diff --git a/.gitattributes b/.gitattributes
index cc350e64af66932ed30d0fdb14cfd8da6893848f..e8c3aceed9e669978f30aba96c74bd18aafa7e13 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3469,3 +3469,6 @@ dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/mesh/stam
dataset/desktop_supplies/office_tools/ef2db10209f55fc78bbef933468ad63c/stamp_010.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/ef5ac291b107539fab7abcdab5946bb5/magnifier_020.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/ef5ac291b107539fab7abcdab5946bb5/mesh/magnifier_020.glb filter=lfs diff=lfs merge=lfs -text
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+dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mesh/pencil_sharpener_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/f18377bb102654ca8fbc27d10bbcc448.urdf b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/f18377bb102654ca8fbc27d10bbcc448.urdf
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/f18377bb102654ca8fbc27d10bbcc448.usd b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/f18377bb102654ca8fbc27d10bbcc448.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7fda8fa0a5d59133a1949659d60af2be7de2509a
--- /dev/null
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+size 1216487
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new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mesh/material.mtl
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mesh/material_0.png b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mesh/material_0.png
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new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mesh/pencil_sharpener.obj
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mesh/pencil_sharpener_collision.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mesh/pencil_sharpener_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97593890a58ed866013797283c52efedd3c66da6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mesh/pencil_sharpener_collision.obj
@@ -0,0 +1,29844 @@
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..297966331cf54add0fa9ecbd5da36fe19255c5a5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision.obj
@@ -0,0 +1,29844 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_0.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a96c2b4d2f13c2764bcb5b55aecc50fc3d1eead
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_0.obj
@@ -0,0 +1,502 @@
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_1.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1435059f49c14d0b107bd011d9e1039b1acf9e39
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_1.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_10.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8679c947292e14899d149fdc4c420ef4a47890d4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_11.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d978dbc5f15a6fc47c49bb1ad6715d300d925ed
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_11.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_12.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..091c8564be381118ab97f161e545ebf5e5d9f2f6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_12.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_13.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a5374404d12904e7b79ca8954ae316627cac289
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_13.obj
@@ -0,0 +1,811 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_14.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..781bf9fb6edaf3507c21c2974825aa6eb7538bef
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_14.obj
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_15.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68fe9e0b8224f0393548a76332b7de46f7d411e7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_15.obj
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_16.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ba22f325e755fcdd248a5e561386b988d0ceb6e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_16.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.00450578 0.00248779 -0.02905388
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+v -0.02125894 0.00248779 -0.02901092
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_17.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..837228476daeb75110d9767ea1ae0941f06c7faa
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_17.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_18.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb2a031bb610815c92b8a6aa9f963e2736e9e07f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_18.obj
@@ -0,0 +1,547 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_19.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b4a944c6a3c1fb896e29452bbf8417b924c86fd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_19.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_2.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af938bb816733ad7322d3bf914c8c9c8a2baaf95
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_2.obj
@@ -0,0 +1,589 @@
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_20.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f039e832f93373d47880125b44218fc337b8904
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_20.obj
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_21.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27599360e7e115d13ff8821db70656a31b269b37
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_21.obj
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_22.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65dda51c68cef3a3408cb0a5717efa25e3c0de1b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_22.obj
@@ -0,0 +1,340 @@
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_23.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bb367d7092b6ff99ebfd6e02b79461f57105071
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_23.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_24.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebbcb9cd7bd9e2ab135861896d6d2f739150215d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_24.obj
@@ -0,0 +1,1120 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_25.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..801cc470e48b8ace0fb0e899bfdc307544d59a91
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_25.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.00034103 -0.04544181 0.00570568
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+v -0.00034103 -0.04173818 0.00570570
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_26.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..183b3df182d1434c8bc78b4c80b69495f9b1347a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_26.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v -0.00450578 0.05690998 -0.02591778
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+v -0.00462725 0.05690745 -0.02591778
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_27.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f103676ab7319559d61a38b024167d39c3af582
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_27.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v -0.02127536 0.03985283 -0.02915852
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+v -0.02127536 0.03985284 -0.03315949
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_28.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..365748d670cb7818bf7aa299e0b33ab854479452
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_28.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.03061438 0.00248777 -0.02495533
+v 0.02683803 0.00248777 -0.02495533
+v 0.03060760 0.00248777 -0.02542346
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_29.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10f79581f0bc3337097651f23b26cc61118dfd1b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_29.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.02512583 0.04584481 -0.02495517
+v 0.02521936 0.04584475 -0.00773626
+v 0.02976317 0.04584481 -0.02495517
+v 0.02557346 0.02339812 -0.02495525
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_3.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbd3e7e309004c2cbbed3b110494a64338a2680e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_3.obj
@@ -0,0 +1,655 @@
+# https://github.com/mikedh/trimesh
+v -0.00034103 0.05692830 -0.00773453
+v -0.00034103 0.05689012 -0.00742930
+v -0.00034103 0.05275879 -0.00773455
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_30.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..126155ff04524705d17f81cae37acf99acdadc48
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_30.obj
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_31.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5013fb87dea59a8f533a37cc4232ae23aa4be000
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_31.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01219384 -0.00316530 0.00570584
+v -0.01219384 -0.00316530 0.01382614
+v -0.01219384 -0.00216530 0.00570584
+v -0.01219384 -0.00216530 0.01382614
+v 0.00506225 -0.00316530 0.00570584
+v 0.00506225 -0.00316530 0.01382614
+v 0.00506225 -0.00216530 0.00570584
+v 0.00506225 -0.00216530 0.01382614
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_32.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a1fc8b8f6d67e3321e3c9467e89384c561f4358
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_32.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.02358999 -0.04717758 -0.00773491
+v -0.02358999 -0.05179102 -0.00773493
+v -0.02358999 -0.04717759 -0.00496707
+v -0.01288946 -0.04717758 -0.00773491
+v -0.02358999 -0.05154656 -0.00683211
+v -0.02259321 -0.05239600 -0.00773493
+v -0.02358999 -0.04960416 -0.00539376
+v -0.02067704 -0.04717760 -0.00141822
+v -0.01338329 -0.04717760 -0.00142131
+v -0.00034103 -0.05032613 -0.00680922
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+v -0.00034103 -0.05033089 -0.00773492
+v -0.02358999 -0.05080841 -0.00568935
+v -0.02234288 -0.05247495 -0.00746841
+v -0.02301650 -0.05183573 -0.00682036
+v -0.02176940 -0.05217342 -0.00622610
+v -0.02238385 -0.05249207 -0.00773493
+v -0.02066566 -0.04719282 -0.00141822
+v -0.01338785 -0.04717760 -0.00141822
+v -0.00034103 -0.05055635 -0.00141824
+v -0.00034103 -0.05689435 -0.00773495
+v -0.02054050 -0.05247306 -0.00578644
+v -0.01671043 -0.05056967 -0.00141824
+v -0.01763210 -0.04993805 -0.00141823
+v -0.01889514 -0.04900205 -0.00141823
+v -0.01901120 -0.04889361 -0.00141823
+v -0.01981681 -0.04812882 -0.00141823
+v -0.01992377 -0.04801277 -0.00141823
+v -0.02119591 -0.05267281 -0.00682036
+v -0.01716330 -0.05429370 -0.00773494
+v -0.01688566 -0.05434126 -0.00744987
+v -0.00034103 -0.05458670 -0.00141825
+v -0.00098506 -0.05688959 -0.00773495
+v -0.00034103 -0.05676214 -0.00677956
+v -0.01941400 -0.05326163 -0.00677955
+v -0.01616880 -0.05408444 -0.00620694
+v -0.01493990 -0.05430417 -0.00581675
+v -0.01043394 -0.05318839 -0.00141825
+v -0.01196551 -0.05268520 -0.00141824
+v -0.01286443 -0.05236463 -0.00141824
+v -0.01386575 -0.05194609 -0.00141824
+v -0.01411381 -0.05183195 -0.00141824
+v -0.01572958 -0.05107572 -0.00141824
+v -0.01585475 -0.05101199 -0.00141824
+v -0.01694255 -0.05435838 -0.00773494
+v -0.01388623 -0.05488347 -0.00677955
+v -0.01562490 -0.05447253 -0.00680862
+v -0.00935523 -0.05615810 -0.00764096
+v -0.00034103 -0.05633504 -0.00564980
+v -0.00086217 -0.05459240 -0.00141825
+v -0.00282841 -0.05680684 -0.00773495
+v -0.00098506 -0.05675739 -0.00677956
+v -0.00282841 -0.05667653 -0.00677956
+v -0.00098506 -0.05633409 -0.00564980
+v -0.00713866 -0.05608962 -0.00600412
+v -0.00835846 -0.05374867 -0.00141825
+v -0.00858603 -0.05368874 -0.00141825
+v -0.01020181 -0.05326259 -0.00141825
+v -0.00945537 -0.05614383 -0.00773495
+v -0.00835846 -0.05595455 -0.00637824
+v -0.00936889 -0.05616096 -0.00773495
+v -0.00651739 -0.05648627 -0.00773495
+v -0.00835846 -0.05623039 -0.00731013
+v -0.00098506 -0.05459335 -0.00141825
+v -0.00467176 -0.05655572 -0.00677956
+v -0.00467176 -0.05668413 -0.00773495
+v -0.00282841 -0.05629413 -0.00568813
+v -0.00467176 -0.05623611 -0.00574750
+v -0.00590976 -0.05618570 -0.00580130
+v -0.00651966 -0.05634265 -0.00668743
+v -0.00650373 -0.05410252 -0.00141825
+v -0.00561619 -0.05658425 -0.00773495
+v -0.00121491 -0.05458479 -0.00141825
+v -0.00282841 -0.05451155 -0.00141825
+v -0.00546827 -0.05425662 -0.00141825
+v -0.00558433 -0.05424140 -0.00141825
+v -0.00457163 -0.05436791 -0.00141825
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+f 46 48 60
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_33.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cb5ea1f2e711282fa2056ca778a89c59f348783
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_33.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.00119446 -0.02108396 0.02127576
+v 0.00236604 -0.02108390 0.00570814
+v 0.00209731 -0.02211374 0.00570814
+v 0.00197734 -0.02257831 0.00570814
+v 0.00197734 -0.02759432 0.00570812
+v 0.00119446 -0.02180727 0.02266814
+v 0.00119446 -0.02108398 0.02743355
+v 0.00819787 -0.02108390 0.00570814
+v 0.00792297 -0.02759432 0.00570812
+v 0.00197734 -0.02759435 0.01419998
+v 0.00119446 -0.02332528 0.02810720
+v 0.00119446 -0.02331445 0.02682156
+v 0.00119446 -0.02238275 0.02801233
+v 0.00151186 -0.02108398 0.02803130
+v 0.00819787 -0.02108391 0.00848104
+v 0.00819787 -0.02515546 0.00570813
+v 0.00813000 -0.02592912 0.00570812
+v 0.00650803 -0.02632495 0.02677648
+v 0.00618103 -0.02759440 0.02677648
+v 0.00301935 -0.02759441 0.02864089
+v 0.00337514 -0.02759441 0.02985774
+v 0.00119446 -0.02302831 0.02814990
+v 0.00345741 -0.02219157 0.02963242
+v 0.00276639 -0.02108399 0.02888523
+v 0.00819787 -0.02119161 0.00851899
+v 0.00650803 -0.02108397 0.02416727
+v 0.00650803 -0.02199911 0.02675040
+v 0.00650803 -0.02347823 0.02757349
+v 0.00650803 -0.02497264 0.02825426
+v 0.00819787 -0.02348772 0.00793309
+v 0.00650803 -0.02528300 0.02819970
+v 0.00585951 -0.02759441 0.02865512
+v 0.00459333 -0.02759441 0.02993839
+v 0.00335046 -0.02713557 0.02987435
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+v 0.00331413 -0.02339412 0.02974152
+v 0.00368706 -0.02219157 0.02963242
+v 0.00306871 -0.02108399 0.02882119
+v 0.00819787 -0.02159819 0.00865420
+v 0.00396264 -0.02108399 0.02861719
+v 0.00519249 -0.02759441 0.02976049
+v 0.00650803 -0.02516829 0.02827798
+v 0.00819787 -0.02340424 0.00800188
+v 0.00566208 -0.02759441 0.02928845
+v 0.00408604 -0.02526389 0.02989096
+v 0.00382554 -0.02339412 0.02974152
+f 1 2 3
+f 1 3 4
+f 1 4 5
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+f 1 6 12
+f 1 12 11
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+f 1 22 13
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+f 1 15 8
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+f 39 42 43
+f 41 44 42
+f 41 46 45
+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_34.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1bc3212f99c595cdccf5cd6c11fc3c1718ad282
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_34.obj
@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
+v -0.01019745 -0.00423227 -0.00773508
+v -0.00960349 -0.00424010 -0.00773508
+v -0.00282752 -0.00491870 -0.00816234
+v -0.00835412 -0.00488738 -0.00818755
+v -0.01019745 -0.00486911 -0.00819010
+v -0.01204079 -0.00490304 -0.00815915
+v -0.01204079 -0.00432362 -0.00773508
+v 0.00172962 -0.00451937 -0.00773476
+v 0.01007242 -0.00462377 -0.00773476
+v -0.00282752 -0.00435233 -0.00773508
+v -0.00098418 -0.00654992 -0.00898399
+v -0.00282752 -0.00654992 -0.00900537
+v 0.01007242 -0.00504136 -0.00806693
+v -0.00835412 -0.00654992 -0.00903919
+v -0.01019745 -0.00654992 -0.00904079
+v -0.01204079 -0.00654992 -0.00898878
+v -0.01388413 -0.00513793 -0.00799450
+v -0.01388413 -0.00485345 -0.00773508
+v -0.01502085 -0.00539371 -0.00773508
+v 0.00086257 -0.00494219 -0.00773476
+v 0.01112722 -0.00465509 -0.00773476
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+v 0.01007242 -0.00842388 -0.00933851
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+v 0.01191576 -0.00507007 -0.00804268
+v -0.00467086 -0.00842127 -0.00946901
+v -0.00651419 -0.00842127 -0.00947093
+v -0.00835412 -0.00842127 -0.00947093
+v -0.01019745 -0.00842127 -0.00946997
+v -0.01204079 -0.00842127 -0.00943870
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+v -0.01639994 -0.00820986 -0.00773509
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+v -0.01705535 -0.01403791 -0.00773511
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+v 0.00454241 -0.01964672 -0.01091580
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+v 0.00086257 -0.01964672 -0.01095504
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+v -0.00098418 -0.01964933 -0.01094834
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+v -0.00467086 -0.01964933 -0.01090782
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+v -0.00651419 -0.01964933 -0.01087144
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+v -0.01019745 -0.01964933 -0.01074253
+v -0.01204079 -0.01964933 -0.01056480
+v -0.01572746 -0.01216657 -0.00881266
+v -0.01572746 -0.01029522 -0.00853920
+v -0.01585718 -0.00860397 -0.00818692
+v -0.01533490 -0.00654992 -0.00804173
+v -0.01689491 -0.01216657 -0.00799675
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+v 0.00086257 -0.03089568 -0.00773517
+v 0.01773251 -0.03018055 -0.00773485
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_35.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01b548086762e7e30268db22fdf1d70a9364b5ab
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_35.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_36.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1efd2a30fcd157db63c478fb80f079f09f26b171
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_36.obj
@@ -0,0 +1,733 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_37.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f795c7591a4951e4befde4b4b5161176eba041d4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_37.obj
@@ -0,0 +1,160 @@
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_38.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e88bc1d9cab8a7e90da44c3c39727c3b11399e6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_38.obj
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_39.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0577468812b82c07d7aaf92a739333793a675bc7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_39.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_4.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..394cc6f74dd91f382ec27992dd6a7bcdd9f0ad9b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_4.obj
@@ -0,0 +1,583 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_40.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96d0af1e041bd7d20c715e2f047895616d35d1d8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_40.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.02179465 -0.03460588 -0.00214119
+v 0.02179465 -0.03070251 0.00446756
+v 0.02582698 -0.02917957 0.00460889
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+v 0.02179465 -0.03035496 0.00570574
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+v 0.02582698 -0.04210181 -0.00118646
+v 0.02582698 -0.03835386 0.00251041
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_41.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d3caad4945d0d0e440d0b9c07626ae7cf361575
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_41.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.02179465 -0.03906082 -0.00773488
+v 0.02179465 -0.03886525 -0.00761004
+v 0.02206739 -0.03922616 -0.00773488
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_42.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a08fd92641f139df3661013b99530f606864a975
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_42.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.01275566 -0.05617441 -0.02760837
+v -0.01275566 -0.05616179 -0.02690025
+v -0.01296525 -0.05614288 -0.02760837
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_43.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28f836c5e975d54d9abe10626aaafdbd872978ad
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_43.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_44.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7127cd60908b5ded6d34ba4512d4ae95db78d2b2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_44.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_45.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c4691b42c5c0cd370260cc41afcdc20521597bc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_45.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v -0.01275481 -0.04673272 -0.02760789
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_46.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d312c3a1cbbc53ad3cbbed08ab3c11618668c18d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_46.obj
@@ -0,0 +1,373 @@
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_47.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88e31cc0c9967ecf14d42cf731f66b49cac2ca01
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_47.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_48.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe594b88283ea519a1fbe671e25b7820f248fe01
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_48.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.00044252 -0.02759508 0.00570821
+v 0.00792275 -0.02759508 0.00570821
+v -0.00044252 -0.03067225 0.00570820
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_49.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b90e31dd10889a1f81cd3acddc8ecdc0ab590a52
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_49.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.01815260 -0.02802470 -0.00207304
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_5.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afb0058da0571971ef82fa3f4bb97e4f4ff25bf9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_5.obj
@@ -0,0 +1,730 @@
+# https://github.com/mikedh/trimesh
+v 0.02111846 -0.04733499 -0.00207516
+v 0.02092571 -0.04758702 -0.00207516
+v 0.02179076 -0.05217673 -0.00583964
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_50.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a618f09e81f77fe42896ecc040194a222a12d494
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_50.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_51.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba9dea7f7857509058f7705252d2d6f5b3b97c82
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_51.obj
@@ -0,0 +1,1210 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_52.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f723507b2d7d3bfa063cfa4c63ec067547e123c4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_52.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.00098389 0.05697610 -0.02541561
+v -0.00282644 0.05689446 -0.02728726
+v -0.00282644 0.05695816 -0.02541561
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+v 0.01384888 0.05645033 -0.02541561
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_53.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5750a0b6827679f68c82e82a87ce97f17b981fdb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_53.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.01743426 0.05597122 -0.02542981
+v 0.01743426 0.05597122 -0.02541596
+v 0.01929114 0.05561434 -0.02542324
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_54.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..633214faef36ebc9175410dadb56fc9944c9bd9d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_54.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
+v -0.02990279 -0.00271431 0.00570813
+v -0.02988921 -0.00271431 0.00627270
+v -0.02565827 -0.00271431 0.00570813
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+v -0.02975173 -0.00271433 0.01176920
+v -0.02556831 -0.00271437 0.02118554
+v -0.02556831 -0.02579566 0.00570805
+v -0.02912288 -0.03087838 0.00570803
+v -0.02864891 -0.03087844 0.02304897
+v -0.02888271 -0.02900570 0.02491251
+v -0.02897649 -0.02713611 0.02304898
+v -0.02970463 -0.00271434 0.01363503
+v -0.02556831 -0.00271439 0.02760234
+v -0.02556831 -0.03508017 0.00570801
+v -0.02872402 -0.03281767 0.00570802
+v -0.02859120 -0.03087845 0.02491251
+v -0.02805231 -0.03072635 0.02683112
+v -0.02831157 -0.02900571 0.02677833
+v -0.02834891 -0.02713613 0.02677834
+v -0.02891666 -0.02713612 0.02491252
+v -0.02964480 -0.00271435 0.01559265
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+v -0.02559547 -0.00271439 0.02759086
+v -0.02556831 -0.00280945 0.02762069
+v -0.02556831 -0.03346100 0.02491250
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+v -0.02801879 -0.03222201 0.02491250
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_55.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..943c34d37d5f6dd7a2688a494401fa0aec69f9e4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_55.obj
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_56.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8219bc2d3f47af9c342f2c2cd95b457f6aa3a4d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_56.obj
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_57.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24ee6ba7ac1d259b81ed08b0105809163b2e0a28
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_57.obj
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_58.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d146e6c39ccda079b2b94b4cf824ca8dd2aa883
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_58.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_59.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ee0b2055c7d3bb397c7bde7a46d5bb8db99a289
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_59.obj
@@ -0,0 +1,550 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_6.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a8926b656aeaf0d2082efde2004923d90e1d10b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_6.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_60.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46328fbab39cfac995292d8dab98dcc16282a9b8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_60.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_61.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82525d0ad52dc5dcfcb038d84028f34848815c5b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_61.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.01907566 -0.02108397 0.02491319
+v 0.01909937 -0.01964879 0.02491320
+v 0.01570383 -0.02108397 0.02491319
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_62.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a4a1740e3e9f67e05f9a9784a8ef4bb1d8f50eb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_62.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.01127032 -0.03990473 -0.00773489
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_63.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8902379e76bb8a70dcc5ab640a0ff95964ae8da2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_63.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v -0.01234933 -0.04764792 0.00570567
+v -0.00044252 -0.05040990 0.00570566
+v -0.01234933 -0.05254775 0.00570566
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_64.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8f2ab6225fd8c5f01e0f62173cee4a0fdc64b16
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_64.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.02485137 -0.04585182 -0.01289366
+v -0.02142373 -0.04875409 -0.01289367
+v -0.02485271 -0.04597033 -0.01289366
+v -0.02485271 -0.04145432 -0.00773540
+v -0.02142373 -0.04007071 -0.00883976
+v -0.02142373 -0.04106155 -0.00965882
+v -0.02142373 -0.05328804 -0.01289369
+v -0.02485271 -0.05169083 -0.01289368
+v -0.02142373 -0.03921078 -0.00773539
+v -0.02142373 -0.03926314 -0.00781416
+v -0.02485271 -0.05113547 -0.00773544
+v -0.02142373 -0.05326737 -0.01255233
+v -0.02283594 -0.05268719 -0.01237255
+v -0.02287219 -0.05270373 -0.01289368
+v -0.02379330 -0.05229443 -0.01289368
+v -0.02485271 -0.05166051 -0.01237255
+v -0.02142373 -0.05278781 -0.00773544
+v -0.02485271 -0.05137388 -0.00864438
+v -0.02259425 -0.05239643 -0.00773544
+v -0.02142373 -0.05325635 -0.01237256
+v -0.02142373 -0.05315162 -0.01070263
+v -0.02269596 -0.05262656 -0.01050821
+v -0.02375738 -0.05227789 -0.01237255
+v -0.02312966 -0.05258935 -0.01289368
+v -0.02485271 -0.05153787 -0.01050821
+v -0.02238579 -0.05249290 -0.00773544
+v -0.02142373 -0.05281951 -0.00787228
+v -0.02361740 -0.05221313 -0.01050821
+v -0.02344654 -0.05212770 -0.00864438
+v -0.02142373 -0.05313922 -0.01050822
+v -0.02252510 -0.05255354 -0.00864438
+v -0.02142373 -0.05299315 -0.00864438
+f 1 2 7
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+f 1 8 3
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+f 1 4 5
+f 1 5 6
+f 1 6 2
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+f 26 29 31
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+f 26 32 27
+f 28 31 29
+f 30 32 31
+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_65.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a39361769a8d88031a2d5bf9d1c1a24e055f7bb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_65.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.00777900 -0.02108399 0.02966622
+v 0.00752366 -0.01964999 0.02964981
+v 0.00721816 -0.02108399 0.02966622
+v 0.00848511 -0.02108399 0.02934490
+v 0.00722858 -0.01964999 0.02964981
+v 0.00735495 -0.01861967 0.02959352
+v 0.00713087 -0.02108399 0.02942933
+v 0.00519560 -0.01349129 0.02632876
+v 0.00519560 -0.01400381 0.02633111
+v 0.00871765 -0.02108399 0.02909395
+v 0.00751454 -0.01403657 0.02793535
+v 0.00728265 -0.01861967 0.02959352
+v 0.00732694 -0.01305909 0.02772427
+v 0.00689963 -0.02108399 0.02864128
+v 0.00545160 -0.01116117 0.02586204
+v 0.00519560 -0.01245040 0.02601214
+v 0.00519560 -0.02108396 0.02231344
+v 0.00893326 -0.02108399 0.02878670
+v 0.00929543 -0.02108398 0.02818159
+v 0.00753538 -0.01028831 0.02617163
+v 0.00727027 -0.01305909 0.02772427
+v 0.00700450 -0.01403657 0.02793535
+v 0.00563464 -0.01028830 0.02569083
+v 0.00519560 -0.01028830 0.02503412
+v 0.00519560 -0.02108390 0.00570577
+v 0.00953840 -0.02108398 0.02718245
+v 0.00921792 -0.02027768 0.02793064
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+v 0.00995919 -0.02108397 0.02491212
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+v 0.00976834 -0.01028823 0.00570815
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+v 0.01047900 -0.02108396 0.02118530
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+v 0.00928696 -0.01028825 0.01197267
+v 0.01112908 -0.02108394 0.01543677
+v 0.01070308 -0.02108395 0.01938874
+v 0.01091413 -0.02108394 0.01745849
+v 0.01108349 -0.02108394 0.01590819
+v 0.00868573 -0.01028828 0.01932077
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_66.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73cf333b0933d45a05b8d7c3e2a525b5f6dac551
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_66.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.02142373 -0.05384666 -0.02457610
+v -0.02142373 -0.05381649 -0.02372530
+v -0.02226495 -0.05350895 -0.02457610
+v -0.02142373 -0.04906602 -0.02457608
+v -0.02142373 -0.05374360 -0.02186019
+v -0.02310247 -0.05313187 -0.02355834
+v -0.02310247 -0.05317041 -0.02457610
+v -0.02485271 -0.04528592 -0.02457607
+v -0.02142373 -0.04875517 -0.01289367
+v -0.02142373 -0.05373689 -0.02169438
+v -0.02310247 -0.05305730 -0.02169437
+v -0.02417900 -0.05248665 -0.01982925
+v -0.02424982 -0.05252686 -0.02169437
+v -0.02434952 -0.05258383 -0.02457609
+v -0.02431596 -0.05256372 -0.02355833
+v -0.02485137 -0.04585075 -0.01289366
+v -0.02485271 -0.05227630 -0.02457609
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+v -0.02485271 -0.05213636 -0.02109515
+v -0.02485271 -0.05216318 -0.02169437
+v -0.02409743 -0.05244140 -0.01796642
+v -0.02485271 -0.05221262 -0.02283219
+v -0.02485271 -0.05224278 -0.02355833
+v -0.02485237 -0.05228216 -0.02457609
+v -0.02485271 -0.04596974 -0.01289366
+v -0.02287219 -0.05270370 -0.01289368
+v -0.02142373 -0.05336738 -0.01423735
+v -0.02142373 -0.05357685 -0.01796643
+v -0.02310247 -0.05289055 -0.01796642
+v -0.02485271 -0.05205425 -0.01936955
+v -0.02404372 -0.05241124 -0.01683432
+v -0.02485271 -0.05197967 -0.01796642
+v -0.02485271 -0.05169143 -0.01289368
+v -0.02312966 -0.05258974 -0.01289368
+v -0.02296517 -0.05274560 -0.01423734
+v -0.02142373 -0.05347631 -0.01610818
+v -0.02142373 -0.05348552 -0.01626827
+v -0.02325621 -0.05272799 -0.01616878
+v -0.02397356 -0.05237688 -0.01559129
+v -0.02485271 -0.05177020 -0.01423734
+v -0.02485271 -0.05182885 -0.01527453
+v -0.02379330 -0.05229477 -0.01289368
+v -0.02388628 -0.05233751 -0.01423734
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 28
+f 1 28 17
+f 1 17 8
+f 1 8 4
+f 1 4 9
+f 1 9 19
+f 1 19 31
+f 1 31 40
+f 1 40 41
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+f 1 20 10
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+f 1 5 2
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+f 39 41 40
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_67.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e33b5384270667ade3e8eda3dff89d2f7a8e5897
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_67.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_68.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1469096364faf837f1d372ca7ba4586036976d06
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_68.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_69.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51b3f734a5086675f591209d53128dd3f7af5ede
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_69.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_7.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c5958c617bfd9504a111a564bbe1e1f8fe40bd3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_7.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
+v 0.02367602 -0.05276201 -0.02296566
+v 0.02382527 -0.05269572 -0.02296566
+v 0.02367602 -0.05273746 -0.02169395
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+v 0.02367602 -0.05268591 -0.01982887
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+v 0.02408821 -0.05249809 -0.01982887
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+v 0.02367602 -0.05264417 -0.01858399
+v 0.02960218 -0.04022328 -0.02296562
+v 0.02691633 -0.04022333 -0.00773638
+v 0.02367602 -0.05185118 -0.00773642
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+v 0.02649577 -0.05108265 -0.02169395
+v 0.02643858 -0.05104338 -0.01982887
+v 0.02500953 -0.05197881 -0.01982887
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+v 0.02394733 -0.05242567 -0.01610020
+v 0.02367602 -0.05256684 -0.01662201
+v 0.03079689 -0.04022328 -0.02169391
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+v 0.03064345 -0.04022333 -0.00773638
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+v 0.02367602 -0.05196412 -0.00831041
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+v 0.02607173 -0.05076720 -0.01050944
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+v 0.02367602 -0.05248829 -0.01492689
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+v 0.02381342 -0.05236184 -0.01389222
+v 0.03078294 -0.04022329 -0.01981541
+v 0.03079062 -0.04210888 -0.02169391
+v 0.03079480 -0.04210888 -0.02296562
+v 0.03063578 -0.04119559 -0.00773638
+v 0.03065252 -0.04210893 -0.00864432
+v 0.03069855 -0.04022332 -0.01049449
+v 0.02367602 -0.05216789 -0.01033799
+v 0.02689471 -0.05002205 -0.00864435
+v 0.02736827 -0.04948191 -0.00773641
+v 0.02839002 -0.04948799 -0.02296565
+v 0.02836282 -0.04945853 -0.02169394
+v 0.02931134 -0.04848013 -0.02296565
+v 0.02903097 -0.04814504 -0.01050943
+v 0.02896960 -0.04808244 -0.00864435
+v 0.02804758 -0.04908662 -0.00864435
+v 0.02367602 -0.05242813 -0.01399211
+v 0.02370252 -0.05231151 -0.01237303
+v 0.02367602 -0.05218140 -0.01050944
+v 0.03076760 -0.04022329 -0.01795033
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+v 0.03075226 -0.04397974 -0.02296563
+v 0.03076620 -0.04338436 -0.02296563
+v 0.03077388 -0.04210889 -0.01982883
+v 0.03062323 -0.04210893 -0.00773638
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+v 0.03061835 -0.04397978 -0.01050941
+v 0.03068391 -0.04210892 -0.01050940
+v 0.03070413 -0.04210891 -0.01237299
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+v 0.02795900 -0.04900191 -0.00773641
+v 0.02928484 -0.04844331 -0.02169394
+v 0.02907491 -0.04819290 -0.01237302
+v 0.02948291 -0.04818183 -0.02296565
+v 0.02968796 -0.04720960 -0.01050942
+v 0.02965309 -0.04714701 -0.00864434
+v 0.02960636 -0.04707213 -0.00773640
+v 0.02925624 -0.04755089 -0.00773640
+v 0.02888102 -0.04800756 -0.00773641
+v 0.02840885 -0.04852192 -0.00773641
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+v 0.03012037 -0.04585189 -0.00773640
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+v 0.03047886 -0.04585184 -0.02296564
+v 0.03004017 -0.04701683 -0.02296564
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_70.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbfab8c89e2de7398e527d39a63575dcea999481
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_70.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.01718338 -0.02931749 -0.00633944
+v -0.02113144 -0.03800485 -0.00633947
+v -0.01343475 -0.02931749 -0.00633944
+v -0.01714675 -0.02931749 -0.00677981
+v -0.01690864 -0.02931748 -0.00773485
+v -0.02100526 -0.03800485 -0.00646869
+v -0.01334725 -0.03800485 -0.00633947
+v -0.00034103 -0.02931748 -0.00712648
+v -0.01788548 -0.03277167 -0.00773486
+v -0.00034103 -0.02931748 -0.00773485
+v -0.01827011 -0.03462122 -0.00773487
+v -0.01830064 -0.03800484 -0.00773488
+v -0.01198984 -0.03800484 -0.00773488
+v -0.00034103 -0.03512464 -0.00773487
+v -0.00034103 -0.03500389 -0.00769253
+v -0.00034103 -0.03487548 -0.00764882
+v -0.00034103 -0.03439503 -0.00748641
+v -0.00034103 -0.03382953 -0.00739106
+v -0.00034103 -0.03275127 -0.00721049
+v -0.00034103 -0.03209733 -0.00718891
+v -0.00034103 -0.03087960 -0.00714970
+v -0.00034103 -0.03022567 -0.00713809
+f 1 2 7
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+f 1 5 4
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_71.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1147f9ea9c3b09c7238418a68e6fe29d45b379d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_71.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.00044252 -0.02759441 0.03007669
+v 0.00014031 -0.02759441 0.02984290
+v -0.00044252 -0.02575587 0.02975465
+v -0.00044252 -0.02759432 0.00570813
+v 0.00010123 -0.02713557 0.02977611
+v 0.00024925 -0.02759441 0.02949939
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+v 0.00119443 -0.02302831 0.02814917
+v -0.00000392 -0.02608152 0.02962582
+v 0.00119443 -0.02238275 0.02801320
+v -0.00044252 -0.02466995 0.02932525
+v -0.00044252 -0.02108390 0.00570815
+v 0.00197692 -0.02759432 0.00570813
+v 0.00051663 -0.02759441 0.02864058
+v 0.00073238 -0.02759440 0.02677745
+v 0.00197692 -0.02759435 0.01419836
+v 0.00119443 -0.02108398 0.02743350
+v -0.00044252 -0.02338966 0.02858572
+v 0.00132066 -0.02108390 0.00570815
+v -0.00044252 -0.02108398 0.02638385
+v 0.00197692 -0.02257831 0.00570815
+v 0.00197692 -0.02749048 0.01412441
+v -0.00044252 -0.02148865 0.02678463
+v 0.00197692 -0.02726042 0.01395742
+v 0.00197692 -0.02712341 0.01385723
+v 0.00197692 -0.02346287 0.00993298
+v 0.00197692 -0.02293265 0.00840146
+v 0.00197692 -0.02284152 0.00813666
+v 0.00197692 -0.02259743 0.00627353
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_72.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19911d735b17e6fb4108ff7b0227c8a1fa1113ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_72.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.00034103 -0.02931488 -0.00712649
+v -0.01280413 -0.02931489 -0.00660316
+v -0.00034103 -0.02931488 -0.00773485
+v -0.00034103 -0.00714395 -0.00240452
+v -0.01280413 -0.02931488 -0.00773485
+v -0.00098517 -0.00714916 -0.00240452
+v -0.01280413 -0.00700335 -0.00240452
+v -0.00034103 -0.00443082 -0.00773476
+v -0.00034103 -0.00278527 -0.00240450
+v -0.01280413 -0.00460787 -0.00773476
+v -0.01280413 -0.00290504 -0.00240450
+v -0.00098517 -0.00440478 -0.00773476
+v -0.00034103 -0.00435271 -0.00767633
+v -0.00034103 -0.00279829 -0.00305148
+v -0.01019951 -0.00273059 -0.00305148
+v -0.01019951 -0.00272018 -0.00240450
+v -0.01280413 -0.00406369 -0.00733822
+v -0.01204287 -0.00396735 -0.00747492
+v -0.01204287 -0.00432407 -0.00773476
+v -0.01268213 -0.00288161 -0.00240450
+v -0.01280413 -0.00293108 -0.00305148
+v -0.00209167 -0.00436833 -0.00773476
+v -0.00098517 -0.00401162 -0.00743318
+v -0.00034103 -0.00417826 -0.00753858
+v -0.00034103 -0.00294148 -0.00491571
+v -0.00098517 -0.00293628 -0.00491571
+v -0.01019951 -0.00287118 -0.00491571
+v -0.01204287 -0.00278527 -0.00305148
+v -0.01083877 -0.00273319 -0.00240450
+v -0.01280413 -0.00380332 -0.00695316
+v -0.01280413 -0.00346744 -0.00640584
+v -0.01204287 -0.00339714 -0.00654254
+v -0.01019951 -0.00336069 -0.00658637
+v -0.01019951 -0.00393350 -0.00751822
+v -0.01019951 -0.00423293 -0.00773476
+v -0.01204287 -0.00276965 -0.00240450
+v -0.01204287 -0.00293888 -0.00491571
+v -0.01280413 -0.00302220 -0.00414612
+v -0.00282852 -0.00435271 -0.00773476
+v -0.00282852 -0.00398297 -0.00745770
+v -0.00034103 -0.00402724 -0.00741909
+v -0.00034103 -0.00340235 -0.00648671
+v -0.00098517 -0.00339714 -0.00650132
+v -0.00835616 -0.00336590 -0.00656498
+v -0.01280413 -0.00308729 -0.00491571
+v -0.00960417 -0.00424075 -0.00773476
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 13
+f 1 13 24
+f 1 24 41
+f 1 41 42
+f 1 42 25
+f 1 25 14
+f 1 14 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 11
+f 2 11 21
+f 2 21 38
+f 2 38 45
+f 2 45 31
+f 2 31 30
+f 2 30 17
+f 2 17 10
+f 2 10 5
+f 3 5 10
+f 3 10 19
+f 3 19 35
+f 3 35 46
+f 3 46 39
+f 3 39 22
+f 3 22 12
+f 3 12 8
+f 4 9 16
+f 4 16 29
+f 4 29 36
+f 4 36 20
+f 4 20 11
+f 4 11 7
+f 4 7 6
+f 8 12 13
+f 9 14 15
+f 9 15 16
+f 10 17 18
+f 10 18 19
+f 11 20 21
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 14 25 26
+f 14 26 27
+f 14 27 15
+f 15 28 29
+f 15 29 16
+f 15 27 28
+f 17 30 18
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 19
+f 19 34 35
+f 20 36 28
+f 20 28 21
+f 21 28 37
+f 21 37 38
+f 22 39 40
+f 22 40 23
+f 23 41 24
+f 23 40 42
+f 23 42 41
+f 25 42 43
+f 25 43 26
+f 26 43 27
+f 27 43 44
+f 27 44 33
+f 27 33 32
+f 27 32 37
+f 27 37 28
+f 28 36 29
+f 31 45 37
+f 31 37 32
+f 33 44 43
+f 33 43 34
+f 34 43 40
+f 34 40 39
+f 34 39 46
+f 34 46 35
+f 37 45 38
+f 40 43 42
+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_73.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd02657789f5dde760541ae67b7125b5a042c8c4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_73.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.00835666 -0.03272947 0.03185540
+v -0.00651418 -0.03272947 0.03178885
+v -0.00835666 -0.03087904 0.03171463
+v -0.00930254 -0.02974967 0.03145867
+v -0.00936241 -0.03087904 0.03152266
+v -0.00942087 -0.03272947 0.03158664
+v -0.00649657 -0.03097894 0.03160713
+v -0.00716919 -0.02900689 0.03150730
+v -0.00741640 -0.02803824 0.03144331
+v -0.00491258 -0.03272947 0.03152265
+v -0.00749599 -0.02803824 0.03144331
+v -0.00820805 -0.02907784 0.03150730
+v -0.00835666 -0.02526549 0.03094931
+v -0.00835666 -0.02339334 0.03068310
+v -0.00981176 -0.02152264 0.02995360
+v -0.00988501 -0.02339334 0.03013533
+v -0.00942298 -0.03272947 0.03157640
+v -0.01128941 -0.01793761 0.02677705
+v -0.00409417 -0.03272946 0.03127180
+v -0.00681422 -0.02339334 0.03011997
+v -0.00721567 -0.02152264 0.02979490
+v -0.00835666 -0.02152264 0.03017374
+v -0.00957793 -0.02001247 0.02974884
+v -0.01041606 -0.01793761 0.02840757
+v -0.00957863 -0.03272946 0.03050645
+v -0.00958004 -0.03272946 0.03048598
+v -0.01122461 -0.01793761 0.02587860
+v -0.00910323 -0.03088473 0.00570574
+v -0.00409417 -0.01793759 0.02199557
+v -0.00566901 -0.02464868 0.02924456
+v -0.00550842 -0.02589533 0.02969761
+v -0.00409417 -0.03272937 0.00570573
+v -0.00743330 -0.02058150 0.02957733
+v -0.00835666 -0.02015147 0.02970789
+v -0.00831088 -0.01793761 0.02833334
+v -0.01038084 -0.01793761 0.02842805
+v -0.00952088 -0.03272946 0.02864045
+v -0.00939199 -0.01793753 0.00570578
+v -0.00916873 -0.02900679 0.00570574
+v -0.00857922 -0.03272937 0.00570573
+v -0.00952018 -0.03272946 0.02861997
+v -0.00742556 -0.01868473 0.02773437
+v -0.00409417 -0.01793755 0.01139338
+v -0.00409417 -0.03067623 0.00570574
+v -0.00473861 -0.01793753 0.00570578
+v -0.00471396 -0.01840810 0.00570578
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 17
+f 1 17 25
+f 1 25 26
+f 1 26 37
+f 1 37 41
+f 1 41 40
+f 1 40 32
+f 1 32 19
+f 1 19 10
+f 1 10 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 10 7
+f 3 9 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 5
+f 5 16 6
+f 6 16 18
+f 6 18 17
+f 7 10 8
+f 8 10 9
+f 9 10 19
+f 9 19 20
+f 9 20 14
+f 9 14 11
+f 11 14 13
+f 11 13 12
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 15 24 16
+f 16 24 18
+f 17 18 25
+f 18 26 25
+f 18 24 36
+f 18 36 35
+f 18 35 29
+f 18 29 43
+f 18 43 45
+f 18 45 38
+f 18 38 27
+f 18 27 28
+f 18 28 26
+f 19 29 30
+f 19 30 31
+f 19 31 21
+f 19 21 20
+f 19 32 44
+f 19 44 43
+f 19 43 29
+f 21 31 30
+f 21 30 33
+f 21 33 22
+f 22 33 34
+f 22 34 23
+f 23 34 35
+f 23 35 36
+f 23 36 24
+f 26 28 37
+f 27 38 39
+f 27 39 28
+f 28 39 38
+f 28 38 45
+f 28 45 46
+f 28 46 44
+f 28 44 32
+f 28 32 40
+f 28 40 41
+f 28 41 37
+f 29 35 42
+f 29 42 33
+f 29 33 30
+f 33 42 35
+f 33 35 34
+f 43 44 46
+f 43 46 45
+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_74.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08882286c418735e9d69d0f3304e32475116b67e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_74.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.01741285 -0.02931750 -0.00141754
+v -0.01826698 -0.03477093 -0.00104313
+v -0.01826698 -0.03264788 0.00248575
+v -0.01826698 -0.03209303 0.00440602
+v -0.01750391 -0.02931753 0.00440603
+v -0.01400433 -0.02931750 -0.00141754
+v -0.01826698 -0.03558793 -0.00141756
+v -0.01826698 -0.03557265 -0.00141059
+v -0.01826698 -0.03226113 0.00570573
+v -0.01746930 -0.02931753 0.00570574
+v -0.01397025 -0.02931753 0.00570574
+v -0.01282697 -0.04132704 0.00570570
+v -0.01326682 -0.04132701 -0.00141758
+v -0.01826698 -0.04132701 -0.00141758
+v -0.01826698 -0.04132704 0.00570570
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 11
+f 1 11 6
+f 1 6 13
+f 1 13 14
+f 1 14 7
+f 1 7 8
+f 1 8 2
+f 2 8 7
+f 2 7 14
+f 2 14 15
+f 2 15 9
+f 2 9 4
+f 2 4 3
+f 4 9 10
+f 4 10 5
+f 6 11 12
+f 6 12 13
+f 9 15 12
+f 9 12 11
+f 9 11 10
+f 12 15 14
+f 12 14 13
+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_75.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b4c4bb6355da8fd91734bb1fe4dd6db3f3acdee
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_75.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.01234933 -0.04143020 0.00570570
+v -0.01234933 -0.04591716 0.00570568
+v -0.01234933 -0.04128168 0.00643364
+v -0.00044252 -0.04173692 0.00570570
+v -0.00044252 -0.04544094 0.00570568
+v -0.01234933 -0.04722962 0.01357818
+v -0.01234933 -0.03898460 0.02684667
+v -0.00282831 -0.03898460 0.02667868
+v -0.00048215 -0.03898460 0.02665068
+v -0.00044252 -0.03898460 0.02665068
+v -0.00044252 -0.04552816 0.01745716
+v -0.01198452 -0.04722963 0.01559403
+v -0.01219898 -0.04722962 0.01390906
+v -0.01221646 -0.04722962 0.01377416
+v -0.01234933 -0.04722968 0.02902538
+v -0.01234933 -0.03898462 0.03155286
+v -0.00044252 -0.03898462 0.03170812
+v -0.00044252 -0.04553059 0.01800693
+v -0.01160690 -0.04722967 0.02677791
+v -0.01212788 -0.04722968 0.02887267
+v -0.00044252 -0.04508022 0.02800473
+v -0.00044252 -0.04488570 0.02827963
+v -0.00044252 -0.04441111 0.02893631
+v -0.00044252 -0.04413587 0.02922647
+v -0.00044252 -0.04347481 0.02992133
+v -0.00044252 -0.04210830 0.03076127
+v -0.00044252 -0.04173701 0.03093181
+v -0.00044252 -0.04082009 0.03134668
+v -0.00835631 -0.04070306 0.03133141
+v -0.01020013 -0.04066754 0.03132632
+v -0.01234933 -0.04061185 0.03132123
+v -0.01234933 -0.03967636 0.03151213
+v -0.01223627 -0.03898462 0.03155541
+v -0.00547168 -0.03898462 0.03165467
+v -0.01020013 -0.03973205 0.03152485
+v -0.00835631 -0.03976757 0.03153503
+v -0.00044252 -0.03943018 0.03164449
+v -0.00044252 -0.04553624 0.01932029
+v -0.00044252 -0.04553786 0.02118342
+v -0.00044252 -0.04553382 0.02304910
+v -0.00044252 -0.04549267 0.02491224
+v -0.01202531 -0.04722968 0.02878867
+v -0.00044252 -0.04535143 0.02677791
+v -0.00044252 -0.03988380 0.03157576
+v -0.01234933 -0.03983133 0.03148158
+v -0.00732833 -0.03898462 0.03162922
+v -0.01106610 -0.03898462 0.03157322
+v -0.00044252 -0.04545231 0.02546201
+f 1 2 6
+f 1 6 15
+f 1 15 31
+f 1 31 45
+f 1 45 32
+f 1 32 16
+f 1 16 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 17
+f 4 17 37
+f 4 37 44
+f 4 44 28
+f 4 28 27
+f 4 27 26
+f 4 26 25
+f 4 25 24
+f 4 24 23
+f 4 23 22
+f 4 22 21
+f 4 21 43
+f 4 43 48
+f 4 48 41
+f 4 41 40
+f 4 40 39
+f 4 39 38
+f 4 38 18
+f 4 18 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 13
+f 6 13 12
+f 6 12 19
+f 6 19 42
+f 6 42 20
+f 6 20 15
+f 7 16 33
+f 7 33 47
+f 7 47 46
+f 7 46 34
+f 7 34 17
+f 7 17 10
+f 7 10 9
+f 7 9 8
+f 11 18 19
+f 11 19 12
+f 15 20 21
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 16 32 33
+f 17 34 32
+f 17 32 35
+f 17 35 36
+f 17 36 37
+f 18 38 19
+f 19 39 40
+f 19 40 41
+f 19 41 42
+f 19 38 39
+f 20 42 21
+f 21 42 43
+f 28 44 29
+f 29 44 30
+f 30 44 31
+f 31 44 36
+f 31 36 35
+f 31 35 45
+f 32 45 35
+f 32 34 46
+f 32 46 47
+f 32 47 33
+f 36 44 37
+f 41 48 42
+f 42 48 43
+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_76.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9653ffadee65bf049ad3ad10bbdbf2ea26798e0b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_76.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.02317325 -0.03530174 0.02364723
+v 0.02575857 -0.03317299 0.02364724
+v 0.02172543 -0.03530174 0.02364723
+v 0.02440590 -0.03530167 0.00570572
+v 0.02487534 -0.03522801 0.00570572
+v 0.02575857 -0.03506364 0.00570572
+v 0.02575857 -0.02631071 0.02364726
+v 0.02172543 -0.02993407 0.02364725
+v 0.02172543 -0.03530167 0.00570572
+v 0.02575857 -0.02871244 0.00570574
+v 0.02575857 -0.02612565 0.01700701
+v 0.02172543 -0.02979930 0.01378961
+v 0.02172543 -0.03035795 0.00570574
+v 0.02237768 -0.02999957 0.00570574
+v 0.02575857 -0.02844388 0.00627125
+v 0.02575857 -0.02625589 0.01559150
+v 0.02172543 -0.02986754 0.00777456
+v 0.02172543 -0.02983431 0.00823820
+v 0.02172543 -0.02980467 0.00940082
+v 0.02172543 -0.02978671 0.01186479
+v 0.02172543 -0.03013160 0.00603766
+v 0.02172543 -0.03012801 0.00605874
+v 0.02172543 -0.02990257 0.00740400
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 15
+f 2 15 16
+f 2 16 11
+f 2 11 7
+f 3 8 12
+f 3 12 20
+f 3 20 19
+f 3 19 18
+f 3 18 17
+f 3 17 23
+f 3 23 22
+f 3 22 21
+f 3 21 13
+f 3 13 9
+f 4 9 13
+f 4 13 14
+f 4 14 10
+f 4 10 6
+f 4 6 5
+f 7 11 8
+f 8 11 12
+f 10 14 15
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 13 21 14
+f 14 21 15
+f 15 21 16
+f 16 21 22
+f 16 22 23
+f 16 23 17
+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_77.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..355da12f7d99261828f1f31e619edf19509d3a7a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_77.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.01191262 -0.03513471 -0.00773487
+v 0.01191262 -0.03467762 -0.00748268
+v -0.00034103 -0.03512201 -0.00773487
+v 0.01191262 -0.00530662 -0.00773476
+v 0.01191262 -0.03459509 -0.00743779
+v -0.00034103 -0.03500457 -0.00769219
+v -0.00034103 -0.00443053 -0.00773476
+v 0.01113058 -0.00465590 -0.00773476
+v 0.01191262 -0.00468447 -0.00773365
+v -0.00034103 -0.03439512 -0.00748601
+v 0.01191262 -0.03274770 -0.00693783
+v -0.00034103 -0.00435435 -0.00767657
+v 0.01007385 -0.00462416 -0.00773476
+v 0.01007385 -0.00410359 -0.00732184
+v 0.01191262 -0.00412898 -0.00728470
+v -0.00034103 -0.00715085 -0.00207297
+v 0.01191262 -0.00718895 -0.00207574
+v -0.00034103 -0.00402741 -0.00741882
+v 0.01007385 -0.00346876 -0.00638955
+v 0.01191262 -0.00349097 -0.00635519
+v 0.00028869 -0.00715085 -0.00207297
+v -0.00034103 -0.00277996 -0.00207295
+v 0.01191262 -0.00279583 -0.00207295
+v 0.01116776 -0.00712229 -0.00207297
+v 0.00182639 -0.00714768 -0.00207297
+v -0.00034103 -0.00340527 -0.00648655
+v 0.01007385 -0.00299580 -0.00491521
+v 0.01191262 -0.00305293 -0.00491521
+v 0.01007385 -0.00270695 -0.00207295
+v -0.00034103 -0.00279901 -0.00305122
+v 0.01191262 -0.00276726 -0.00207295
+v -0.00034103 -0.00294184 -0.00491521
+v 0.01007385 -0.00273552 -0.00305122
+v 0.01191262 -0.00279901 -0.00305122
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_78.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ed9885bc892fd66b25835fc42f28553073f6279
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_78.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_79.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3b1ee6f4e743e832bf769e007c9be740043135c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_79.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_8.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddfb035c5e052c41a6c785f1d222d1774530d627
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_8.obj
@@ -0,0 +1,631 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_80.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f03c353cfafe94cbb7613ad69fa74cb2c95c2220
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_80.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.02179465 -0.03516230 -0.00207307
+v 0.02179368 -0.04130414 -0.00207309
+v 0.02179465 -0.03516230 -0.00329067
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+v 0.01191262 -0.02901923 -0.00773485
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_81.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e823b1180eaf44da97614f6052194e05e5d81ddd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_81.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.00034103 -0.02705350 0.00105678
+v -0.00034103 -0.03153259 0.00093950
+v -0.00034103 -0.02705352 0.00570575
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_82.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9285a554c52fbebc7a37140447344dcfe3714a89
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_82.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.00276507 -0.02108399 0.02888838
+v 0.00151173 -0.02108398 0.02803060
+v 0.00306806 -0.02108399 0.02882030
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_83.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..788ce926b07e74c39a844262563817b1454c9ada
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_83.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_84.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d217529ab63c0e1a8de494d3b306976aeade1d97
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_84.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_85.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e02a89a7ece2db19ab16b62e3fc64bfd83b03cab
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_85.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v 0.02573255 -0.00482347 0.02143974
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_86.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cde47dd21f270c545db72ae983db4b2887265f0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_86.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.00924667 -0.03272994 0.02528559
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_87.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..551580d6951e8e17c7c4a93f0ecb3721992c16bd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_87.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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+v -0.01235014 -0.01022510 0.02491530
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_88.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24ba950a6e1777434970ba204bd4cf298f48ba38
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_88.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02534652 -0.02201964 -0.02792283
+v -0.02534652 -0.02201964 -0.02692283
+v -0.02534652 -0.02101964 -0.02792283
+v -0.02534652 -0.02101964 -0.02692283
+v -0.02434652 -0.02201964 -0.02792283
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+v -0.02434652 -0.02101964 -0.02792283
+v -0.02434652 -0.02101964 -0.02692283
+f 2 4 1
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+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_89.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5228fa3f94d98b7234c00fa8be9a311289fb98c8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_89.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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+v -0.02062381 -0.04397600 0.03030016
+v -0.02062381 -0.03088151 0.03111258
+f 1 2 6
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+f 1 30 15
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+f 1 7 3
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_9.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ba0b36a9de252e624d0b021d1cd1dc8743e8b4f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_9.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v 0.02481102 -0.04022201 -0.03237032
+v 0.02482009 -0.04022201 -0.03237032
+v 0.02482009 -0.04023677 -0.03237032
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+v 0.02367602 -0.04022201 -0.03236571
+v 0.02666316 -0.04022201 -0.03227181
+v 0.02482009 -0.04210776 -0.03235006
+v 0.02367602 -0.04210776 -0.03235098
+v 0.02367602 -0.04022203 -0.02740880
+v 0.02773746 -0.04022201 -0.03206005
+v 0.02666316 -0.04023677 -0.03227088
+v 0.02482009 -0.04397998 -0.03227918
+v 0.02367602 -0.04397998 -0.03231048
+v 0.02697638 -0.04022205 -0.02296654
+v 0.02367602 -0.04799139 -0.02296657
+v 0.02857459 -0.04022202 -0.03101600
+v 0.02857389 -0.04023678 -0.03101600
+v 0.02999700 -0.04397999 -0.02890306
+v 0.02773677 -0.04023677 -0.03205913
+v 0.02669385 -0.04204011 -0.03213370
+v 0.02608694 -0.04397998 -0.03208952
+v 0.02476568 -0.04576732 -0.03210794
+v 0.02367602 -0.04581776 -0.03221014
+v 0.02960216 -0.04022205 -0.02296654
+v 0.02367602 -0.05276296 -0.02296658
+v 0.02934265 -0.04022202 -0.02998761
+v 0.02934265 -0.04023678 -0.02998761
+v 0.03001653 -0.04210777 -0.02899236
+v 0.03065414 -0.04398000 -0.02728820
+v 0.02988957 -0.04585098 -0.02877878
+v 0.02764189 -0.04137093 -0.03199376
+v 0.02584417 -0.04508707 -0.03200943
+v 0.02411481 -0.04700972 -0.03203337
+v 0.02367602 -0.04724714 -0.03205731
+v 0.03080064 -0.04022697 -0.02296654
+v 0.03080203 -0.04022204 -0.02354564
+v 0.02367602 -0.05277525 -0.02355949
+v 0.02418736 -0.05254522 -0.02355949
+v 0.02417341 -0.05253908 -0.02296658
+v 0.03002211 -0.04022202 -0.02905588
+v 0.03002211 -0.04023678 -0.02905588
+v 0.03069460 -0.04210778 -0.02728819
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+v 0.03074832 -0.04398001 -0.02542383
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+v 0.02967471 -0.04730251 -0.02853757
+v 0.02732797 -0.04261826 -0.03180227
+v 0.02865202 -0.04784375 -0.02903750
+v 0.02813580 -0.04922146 -0.02869685
+v 0.02534329 -0.04633440 -0.03171390
+v 0.02367602 -0.04818816 -0.03162276
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+v 0.02367602 -0.05278140 -0.02434667
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+v 0.02512215 -0.05206671 -0.02542386
+v 0.02510890 -0.05205195 -0.02355949
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+v 0.03070297 -0.04022203 -0.02728819
+v 0.03070297 -0.04023679 -0.02728819
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+v 0.03079506 -0.04023680 -0.02542382
+v 0.03075460 -0.04398001 -0.02355946
+v 0.03049509 -0.04585100 -0.02542384
+v 0.02982678 -0.04759158 -0.02728821
+v 0.02934962 -0.04852646 -0.02728822
+v 0.02842809 -0.04952777 -0.02728822
+v 0.02750237 -0.05046388 -0.02728823
+v 0.02628157 -0.05088948 -0.02862965
+v 0.02680268 -0.04974426 -0.02910747
+v 0.02367602 -0.04845510 -0.03144231
+v 0.03079506 -0.04022204 -0.02542382
+v 0.03079715 -0.04151243 -0.02296654
+v 0.02367602 -0.05278878 -0.02542386
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+v 0.02367602 -0.05277401 -0.02622209
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+v 0.02658154 -0.05109984 -0.02728823
+v 0.02659340 -0.05113183 -0.02542386
+v 0.02654945 -0.05111707 -0.02355949
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+v 0.03076576 -0.04338465 -0.02296655
+v 0.03075181 -0.04398002 -0.02296655
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+v 0.02935451 -0.04854123 -0.02542385
+v 0.02843298 -0.04953762 -0.02542385
+v 0.02751423 -0.05047373 -0.02542386
+v 0.02404575 -0.05248001 -0.02834148
+v 0.02472452 -0.05149346 -0.02886903
+v 0.02367602 -0.05146271 -0.02933949
+v 0.02367602 -0.05256366 -0.02844920
+v 0.02747028 -0.05043805 -0.02355949
+v 0.02745354 -0.05042330 -0.02296658
+v 0.03056903 -0.04525564 -0.02296656
+v 0.03047904 -0.04585101 -0.02296656
+v 0.03003955 -0.04701715 -0.02296656
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+v 0.02840228 -0.04950195 -0.02355948
+v 0.02983585 -0.04754486 -0.02296656
+v 0.02948286 -0.04818205 -0.02296657
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+v 0.02838972 -0.04948842 -0.02296657
+v 0.02775421 -0.05012562 -0.02296657
+v 0.02931125 -0.04847974 -0.02296657
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_90.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7382e8c930823d3f21a8c42716628860f02ddf99
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_90.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02485304 -0.04006776 -0.02744536
+v -0.02485304 -0.04006776 -0.02644536
+v -0.02485304 -0.03066017 -0.02744536
+v -0.02485304 -0.03066017 -0.02644536
+v -0.02249246 -0.04006776 -0.02744536
+v -0.02249246 -0.04006776 -0.02644536
+v -0.02249246 -0.03066017 -0.02744536
+v -0.02249246 -0.03066017 -0.02644536
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_91.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04d4b38c3e953bb663d7764e2fa8a07b143059bb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_91.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.02556789 -0.02579771 0.00570576
+v -0.02556789 -0.02227030 0.00999999
+v -0.02364216 -0.02932708 0.00570574
+v -0.02556789 -0.03508085 0.00570572
+v -0.02556789 -0.02152240 0.01127887
+v -0.02364216 -0.02915360 0.00627093
+v -0.02364216 -0.03578248 0.00570572
+v -0.02556770 -0.01609057 0.02118562
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+v -0.02556789 -0.03353501 0.02118556
+v -0.02556789 -0.01609250 0.02118410
+v -0.02364216 -0.02897627 0.00813620
+v -0.02364216 -0.02895509 0.01448815
+v -0.02364216 -0.02895316 0.01261832
+v -0.02364216 -0.02895508 0.01186373
+v -0.02556789 -0.01781381 0.02118561
+v -0.02364216 -0.03023695 0.02118557
+v -0.02364216 -0.02898403 0.02118405
+v -0.02364216 -0.02896281 0.01745653
+v -0.02438354 -0.03374125 0.02118556
+v -0.02530493 -0.03362175 0.02118556
+v -0.02364216 -0.03271965 0.02118556
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 10
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+f 1 16 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
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+f 8 21 20
+f 8 20 22
+f 8 22 17
+f 8 17 18
+f 8 18 19
+f 8 19 13
+f 9 20 21
+f 9 21 10
+f 9 22 20
+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_92.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1ce94f431b7ac8392f1714ad9ca842be02ac746
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_92.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.01127032 -0.04624136 -0.00773491
+v -0.01127032 -0.04554911 -0.00141870
+v -0.01338550 -0.04717664 -0.00142179
+v -0.01289228 -0.04717662 -0.00773491
+v -0.01127032 -0.03990430 -0.00773489
+v -0.01339153 -0.04717664 -0.00141870
+v -0.01127032 -0.04173115 -0.00141868
+v -0.01372195 -0.03800583 -0.00141805
+v -0.02358999 -0.04717662 -0.00773491
+v -0.01199025 -0.03800581 -0.00773488
+v -0.01343615 -0.02931749 -0.00633929
+v -0.02067769 -0.04717664 -0.00141870
+v -0.01400534 -0.02931750 -0.00141802
+v -0.02358878 -0.03800583 -0.00141805
+v -0.02358999 -0.04717663 -0.00496666
+v -0.02358999 -0.04196887 -0.00773489
+v -0.01830083 -0.03800581 -0.00773488
+v -0.01718535 -0.02931749 -0.00633929
+v -0.02080311 -0.04699834 -0.00141870
+v -0.01741447 -0.02931750 -0.00141802
+v -0.02358878 -0.03571924 -0.00141804
+v -0.02358999 -0.04283073 -0.00141869
+v -0.02358999 -0.04032912 -0.00666148
+v -0.02188723 -0.03961236 -0.00773489
+v -0.02023994 -0.03853725 -0.00773488
+v -0.02358878 -0.03665450 -0.00289152
+v -0.01737589 -0.02931749 -0.00491528
+v -0.02094058 -0.03881870 -0.00773488
+v -0.02154716 -0.03931168 -0.00773488
+v -0.01742533 -0.02931750 -0.00274248
+v -0.01742774 -0.02931750 -0.00305164
+v -0.02358999 -0.03852677 -0.00475084
+v -0.02358999 -0.03800583 -0.00346595
+v -0.02358999 -0.03800583 -0.00141867
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
+f 1 16 24
+f 1 24 29
+f 1 29 28
+f 1 28 25
+f 1 25 17
+f 1 17 10
+f 1 10 5
+f 1 5 7
+f 1 7 2
+f 2 6 3
+f 2 7 8
+f 2 8 6
+f 3 6 12
+f 3 12 15
+f 3 15 9
+f 3 9 4
+f 5 10 11
+f 5 11 7
+f 6 8 14
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+f 7 11 13
+f 7 13 8
+f 8 13 20
+f 8 20 21
+f 8 21 14
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+f 9 32 23
+f 9 23 16
+f 10 17 18
+f 10 18 11
+f 11 18 27
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+f 11 31 30
+f 11 30 20
+f 11 20 13
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+f 14 21 34
+f 14 34 22
+f 14 22 19
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+f 20 30 21
+f 21 30 31
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+f 21 26 32
+f 21 32 33
+f 21 33 34
+f 23 32 26
+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_93.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..565e6fa9cbb85db3f72b5699080190b42403a68e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_93.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.02125883 -0.03394031 -0.00141755
+v -0.02125883 -0.03342249 -0.00070146
+v -0.02005000 -0.03342835 -0.00069797
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+v -0.02144015 -0.03400826 -0.00141755
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+v -0.01826698 -0.03477096 -0.00104313
+v -0.01987806 -0.03151871 0.00300242
+v -0.01826698 -0.03264810 0.00248575
+v -0.01826698 -0.03557347 -0.00141059
+v -0.01826698 -0.03558870 -0.00141756
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+v -0.02358947 -0.03014097 0.00431469
+v -0.02273912 -0.03496309 -0.00141756
+v -0.02358947 -0.03477682 -0.00101384
+v -0.02358947 -0.02940523 0.00555303
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+v -0.01826698 -0.03209396 0.00440602
+v -0.01826698 -0.04132701 -0.00141758
+v -0.02358947 -0.03571875 -0.00141756
+v -0.02358947 -0.02935836 0.00570574
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+v -0.02061429 -0.03056624 0.00570574
+v -0.01826698 -0.03226149 0.00570573
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+v -0.02358947 -0.04132701 -0.00141758
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+v -0.02254529 -0.04132704 0.00570570
+v -0.02358947 -0.04132702 0.00020984
+v -0.02358947 -0.03590974 0.00568759
+v -0.02358947 -0.03685636 0.00477276
+v -0.02358947 -0.04057019 0.00100821
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+f 1 3 4
+f 1 4 11
+f 1 11 20
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+f 1 21 14
+f 1 14 5
+f 1 5 6
+f 1 6 2
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+f 14 21 15
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+f 17 24 18
+f 18 24 19
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+f 22 28 29
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+f 22 26 25
+f 22 25 24
+f 22 24 23
+f 28 31 29
+f 29 31 32
+f 29 32 33
+f 29 33 30
+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_94.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37cecf1349b4b9a39500f3c4b3b024fe51876d02
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_94.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.01900067 -0.01273121 0.00570580
+v 0.01887704 -0.01216368 0.00440614
+v 0.01899615 -0.01216368 0.00570581
+v 0.01899389 -0.01312654 0.00570580
+v 0.01896750 -0.01312654 0.00531140
+v 0.01888382 -0.01312654 0.00440613
+v 0.01804475 -0.01216365 -0.00207243
+v 0.01800253 -0.01029193 -0.00207243
+v 0.01786683 -0.00842122 -0.00207242
+v 0.01880240 -0.01085948 0.00570581
+v 0.01509026 -0.01312654 0.00570580
+v 0.01802967 -0.01312651 -0.00207244
+v 0.01870063 -0.01026954 0.00570581
+v 0.01743410 -0.00655052 -0.00207241
+v 0.01451053 -0.01312652 0.00067842
+v 0.01129972 -0.00722914 0.00570582
+v 0.01422028 -0.01312651 -0.00207244
+v 0.01841113 -0.00922720 0.00570582
+v 0.01680611 -0.00523206 -0.00207241
+v 0.01749366 -0.00655055 0.00570583
+v 0.01814577 -0.00831936 0.00570582
+v 0.01440875 -0.01312652 -0.00022762
+v 0.01426551 -0.01312651 -0.00161637
+v 0.01430924 -0.01312652 -0.00118619
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+v 0.01129972 -0.00713231 -0.00207242
+v 0.01638393 -0.00474095 -0.00207241
+v 0.01680536 -0.00523411 -0.00118616
+v 0.01680837 -0.00528609 0.00440616
+v 0.01680309 -0.00529934 0.00570583
+v 0.01191791 -0.00289983 0.00570584
+v 0.01129972 -0.00285092 0.00503202
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+v 0.01599870 -0.00429671 -0.00207241
+v 0.01600096 -0.00429876 -0.00118616
+v 0.01507971 -0.00345307 -0.00118615
+v 0.01578007 -0.00436399 0.00570583
+v 0.01247654 -0.00300070 0.00570584
+v 0.01376116 -0.00318002 0.00440617
+v 0.01191791 -0.00284888 0.00440617
+v 0.01129972 -0.00283564 0.00440617
+v 0.01129972 -0.00273779 -0.00177470
+v 0.01191791 -0.00273576 -0.00118615
+v 0.01191791 -0.00276632 -0.00207240
+v 0.01551470 -0.00385247 -0.00207240
+v 0.01485882 -0.00362732 0.00570584
+v 0.01507745 -0.00345714 -0.00207240
+v 0.01438538 -0.00320037 -0.00207240
+v 0.01376116 -0.00296502 -0.00118615
+v 0.01376116 -0.00324523 0.00570584
+v 0.01376116 -0.00303634 0.00067846
+v 0.01191791 -0.00276225 0.00067846
+v 0.01129972 -0.00274595 0.00067846
+v 0.01129972 -0.00271844 -0.00118615
+v 0.01376116 -0.00298538 -0.00207240
+v 0.01279393 -0.00286515 -0.00207240
+f 1 2 3
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+f 1 13 18
+f 1 18 21
+f 1 21 20
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+f 1 30 37
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+f 43 52 49
+f 43 49 55
+f 43 55 56
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+f 46 49 51
+f 48 55 49
+f 52 54 53
+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_95.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc5ecca7756baa7f3ce5994fed8c096754197c90
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_95.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v -0.00034103 -0.03751992 0.00570516
+v -0.00098508 -0.03754269 0.00570516
+v -0.00034103 -0.03746867 0.00478883
+v -0.00034103 -0.02931511 0.00570574
+v -0.00915641 -0.02931511 0.00570574
+v -0.00149868 -0.03753415 0.00570516
+v -0.00229167 -0.03746867 0.00483285
+v -0.00098508 -0.03748006 0.00466872
+v -0.00034103 -0.03740319 0.00393608
+v -0.00034103 -0.00845861 0.00570582
+v -0.01068795 -0.01029487 0.00570581
+v -0.00910299 -0.03088376 0.00570519
+v -0.00857399 -0.03274849 0.00570518
+v -0.00776867 -0.03400683 0.00570518
+v -0.00609537 -0.03554131 0.00570517
+v -0.00499216 -0.03646941 0.00570517
+v -0.00353766 -0.03738042 0.00570516
+v -0.00350992 -0.03739180 0.00570516
+v -0.00263475 -0.03748860 0.00570516
+v -0.00287409 -0.03734341 0.00428935
+v -0.00098508 -0.03740319 0.00373662
+v -0.00034103 -0.03697330 0.00254256
+v -0.00034103 -0.00845859 0.00092251
+v -0.01083484 -0.00845861 0.00570582
+v -0.00918928 -0.03090084 0.00432797
+v -0.00880614 -0.03274849 0.00440568
+v -0.00953955 -0.02713437 0.00421494
+v -0.00940396 -0.02900479 0.00397579
+v -0.00937828 -0.02931510 0.00389807
+v -0.00929713 -0.03029159 0.00365512
+v -0.00795973 -0.03422604 0.00440567
+v -0.00694897 -0.03516267 0.00440567
+v -0.00602758 -0.03581746 0.00440567
+v -0.00607585 -0.03580322 0.00290780
+v -0.00480932 -0.03617332 0.00238876
+v -0.00282787 -0.03685373 0.00254256
+v -0.00098508 -0.03697615 0.00254256
+v -0.00034103 -0.03606512 0.00134525
+v -0.00096248 -0.00845859 0.00070239
+v -0.00034103 -0.03153284 0.00093981
+v -0.01054004 -0.00845860 0.00254267
+v -0.01058113 -0.01029486 0.00254266
+v -0.01049484 -0.01216528 0.00254266
+v -0.01037569 -0.01403856 0.00254265
+v -0.00953955 -0.02713436 0.00304805
+v -0.00929713 -0.03029159 0.00342251
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+v -0.00789501 -0.03418048 0.00254257
+v -0.00940396 -0.02900479 0.00324696
+v -0.00937828 -0.02931510 0.00328935
+v -0.00661924 -0.03516836 0.00238876
+v -0.00551295 -0.03549575 0.00166482
+v -0.00428648 -0.03580891 0.00147949
+v -0.00282787 -0.03599681 0.00138329
+v -0.00098508 -0.03606512 0.00134851
+v -0.00034103 -0.03461889 0.00101263
+v -0.00098508 -0.00845859 0.00069750
+v -0.00034103 -0.03274847 0.00094470
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+v -0.00982100 -0.01216527 0.00124588
+v -0.00972239 -0.01403855 0.00135293
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+v -0.00754269 -0.03380753 0.00156048
+v -0.00957961 -0.01591182 0.00144369
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+v -0.00098508 -0.03461889 0.00101752
+v -0.00282787 -0.03274847 0.00094089
+v -0.00034103 -0.03340326 0.00095557
+v -0.00834903 -0.00845859 0.00015346
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+v -0.00836341 -0.00845859 0.00015672
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+v -0.00467168 -0.03274847 0.00098600
+v -0.00098508 -0.03274847 0.00093057
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+
diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_96.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4559816832c4d802ca76fe5caa8a1fb3eccc34fb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_96.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.02575857 -0.02631125 0.02364797
+v 0.02575857 -0.02108397 0.02388710
+v 0.02575857 -0.03317241 0.02364795
+v 0.02172543 -0.02993250 0.02364796
+v 0.02172543 -0.02108398 0.02696658
+v 0.02575857 -0.02108399 0.02895068
+v 0.02575857 -0.03314875 0.02491473
+v 0.02316378 -0.03530174 0.02491472
+v 0.02317325 -0.03530174 0.02364794
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+v 0.02551851 -0.02108399 0.02908469
+v 0.02575857 -0.02134980 0.02894927
+v 0.02273224 -0.03530176 0.02864240
+v 0.02308008 -0.03530175 0.02677891
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+v 0.02172543 -0.03530176 0.03027807
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+v 0.02297663 -0.02713656 0.03021744
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_97.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..266aec7e78265acb8fd1fa13946fd5f6620dfbfe
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_97.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_98.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fb7e75aa5e46ed7e6701112c036bd66493ad186
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_98.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_99.obj b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20f80dbaf44320ff228a57acaa867217b7f78de9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/mjcf/mesh/pencil_sharpener_collision_99.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/textures/material_0.png b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe50dc413959b6b3636f1204459212e1e53ee242
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f18377bb102654ca8fbc27d10bbcc448/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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