/cutter_knife_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/840eb9fa8c425c0f92ec16867a43f5ab.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mesh/pencil_sharpener.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mesh/pencil_sharpener_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/840eb9fa8c425c0f92ec16867a43f5ab.urdf b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/840eb9fa8c425c0f92ec16867a43f5ab.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3751ea024f09f9c84bd707dd9436c9f1e855bdac
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/840eb9fa8c425c0f92ec16867a43f5ab.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pencil_sharpener">
+   <link name="pencil_sharpener">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pencil_sharpener.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pencil_sharpener_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0750" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.095728</scale>
+         <version>v0.1.7</version>
+         <category>pencil sharpener</category>
+         <description>compact blue plastic pencil sharpener with transparent lower section</description>
+         <min_height>0.05</min_height>
+         <max_height>0.08</max_height>
+         <real_height>0.065</real_height>
+         <min_mass>0.05</min_mass>
+         <max_mass>0.1</max_mass>
+         <generate_time>20260120014706</generate_time>
+         <gs_model>mesh/pencil_sharpener_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.811096668243408</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/840eb9fa8c425c0f92ec16867a43f5ab.usd b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/840eb9fa8c425c0f92ec16867a43f5ab.usd
new file mode 100644
index 0000000000000000000000000000000000000000..93c38a2e21f892fa39278281f0b976203d16c5be
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/840eb9fa8c425c0f92ec16867a43f5ab.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab0ce978ee7667bd6b199119dc744a4c6b612387e1a1ec79cfdfafb1dbdc36fe
+size 491623
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mesh/material.mtl b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mesh/material_0.png b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac787ab4fc7b7467526b5e2cb12b5e136c031eba
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29a8bdf6ac43e1716749ea4d86d48591eb4fb68134fc4b8d6a573c82c3c0e895
+size 2263855
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mesh/pencil_sharpener.glb b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mesh/pencil_sharpener.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4e84b7977f764f5c85aefe62ef8a3fe2e7693dbc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mesh/pencil_sharpener.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f12a0d0e61cbbffd1ecfd9e5bd9a1981ce232c5f1dc5a289871a574d1b6803bd
+size 2600336
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mesh/pencil_sharpener.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mesh/pencil_sharpener.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b335054c3c99c9d05036e975a4cdcb38e973297
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mesh/pencil_sharpener.obj
@@ -0,0 +1,30738 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mesh/pencil_sharpener_collision.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mesh/pencil_sharpener_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f10b09a2836d3a24e5df38a6486c640e19f9666
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mesh/pencil_sharpener_collision.obj
@@ -0,0 +1,9013 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mesh/pencil_sharpener_gs.ply b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mesh/pencil_sharpener_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0a2f826c865ef4a38a2c73fa4171c8b0597b23e7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mesh/pencil_sharpener_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c12768c980736e0f577128f681a5cb3e86e32828e7fed026e3b5fc8b7fee3aa
+size 2101705
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/840eb9fa8c425c0f92ec16867a43f5ab.xml b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/840eb9fa8c425c0f92ec16867a43f5ab.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4c246fcc78d737c78f4fa4986025a5fc54b5c01a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/840eb9fa8c425c0f92ec16867a43f5ab.xml
@@ -0,0 +1,90 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pencil_sharpener">
+  <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/pencil_sharpener.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pencil_sharpener_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pencil_sharpener_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pencil_sharpener_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pencil_sharpener_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pencil_sharpener_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pencil_sharpener_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pencil_sharpener_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pencil_sharpener_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pencil_sharpener_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pencil_sharpener_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pencil_sharpener_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pencil_sharpener_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pencil_sharpener_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pencil_sharpener_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pencil_sharpener_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pencil_sharpener_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pencil_sharpener_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pencil_sharpener_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/pencil_sharpener_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/pencil_sharpener_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/pencil_sharpener_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/pencil_sharpener_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/pencil_sharpener_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/pencil_sharpener_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/pencil_sharpener_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/pencil_sharpener_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/pencil_sharpener_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/pencil_sharpener_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_29" file="mesh/pencil_sharpener_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/pencil_sharpener_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/pencil_sharpener_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/pencil_sharpener_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_34" file="mesh/pencil_sharpener_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/pencil_sharpener_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/pencil_sharpener_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/pencil_sharpener_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pencil_sharpener">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_37" 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_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac787ab4fc7b7467526b5e2cb12b5e136c031eba
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29a8bdf6ac43e1716749ea4d86d48591eb4fb68134fc4b8d6a573c82c3c0e895
+size 2263855
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e4fc2805de21c95bd4bf3c3a9bf02ec9585ceca
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener.obj
@@ -0,0 +1,30738 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v -0.017157 0.031042 -0.000211
+v -0.001757 0.026092 0.029693
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+v 0.000766 -0.031245 0.004308
+v 0.002818 -0.031180 0.003988
+v 0.003168 -0.031243 0.004318
+v 0.007947 -0.031188 0.004416
+v 0.008329 -0.031118 0.004078
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+v 0.008217 -0.031027 0.003296
+v 0.002351 -0.030968 0.001958
+v -0.004339 -0.031072 0.003157
+v -0.008185 -0.030960 0.001879
+v -0.008250 -0.031068 0.003268
+v 0.008098 -0.030921 0.001762
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diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7c1f2d4ab24b9953f69721ee0d388475ee9fea1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision.obj
@@ -0,0 +1,9013 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_0.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50861ba8c89cb345bbf5dff84929ce466928b5ca
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_1.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a9407044deb75602d1c675fdebb0e8a52bff2f3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_1.obj
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+
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_10.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aac0fe8eaae565681652cc48da849c6177fc96e9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_10.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.02067148 0.02254142 -0.00071520
+v 0.04077064 0.02254142 -0.00071520
+v 0.02067148 -0.00320382 -0.00071529
+v 0.02067148 0.02254131 0.03081717
+v 0.04046938 -0.00307026 -0.00071529
+v 0.04613468 0.02254140 0.00467572
+v 0.04618267 -0.00150278 0.00458144
+v 0.04046671 -0.00320382 -0.00071529
+v 0.02067148 -0.00320393 0.03080138
+v 0.02067148 0.01984733 0.03081716
+v 0.04334602 0.00634720 0.03136028
+v 0.04334602 0.00948471 0.03135402
+v 0.04334602 0.01105221 0.03134775
+v 0.04334602 0.02254131 0.03129441
+v 0.04637196 0.02254140 0.00504621
+v 0.04670521 -0.00320384 0.00583420
+v 0.04609469 -0.00320384 0.00465994
+v 0.04687584 0.02254140 0.00583429
+v 0.04680386 -0.00150278 0.00583420
+v 0.04334602 -0.00320394 0.03135083
+v 0.04334602 -0.00150288 0.03135398
+v 0.04492164 0.00634721 0.03127237
+v 0.04492164 0.00791471 0.03126924
+v 0.04492164 0.00948472 0.03126296
+v 0.04492164 0.02254131 0.03120336
+v 0.04703047 -0.00320385 0.00740406
+v 0.04698781 0.02254140 0.00619850
+v 0.04723842 0.02254139 0.00705250
+v 0.04713178 0.00477727 0.00740409
+v 0.04492164 -0.00320393 0.03126292
+v 0.04637996 0.00791471 0.03065699
+v 0.04635330 0.02254131 0.03062251
+v 0.04538020 0.02254131 0.03101811
+v 0.04718510 -0.00320385 0.00884206
+v 0.04732107 0.02254139 0.00783744
+v 0.04725441 0.00477727 0.00857208
+v 0.04636663 -0.00320393 0.03065067
+v 0.04643328 -0.00320393 0.03059416
+v 0.04716910 0.00634721 0.02998508
+v 0.04716910 0.00791471 0.02998509
+v 0.04714244 0.02254131 0.02995688
+v 0.04719843 -0.00320385 0.00897393
+v 0.04735039 0.02254139 0.00822363
+v 0.04731573 0.00477727 0.00935701
+v 0.04715577 -0.00320393 0.02995365
+v 0.04758767 0.00634721 0.02920015
+v 0.04758767 0.02254131 0.02917195
+v 0.04726774 -0.00320386 0.00989074
+v 0.04740371 0.02254139 0.00897402
+v 0.04736905 0.00477726 0.01054383
+v 0.04731307 -0.00320386 0.01075416
+v 0.04727308 -0.00320386 0.00996923
+v 0.04755567 -0.00320393 0.02916872
+v 0.04788892 0.00791472 0.02779669
+v 0.04789159 0.00948473 0.02779669
+v 0.04790492 0.02254132 0.02779674
+v 0.04780361 0.02254132 0.02823631
+v 0.04742504 0.02254139 0.00947324
+v 0.04747036 0.02254138 0.01054389
+v 0.04743304 0.00634728 0.01211056
+v 0.04736639 -0.00307030 0.01211053
+v 0.04736105 -0.00320386 0.01199122
+v 0.04781161 -0.00320392 0.02779665
+v 0.04788093 0.00634722 0.02779668
+v 0.04785427 0.00791472 0.02622996
+v 0.04786227 0.00948473 0.02622996
+v 0.04787559 0.02254132 0.02623001
+v 0.04748636 0.02254138 0.01104311
+v 0.04753434 0.00634726 0.01525030
+v 0.04780895 -0.00320392 0.02766792
+v 0.04753434 0.02254137 0.01261298
+v 0.04757434 0.02254137 0.01417971
+f 1 2 5
+f 1 5 8
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+f 1 14 25
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+f 46 57 47
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+f 50 62 51
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+f 53 63 64
+f 53 64 54
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+f 54 66 55
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+f 55 67 56
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+
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_11.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4637511a3be5b6a251592a07b87b55c6f7ab485
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_11.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.03384277 0.03182461 -0.00071516
+v -0.03383834 0.03171494 -0.01194356
+v -0.03384277 0.03171494 -0.01194246
+v -0.03384277 -0.00320039 -0.00071529
+v 0.01136369 0.03142002 -0.00071516
+v 0.01136369 0.03143374 -0.00153399
+v 0.01136369 0.03144060 -0.00201100
+v 0.01136369 0.03141661 -0.00671624
+v -0.03384277 0.03107032 -0.01194357
+v 0.01136369 0.03136177 -0.01194356
+v -0.03384277 -0.00320035 -0.01194369
+v 0.01136369 -0.00320039 -0.00071529
+v 0.01136369 -0.00320035 -0.01194369
+f 1 2 3
+f 1 3 9
+f 1 9 11
+f 1 11 4
+f 1 4 12
+f 1 12 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 10
+f 2 10 13
+f 2 13 11
+f 2 11 9
+f 4 11 13
+f 4 13 12
+f 5 12 13
+f 5 13 10
+f 5 10 8
+f 5 8 7
+f 5 7 6
+
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_12.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..101f1f20447bfc43b0767dee8d5973465fbfb923
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_12.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.03543250 -0.00320381 -0.00397011
+v -0.03543250 -0.03161167 -0.00397022
+v -0.03543250 -0.00320383 0.00170379
+v 0.03174846 -0.00320381 -0.00397011
+v -0.03543250 -0.03169816 0.00169479
+v 0.03174846 -0.03136341 -0.00397022
+v 0.03174846 -0.03155869 0.00170368
+v 0.01732060 -0.03160611 0.00170368
+v -0.03543250 -0.03169816 0.00170368
+v 0.03174846 -0.00320383 0.00170379
+f 1 2 5
+f 1 5 9
+f 1 9 3
+f 1 3 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 8
+f 3 8 7
+f 3 7 10
+f 4 10 7
+f 4 7 6
+f 5 8 9
+
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_13.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16ac6eeb4be283fbb6a9de3c80c9606f63eea3ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_13.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.03956069 0.02203356 -0.01194360
+v -0.03384277 0.02203356 -0.01194360
+v -0.04053749 0.02098849 -0.01194360
+v -0.04059899 0.02203356 -0.01194140
+v -0.03384277 0.02203352 -0.00071520
+v -0.03384277 -0.00320131 -0.01194369
+v -0.04035562 -0.00320131 -0.01194369
+v -0.04054675 0.02203352 -0.00071520
+v -0.03384277 -0.00320135 -0.00071529
+v -0.04029478 -0.00320135 -0.00071529
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 2
+f 2 5 9
+f 2 9 6
+f 3 7 4
+f 4 7 8
+f 5 8 10
+f 5 10 9
+f 6 9 10
+f 6 10 7
+f 7 10 8
+
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_14.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c2ab950829e7222851ebc76d8caa9fd24a28998
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_14.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v -0.03543250 -0.03169938 0.00170368
+v -0.04377905 -0.03861161 0.00170366
+v -0.03543250 -0.03161089 -0.00397022
+v -0.03543250 -0.02127118 0.00170372
+v -0.04435146 -0.03882323 0.00170366
+v -0.04405860 -0.03840172 -0.00127381
+v -0.04239583 -0.03690304 -0.00397024
+v -0.03543250 -0.02127116 -0.00397018
+v -0.04090852 -0.02127118 0.00170372
+v -0.04486699 -0.03899148 0.00170366
+v -0.04414452 -0.03840172 -0.00127381
+v -0.04329135 -0.03715109 -0.00397024
+v -0.04082381 -0.02127116 -0.00397018
+v -0.04120744 -0.02157473 0.00170372
+v -0.04090852 -0.02127118 0.00169816
+v -0.04561246 -0.03893598 0.00170366
+v -0.04581698 -0.03852661 0.00005469
+v -0.04519374 -0.03823347 -0.00099111
+v -0.04449426 -0.03700885 -0.00397024
+v -0.04367861 -0.03712333 -0.00397024
+v -0.04083228 -0.02127116 -0.00357918
+v -0.04517559 -0.02759017 -0.00397020
+v -0.04568265 -0.02736990 0.00170370
+v -0.04619818 -0.03876078 0.00170366
+v -0.04604449 -0.03871741 0.00112716
+v -0.04693639 -0.03796982 0.00170366
+v -0.04683231 -0.03783278 0.00112716
+v -0.04724861 -0.03684755 0.00029185
+v -0.04641843 -0.03753964 -0.00034963
+v -0.04589322 -0.03709558 -0.00201026
+v -0.04565723 -0.03681979 -0.00279836
+v -0.04525788 -0.03641390 -0.00384471
+v -0.04520584 -0.03636186 -0.00397023
+v -0.04538737 -0.02794749 -0.00397020
+v -0.04539463 -0.02785730 -0.00357920
+v -0.04547087 -0.02768904 -0.00201022
+v -0.04615220 -0.02810709 0.00170370
+v -0.04722683 -0.03753792 0.00170366
+v -0.04736115 -0.03704702 0.00112716
+v -0.04733937 -0.03546162 -0.00158037
+v -0.04701989 -0.03650758 -0.00075395
+v -0.04674881 -0.03600454 -0.00206634
+v -0.04599124 -0.03594730 -0.00342483
+v -0.04587386 -0.03565416 -0.00397023
+v -0.04535348 -0.03621442 -0.00397023
+v -0.04571895 -0.02855112 -0.00397020
+v -0.04582666 -0.02864132 -0.00357921
+v -0.04593436 -0.02847307 -0.00201022
+v -0.04692549 -0.02979656 0.00170369
+v -0.04685652 -0.02975665 0.00112719
+v -0.04739383 -0.03723784 0.00170366
+v -0.04766249 -0.03603230 0.00112717
+v -0.04741683 -0.03600455 -0.00031574
+v -0.04763708 -0.03446253 -0.00044182
+v -0.04736115 -0.03436191 -0.00206634
+v -0.04715906 -0.03481810 -0.00262673
+v -0.04651646 -0.03435497 -0.00397023
+v -0.04579520 -0.02869683 -0.00397021
+v -0.04648741 -0.02975664 -0.00201023
+v -0.04668346 -0.02975665 -0.00044180
+v -0.04717721 -0.03075056 0.00112719
+v -0.04720020 -0.03066211 0.00170369
+v -0.04759351 -0.03656483 0.00170367
+v -0.04772300 -0.03603231 0.00170367
+v -0.04779561 -0.03504014 0.00170367
+v -0.04777625 -0.03446253 0.00112717
+v -0.04748823 -0.03289274 -0.00044181
+v -0.04730791 -0.03299854 -0.00193082
+v -0.04724135 -0.03359350 -0.00282278
+v -0.04724135 -0.03377216 -0.00282278
+v -0.04660843 -0.03390572 -0.00397022
+v -0.04608685 -0.02946003 -0.00397021
+v -0.04625264 -0.02975664 -0.00357921
+v -0.04700779 -0.03143743 -0.00193082
+v -0.04709855 -0.03104370 -0.00044180
+v -0.04729944 -0.03182946 -0.00044181
+v -0.04736115 -0.03153632 0.00112718
+v -0.04736479 -0.03141144 0.00170368
+v -0.04778714 -0.03446254 0.00170367
+v -0.04762134 -0.03289275 0.00170368
+v -0.04760682 -0.03289274 0.00112718
+v -0.04724861 -0.03203587 -0.00135487
+v -0.04717116 -0.03254582 -0.00240068
+v -0.04665079 -0.03132469 -0.00357922
+v -0.04647047 -0.03093615 -0.00397021
+v -0.04652493 -0.03132469 -0.00397022
+v -0.04668225 -0.03247991 -0.00397022
+v -0.04669193 -0.03296559 -0.00397022
+v -0.04616551 -0.02973236 -0.00397021
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 23
+f 1 23 37
+f 1 37 49
+f 1 49 62
+f 1 62 78
+f 1 78 80
+f 1 80 79
+f 1 79 65
+f 1 65 64
+f 1 64 63
+f 1 63 51
+f 1 51 38
+f 1 38 26
+f 1 26 24
+f 1 24 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 12
+f 3 12 20
+f 3 20 19
+f 3 19 33
+f 3 33 45
+f 3 45 44
+f 3 44 57
+f 3 57 71
+f 3 71 88
+f 3 88 87
+f 3 87 86
+f 3 86 85
+f 3 85 89
+f 3 89 72
+f 3 72 58
+f 3 58 46
+f 3 46 34
+f 3 34 22
+f 3 22 13
+f 3 13 8
+f 4 8 13
+f 4 13 21
+f 4 21 15
+f 4 15 9
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 7
+f 9 15 14
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 13 14 21
+f 13 22 23
+f 13 23 14
+f 14 15 21
+f 16 24 25
+f 16 25 17
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 19
+f 17 19 18
+f 19 31 32
+f 19 32 33
+f 22 34 35
+f 22 35 36
+f 22 36 23
+f 23 36 37
+f 24 26 25
+f 26 38 28
+f 26 28 27
+f 28 38 39
+f 28 39 40
+f 28 40 41
+f 28 41 29
+f 29 41 42
+f 29 42 30
+f 30 42 31
+f 31 42 43
+f 31 43 44
+f 31 44 45
+f 31 45 32
+f 32 45 33
+f 34 46 47
+f 34 47 35
+f 35 47 48
+f 35 48 37
+f 35 37 36
+f 37 48 50
+f 37 50 49
+f 38 51 39
+f 39 51 52
+f 39 52 53
+f 39 53 40
+f 40 54 55
+f 40 55 56
+f 40 56 42
+f 40 42 41
+f 40 53 52
+f 40 52 54
+f 42 56 44
+f 42 44 43
+f 44 56 57
+f 46 58 47
+f 47 58 59
+f 47 59 60
+f 47 60 48
+f 48 60 50
+f 49 61 62
+f 49 50 61
+f 50 60 61
+f 51 63 52
+f 52 64 54
+f 52 63 64
+f 54 64 65
+f 54 65 66
+f 54 66 67
+f 54 67 68
+f 54 68 69
+f 54 69 70
+f 54 70 55
+f 55 70 56
+f 56 70 71
+f 56 71 57
+f 58 72 59
+f 59 73 74
+f 59 74 75
+f 59 75 60
+f 59 72 73
+f 60 75 61
+f 61 75 76
+f 61 76 77
+f 61 77 62
+f 62 77 78
+f 65 79 66
+f 66 79 80
+f 66 80 81
+f 66 81 67
+f 67 81 76
+f 67 76 82
+f 67 82 68
+f 68 82 83
+f 68 83 69
+f 69 83 84
+f 69 84 85
+f 69 85 86
+f 69 86 87
+f 69 87 88
+f 69 88 70
+f 70 88 71
+f 72 89 73
+f 73 84 74
+f 73 89 84
+f 74 84 83
+f 74 83 82
+f 74 82 75
+f 75 82 76
+f 76 81 77
+f 77 81 78
+f 78 81 80
+f 84 89 85
+
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_15.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53473c45846d54ee4c7b3cb4191e4f6d4c258f18
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_15.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.03391669 -0.02265685 -0.01771145
+v 0.03391669 -0.02265691 -0.00397152
+v 0.04104940 -0.02265685 -0.01771145
+v 0.03391669 -0.03173238 -0.01771149
+v 0.04082051 -0.02265691 -0.00397152
+v 0.03391669 -0.03146869 -0.00397156
+v 0.04144690 -0.02504565 -0.01771146
+v 0.04109986 -0.02265687 -0.01456129
+v 0.04396106 -0.02603102 -0.00397154
+v 0.04453700 -0.02681544 -0.00397154
+v 0.04448778 -0.02685233 -0.00514983
+v 0.04533691 -0.02814514 -0.00397154
+v 0.04574178 -0.02890906 -0.00397155
+v 0.04571348 -0.02896372 -0.00439525
+v 0.04498987 -0.02818613 -0.00671818
+v 0.04566302 -0.02975497 -0.00556277
+v 0.04538490 -0.02975497 -0.00671819
+v 0.03599153 -0.03224622 -0.01771149
+v 0.03391669 -0.03175288 -0.01771015
+v 0.03391669 -0.03175288 -0.01769939
+v 0.04156504 -0.03610280 -0.00397157
+v 0.04208436 -0.02661724 -0.01613101
+v 0.04156504 -0.02661723 -0.01771147
+v 0.04570979 -0.03054213 -0.00593267
+v 0.04488527 -0.02975496 -0.00828655
+v 0.04595099 -0.02975498 -0.00397155
+v 0.04627464 -0.03128830 -0.00397155
+v 0.04580947 -0.02975497 -0.00477860
+v 0.03599768 -0.03224758 -0.01771149
+v 0.04083774 -0.03532655 -0.00774450
+v 0.04186777 -0.03625176 -0.00397157
+v 0.04132999 -0.02819291 -0.01771147
+v 0.04575286 -0.03158757 -0.00603894
+v 0.04575286 -0.03249909 -0.00603894
+v 0.04601744 -0.03297056 -0.00528839
+v 0.04569010 -0.03354590 -0.00590443
+v 0.04594484 -0.03116803 -0.00530587
+v 0.04648877 -0.03291181 -0.00397156
+v 0.03682220 -0.03223665 -0.01771149
+v 0.04334698 -0.03661664 -0.00397157
+v 0.04325715 -0.03661390 -0.00397157
+v 0.04130168 -0.02827764 -0.01771147
+v 0.04626357 -0.03453122 -0.00397157
+v 0.04596083 -0.03419913 -0.00485798
+v 0.04570732 -0.03524594 -0.00436299
+v 0.04103833 -0.02902653 -0.01771148
+v 0.04478189 -0.03614653 -0.00397157
+v 0.04334698 -0.03606452 -0.00514986
+v 0.03752612 -0.03197017 -0.01771149
+v 0.04585131 -0.03540584 -0.00397157
+v 0.03961449 -0.03070880 -0.01771148
+v 0.04036271 -0.02992301 -0.01771148
+v 0.04499602 -0.03604950 -0.00397157
+v 0.03863861 -0.03134700 -0.01771149
+v 0.04534060 -0.03579942 -0.00397157
+f 1 2 5
+f 1 5 8
+f 1 8 3
+f 1 3 7
+f 1 7 23
+f 1 23 32
+f 1 32 42
+f 1 42 46
+f 1 46 52
+f 1 52 51
+f 1 51 54
+f 1 54 49
+f 1 49 39
+f 1 39 29
+f 1 29 18
+f 1 18 4
+f 1 4 19
+f 1 19 20
+f 1 20 6
+f 1 6 2
+f 2 6 21
+f 2 21 31
+f 2 31 41
+f 2 41 40
+f 2 40 47
+f 2 47 53
+f 2 53 55
+f 2 55 50
+f 2 50 43
+f 2 43 38
+f 2 38 27
+f 2 27 26
+f 2 26 13
+f 2 13 12
+f 2 12 10
+f 2 10 9
+f 2 9 5
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 16
+f 3 16 17
+f 3 17 7
+f 4 18 19
+f 5 9 8
+f 6 20 21
+f 7 22 23
+f 7 17 24
+f 7 24 25
+f 7 25 22
+f 10 12 11
+f 13 26 14
+f 14 26 27
+f 14 27 28
+f 14 28 16
+f 14 16 15
+f 16 28 27
+f 16 27 24
+f 16 24 17
+f 18 29 30
+f 18 30 19
+f 19 30 31
+f 19 31 21
+f 19 21 20
+f 22 25 23
+f 23 25 33
+f 23 33 34
+f 23 34 35
+f 23 35 36
+f 23 36 32
+f 24 27 37
+f 24 37 38
+f 24 38 33
+f 24 33 25
+f 27 38 37
+f 29 39 40
+f 29 40 41
+f 29 41 30
+f 30 41 31
+f 32 36 42
+f 33 38 34
+f 34 38 35
+f 35 38 43
+f 35 43 36
+f 36 43 44
+f 36 44 45
+f 36 45 46
+f 36 46 42
+f 39 47 48
+f 39 48 40
+f 39 49 47
+f 40 48 47
+f 43 50 44
+f 44 50 45
+f 45 50 51
+f 45 51 52
+f 45 52 46
+f 47 49 53
+f 49 54 53
+f 50 55 51
+f 51 55 53
+f 51 53 54
+
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_16.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e122dd68bc27a30b209bdaf3036f750cdadf8880
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_16.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v -0.04028606 -0.00320381 -0.00397011
+v -0.04050580 -0.00320383 0.00170379
+v -0.03543250 -0.00320381 -0.00397011
+v -0.04082308 -0.02127116 -0.00397018
+v -0.03543250 -0.00320383 0.00170379
+v -0.04082951 -0.02127116 -0.00367749
+v -0.04083165 -0.02127116 -0.00357918
+v -0.04084988 -0.02127116 -0.00232122
+v -0.04090722 -0.02127118 0.00169816
+v -0.04090722 -0.02127118 0.00170372
+v -0.03543250 -0.02127116 -0.00397018
+v -0.03543250 -0.02127118 0.00170372
+f 1 2 5
+f 1 5 3
+f 1 3 11
+f 1 11 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 12
+f 2 12 5
+f 3 5 12
+f 3 12 11
+f 4 11 12
+f 4 12 10
+f 4 10 9
+f 4 9 8
+f 4 8 7
+f 4 7 6
+
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_17.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b814fdd5a0560b8321ca79a63a8a9d97575462d3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_17.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.03391669 -0.00320565 -0.01771138
+v 0.03391669 -0.00320571 -0.00397145
+v 0.04067071 -0.00320565 -0.01771138
+v 0.03391669 -0.02265494 -0.01771145
+v 0.04048507 -0.00320571 -0.00397145
+v 0.03391669 -0.02265500 -0.00397152
+v 0.04067071 -0.00320565 -0.01769928
+v 0.04110035 -0.02265496 -0.01456129
+v 0.04105043 -0.02265494 -0.01770204
+v 0.04104902 -0.02265494 -0.01771145
+v 0.04082049 -0.02265500 -0.00397152
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 6 11
+f 2 11 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 10 9
+f 4 9 8
+f 4 8 11
+f 4 11 6
+f 5 11 8
+f 5 8 7
+
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_18.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53d51c83688f4583e7246ee9e9a6b4b3dc957048
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_18.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.03384277 0.02203749 -0.00071520
+v -0.04054827 0.02203749 -0.00071520
+v -0.03384277 0.02203753 -0.01194360
+v -0.03384277 0.03182375 -0.00071516
+v -0.04059955 0.02203753 -0.01194140
+v -0.04574507 0.02743873 -0.00071518
+v -0.03956181 0.02203753 -0.01194360
+v -0.03384277 0.03107030 -0.01194357
+v -0.03384277 0.03171658 -0.01194246
+v -0.04341859 0.03723405 -0.00071514
+v -0.04059955 0.02204207 -0.01194360
+v -0.04563307 0.02756407 -0.00260673
+v -0.04556964 0.02766826 -0.00357943
+v -0.04279918 0.02559205 -0.01194359
+v -0.04636583 0.02829641 -0.00071518
+v -0.03495338 0.03193704 -0.01194356
+v -0.03775757 0.03340475 -0.01194356
+v -0.03880071 0.03387285 -0.01194356
+v -0.03892351 0.03401781 -0.01142368
+v -0.04355623 0.03730049 -0.00071514
+v -0.04610133 0.02818015 -0.00205498
+v -0.04603116 0.02845195 -0.00357943
+v -0.04545629 0.02793856 -0.00514895
+v -0.04436187 0.02709147 -0.00828578
+v -0.04419993 0.02729985 -0.00949918
+v -0.04346312 0.02675022 -0.01142370
+v -0.04332413 0.02675022 -0.01194358
+v -0.04707430 0.02967805 -0.00071517
+v -0.03900988 0.03395137 -0.01194356
+v -0.04375056 0.03712233 -0.00201098
+v -0.04467225 0.03746206 -0.00071514
+v -0.04583953 0.02872376 -0.00514894
+v -0.04570729 0.02897140 -0.00609416
+v -0.04405284 0.02788422 -0.01054442
+v -0.04357243 0.02835232 -0.01194358
+v -0.04714582 0.02994381 -0.00071517
+v -0.04723758 0.03064143 -0.00126142
+v -0.04696364 0.03002687 -0.00187472
+v -0.03952673 0.03395590 -0.01194356
+v -0.04397997 0.03698038 -0.00286718
+v -0.04484498 0.03745149 -0.00071514
+v -0.04415000 0.03698038 -0.00286718
+v -0.04655205 0.02988795 -0.00357942
+v -0.04713637 0.03145683 -0.00234732
+v -0.04677741 0.03145683 -0.00357941
+v -0.04575587 0.02988796 -0.00621506
+v -0.04409332 0.02893065 -0.01067301
+v -0.04382208 0.02837195 -0.01128741
+v -0.04409332 0.02922056 -0.01067301
+v -0.04342939 0.02985023 -0.01194357
+v -0.04728211 0.03046627 -0.00071517
+v -0.04746024 0.03145682 -0.00071516
+v -0.04730641 0.03145683 -0.00156367
+v -0.03977503 0.03395590 -0.01194356
+v -0.04585708 0.03709060 -0.00071514
+v -0.04475186 0.03710269 -0.00188458
+v -0.04568974 0.03697584 -0.00127788
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diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_19.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8de16a525fbf771d6c2a05349df1da815307928f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_19.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_2.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91f6d79e5bda424a3870cff9c6b9e15faf2462e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_2.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_20.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef695d97af7f92936974e0b9e6570e771893fede
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_20.obj
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diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_21.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eabaf07836ebb69be5a298d4564156153e6294e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_21.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_22.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8465b039514a2b844ee4fab6747b8c7fda89df5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_22.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.04058900 -0.00320375 -0.01771138
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+
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_23.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc0645d90431e8e5500902a8f245c5b7ba5e7356
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_23.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_24.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1eaf757bbe964565eee888867776c468eb1db57
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_24.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_25.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ead2bad96160583540c97546f7bedb6372d273dc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_25.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_26.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e9b81efe30aa45c3be12601b54d9eff485db970
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_26.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.04753989 0.03459742 -0.00071515
+v 0.04753718 0.03422064 -0.00071515
+v 0.04736257 0.03302808 -0.00158125
+v 0.04737069 0.03459743 -0.00158564
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+v 0.04716630 0.03459743 -0.00236930
+v 0.04671691 0.03459743 -0.00357940
+v 0.04586686 0.03558708 -0.00460816
+v 0.04605772 0.03613306 -0.00343762
+v 0.04673180 0.03605631 -0.00193076
+v 0.04707697 0.03616620 -0.00071515
+v 0.04734092 0.03175700 -0.00071516
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+v 0.04711622 0.03167328 -0.00196923
+v 0.04679136 0.03167328 -0.00341345
+v 0.04674398 0.03167328 -0.00357941
+v 0.04684821 0.03302808 -0.00357941
+v 0.04623774 0.03302809 -0.00514893
+v 0.04574774 0.03390900 -0.00599743
+v 0.04600222 0.03449860 -0.00513793
+v 0.04440499 0.03560627 -0.00620625
+v 0.04483137 0.03611970 -0.00504450
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+v 0.04572473 0.03696339 -0.00281992
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+v 0.04277392 0.03196986 -0.01194356
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+v 0.04183047 0.03306997 -0.01194356
+v 0.04692807 0.03639296 -0.00071515
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+v 0.04588446 0.03167329 -0.00606997
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+v 0.03371301 0.03167331 -0.01124013
+v 0.04383919 0.03708840 -0.00357939
+v 0.03371165 0.03167331 -0.01142368
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+
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_27.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9834f68bb32f5ddf85e0109ecb30bdc1d5b93b45
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_27.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.04732504 0.03167269 -0.00071516
+v 0.04722648 0.03108006 -0.00071517
+v 0.04721943 0.03105745 -0.00073715
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+v 0.03408946 0.03167269 -0.00071516
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+v 0.01136369 0.03142113 -0.00071516
+v 0.04680406 0.02965549 -0.00071517
+v 0.04599092 0.02859084 -0.00357942
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+v 0.04645205 0.02988822 -0.00357942
+v 0.04623029 0.03145789 -0.00514893
+v 0.04674422 0.03167270 -0.00357941
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+v 0.04578323 0.02988823 -0.00613813
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+v 0.01136369 0.03141927 -0.00671624
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+
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_28.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e222e577a7c7198ffae90fe2828bae17053eb5c7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_28.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
+v -0.02438848 -0.03603348 0.03156791
+v -0.02438848 -0.03446395 0.03148898
+v -0.02596133 -0.03446395 0.03148898
+v -0.02753760 -0.03603348 0.03156499
+v -0.02438848 -0.03760300 0.03135743
+v -0.02281221 -0.03760300 0.03135743
+v -0.00391062 -0.03760300 0.03133989
+v -0.00548690 -0.03603348 0.03153575
+v -0.02281221 -0.03446395 0.03148606
+v -0.00863945 -0.02565325 0.03075820
+v -0.03069016 -0.02565325 0.03074066
+v -0.03287428 -0.02565325 0.03073774
+v -0.02753760 -0.03446395 0.03148606
+v -0.02911388 -0.03603348 0.03156206
+v -0.02753760 -0.03760300 0.03135450
+v -0.03542242 -0.03890859 0.03064414
+v -0.03541556 -0.03890859 0.03064414
+v -0.00233778 -0.03891702 0.03063830
+v -0.00233778 -0.03760300 0.03131358
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diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_29.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c76dc7999c4ef9682022346a602c5a30c2dfc8d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_29.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+v -0.03478343 0.03191204 -0.00071516
+v -0.03478343 -0.00320383 0.00199281
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+f 1 4 2
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+f 2 8 5
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+f 4 7 8
+f 4 8 6
+
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_3.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b878a47d9d715c6999802cea9243ad537efa38f8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_3.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_30.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a467935f9f688af619fbdc8beb27183e14d81795
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_30.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_31.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6b84862687b785d21417eec14a65783c50e3b95
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_31.obj
@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_32.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b439bb26fc3f6514b0e2a84e6aa5c42fcad051e5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_32.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_33.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b59f15fd1975da067d88cfa4fc02cdd11dea8b0d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_33.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_34.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4f4aefc4014376327310dda44ba33e79f0a595a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_34.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_35.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..467fcb6e86bab0ace63786593753ecb6732a7143
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_35.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.03389343 -0.02347556 0.03082298
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+
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_36.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17067371bed2aa2178fca2dbb7b5aa11d3f8a11b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_36.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.00052023 -0.00320393 0.03079512
+v -0.00052023 -0.01876639 0.03079222
+v -0.00052023 -0.00320383 0.00170379
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+v -0.03785934 -0.01335623 0.03072959
+v -0.03785934 -0.01406161 0.03073244
+f 1 2 8
+f 1 8 18
+f 1 18 17
+f 1 17 29
+f 1 29 33
+f 1 33 25
+f 1 25 13
+f 1 13 3
+f 1 3 14
+f 1 14 27
+f 1 27 36
+f 1 36 40
+f 1 40 38
+f 1 38 32
+f 1 32 30
+f 1 30 19
+f 1 19 9
+f 1 9 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 4 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 5
+f 3 13 26
+f 3 26 14
+f 5 12 15
+f 5 15 23
+f 5 23 22
+f 5 22 24
+f 5 24 26
+f 5 26 13
+f 5 13 25
+f 5 25 34
+f 5 34 28
+f 5 28 16
+f 5 16 7
+f 5 7 6
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 9 19 20
+f 9 20 10
+f 10 20 31
+f 10 31 37
+f 10 37 41
+f 10 41 43
+f 10 43 42
+f 10 42 39
+f 10 39 35
+f 10 35 27
+f 10 27 14
+f 10 14 26
+f 10 26 24
+f 10 24 21
+f 10 21 11
+f 11 21 12
+f 12 22 23
+f 12 23 15
+f 12 21 24
+f 12 24 22
+f 16 28 29
+f 16 29 17
+f 19 30 20
+f 20 30 32
+f 20 32 31
+f 25 33 34
+f 27 35 36
+f 28 34 29
+f 29 34 33
+f 31 32 38
+f 31 38 37
+f 35 39 36
+f 36 39 40
+f 37 38 41
+f 38 40 42
+f 38 42 43
+f 38 43 41
+f 39 42 40
+
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_37.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f242f5b37e1a5aa7d195b7e6d0192478472edb62
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_37.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.03389005 -0.02565693 0.03081906
+v 0.03389005 -0.02662240 0.03081335
+v 0.03389005 -0.02565325 0.03022912
+v 0.03328695 -0.02565325 0.03081621
+v 0.00869397 -0.02565325 0.03079056
+v 0.00711921 -0.02818569 0.03078485
+v 0.03389005 -0.02819171 0.03080195
+v 0.03389005 -0.02565315 0.00170371
+v 0.00808417 -0.02565325 0.03078486
+v 0.00711921 -0.02661638 0.03077915
+v 0.00554110 -0.02818569 0.03073355
+v 0.00465321 -0.02907087 0.03069934
+v 0.00554110 -0.02907087 0.03072784
+v 0.00623132 -0.02907087 0.03074779
+v 0.00711921 -0.02907087 0.03076489
+v 0.01499299 -0.02907087 0.03077629
+v 0.03389005 -0.02907087 0.03078484
+v 0.03389005 -0.02907077 0.00170369
+v -0.00033910 -0.02565315 0.00170371
+v 0.00711921 -0.02565325 0.03077346
+v 0.00554110 -0.02661638 0.03071645
+v 0.00650941 -0.02565325 0.03074781
+v 0.00396635 -0.02907087 0.03064519
+v 0.00554110 -0.02565325 0.03069652
+v -0.00033910 -0.02907077 0.00170369
+v -0.00033910 -0.02565323 0.02355732
+v 0.00493466 -0.02565325 0.03063381
+v 0.00396635 -0.02565325 0.03052836
+v 0.00311531 -0.02907087 0.03053405
+v -0.00033910 -0.02907085 0.02379100
+v -0.00033910 -0.02907051 0.02379100
+v 0.00267304 -0.02907087 0.03041435
+v 0.00303155 -0.02565325 0.03028611
+f 1 2 7
+f 1 7 17
+f 1 17 18
+f 1 18 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 19
+f 3 19 26
+f 3 26 33
+f 3 33 28
+f 3 28 27
+f 3 27 24
+f 3 24 22
+f 3 22 20
+f 3 20 9
+f 3 9 5
+f 3 5 4
+f 5 9 6
+f 6 9 10
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 8 18 25
+f 8 25 19
+f 9 20 10
+f 10 20 11
+f 11 21 12
+f 11 20 22
+f 11 22 21
+f 12 23 29
+f 12 29 32
+f 12 32 30
+f 12 30 25
+f 12 25 18
+f 12 18 17
+f 12 17 16
+f 12 16 15
+f 12 15 14
+f 12 14 13
+f 12 21 24
+f 12 24 23
+f 19 25 30
+f 19 30 31
+f 19 31 26
+f 21 22 24
+f 23 24 27
+f 23 27 28
+f 23 28 29
+f 26 31 32
+f 26 32 33
+f 28 33 29
+f 29 33 32
+f 30 32 31
+
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_4.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee394c369f8cef7cb24ef216247e3b325e2ddd82
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_4.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 0.04091195 -0.03600518 0.00170367
+v 0.03174846 -0.03155825 0.00170368
+v 0.03174846 -0.03136237 -0.00397022
+v 0.04091195 -0.03566482 -0.00397023
+v 0.04091195 -0.02279602 0.00170372
+v 0.03174846 -0.00320383 0.00170379
+v 0.03174846 -0.00320381 -0.00397011
+v 0.04091195 -0.02298223 -0.00397018
+v 0.04066167 -0.00320383 0.00170379
+v 0.04048495 -0.00320381 -0.00397011
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 10
+f 3 10 8
+f 3 8 4
+f 5 8 9
+f 6 9 10
+f 6 10 7
+f 8 10 9
+
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_5.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..572523250afe07420a14c7850a6b4a7f8eea7154
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_5.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.01136369 0.02204499 -0.01194360
+v 0.01136369 -0.00320378 -0.01194369
+v 0.01136369 0.02204495 -0.00071520
+v 0.04065505 0.02204499 -0.01194360
+v 0.01136369 -0.00320382 -0.00071529
+v 0.04049433 -0.00320378 -0.01194369
+v 0.04068375 0.02204495 -0.00071520
+v 0.04066366 0.02204499 -0.01193920
+v 0.04066079 0.02204005 -0.01194360
+v 0.04046850 -0.00320382 -0.00071529
+v 0.04049146 -0.00320380 -0.00514906
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 11
+f 2 11 10
+f 2 10 5
+f 3 5 10
+f 3 10 7
+f 4 8 9
+f 6 9 8
+f 6 8 7
+f 6 7 11
+f 7 10 11
+
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_6.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9787855645173032e479c06c837e6de808608841
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_6.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.04782054 -0.03603240 0.00170367
+v 0.04752573 -0.03723327 0.00170366
+v 0.04775360 -0.03603239 0.00112717
+v 0.04771980 -0.03446358 0.00112717
+v 0.04776712 -0.03446359 0.00170367
+v 0.04691245 -0.03801767 0.00170366
+v 0.04747840 -0.03711427 0.00112716
+v 0.04734926 -0.03690447 0.00019576
+v 0.04746488 -0.03598228 -0.00037295
+v 0.04736075 -0.03542489 -0.00144208
+v 0.04736075 -0.03472817 -0.00144208
+v 0.04747232 -0.03430858 -0.00059677
+v 0.04736210 -0.03330968 -0.00017688
+v 0.04743581 -0.03282901 0.00111329
+v 0.04750274 -0.03285251 0.00170368
+v 0.04768125 -0.03388585 0.00170368
+v 0.04678128 -0.03790023 0.00112716
+v 0.04641412 -0.03845449 0.00170366
+v 0.04599422 -0.03859070 0.00112716
+v 0.04705174 -0.03647234 -0.00085003
+v 0.04575486 -0.03841534 0.00028518
+v 0.04640330 -0.03750412 -0.00028243
+v 0.04600166 -0.03705632 -0.00161260
+v 0.04609091 -0.03567383 -0.00331542
+v 0.04585155 -0.03540611 -0.00397023
+v 0.04626401 -0.03453089 -0.00397023
+v 0.04648850 -0.03291042 -0.00397022
+v 0.04662779 -0.03289320 -0.00357922
+v 0.04728502 -0.03368231 -0.00122213
+v 0.04720050 -0.03282901 -0.00059676
+v 0.04725324 -0.03226224 0.00058067
+v 0.04732356 -0.03196947 0.00162703
+v 0.04732762 -0.03195225 0.00170368
+v 0.04612472 -0.03868934 0.00170366
+v 0.04491912 -0.03879111 0.00170366
+v 0.04543842 -0.03841534 0.00028518
+v 0.04334839 -0.03665082 -0.00389803
+v 0.04334839 -0.03661794 -0.00397023
+v 0.04448638 -0.03695925 -0.00305995
+v 0.04553646 -0.03671971 -0.00265839
+v 0.04534037 -0.03579909 -0.00397023
+v 0.04627483 -0.03128838 -0.00397021
+v 0.04698075 -0.03289320 -0.00201024
+v 0.04637152 -0.03132439 -0.00357922
+v 0.04663523 -0.03132439 -0.00201024
+v 0.04601924 -0.02975559 -0.00357921
+v 0.04686647 -0.03132440 -0.00044181
+v 0.04574201 -0.02890855 -0.00397021
+v 0.04731342 -0.03189588 0.00170368
+v 0.04404957 -0.03844510 0.00170366
+v 0.04438833 -0.03835741 0.00058787
+v 0.04334839 -0.03694516 -0.00311382
+v 0.04325778 -0.03661324 -0.00397023
+v 0.04478186 -0.03614667 -0.00397023
+v 0.04499553 -0.03604960 -0.00397023
+v 0.04595095 -0.02975559 -0.00397021
+v 0.04533699 -0.02814607 -0.00397020
+v 0.04576838 -0.02885845 -0.00357921
+v 0.04669135 -0.02975561 0.00170369
+v 0.04712747 -0.03122577 0.00170369
+v 0.04347686 -0.03819616 0.00170366
+v 0.04251874 -0.03684496 -0.00295498
+v 0.04186827 -0.03625157 -0.00397023
+v 0.04453777 -0.02681525 -0.00397020
+v 0.04534172 -0.02807405 -0.00357920
+v 0.04586508 -0.02868623 -0.00201023
+v 0.04607671 -0.02837468 0.00170370
+v 0.04172965 -0.03682776 0.00170366
+v 0.04091285 -0.03566444 -0.00397023
+v 0.04156602 -0.03610283 -0.00397023
+v 0.04557568 -0.02759028 0.00170370
+v 0.04540393 -0.02790026 -0.00201022
+v 0.04396167 -0.02603085 -0.00397020
+v 0.04091285 -0.03600421 0.00170367
+v 0.04091285 -0.02298561 -0.00397018
+v 0.04475887 -0.02660703 0.00170370
+v 0.04396843 -0.02601832 -0.00357920
+v 0.04091285 -0.02279775 0.00170372
+v 0.04408135 -0.02588056 0.00170370
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 16
+f 1 16 15
+f 1 15 33
+f 1 33 49
+f 1 49 60
+f 1 60 59
+f 1 59 67
+f 1 67 71
+f 1 71 76
+f 1 76 79
+f 1 79 78
+f 1 78 74
+f 1 74 68
+f 1 68 61
+f 1 61 50
+f 1 50 35
+f 1 35 34
+f 1 34 18
+f 1 18 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 3 7 8
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 6 17 8
+f 6 8 7
+f 6 18 19
+f 6 19 17
+f 8 20 10
+f 8 10 9
+f 8 17 21
+f 8 21 22
+f 8 22 23
+f 8 23 20
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 28
+f 10 28 11
+f 10 20 24
+f 11 28 29
+f 11 29 12
+f 12 29 13
+f 13 29 30
+f 13 30 31
+f 13 31 14
+f 14 31 32
+f 14 32 15
+f 15 32 33
+f 17 19 21
+f 18 34 19
+f 19 34 35
+f 19 35 21
+f 20 23 24
+f 21 35 36
+f 21 36 37
+f 21 37 38
+f 21 38 39
+f 21 39 40
+f 21 40 23
+f 21 23 22
+f 23 40 24
+f 24 40 25
+f 25 40 41
+f 25 41 55
+f 25 55 54
+f 25 54 38
+f 25 38 53
+f 25 53 63
+f 25 63 70
+f 25 70 69
+f 25 69 75
+f 25 75 73
+f 25 73 64
+f 25 64 57
+f 25 57 48
+f 25 48 56
+f 25 56 42
+f 25 42 27
+f 25 27 26
+f 27 42 28
+f 28 43 29
+f 28 42 44
+f 28 44 43
+f 29 43 45
+f 29 45 30
+f 30 45 31
+f 31 45 46
+f 31 46 47
+f 31 47 32
+f 32 47 46
+f 32 46 48
+f 32 48 49
+f 32 49 33
+f 35 50 51
+f 35 51 36
+f 36 51 52
+f 36 52 37
+f 37 52 53
+f 37 53 38
+f 38 54 39
+f 39 54 55
+f 39 55 40
+f 40 55 41
+f 42 56 44
+f 43 44 45
+f 44 56 46
+f 44 46 45
+f 46 56 48
+f 48 57 58
+f 48 58 59
+f 48 59 60
+f 48 60 49
+f 50 61 62
+f 50 62 51
+f 51 62 52
+f 52 62 53
+f 53 62 63
+f 57 64 65
+f 57 65 66
+f 57 66 58
+f 58 66 59
+f 59 66 67
+f 61 68 69
+f 61 69 70
+f 61 70 62
+f 62 70 63
+f 64 71 67
+f 64 67 72
+f 64 72 65
+f 64 73 71
+f 65 72 67
+f 65 67 66
+f 68 74 69
+f 69 74 78
+f 69 78 75
+f 71 73 76
+f 73 75 77
+f 73 77 76
+f 75 78 79
+f 75 79 77
+f 76 77 79
+
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_7.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9904474715424411f359d5f99fd0285c7f297b4e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_7.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.01555527 -0.03141534 -0.01770342
+v -0.01555527 -0.03141534 -0.01771149
+v -0.01555527 -0.03140147 -0.01299297
+v -0.03385030 -0.03157642 -0.01769939
+v -0.03383955 -0.03157364 -0.01771149
+v -0.01555527 -0.00320375 -0.01771138
+v -0.03383955 -0.03148483 -0.00397156
+v -0.03383955 -0.03152091 -0.00828656
+v -0.01555527 -0.03131819 -0.00397156
+v -0.01651336 -0.03132930 -0.00397156
+v -0.03385030 -0.03152091 -0.00828656
+v -0.03385030 -0.03157364 -0.01770746
+v -0.03385030 -0.03156253 -0.01771149
+v -0.03385030 -0.00320375 -0.01771138
+v -0.01555527 -0.00320381 -0.00397145
+v -0.03385030 -0.03148483 -0.00397156
+v -0.03385030 -0.00320381 -0.00397145
+f 1 2 6
+f 1 6 15
+f 1 15 9
+f 1 9 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 13
+f 2 13 14
+f 2 14 6
+f 3 7 8
+f 3 8 4
+f 3 9 10
+f 3 10 7
+f 4 8 11
+f 4 11 16
+f 4 16 17
+f 4 17 14
+f 4 14 13
+f 4 13 12
+f 4 12 5
+f 5 12 13
+f 6 14 17
+f 6 17 15
+f 7 16 11
+f 7 11 8
+f 7 10 9
+f 7 9 15
+f 7 15 17
+f 7 17 16
+
diff --git a/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_8.obj b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0dced0de4d5e4f83f4ec9db5cdf54884816ba85
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/840eb9fa8c425c0f92ec16867a43f5ab/mjcf/mesh/pencil_sharpener_collision_8.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.04334704 -0.02565106 0.03140020
+v 0.04492273 -0.02565106 0.03137695
+v 0.04334704 -0.00935245 0.03137410
+v 0.04177134 -0.00778345 0.03129271
+v 0.03437851 -0.02347556 0.03082174
+v 0.03437851 -0.02456550 0.03082174
+v 0.03437851 -0.02546647 0.03081883
+v 0.03437851 -0.02565105 0.03081592
+v 0.04492273 -0.01092143 0.03130142
+v 0.04479064 -0.00320393 0.03126947
+v 0.04334704 -0.00320394 0.03135086
+v 0.04334704 -0.00778346 0.03136829
+v 0.04588870 -0.02565105 0.03100196
+v 0.04321495 -0.00320394 0.03134505
+v 0.04177134 -0.00320393 0.03127528
+v 0.03437851 -0.02142532 0.03081593
+v 0.03437851 -0.02565095 0.00170371
+v 0.04492273 -0.00320393 0.03126075
+v 0.04649709 -0.02565105 0.03076360
+v 0.04649709 -0.02504455 0.03076069
+v 0.04019831 -0.00320393 0.03106599
+v 0.03437851 -0.01201138 0.03073167
+v 0.03437851 -0.01249042 0.03075492
+v 0.03437851 -0.01358037 0.03076945
+v 0.03437851 -0.01406161 0.03077527
+v 0.03437851 -0.01514716 0.03078398
+v 0.03437851 -0.01562841 0.03078688
+v 0.03437851 -0.01876639 0.03080431
+v 0.03437851 -0.00320383 0.00170379
+v 0.04379933 -0.02565095 0.00170371
+v 0.04624626 -0.00320393 0.03070263
+v 0.04730695 -0.02565105 0.03017932
+v 0.04730562 -0.02504455 0.03017932
+v 0.04645440 -0.01562841 0.03070549
+v 0.04644239 -0.01406161 0.03069969
+v 0.04636767 -0.00320393 0.03065031
+v 0.03437851 -0.01092143 0.03066191
+v 0.03437851 -0.00320393 0.02979860
+v 0.04066261 -0.00320383 0.00170379
+v 0.04609683 -0.00320384 0.00466006
+v 0.04613152 -0.02565096 0.00464254
+v 0.04765918 -0.02565105 0.02936831
+v 0.04766185 -0.02504455 0.02936831
+v 0.04764851 -0.02190657 0.02935669
+v 0.04757646 -0.00621226 0.02919687
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