diff --git a/.gitattributes b/.gitattributes
index c46aa6d64577120781f6368ef7a7646cb285d0f3..aa383b8a11bb01536d2ebfaec2ed57b4a966d440 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3433,7 +3433,6 @@ dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/mesh/scot
 dataset/desktop_supplies/office_tools/bafa2e672b155ab09b39d8436a9ac19c/scotch_tape_002.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/be65b7ab0bac513ea1e916913c8b9244/magnifier_014.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/be65b7ab0bac513ea1e916913c8b9244/mesh/magnifier_014.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/bda0199138895403a151e99d49ead903/mesh/sticky_notes_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/bda0199138895403a151e99d49ead903/sticky_notes_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/mesh/scotch_tape_009.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/c290590e40a255f999961e3554edd4db/scotch_tape_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/c3f43d32fd235292a166d97bd86abdeb.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mesh/pencil_sharpener.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mesh/pencil_sharpener_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/c3f43d32fd235292a166d97bd86abdeb.urdf b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/c3f43d32fd235292a166d97bd86abdeb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2782c084a7b0352be4356223a66bef61d3b4a37a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/c3f43d32fd235292a166d97bd86abdeb.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pencil_sharpener">
+   <link name="pencil_sharpener">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pencil_sharpener.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pencil_sharpener_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.132759</scale>
+         <version>v0.1.7</version>
+         <category>pencil sharpener</category>
+         <description>compact black pencil sharpener with curved edges</description>
+         <min_height>0.05</min_height>
+         <max_height>0.08</max_height>
+         <real_height>0.065</real_height>
+         <min_mass>0.1</min_mass>
+         <max_mass>0.2</max_mass>
+         <generate_time>20260120014351</generate_time>
+         <gs_model>mesh/pencil_sharpener_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.252123832702637</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/c3f43d32fd235292a166d97bd86abdeb.usd b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/c3f43d32fd235292a166d97bd86abdeb.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0eabe1e4da1b2927cd6c3e2b811b938a74ef6a46
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/c3f43d32fd235292a166d97bd86abdeb.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe061419cdef9224ca25c9a078f4ed44ed1cb3b8944edf84362b93904b8f68db
+size 538429
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mesh/material.mtl b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mesh/material_0.png b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fee048a3d464d8710196f6bb1bb57121aef7f82c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:482829100c8c994f6a8bb9dc3545ad683d97106d865df87207033d1b8180e852
+size 693724
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mesh/pencil_sharpener.glb b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mesh/pencil_sharpener.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2e990fb65f2d92ddc93ed81d35008f7215e9510d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mesh/pencil_sharpener.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6989f9b08e50d86970c63dfe96396aa1f7e892059f499904bd583070afc2115
+size 1058000
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mesh/pencil_sharpener.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mesh/pencil_sharpener.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0c5e76da7fdcdcda860596f00eef4484567b519
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mesh/pencil_sharpener.obj
@@ -0,0 +1,33214 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mesh/pencil_sharpener_collision.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mesh/pencil_sharpener_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbbfe47c19902bc1a8516229679ecf8e905a37b8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mesh/pencil_sharpener_collision.obj
@@ -0,0 +1,16172 @@
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diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/c3f43d32fd235292a166d97bd86abdeb.xml b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/c3f43d32fd235292a166d97bd86abdeb.xml
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diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
+oid sha256:482829100c8c994f6a8bb9dc3545ad683d97106d865df87207033d1b8180e852
+size 693724
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a5887b839e81b83d79543ea28aabaaa305050e7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e480fac7234f64b53dde0cf6dd3b2b704effb396
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision.obj
@@ -0,0 +1,16172 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_0.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4a98dc1123d32b5fd5fd688c486e50eb2222659
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_1.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e119ffa9efa2164336a95bf5003c1b1cf25eddeb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_1.obj
@@ -0,0 +1,499 @@
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diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_10.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce5a65db4c284d4b745ce7b4a4a9a6daa489934e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_10.obj
@@ -0,0 +1,772 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_11.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0bfd176e4e35cec1bd77f7906b54906e1ab8340
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_11.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_12.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d996e42e5fe7491745e0559a935ee81ba12ffb8d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_12.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_13.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77b4606dc2d7b8deb1dd74c1d336ee34b938634c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_13.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.01242531 -0.03973356 0.03228952
+v -0.01242531 -0.03828171 0.03229548
+v -0.01345629 -0.03828171 0.03229350
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diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_14.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa6ab191586b6feedb351b86204bff468b6df225
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_14.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_15.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95c13169b85521d4911902b23c00818dd5d538ad
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_15.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_16.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d42171d4febd51f120eee58799da9c03c3bedcd6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_16.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_17.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4ebec644e71950ad25b4ba1224825beec12d476
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_17.obj
@@ -0,0 +1,247 @@
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_18.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef50748a6183bca1143cfb7b23fa6e44d7c30ab9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_18.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.00948284 0.01456502 0.00540698
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_19.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dbfdbc3e8d7853422a798a7887df9f809d048cf
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_19.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.00069288 -0.00657144 -0.02712435
+v -0.00069288 -0.00656440 -0.02750997
+v -0.00028966 -0.00654610 -0.02712435
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_2.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d1c67da3d6c9c0682eb3e7179e85b8ee56ab35b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_2.obj
@@ -0,0 +1,559 @@
+# https://github.com/mikedh/trimesh
+v -0.01250184 -0.06452120 -0.03283743
+v -0.01250184 -0.06372770 -0.03278362
+v -0.01136075 -0.06452120 -0.03286276
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diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_20.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c7ea793973d9575ebdf7f8b836fd58a32705ca7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_20.obj
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_21.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f406e107a10eb32bf96795ab5aa27de33e73cf9a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_21.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.00062490 0.00185386 0.02874254
+v 0.00099893 0.00185386 0.03095231
+v 0.00065910 0.00185387 0.02772801
+v -0.00407754 -0.00097825 0.02445676
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+v -0.00407754 -0.00944260 0.02826222
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+v 0.00578522 -0.00944262 0.03239468
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_22.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfa7a9946af20d1ed626341b2e53cf057008e96a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_22.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.01511137 0.01454255 0.00540698
+v -0.01555035 0.01447631 0.00540698
+v -0.01555035 0.01397583 0.01204811
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+v -0.01341494 -0.05416058 0.01204720
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+v -0.01341494 -0.05591218 0.00540672
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+v -0.01734614 0.01365938 0.00540698
+v -0.01839363 0.01252599 0.00540698
+v -0.01723106 0.01310738 0.01204811
+v -0.01344919 -0.05889289 0.01204784
+v -0.01341494 -0.05889289 0.01204198
+v -0.01341494 -0.06016611 0.00725504
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+v -0.01885844 0.01123803 0.00540697
+v -0.01900832 0.00981760 0.00540697
+v -0.01894320 0.00930976 0.01204809
+v -0.01555035 -0.05878249 0.01204784
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_23.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76e1c3c98bfc0decc2e399b44bb8c7f4a241a75c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_23.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.01136183 0.01627540 0.00235614
+v -0.00926712 0.01624291 0.00235614
+v -0.01271317 0.01625915 0.00235614
+v -0.01271317 0.01475883 0.00540633
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+v -0.01271317 0.01033598 0.00510592
+v -0.00276182 0.00995794 0.00513937
+v -0.00276182 0.00996606 0.00510712
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+f 13 19 17
+f 17 19 18
+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_24.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f5c91125807116ef770ba0311c6519493815042
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_24.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.00897138 -0.05311265 0.01204655
+v 0.00896700 -0.05311788 0.01204786
+v 0.00897138 -0.05312013 0.01204786
+v 0.00897138 -0.05321887 0.01162527
+v -0.01341494 -0.05428784 0.01151279
+v -0.01341494 -0.05416291 0.01204720
+v -0.01341494 -0.05422874 0.01204786
+v 0.00897138 -0.05886591 0.01204784
+v 0.00897138 -0.05380983 0.00976588
+v -0.01341494 -0.05592081 0.00540672
+v -0.01341494 -0.05889807 0.01204198
+v -0.01305995 -0.05889957 0.01204784
+v 0.00897138 -0.05920627 0.01104598
+v 0.00845862 -0.05893473 0.01204784
+v 0.00897138 -0.05552060 0.00540673
+v -0.01341494 -0.06064550 0.00540671
+v -0.01341494 -0.05918084 0.01098877
+v -0.01135950 -0.05962367 0.00940244
+v -0.01135950 -0.05919505 0.01099852
+v 0.00748130 -0.05905441 0.01204784
+v 0.00748130 -0.05926312 0.01126182
+v 0.00748130 -0.05974560 0.00940244
+v 0.00897138 -0.06018995 0.00725504
+v 0.00897138 -0.06066719 0.00540671
+v -0.01135950 -0.06067617 0.00540671
+v -0.01341494 -0.06017349 0.00725504
+v -0.01341494 -0.05959674 0.00943364
+v -0.01135950 -0.06019743 0.00725504
+v 0.00748130 -0.06029392 0.00725504
+v 0.00748130 -0.06075471 0.00540671
+v -0.00926681 -0.06068589 0.00540671
+f 1 2 3
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+f 1 8 13
+f 1 13 23
+f 1 23 24
+f 1 24 15
+f 1 15 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
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+f 2 12 20
+f 2 20 14
+f 2 14 8
+f 2 8 3
+f 4 9 10
+f 4 10 5
+f 5 10 16
+f 5 16 26
+f 5 26 27
+f 5 27 17
+f 5 17 11
+f 5 11 7
+f 5 7 6
+f 7 11 12
+f 8 14 13
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+f 10 31 25
+f 10 25 16
+f 11 17 12
+f 12 17 18
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+f 12 19 20
+f 13 14 20
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 16 25 26
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+f 22 29 24
+f 22 24 23
+f 22 28 25
+f 22 25 29
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+f 25 31 29
+f 26 28 27
+f 29 31 30
+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_25.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..215db1d86a214dd1f93ea58dc4fd498db903377a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_25.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.01492873 -0.03973601 0.02589963
+v -0.01492873 -0.04944256 0.02418617
+v -0.01492873 -0.03973603 0.03214915
+v -0.00407754 -0.03973601 0.02775202
+v -0.01492873 -0.04944259 0.03206019
+v -0.00407754 -0.04944257 0.02660864
+v -0.01492873 -0.04034988 0.03214677
+v -0.01462495 -0.03973603 0.03217773
+v -0.00407754 -0.03973603 0.03227619
+v -0.01492873 -0.04921549 0.03207448
+v -0.01489368 -0.04944259 0.03206337
+v -0.00407754 -0.04944259 0.03221184
+v -0.01492873 -0.04702807 0.03211975
+v -0.01345550 -0.03973603 0.03228571
+v -0.00407754 -0.04046961 0.03228174
+v -0.00926839 -0.03973603 0.03229683
+v -0.01368811 -0.04944259 0.03216817
+v -0.01345550 -0.04921549 0.03220152
+v -0.01345550 -0.04702807 0.03225314
+v -0.00407754 -0.04921549 0.03223646
+v -0.00508129 -0.04944259 0.03221264
+v -0.01136088 -0.04702807 0.03227775
+v -0.01136088 -0.04484160 0.03228411
+v -0.01136088 -0.04046961 0.03229524
+v -0.01136088 -0.03973603 0.03229683
+v -0.00407754 -0.04160893 0.03228412
+v -0.00926839 -0.04046961 0.03229683
+v -0.00407754 -0.04265608 0.03228570
+v -0.01345550 -0.04944259 0.03217849
+v -0.01136088 -0.04921549 0.03223487
+v -0.00407754 -0.04702807 0.03227855
+v -0.00926839 -0.04702807 0.03228331
+v -0.00508129 -0.04921549 0.03223725
+v -0.00717485 -0.04944259 0.03221422
+v -0.00926839 -0.04484160 0.03228967
+v -0.00926839 -0.04265608 0.03229444
+v -0.00407754 -0.04484160 0.03228491
+v -0.01170609 -0.04944259 0.03220629
+v -0.01136088 -0.04944259 0.03221025
+v -0.00959873 -0.04944259 0.03221502
+v -0.00926839 -0.04921549 0.03223963
+v -0.00407754 -0.04598092 0.03228172
+v -0.00717485 -0.04921549 0.03223884
+v -0.00926839 -0.04944259 0.03221502
+f 1 2 5
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+f 1 7 3
+f 1 3 8
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+f 1 14 25
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+f 1 16 9
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+f 27 37 28
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+f 31 42 32
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+f 32 43 33
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+f 34 41 44
+f 35 42 37
+f 35 37 36
+f 40 44 41
+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_26.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b12875d182de8d5c019b664909096a22071855b6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_26.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.01271414 0.01029816 0.00540632
+v -0.01271414 0.01032929 0.00510566
+v -0.01271414 0.01475502 0.00540633
+v -0.01515143 -0.03674526 0.00540615
+v -0.01514955 -0.03674526 0.00531657
+v -0.01514641 -0.03674526 0.00510549
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+v -0.01271414 0.01625967 0.00235644
+v -0.01345582 0.01474983 0.00540633
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+v -0.01912986 -0.03674525 0.00235625
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+v -0.01345582 0.01624929 0.00235644
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+v -0.01912672 -0.03674525 0.00359561
+v -0.01912106 -0.03609152 0.00540615
+v -0.01912169 -0.01641182 0.00295734
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+v -0.01555022 0.01586016 0.00235644
+v -0.01555022 0.01448003 0.00540633
+v -0.01911227 -0.01422751 0.00510557
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+v -0.01911918 -0.01203798 0.00295736
+v -0.01912106 -0.01203798 0.00235634
+v -0.01912232 -0.01422750 0.00235633
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+v -0.01910599 -0.00985886 0.00540624
+v -0.01910725 -0.00985886 0.00510558
+v -0.01911478 -0.00985885 0.00295736
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+v -0.01734632 0.01366026 0.00540633
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+v -0.01901682 0.00951471 0.00540631
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+v -0.01900802 0.00982083 0.00540632
+v -0.01901305 0.00982083 0.00510566
+v -0.01902561 0.01042788 0.00235642
+f 1 2 8
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+f 1 13 9
+f 1 9 3
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+f 1 21 29
+f 1 29 35
+f 1 35 39
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_27.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..078e5e032c433d20700c3a28cff77928b33010db
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_27.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v -0.00407754 -0.00089073 0.01204901
+v -0.00407754 -0.00575149 0.01204899
+v -0.00407754 -0.00097772 0.02445676
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+v -0.00407754 -0.00560557 0.02445674
+v 0.00184834 0.00152365 0.02445677
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+v 0.00157202 0.00108024 0.00540693
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+v -0.00306085 -0.00632339 0.01155298
+v -0.00210770 -0.00662490 0.01155298
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_28.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad5552e98f8a92b18b1eb51610f9643d109324b9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_28.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.00407754 -0.03973356 0.03227554
+v -0.00926752 -0.03828171 0.03229717
+v -0.00926752 -0.03973356 0.03229716
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+v -0.01136166 -0.02408945 0.03230128
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+v -0.01136166 -0.03973356 0.03229649
+v -0.01136166 -0.03828171 0.03229920
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+v -0.00407754 -0.03670425 0.02540273
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+v -0.00407754 -0.03609475 0.03222624
+v -0.01242466 -0.03828171 0.03229650
+v -0.01242466 -0.02408943 0.02776083
+v -0.01242466 -0.03973356 0.03228973
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+v -0.00407754 -0.03243908 0.02847430
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_29.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fa18831aac343d27fb59870168f5c047e945c81
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_29.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.01255692 -0.06140238 0.00235585
+v -0.01255692 -0.06138789 0.00242005
+v -0.01345574 -0.06137099 0.00242632
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+v -0.01890821 -0.05758856 0.00540607
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_3.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ac7842eeb783acfc259112ba8f167c7cb0487c7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_3.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_30.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ad6695feca7d25f6e92fc2776ebe0126a86e195
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_30.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00369568 0.01857502 -0.00719199
+v 0.00369568 0.01857502 -0.00619200
+v 0.00369568 0.04545151 -0.00719199
+v 0.00369568 0.04545151 -0.00619200
+v 0.01314598 0.01857502 -0.00719199
+v 0.01314598 0.01857502 -0.00619200
+v 0.01314598 0.04545151 -0.00719199
+v 0.01314598 0.04545151 -0.00619200
+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/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_31.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ff6fa3006858329c67c83879485bf6a291e97c3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_31.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.01314598 0.04545343 -0.00622465
+v 0.00369475 0.04545343 -0.00622465
+v 0.01314598 0.04545344 -0.00712813
+v 0.01314598 0.05507007 -0.00622462
+v 0.01314598 0.04778013 -0.00834161
+v 0.01314598 0.04577290 -0.00746259
+v 0.01313920 0.04545344 -0.00715963
+v -0.00069288 0.05660966 -0.00622461
+v -0.00069288 0.05994865 -0.00834157
+v 0.01314598 0.04546691 -0.00716668
+v 0.01314598 0.05514897 -0.00648572
+v 0.01311211 0.05511048 -0.00622462
+v 0.01314598 0.05554928 -0.00834159
+v -0.00069288 0.06473868 -0.00622458
+v -0.00069288 0.06511203 -0.00834155
+v 0.01314598 0.05552234 -0.00778686
+v 0.01232914 0.05643261 -0.00778685
+v 0.01116009 0.05713504 -0.00622461
+v 0.01234539 0.05644801 -0.00834158
+v 0.00224259 0.06359553 -0.00622459
+v 0.00250674 0.06353395 -0.00636964
+v -0.00069288 0.06509472 -0.00778682
+v -0.00035152 0.06497732 -0.00834155
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+v 0.00685916 0.06111681 -0.00834157
+v 0.00905230 0.05944636 -0.00834157
+v 0.00800246 0.06025656 -0.00834157
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_32.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..414698f680ae329cdb3cc2f026afdf4cb7bc1d84
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_32.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.00407828 -0.03670428 0.02540273
+v -0.00407828 -0.03194407 0.02540274
+v -0.00508063 -0.03660055 0.02540273
+v -0.00407828 -0.03617696 0.01204857
+v -0.00720717 -0.02409065 0.02540277
+v -0.00407828 -0.03181688 0.02360929
+v -0.00627467 -0.02409060 0.01204861
+v -0.00633263 -0.02409061 0.01307606
+v -0.00647157 -0.02409062 0.01504206
+v -0.00708383 -0.03585596 0.02540273
+v -0.00508063 -0.03577935 0.01204857
+v -0.00407828 -0.03101914 0.01204859
+v -0.01151376 -0.02409065 0.02540277
+v -0.01006560 -0.02409060 0.01204861
+v -0.00765373 -0.03538426 0.02540273
+v -0.00623529 -0.03509279 0.01204857
+v -0.01166534 -0.02514765 0.02540277
+v -0.01117717 -0.02409063 0.02014660
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+v -0.01111179 -0.02516368 0.01799890
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+v -0.01050622 -0.02898667 0.01799888
+v -0.01103451 -0.03049810 0.02540275
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_33.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc395ff10a9f73f12c92daabf31254a3c54905ad
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_33.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.00407754 -0.01675538 0.01205211
+v -0.00407754 -0.02108168 0.01205209
+v -0.00407754 -0.01584618 0.02756708
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+v -0.00069184 -0.01721814 -0.01852736
+v -0.00069184 -0.01723831 -0.01871229
+v -0.00069184 -0.01741979 -0.01971280
+v -0.00069184 -0.01859578 -0.02012534
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+v -0.00069184 -0.02020440 -0.02001628
+v -0.00069184 -0.02027039 -0.01986455
+v -0.00069184 -0.02075802 -0.01852738
+v 0.00338825 -0.02516132 -0.01852739
+v 0.00336180 -0.02516133 -0.01637939
+v -0.00407754 -0.02060420 0.02756706
+v -0.00298538 -0.01580401 0.02756708
+v -0.00069184 -0.01709075 -0.01637936
+v 0.00092571 -0.01730615 -0.01637936
+v 0.00065095 -0.01737580 -0.01852736
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+v 0.00538863 -0.02516131 -0.02087455
+v 0.00325374 -0.02515684 0.01204734
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+v 0.00759479 -0.02516135 -0.01208337
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_34.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90506ab8ee3e04bde1dd6cc0abf99e9d90a3fabd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_34.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
+v -0.00069288 -0.03651005 -0.00052761
+v 0.00120149 -0.03621236 -0.00052761
+v -0.00069288 -0.03228348 -0.00052760
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+v 0.00292606 -0.03543702 -0.00052761
+v 0.00333774 -0.02516219 -0.00052757
+v -0.00069288 -0.03194462 -0.01853101
+v -0.00069288 -0.03645228 -0.00349129
+v 0.00288133 -0.03539477 -0.00993719
+v -0.00069288 -0.03640673 -0.00563922
+v 0.00120149 -0.03605792 -0.01208301
+v 0.00284489 -0.03536811 -0.01208301
+v 0.00392750 -0.03467720 -0.00993719
+v 0.00394738 -0.03468832 -0.00778926
+v 0.00395732 -0.03469166 -0.00563922
+v 0.00396478 -0.03469501 -0.00349129
+v 0.00397058 -0.03469724 -0.00134125
+v 0.00397223 -0.03469835 -0.00052761
+v 0.00764088 -0.02516219 -0.00052757
+v 0.00336176 -0.02516213 -0.01638094
+v 0.00338909 -0.02516212 -0.01853098
+v -0.00069288 -0.03220565 -0.02067894
+v 0.00389106 -0.03465387 -0.01208301
+v -0.00069288 -0.03635340 -0.00778926
+v 0.00120149 -0.03600126 -0.01423305
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+v 0.00730789 -0.02953649 -0.00052759
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+v 0.00766656 -0.02516218 -0.00349125
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+v 0.00419754 -0.03032508 -0.02181508
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+v -0.00069288 -0.03611010 -0.01638098
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+v -0.00069288 -0.03570020 -0.02069792
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+v 0.00463738 -0.03172134 -0.02184882
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+v -0.00069288 -0.03405290 -0.02204908
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+v 0.00751829 -0.02516325 -0.01638094
+v 0.00756136 -0.02516214 -0.01423301
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_35.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6346ff20d2bc6440365b63c2115611fadcf66f66
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_35.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.00306113 0.01468341 0.00540698
+v -0.00306113 0.01002026 0.00540697
+v -0.00306113 0.01437183 0.01204875
+v -0.00298624 0.01437183 0.01204875
+v -0.00089153 0.01436631 0.01204875
+v 0.00538891 0.01465653 0.00540698
+v -0.00302798 0.00764214 0.00762738
+v -0.00306113 0.00764214 0.00783025
+v -0.00254298 0.00764215 0.00540696
+v -0.00296413 0.00764214 0.00725482
+v -0.00297887 0.00764214 0.00732959
+v -0.00306113 0.00764213 0.01204873
+v 0.00281166 0.01434908 0.01204875
+v 0.00748239 0.01464826 0.00540698
+v 0.00225176 0.00764215 0.00540696
+v 0.00269747 0.00764213 0.01204873
+v 0.00329420 0.01434632 0.01204875
+v 0.00748239 0.01430152 0.01204875
+v 0.00928365 0.01457588 0.00540698
+v 0.00490514 0.01433667 0.01204875
+v 0.00538891 0.01433323 0.01204875
+v 0.00699862 0.01431048 0.01204875
+v 0.00948256 0.00943228 0.00540696
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+v 0.00948256 0.00844449 0.00831334
+v 0.00948256 0.00820944 0.00940308
+v 0.00948256 0.00764489 0.01204548
+v 0.00247523 0.00764215 0.00598693
+v 0.00272817 0.00764213 0.01167942
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+v 0.00909210 0.01409817 0.01204875
+v 0.00948256 0.01456485 0.00540698
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+v 0.00266309 0.00764214 0.00796029
+v 0.00948256 0.00900765 0.01204873
+v 0.00948256 0.01403545 0.01204875
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+f 1 3 4
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_36.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f70c36cec0711c5df62bc2eef0544b58ca72987
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_36.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00238489 -0.02988830 0.01204860
+v 0.00238489 -0.02988830 0.03047767
+v 0.00238489 -0.02414978 0.01204860
+v 0.00238489 -0.02414978 0.03047767
+v 0.00338489 -0.02988830 0.01204860
+v 0.00338489 -0.02988830 0.03047767
+v 0.00338489 -0.02414978 0.01204860
+v 0.00338489 -0.02414978 0.03047767
+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/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_37.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60112261e5421ae4c6dd45ed5f32c4e7389057f2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_37.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.00926644 -0.04944352 0.03221545
+v -0.01136019 -0.04944352 0.03220953
+v -0.01136019 -0.05064964 0.03208120
+v -0.00926644 -0.05065058 0.03208120
+v -0.00717482 -0.05064682 0.03208120
+v -0.00298733 -0.05063460 0.03208120
+v -0.00407582 -0.04958829 0.03219571
+v 0.00329392 -0.04958829 0.03218781
+v -0.00407582 -0.04944352 0.03220953
+v -0.01345393 -0.04944352 0.03217794
+v -0.01345393 -0.05059700 0.03205949
+v -0.01345393 -0.05169031 0.03161335
+v -0.01136019 -0.05174296 0.03161730
+v 0.00120017 -0.05062144 0.03207725
+v -0.00926644 -0.05174389 0.03161335
+v 0.00329392 -0.05061392 0.03207528
+v 0.00538767 -0.05056880 0.03205752
+v 0.00538767 -0.04958829 0.03216412
+v 0.00687527 -0.04958829 0.03205753
+v -0.00407582 -0.04944350 0.02660519
+v -0.01368657 -0.04944352 0.03216807
+v -0.01473451 -0.05046633 0.03201409
+v -0.01492873 -0.05067691 0.03188972
+v -0.01492873 -0.05139043 0.03155413
+v -0.01492873 -0.05262286 0.03078030
+v -0.01345393 -0.05309478 0.03053946
+v -0.01136019 -0.05309854 0.03054341
+v -0.00926644 -0.05309196 0.03053946
+v 0.00329392 -0.05306470 0.03050393
+v -0.00717482 -0.05174014 0.03160546
+v 0.00329392 -0.05170723 0.03157585
+v 0.00538767 -0.05166117 0.03156795
+v 0.00667252 -0.05045505 0.03201409
+v 0.00687527 -0.04969734 0.03205160
+v 0.00687527 -0.04958826 0.02458376
+v -0.01492873 -0.04944349 0.02418303
+v -0.01489245 -0.04944352 0.03206345
+v -0.01492873 -0.04949711 0.03205753
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_38.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c148460c3afec6f062df75bace8ef629ffdf3506
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_38.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.01527477 -0.02408941 0.02457284
+v -0.01242702 -0.02408942 0.02776119
+v -0.01527477 -0.02408944 0.03211781
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_39.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..428126108f14521d6efcad16a45bab38aff67036
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_39.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.01912959 -0.05660567 -0.00052530
+v -0.01908271 -0.05796233 -0.00052558
+v -0.01912792 -0.05660567 -0.00001935
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+v -0.01327418 -0.05660568 0.00235557
+v -0.01392218 -0.05660567 0.00068910
+v -0.00202382 -0.05696835 0.00235557
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_4.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25ec1c28a3d7b56bc1ec44426f8d9865b10d28c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_4.obj
@@ -0,0 +1,631 @@
+# https://github.com/mikedh/trimesh
+v 0.00928758 -0.06662188 -0.02927390
+v 0.00928758 -0.06639459 -0.03142292
+v 0.00957763 -0.06661745 -0.02927390
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diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_40.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9badabc2a2bf29409f8348cf9485ae78e9bf44c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_40.obj
@@ -0,0 +1,121 @@
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diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_41.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1434209e0d3538b471eee2d4b4e8fc540a48bc7c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_41.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_42.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7ffb20090a6f1edf0de366c11737580e33b2f45
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_42.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_43.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..850b01f3b67f70877e5e194419d5926411e92c17
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_43.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+f 55 65 56
+f 56 65 72
+f 57 58 67
+f 58 71 70
+f 58 70 74
+f 58 74 67
+f 59 75 78
+f 59 78 76
+f 59 76 60
+f 60 76 61
+f 61 76 78
+f 61 78 79
+f 61 79 77
+f 62 69 63
+f 64 80 65
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+f 70 73 83
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_44.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..652fbe51edcd6ea98ee5f097b0bb3111a685d2a5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_44.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.01092099 -0.05359548 0.00235192
+v 0.01092099 -0.05360049 0.00235558
+v 0.01275733 -0.05359548 0.00235558
+v 0.01137138 -0.05359547 -0.00051936
+v -0.00202382 -0.05696869 0.00235557
+v 0.01521100 -0.05420127 0.00235558
+v 0.01525969 -0.05359548 0.00235051
+v 0.01139399 -0.05359547 -0.00052557
+v -0.00202382 -0.05762794 -0.00052558
+v -0.00202382 -0.05731878 0.00080811
+v -0.00202382 -0.06145153 0.00235555
+v 0.01507363 -0.05572786 0.00235558
+v 0.01558662 -0.05577548 -0.00052557
+v 0.01565270 -0.05494575 -0.00052557
+v 0.01552054 -0.05359547 0.00080135
+v 0.01574139 -0.05359547 -0.00052557
+v -0.00202382 -0.06211831 -0.00052560
+v -0.00202382 -0.06164789 0.00151935
+v 0.00508852 -0.06147242 0.00235555
+v 0.01489451 -0.05679656 0.00235557
+v 0.01534664 -0.05577548 0.00080812
+v 0.01514666 -0.05788363 -0.00052558
+v 0.01487712 -0.05704556 0.00222020
+v -0.00202382 -0.06207904 -0.00035272
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+v -0.00202382 -0.06181333 0.00080809
+v 0.00538936 -0.06147326 0.00235555
+v 0.01477279 -0.05719596 0.00235557
+v 0.01480930 -0.05884871 -0.00052559
+v 0.01476061 -0.05893561 -0.00044267
+v 0.00538936 -0.06182837 0.00080809
+v 0.00329565 -0.06182419 0.00080809
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+v 0.00717179 -0.06147326 0.00235555
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+v 0.01464758 -0.05910022 -0.00052559
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+v 0.00618406 -0.06212917 -0.00052560
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+v 0.00748133 -0.06147242 0.00235555
+v 0.01376071 -0.06015555 -0.00052559
+v 0.01294688 -0.05998510 0.00235556
+v 0.01267386 -0.06122257 -0.00032761
+v 0.01297644 -0.06097357 -0.00052559
+v 0.00748133 -0.06212332 -0.00052560
+v 0.00957504 -0.06204394 -0.00052560
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+v 0.01247910 -0.06133956 -0.00052560
+v 0.01101489 -0.06112817 0.00235556
+v 0.01078535 -0.06130280 0.00213022
+v 0.01020628 -0.06193448 -0.00052560
+v 0.00990892 -0.06135210 0.00235555
+v 0.01165309 -0.06163117 -0.00052560
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+f 1 15 16
+f 1 16 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 19
+f 2 19 27
+f 2 27 34
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+f 51 54 52
+f 52 53 55
+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_45.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fba739aaa6ba81d780b8d9eff9300724a871455
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_45.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.00407754 0.01432258 0.02444986
+v -0.00717850 0.01431638 0.02444986
+v -0.00717444 0.01429365 0.02659476
+v -0.00508029 0.01429571 0.02659476
+v -0.00407754 0.01429571 0.02659476
+v -0.00407754 -0.00560410 0.02444979
+v -0.00927198 0.01430812 0.02444986
+v -0.00926792 0.01428745 0.02659476
+v -0.00717444 0.01419449 0.02874279
+v -0.00508029 0.01419862 0.02874279
+v -0.00407754 0.01424614 0.02771412
+v -0.00407754 -0.00677943 0.02796105
+v -0.01098993 -0.00677943 0.02829952
+v -0.00508029 -0.00518892 0.02444979
+v -0.01098993 0.01428746 0.02444986
+v -0.01098993 0.01427299 0.02621331
+v -0.01098993 0.01426886 0.02659476
+v -0.01098993 0.01418624 0.02836212
+v -0.00926792 0.01418623 0.02874279
+v -0.00926792 0.01360167 0.03055392
+v -0.00508029 0.01361200 0.03056643
+v -0.00407754 0.01361200 0.03056721
+v -0.00407754 0.01419862 0.02874279
+v -0.00407754 -0.00677945 0.03238062
+v -0.00872662 -0.00110939 0.02444981
+v -0.00825704 -0.00225166 0.02444980
+v -0.00730436 -0.00334642 0.02444980
+v -0.00625762 -0.00449902 0.02444979
+v -0.01098993 -0.00677945 0.03237124
+v -0.01098993 0.00980928 0.02444985
+v -0.01098993 0.01416764 0.02874279
+v -0.01098993 0.01369668 0.03021468
+v -0.01098993 0.01359134 0.03053595
+v -0.00926792 0.01256680 0.03162872
+v -0.00717444 0.01257300 0.03163576
+v -0.00508029 0.01257506 0.03164123
+v -0.00407754 0.01257506 0.03164123
+v -0.00508029 -0.00677945 0.03238296
+v -0.00407754 0.00982164 0.03242992
+v -0.00717444 0.00763625 0.03243148
+v -0.00926792 -0.00677945 0.03238062
+v -0.00926792 0.00763625 0.03243382
+v -0.01098993 0.00763625 0.03241975
+v -0.01098993 0.01254201 0.03161074
+v -0.01098993 0.01164142 0.03208599
+v -0.01098993 0.01144725 0.03218682
+v -0.00926792 0.01147411 0.03219386
+v -0.00717444 0.01147824 0.03219386
+v -0.00508029 0.01148237 0.03219308
+v -0.00407754 0.01200496 0.03192887
+v -0.00717444 -0.00677945 0.03238453
+v -0.00407754 0.01061689 0.03231658
+v -0.00508029 0.00982164 0.03243149
+v -0.00717444 0.00982164 0.03243461
+v -0.00926792 0.00982164 0.03243383
+v -0.01098993 0.00982164 0.03241976
+v -0.00407754 0.01148237 0.03219230
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 23
+f 1 23 22
+f 1 22 37
+f 1 37 50
+f 1 50 57
+f 1 57 52
+f 1 52 39
+f 1 39 24
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+f 1 12 6
+f 1 6 14
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+f 1 30 15
+f 1 15 7
+f 1 7 2
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+f 47 54 48
+f 48 54 49
+f 49 57 50
+f 49 54 57
+f 52 57 54
+f 52 54 53
+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_46.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dd60b9a45b2eb6a9e9997848e4e58fe415ecab2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_46.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.01898914 0.00838222 0.01204874
+v -0.01894372 0.00931857 0.01204874
+v -0.01507018 0.00838222 0.01204874
+v -0.01898366 0.00838217 0.02371218
+v -0.01891710 0.00982375 0.01204875
+v -0.01098993 0.01025085 0.01204875
+v -0.01098993 0.00838216 0.02728559
+v -0.01897896 0.00838217 0.02586181
+v -0.01890066 0.00982372 0.02014875
+v -0.01879417 0.01077933 0.01204875
+v -0.01098993 0.01433422 0.01204876
+v -0.01098993 0.00838214 0.03242038
+v -0.01897191 0.00838216 0.02659365
+v -0.01888500 0.00982370 0.02444402
+v -0.01889518 0.00982371 0.02229639
+v -0.01874249 0.01102169 0.02014875
+v -0.01875737 0.01106193 0.01204875
+v -0.01136264 0.01432955 0.01204876
+v -0.01136264 0.01428522 0.02444403
+v -0.01098993 0.01428930 0.02444403
+v -0.01098993 0.00982367 0.03241840
+v -0.01136264 0.00982367 0.03241640
+v -0.01123579 0.00838214 0.03241839
+v -0.01886307 0.00982369 0.02659366
+v -0.01882627 0.00838216 0.02846012
+v -0.01876911 0.00982369 0.02815503
+v -0.01870726 0.01095116 0.02659366
+v -0.01872448 0.01098496 0.02444402
+v -0.01873466 0.01100653 0.02229639
+v -0.01803622 0.01215444 0.01204875
+v -0.01820770 0.01190214 0.01204875
+v -0.01345640 0.01428702 0.01204876
+v -0.01345640 0.01423337 0.02229640
+v -0.01345640 0.01422113 0.02444403
+v -0.01136264 0.01426657 0.02659367
+v -0.01098993 0.01427414 0.02621080
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+v -0.01136264 0.01144350 0.03218509
+v -0.01274308 0.00838214 0.03238848
+v -0.01136264 0.00838214 0.03241639
+v -0.01345640 0.01132755 0.03213723
+v -0.01345640 0.00982367 0.03234861
+v -0.01869395 0.01092436 0.02769240
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+v -0.01858276 0.00982368 0.02922984
+v -0.01791015 0.01204367 0.02659366
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+v -0.01345640 0.01419664 0.02659367
+v -0.01098993 0.01427064 0.02659367
+v -0.01136264 0.01416517 0.02874130
+v -0.01098993 0.01418732 0.02836043
+v -0.01098993 0.01144874 0.03218509
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+v -0.01098993 0.01254183 0.03161080
+v -0.01136264 0.01253659 0.03160681
+v -0.01345640 0.00838214 0.03236455
+v -0.01345640 0.01242006 0.03154101
+v -0.01481179 0.01113118 0.03205547
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+v -0.01554938 0.01382432 0.02659367
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+v -0.01554938 0.01367747 0.02874130
+v -0.01758912 0.00838215 0.03076927
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_47.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc84e69dc9b6f1d051e42175f49a3e0c732f5d0b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_47.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.01133386 -0.02414984 0.02756705
+v 0.00737861 -0.02414984 0.02756705
+v 0.01155529 -0.02414984 0.02659326
+v 0.01133531 -0.02361718 0.02756705
+v 0.00652054 -0.02399292 0.02756705
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+v 0.01177381 -0.02414983 0.02544020
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+f 38 40 39
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_48.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c164c88826633ec97a65cf13505b464163840a34
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_48.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.00247009 -0.02988934 0.02443887
+v 0.00247009 -0.02988934 0.02444579
+v 0.00332186 -0.02988934 0.02443887
+v -0.00407754 -0.03189210 0.02443886
+v 0.00250413 -0.02988935 0.02659415
+v 0.00332186 -0.02988936 0.03047873
+v 0.00332186 -0.03509121 0.02443885
+v -0.00407754 -0.03194735 0.02543615
+v 0.00263378 -0.02988936 0.02860487
+v 0.00252586 -0.02988935 0.02705319
+v -0.00407754 -0.03652554 0.02443885
+v 0.00332186 -0.03023997 0.03099006
+v -0.00407754 -0.03206742 0.02660952
+v -0.00407754 -0.03244035 0.02847338
+v -0.00407754 -0.03284835 0.02968366
+v -0.00407754 -0.03354745 0.03100389
+v 0.00287714 -0.03549813 0.02443885
+v 0.00332186 -0.04074251 0.02772903
+v -0.00298965 -0.03670404 0.02443885
+v -0.00407754 -0.04074251 0.02778747
+v 0.00332186 -0.03201856 0.03205808
+v -0.00407754 -0.03462375 0.03208268
+v 0.00286990 -0.03550238 0.02443885
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+v -0.00089209 -0.03667111 0.02443885
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+v -0.00407754 -0.04074253 0.03228257
+v 0.00332186 -0.03205150 0.03206654
+v -0.00407754 -0.03609527 0.03222646
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+v 0.00332186 -0.04073828 0.03229334
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+v -0.00407754 -0.04046842 0.03228180
+v 0.00332186 -0.03388214 0.03217649
+v -0.00407754 -0.03828185 0.03226567
+v 0.00332186 -0.03606765 0.03226491
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+f 1 6 3
+f 1 3 7
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+f 1 17 23
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+f 1 11 4
+f 1 4 2
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+f 28 29 36
+f 29 37 38
+f 29 38 36
+f 30 31 33
+f 30 33 32
+f 34 38 37
+f 34 37 35
+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_49.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79fd37fa261df07ae439ee0b2f49301a04ca79cf
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_49.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.01327543 -0.05660514 0.00235557
+v -0.01907781 -0.05660514 0.00235557
+v -0.01392316 -0.05660513 0.00068938
+v -0.01458361 0.01898436 -0.00052530
+v -0.01458361 0.01603210 0.00235584
+v -0.01917150 -0.05576904 0.00235558
+v -0.01912524 -0.05660513 0.00080839
+v -0.01476405 -0.05660513 -0.00052558
+v -0.01458361 0.01191080 -0.00052533
+v -0.01555000 0.01879199 -0.00052530
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+v -0.01917902 -0.05576903 0.00080840
+v -0.01912119 -0.01204759 0.00235574
+v -0.01912813 -0.05660513 -0.00001935
+v -0.01483287 -0.05660513 -0.00052558
+v -0.01590163 0.01860700 -0.00052530
+v -0.01684141 0.01545497 0.00215363
+v -0.01617228 0.01558815 0.00235584
+v -0.01918365 -0.05576903 -0.00052557
+v -0.01911598 -0.00985745 0.00235574
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+v -0.01702590 0.01787449 -0.00052530
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+v -0.01903617 0.00981683 0.00235582
+v -0.01903675 0.01200698 -0.00052533
+v -0.01901073 0.01200698 0.00080864
+v -0.01902576 0.01043096 0.00235582
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+f 1 7 14
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+f 1 22 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 18
+f 1 18 25
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_5.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c59ef8efe4bc94e18a9531f3c2747bc8e5893465
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_5.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v -0.01046880 -0.02369669 -0.00052546
+v -0.01046975 -0.02369669 0.00080875
+v -0.00564084 -0.02369669 -0.00052546
+v -0.01057611 -0.02516399 -0.00052546
+v -0.01046120 -0.02369670 0.00235713
+v -0.00562565 -0.02369669 0.00080875
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+v -0.01046310 -0.02443419 0.00540710
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+v -0.01034439 -0.02721565 -0.00052547
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+v -0.01018960 -0.02785234 0.00235712
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+v -0.00591339 -0.02443419 0.00540710
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+v -0.01054097 -0.02516272 0.00295777
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+v -0.01049349 -0.02516401 0.00540710
+v -0.00988477 -0.02618348 0.01204860
+v -0.00306163 -0.03170688 0.01204858
+v -0.00087461 -0.03233844 0.00540707
+v -0.00087461 -0.03661910 0.00236201
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+v -0.01018865 -0.02783702 0.00295776
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+v -0.00803203 -0.03303638 0.01204858
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_50.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32147bd4da67caa6d30d8c3666303f91e56b18fb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_50.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_51.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74077df4ec52fe6a21b3ebe367d2c51dcc0e6834
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_51.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v 0.00760977 -0.04074253 0.03207107
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_52.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b9f04fb93446dd5a5fdca624bf1507344b3b380
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_52.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.00719418 0.00185496 0.03225628
+v 0.00719418 0.00185499 0.02575212
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+v -0.00298633 0.01419781 0.02874251
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+f 53 70 55
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+f 80 84 82
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_53.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..102ef8a988333e81cd140159bb21fc48cf826607
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_53.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.00565657 0.00108096 0.01204870
+v 0.00550467 0.00108098 0.00540953
+v 0.00520345 0.00326395 0.00540694
+v 0.00524441 0.00326393 0.01204871
+v 0.00203927 0.00108096 0.01204870
+v 0.00546030 0.00138283 0.00540694
+v 0.00157335 0.00108098 0.00540693
+v 0.00512323 0.00349066 0.00540694
+v 0.00461294 0.00491130 0.00540695
+v 0.00460184 0.00488944 0.01204872
+v 0.00203244 0.00108096 0.01204740
+v -0.00306114 0.00375846 0.01204871
+v 0.00152726 0.00108098 0.00540693
+v 0.00453358 0.00506415 0.00540695
+v 0.00399683 0.00598254 0.01204872
+v -0.00306114 0.00287989 0.00540694
+v -0.00306114 0.00764144 0.01204873
+v 0.00400195 0.00600439 0.00540695
+v 0.00401475 0.00597741 0.00725481
+v 0.00295063 0.00735115 0.01204873
+v 0.00273730 0.00764144 0.01155198
+v -0.00306114 0.00740512 0.00540696
+v -0.00306114 0.00764145 0.00783025
+v 0.00269634 0.00764144 0.01204873
+v 0.00385517 0.00618358 0.00540695
+v 0.00272194 0.00764144 0.00998760
+v -0.00298604 0.00745393 0.00540696
+v -0.00297921 0.00764145 0.00732959
+v 0.00295490 0.00716428 0.00540696
+v 0.00266220 0.00764145 0.00796029
+v -0.00296471 0.00764145 0.00725482
+v -0.00254316 0.00764146 0.00540696
+v 0.00279021 0.00731713 0.00540696
+v 0.00247447 0.00764146 0.00598693
+v 0.00225004 0.00764146 0.00540696
+f 1 2 3
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+f 1 15 20
+f 1 20 24
+f 1 24 17
+f 1 17 12
+f 1 12 5
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+f 1 13 7
+f 1 7 2
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+f 25 29 30
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+f 30 33 34
+f 33 35 34
+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_54.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de1cc81be9f9c01dde3a28bfe7dd3628f2c947f9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_54.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.00757319 -0.02734925 0.00540683
+v 0.00744724 -0.02516371 0.00540684
+v 0.00727964 -0.02516373 0.01204861
+v 0.00733690 -0.02684430 0.01204860
+v 0.00734731 -0.02734927 0.01204860
+v 0.00694862 -0.02953596 0.01204859
+v 0.00722656 -0.02923090 0.00540682
+v 0.00538512 -0.02515800 0.00540684
+v 0.00744515 -0.02515800 0.00541009
+v 0.00727860 -0.02515802 0.01204861
+v 0.00651975 -0.03074584 0.01204859
+v 0.00716826 -0.02953594 0.00540682
+v 0.00331780 -0.02515800 0.00540684
+v 0.00325638 -0.02515802 0.01204861
+v 0.00662905 -0.03101544 0.00540682
+v 0.00669984 -0.03082579 0.00540682
+v 0.00607735 -0.03158555 0.01204858
+v 0.00325326 -0.02515802 0.01154666
+v -0.00306114 -0.03147128 0.00540681
+v 0.00324805 -0.02515802 0.01204731
+v 0.00324909 -0.02516373 0.01204861
+v 0.00604300 -0.03210878 0.00540681
+v 0.00511447 -0.03322271 0.01204858
+v -0.00306114 -0.03150328 0.00725467
+v -0.00306114 -0.03648444 0.00540680
+v -0.00306114 -0.03156612 0.00940293
+v -0.00306114 -0.03167238 0.01155183
+v -0.00306114 -0.03170665 0.01204858
+v 0.00487297 -0.03361344 0.01204858
+v 0.00488130 -0.03362486 0.01155183
+v 0.00492606 -0.03364999 0.00940293
+v 0.00497186 -0.03365113 0.00725467
+v 0.00499580 -0.03363741 0.00540681
+v -0.00298619 -0.03651757 0.00540680
+v -0.00306114 -0.03655300 0.00725466
+v -0.00306114 -0.03659985 0.01204857
+v 0.00405166 -0.03470678 0.01204857
+v 0.00405999 -0.03471820 0.01155182
+v 0.00407248 -0.03474333 0.00940292
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+v -0.00089180 -0.03681578 0.01204856
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+v 0.00120155 -0.03641477 0.01155182
+v 0.00120155 -0.03640677 0.00940292
+v 0.00120155 -0.03637706 0.00725466
+v -0.00089180 -0.03682491 0.00940291
+v 0.00120155 -0.03640678 0.01204857
+v -0.00040880 -0.03672438 0.01204857
+f 1 2 3
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+f 1 16 15
+f 1 15 22
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+f 60 63 61
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_55.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cfa2cc5f452c3229603c3c1034a28dea462bfc2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_55.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.01597649 -0.01681931 -0.00052543
+v 0.01197968 -0.01681931 -0.00052543
+v 0.01546455 -0.01671330 0.00235678
+v 0.01493364 -0.01671331 0.00540622
+v 0.01488526 -0.04483786 0.00540612
+v 0.01529913 -0.04483785 0.00295705
+v 0.01539851 -0.04545123 0.00235609
+v 0.01566069 -0.04483784 0.00080874
+v 0.01565285 -0.04702253 0.00080873
+v 0.01586795 -0.04702253 -0.00052554
+v 0.01100679 -0.01671331 0.00510545
+v 0.01150697 -0.01671330 0.00235678
+v 0.01137424 -0.05358417 -0.00052557
+v 0.01012217 -0.05539402 0.00235664
+v 0.00983841 -0.05539402 0.00315326
+v 0.00936243 -0.05539403 0.00510473
+v 0.00929705 -0.05539403 0.00540433
+v 0.01095776 -0.01671331 0.00540622
+v 0.01488199 -0.04581094 0.00540611
+v 0.01529128 -0.04702633 0.00295704
+v 0.01539263 -0.04702254 0.00235609
+v 0.01485584 -0.04921102 0.00540610
+v 0.01536778 -0.04921101 0.00235608
+v 0.01562604 -0.04921100 0.00080872
+v 0.01584180 -0.04921100 -0.00052555
+v 0.01139647 -0.05359174 -0.00052557
+v 0.01137228 -0.05359174 -0.00051918
+v 0.01510429 -0.05539402 0.00235664
+v 0.01144093 -0.05539403 0.00540608
+v 0.01019213 -0.05383030 0.00540608
+v 0.01058965 -0.02734900 0.00540618
+v 0.01487676 -0.04702634 0.00540611
+v 0.01486761 -0.04807892 0.00540610
+v 0.01483818 -0.05044914 0.00540609
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+v 0.01558550 -0.05139569 0.00080871
+v 0.01581761 -0.05057028 -0.00052556
+v 0.01574046 -0.05359174 -0.00052557
+v 0.01492187 -0.05539402 0.00348363
+v 0.01484995 -0.05493211 0.00427328
+v 0.01454397 -0.05539403 0.00540608
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+v 0.01552077 -0.05358417 0.00080870
+v 0.01576661 -0.05275497 -0.00052556
+v 0.01580192 -0.05139569 -0.00052556
+v 0.01574111 -0.05358417 -0.00052557
+v 0.01481269 -0.05539402 0.00407761
+v 0.01454985 -0.05535238 0.00540608
+v 0.01468323 -0.05539403 0.00472675
+f 1 2 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 25
+f 1 25 37
+f 1 37 45
+f 1 45 44
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+f 1 13 2
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+f 40 46 43
+f 40 43 42
+f 40 42 48
+f 43 46 44
+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_56.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..696782080513c3804f9bf17419022a853fbc9547
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_56.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v 0.00559952 0.00107383 -0.00052537
+v 0.00547370 0.00190471 -0.00052536
+v 0.00523892 0.00326316 0.00295664
+v 0.00521038 0.00326315 0.00510552
+v 0.00557877 0.00107383 0.00080890
+v 0.00523892 -0.00110846 0.00080890
+v 0.00525708 -0.00110846 -0.00052537
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+v -0.00568176 -0.00463933 -0.00052539
+v -0.00503059 -0.00513729 -0.00052539
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_57.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5d6b8a96a573b7e4c51f52b89b6e0921707c794
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_57.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.00775980 -0.02734967 -0.00052547
+v 0.00774352 -0.02734967 0.00080822
+v 0.00730394 -0.02953615 0.00080821
+v 0.00730777 -0.02953615 -0.00052548
+v 0.00764104 -0.02516320 -0.00052546
+v 0.00769563 -0.02734968 0.00235568
+v 0.00727330 -0.02953616 0.00235567
+v 0.00761614 -0.02516320 0.00080823
+v 0.00668528 -0.03110262 0.00235567
+v 0.00669677 -0.03111906 0.00080821
+v 0.00669677 -0.03112286 -0.00052548
+v 0.00740833 -0.02433315 -0.00052546
+v 0.00718232 -0.02369670 0.00224852
+v 0.00756634 -0.02516321 0.00235569
+v 0.00605992 -0.03219586 0.00235566
+v 0.00606375 -0.03221230 0.00080820
+v 0.00606758 -0.03221610 -0.00052549
+v 0.00630700 -0.03180107 -0.00052549
+v 0.00722541 -0.02369669 -0.00052546
+v 0.00721871 -0.02369669 0.00010007
+v 0.00717849 -0.02369670 0.00235569
+v 0.00501318 -0.03361302 0.00235566
+v 0.00501988 -0.03360542 -0.00052549
+v 0.00279137 -0.02369669 -0.00052546
+v 0.00278371 -0.02369670 0.00235569
+v 0.00398655 -0.03470626 0.00235565
+v 0.00397219 -0.03469866 -0.00052550
+v 0.00279041 -0.02369669 -0.00026515
+v -0.00202382 -0.03187446 -0.00052549
+v -0.00202382 -0.03187066 0.00080820
+v -0.00202382 -0.03188206 0.00235566
+v 0.00278563 -0.02369669 0.00110520
+v 0.00293981 -0.03544774 0.00235565
+v 0.00292545 -0.03543634 -0.00052550
+v 0.00278658 -0.02369669 0.00080823
+v -0.00202382 -0.03636382 -0.00052550
+v -0.00202382 -0.03648150 0.00235565
+v 0.00120163 -0.03624742 0.00235565
+v 0.00120163 -0.03621198 -0.00052550
+v -0.00089185 -0.03654350 -0.00052550
+v -0.00202382 -0.03642202 0.00080819
+v -0.00089185 -0.03662196 0.00235565
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+f 1 3 4
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+f 1 11 18
+f 1 18 17
+f 1 17 23
+f 1 23 27
+f 1 27 34
+f 1 34 39
+f 1 39 40
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+f 29 31 30
+f 29 30 32
+f 29 32 35
+f 33 38 34
+f 34 38 39
+f 36 40 41
+f 37 41 40
+f 37 40 42
+f 38 42 39
+f 39 42 40
+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_58.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e04054aad3fb84b39cafe6436c568de091b11bb8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_58.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.00634770 -0.02618230 0.01205028
+v -0.00407815 -0.02061721 0.02731436
+v -0.00731621 -0.02408780 0.02731435
+v -0.00988477 -0.02618230 0.01205028
+v -0.00630360 -0.02618230 0.01155277
+v -0.00407815 -0.01595974 0.02731438
+v -0.00306114 -0.02057111 0.01205030
+v -0.01207229 -0.02408780 0.02731435
+v -0.01036462 -0.02618228 0.00663559
+v -0.00619069 -0.02618229 0.00938046
+v -0.00409580 -0.01595974 0.02731438
+v -0.00306114 -0.01661316 0.01205032
+v -0.00306114 -0.01661917 0.01163001
+v -0.00306114 -0.01665318 0.00948129
+v -0.00306114 -0.01669421 0.00733257
+v -0.00306114 -0.01669621 0.00725537
+v -0.00306114 -0.01675025 0.00540687
+v -0.00306114 -0.02057211 0.01202671
+v -0.01188882 -0.02297597 0.02731436
+v -0.01043165 -0.02339620 0.00540684
+v -0.01049340 -0.02516252 0.00540684
+v -0.01047223 -0.02544473 0.00540684
+v -0.01041136 -0.02618228 0.00540683
+v -0.01038314 -0.02618228 0.00619169
+v -0.00615277 -0.02618229 0.00725533
+v -0.00306114 -0.02074123 0.00714384
+v -0.00306114 -0.02067218 0.00929470
+v -0.00306114 -0.02059413 0.01144771
+v -0.00508106 -0.01607482 0.02731438
+v -0.00306114 -0.02079126 0.00540685
+v -0.00327989 -0.01678427 0.00540687
+v -0.01111349 -0.02102051 0.02731436
+v -0.01023142 -0.02230339 0.00540685
+v -0.00614483 -0.02618228 0.00540683
+v -0.00614483 -0.02618228 0.00559768
+v -0.00614394 -0.01643109 0.02731438
+v -0.00508106 -0.01707949 0.00540687
+v -0.00625420 -0.01743676 0.00540687
+v -0.01066893 -0.02048811 0.02731436
+v -0.00858020 -0.01928614 0.00540686
+v -0.00954430 -0.02079026 0.00540685
+v -0.00689899 -0.01673932 0.02731438
+v -0.00640151 -0.01754083 0.00540687
+v -0.00907592 -0.01881286 0.02731437
+v -0.00736119 -0.01814830 0.00725536
+v -0.00730033 -0.01819232 0.00540686
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 24
+f 1 24 23
+f 1 23 34
+f 1 34 35
+f 1 35 25
+f 1 25 10
+f 1 10 5
+f 1 5 2
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+f 2 42 44
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+f 2 19 8
+f 2 8 3
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+f 10 27 28
+f 10 28 18
+f 11 17 29
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+f 17 34 23
+f 17 23 22
+f 17 22 21
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+f 17 20 33
+f 17 33 41
+f 17 41 40
+f 17 40 46
+f 17 46 43
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+f 17 31 29
+f 19 32 33
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+f 38 43 42
+f 39 44 40
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+f 42 43 46
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_59.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c0408c2d0b02322e17d9325b3dd3ebc7cde3da4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_59.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.00599302 0.01036468 0.00540632
+v 0.00351383 0.00655705 0.00540630
+v 0.00346155 0.00655706 0.00400377
+v 0.00336300 0.00655706 0.00235610
+v 0.00599302 0.01040123 0.00519252
+v 0.00599302 0.01465401 0.00540633
+v -0.00275999 0.00655705 0.00540630
+v -0.00275999 0.00655706 0.00235610
+v 0.00599302 0.01121187 0.00235612
+v 0.00599302 0.01113503 0.00251020
+v 0.00599302 0.01102538 0.00282074
+v 0.00599302 0.01076954 0.00358456
+v 0.00599302 0.01064583 0.00405276
+v 0.00599302 0.01041622 0.00510592
+v 0.00599302 0.01603725 0.00235614
+v 0.00538886 0.01605787 0.00235614
+v 0.00329445 0.01608879 0.00235614
+v 0.00120175 0.01610660 0.00235614
+v -0.00275999 0.01613003 0.00235614
+v 0.00538886 0.01465682 0.00540633
+v -0.00275999 0.01468212 0.00540633
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 15
+f 1 15 6
+f 1 6 20
+f 1 20 21
+f 1 21 7
+f 1 7 2
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+f 2 8 4
+f 2 4 3
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+f 4 19 18
+f 4 18 17
+f 4 17 16
+f 4 16 15
+f 4 15 9
+f 4 9 10
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+f 4 13 14
+f 4 14 5
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+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 7 21 19
+f 7 19 8
+f 19 21 20
+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_6.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d64f316900293c48ba06174f7206ea9d9de3425e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_6.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v -0.00069288 0.01282290 -0.00052532
+v -0.00076955 0.01281762 -0.00052532
+v -0.00069288 0.01287041 -0.00060780
+v -0.00069288 0.01307628 -0.00052532
+v -0.01355447 0.01264342 -0.00052532
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diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_60.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc4a10c92487e09654940a8293c5dfa6a6a167ee
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_60.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_61.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd2bf53030f1a2956e7748dc31479628d9e0a453
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_61.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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+v -0.00953523 -0.02078846 0.00510543
+v -0.00858057 -0.01928510 0.00540621
+v -0.00954423 -0.02078846 0.00540620
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 13
+f 1 13 22
+f 1 22 35
+f 1 35 49
+f 1 49 58
+f 1 58 59
+f 1 59 50
+f 1 50 36
+f 1 36 26
+f 1 26 15
+f 1 15 8
+f 1 8 2
+f 2 8 14
+f 2 14 9
+f 2 9 10
+f 2 10 4
+f 2 4 3
+f 4 10 9
+f 4 9 14
+f 4 14 23
+f 4 23 18
+f 4 18 11
+f 4 11 5
+f 5 11 17
+f 5 17 29
+f 5 29 41
+f 5 41 54
+f 5 54 55
+f 5 55 44
+f 5 44 33
+f 5 33 43
+f 5 43 42
+f 5 42 31
+f 5 31 19
+f 5 19 12
+f 5 12 6
+f 6 12 7
+f 7 12 13
+f 8 15 14
+f 11 16 17
+f 11 18 28
+f 11 28 16
+f 12 19 20
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 14 15 24
+f 14 24 25
+f 14 25 23
+f 15 26 37
+f 15 37 51
+f 15 51 38
+f 15 38 27
+f 15 27 16
+f 15 16 28
+f 15 28 30
+f 15 30 25
+f 15 25 24
+f 16 27 29
+f 16 29 17
+f 18 23 30
+f 18 30 28
+f 19 31 20
+f 20 31 32
+f 20 32 21
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 22
+f 23 25 30
+f 26 36 37
+f 27 38 39
+f 27 39 40
+f 27 40 29
+f 29 40 41
+f 31 42 32
+f 32 42 43
+f 32 43 33
+f 33 44 34
+f 34 44 45
+f 34 45 46
+f 34 46 47
+f 34 47 48
+f 34 48 49
+f 34 49 35
+f 36 50 39
+f 36 39 51
+f 36 51 37
+f 38 51 39
+f 39 50 52
+f 39 52 40
+f 40 52 41
+f 41 52 50
+f 41 50 53
+f 41 53 54
+f 44 55 45
+f 45 55 46
+f 46 55 47
+f 47 55 48
+f 48 55 56
+f 48 56 57
+f 48 57 58
+f 48 58 49
+f 50 59 53
+f 53 59 54
+f 54 59 57
+f 54 57 56
+f 54 56 55
+f 57 59 58
+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_62.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cf669c16769b8d99e9468626fde4b43aa1b83b9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_62.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.01093079 0.00655821 0.00540630
+v 0.00599388 0.01036465 0.00540632
+v 0.00599388 0.01041662 0.00510592
+v 0.00599388 0.01064583 0.00405276
+v 0.00599388 0.01077017 0.00358456
+v 0.00599388 0.01102536 0.00282074
+v 0.00599388 0.01113486 0.00251020
+v 0.00599388 0.01121188 0.00235612
+v 0.01093079 0.00959725 0.00235612
+v 0.01093079 0.01407458 0.00540633
+v 0.00599388 0.01465362 0.00540633
+v 0.00599388 0.01603813 0.00235614
+v 0.01093079 0.01555838 0.00235614
+v 0.00957672 0.01455897 0.00540633
+v 0.00748326 0.01464805 0.00540633
+v 0.00748326 0.01599544 0.00235614
+v 0.00987054 0.01579408 0.00235614
+v 0.00928387 0.01457567 0.00540633
+v 0.00957672 0.01585347 0.00235614
+v 0.00788630 0.01596853 0.00235614
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 13
+f 1 13 10
+f 1 10 14
+f 1 14 18
+f 1 18 15
+f 1 15 11
+f 1 11 2
+f 2 11 12
+f 2 12 8
+f 2 8 7
+f 2 7 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 8 12 16
+f 8 16 20
+f 8 20 19
+f 8 19 17
+f 8 17 13
+f 8 13 9
+f 10 13 14
+f 11 15 12
+f 12 15 16
+f 13 17 14
+f 14 17 19
+f 14 19 20
+f 14 20 16
+f 14 16 18
+f 15 18 16
+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_63.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9898b8824d01f37b42bd4ed005ec50e6d541f5ba
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_63.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.00407754 -0.02061760 0.02731486
+v -0.00407754 -0.02060235 0.02762341
+v -0.00731635 -0.02408942 0.02731485
+v -0.00407754 -0.01595800 0.02731488
+v -0.00407754 -0.02053458 0.02874331
+v -0.00734005 -0.02408942 0.02764923
+v -0.01207281 -0.02408942 0.02731485
+v -0.00409552 -0.01595800 0.02731488
+v -0.00407754 -0.00677943 0.02796083
+v -0.00407754 -0.02041767 0.02952983
+v -0.00743158 -0.02408943 0.02874330
+v -0.01188893 -0.02297451 0.02731486
+v -0.01242669 -0.02408942 0.02776053
+v -0.01242669 -0.00677943 0.02823310
+v -0.00508032 -0.01607322 0.02731488
+v -0.00407754 -0.00677945 0.03238031
+v -0.00614358 -0.01642904 0.02731488
+v -0.00689791 -0.01673742 0.02731488
+v -0.00407754 -0.02007540 0.03069594
+v -0.00789579 -0.02408943 0.03054189
+v -0.01111416 -0.02101917 0.02731486
+v -0.01242669 -0.02408944 0.03226000
+v -0.01242669 -0.00677945 0.03235547
+v -0.00907591 -0.01881137 0.02731487
+v -0.01066875 -0.02048713 0.02731486
+v -0.00508032 -0.00677945 0.03238329
+v -0.00407754 -0.00767070 0.03239024
+v -0.00407754 -0.01976871 0.03120173
+v -0.00828480 -0.02408943 0.03109737
+v -0.01136179 -0.02408944 0.03230124
+v -0.01242669 -0.02408775 0.03230521
+v -0.01136179 -0.00677945 0.03236888
+v -0.01242669 -0.00878223 0.03235546
+v -0.00717496 -0.00677945 0.03238428
+v -0.00717496 -0.00767070 0.03238527
+v -0.00407754 -0.00985648 0.03238973
+v -0.00407754 -0.01939257 0.03168964
+v -0.00864685 -0.02408944 0.03153957
+v -0.01034921 -0.02408944 0.03222274
+v -0.00407754 -0.01641550 0.03233953
+v -0.00407754 -0.01537006 0.03235791
+v -0.00407754 -0.01422973 0.03237432
+v -0.01136179 -0.02078875 0.03232858
+v -0.01136179 -0.01860128 0.03234349
+v -0.01242669 -0.02190028 0.03231963
+v -0.00926797 -0.00677945 0.03238081
+v -0.01136179 -0.00767070 0.03236887
+v -0.00926797 -0.00767070 0.03238129
+v -0.01242669 -0.01096970 0.03235445
+v -0.00407754 -0.01099681 0.03238774
+v -0.00926797 -0.00985648 0.03237880
+v -0.00407754 -0.01918754 0.03181683
+v -0.00958588 -0.02408944 0.03213480
+v -0.00407754 -0.01760497 0.03224363
+v -0.00407754 -0.01318259 0.03238078
+v -0.00926797 -0.01641550 0.03235841
+v -0.01136179 -0.01641550 0.03235294
+v -0.01242669 -0.01971450 0.03233256
+v -0.01136179 -0.00985648 0.03236687
+v -0.01242669 -0.01315548 0.03235146
+v -0.00407754 -0.01204395 0.03238526
+v -0.01136179 -0.01204395 0.03236340
+v -0.01136179 -0.01422973 0.03235842
+v -0.00926797 -0.01204395 0.03237333
+v -0.00407754 -0.01840982 0.03214922
+v -0.00926797 -0.01422973 0.03236736
+v -0.01242669 -0.01752703 0.03234152
+v -0.01242669 -0.01534295 0.03234748
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 21
+f 1 21 25
+f 1 25 24
+f 1 24 18
+f 1 18 17
+f 1 17 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 27
+f 1 27 36
+f 1 36 50
+f 1 50 61
+f 1 61 55
+f 1 55 42
+f 1 42 41
+f 1 41 40
+f 1 40 54
+f 1 54 65
+f 1 65 52
+f 1 52 37
+f 1 37 28
+f 1 28 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 6 11
+f 3 11 20
+f 3 20 29
+f 3 29 38
+f 3 38 53
+f 3 53 39
+f 3 39 30
+f 3 30 22
+f 3 22 13
+f 3 13 7
+f 3 5 6
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 7 13 14
+f 7 14 12
+f 8 15 9
+f 9 14 23
+f 9 23 32
+f 9 32 46
+f 9 46 34
+f 9 34 26
+f 9 26 16
+f 9 15 17
+f 9 17 18
+f 9 18 14
+f 10 19 20
+f 10 20 11
+f 12 14 21
+f 13 22 31
+f 13 31 45
+f 13 45 58
+f 13 58 67
+f 13 67 68
+f 13 68 60
+f 13 60 49
+f 13 49 33
+f 13 33 23
+f 13 23 14
+f 14 18 24
+f 14 24 25
+f 14 25 21
+f 16 26 27
+f 19 28 20
+f 20 28 29
+f 22 30 31
+f 23 33 47
+f 23 47 32
+f 26 34 27
+f 27 34 35
+f 27 35 36
+f 28 37 29
+f 29 37 38
+f 30 39 40
+f 30 40 41
+f 30 41 42
+f 30 42 31
+f 31 43 44
+f 31 44 45
+f 31 42 43
+f 32 47 48
+f 32 48 46
+f 33 49 47
+f 34 46 35
+f 35 46 48
+f 35 48 36
+f 36 48 51
+f 36 51 50
+f 37 52 53
+f 37 53 38
+f 39 53 54
+f 39 54 40
+f 42 55 56
+f 42 56 44
+f 42 44 43
+f 44 56 57
+f 44 57 58
+f 44 58 45
+f 47 49 59
+f 47 59 48
+f 48 59 51
+f 49 60 59
+f 50 51 61
+f 51 59 62
+f 51 62 63
+f 51 63 64
+f 51 64 61
+f 52 65 53
+f 53 65 54
+f 55 61 66
+f 55 66 56
+f 56 66 57
+f 57 67 58
+f 57 66 64
+f 57 64 63
+f 57 63 68
+f 57 68 67
+f 59 60 62
+f 60 68 62
+f 61 64 66
+f 62 68 63
+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_64.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34fea5fa95e2805db1491c3c8be8355abaa43b14
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_64.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.00332228 -0.02415145 0.02374323
+v 0.00332228 -0.02415147 0.02979444
+v 0.00760915 -0.02415145 0.02374323
+v 0.00332228 -0.03507410 0.02374319
+v 0.00362234 -0.02415147 0.03091475
+v 0.00332228 -0.03201904 0.03205764
+v 0.00760915 -0.02415148 0.03208279
+v 0.00760915 -0.03385433 0.02374320
+v 0.00760915 -0.04074250 0.02375992
+v 0.00332228 -0.04074251 0.02772958
+v 0.00423127 -0.02415148 0.03191114
+v 0.00332228 -0.03205152 0.03206685
+v 0.00735819 -0.02415148 0.03212466
+v 0.00733847 -0.03609574 0.03213215
+v 0.00760915 -0.03666258 0.03208108
+v 0.00760915 -0.04074253 0.03207185
+v 0.00332228 -0.04074253 0.03218488
+v 0.00429716 -0.02415148 0.03199739
+v 0.00332228 -0.03388035 0.03217654
+v 0.00537653 -0.02415148 0.03215899
+v 0.00538912 -0.03172343 0.03225022
+v 0.00538912 -0.03390796 0.03227199
+v 0.00538912 -0.03609574 0.03228873
+v 0.00538912 -0.03828189 0.03229709
+v 0.00733385 -0.03828189 0.03213214
+v 0.00760915 -0.03828189 0.03208023
+v 0.00744464 -0.04074253 0.03210366
+v 0.00760915 -0.04046805 0.03207352
+v 0.00512725 -0.04074253 0.03229289
+v 0.00332228 -0.04073766 0.03229289
+v 0.00332228 -0.03606650 0.03226444
+v 0.00332228 -0.03609574 0.03226528
+v 0.00332228 -0.03825428 0.03228956
+v 0.00332228 -0.04044043 0.03229373
+v 0.00332228 -0.04046805 0.03229373
+v 0.00538912 -0.04046805 0.03229373
+v 0.00707534 -0.04074253 0.03214888
+v 0.00731664 -0.04046805 0.03212878
+v 0.00760915 -0.03886660 0.03207855
+v 0.00731371 -0.04074253 0.03212795
+v 0.00538912 -0.04074253 0.03229289
+f 1 2 5
+f 1 5 11
+f 1 11 18
+f 1 18 20
+f 1 20 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 10
+f 1 10 17
+f 1 17 30
+f 1 30 35
+f 1 35 34
+f 1 34 33
+f 1 33 32
+f 1 32 31
+f 1 31 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
+f 3 7 15
+f 3 15 26
+f 3 26 39
+f 3 39 28
+f 3 28 16
+f 3 16 9
+f 3 9 8
+f 4 8 9
+f 4 9 10
+f 5 6 12
+f 5 12 11
+f 7 13 14
+f 7 14 15
+f 9 16 27
+f 9 27 40
+f 9 40 37
+f 9 37 41
+f 9 41 29
+f 9 29 17
+f 9 17 10
+f 11 12 18
+f 12 19 18
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 14
+f 14 24 25
+f 14 25 15
+f 15 25 26
+f 16 28 27
+f 17 29 30
+f 18 19 31
+f 18 31 20
+f 20 31 32
+f 20 32 21
+f 21 32 33
+f 21 33 22
+f 22 33 23
+f 23 33 24
+f 24 33 34
+f 24 34 35
+f 24 35 36
+f 24 36 25
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 25 39 26
+f 27 28 38
+f 27 38 40
+f 28 39 38
+f 29 41 36
+f 29 36 35
+f 29 35 30
+f 36 41 37
+f 37 40 38
+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_65.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..902f894c3d8aea94f8a78fef0d8f9bedaa9d74fa
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_65.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.01136419 0.01926732 -0.00052530
+v -0.01345480 0.01920893 -0.00052530
+v -0.01345480 0.01625304 0.00235584
+v -0.01135918 0.01627410 0.00235584
+v -0.00927108 0.01924626 -0.00052530
+v -0.01458032 0.01898398 -0.00052530
+v -0.01458032 0.01604054 0.00235584
+v 0.00329513 0.01608840 0.00235584
+v 0.00119951 0.01913235 -0.00052530
+v -0.01458032 0.01191688 -0.00052533
+v -0.01458032 0.01110036 0.00235582
+v 0.00538574 0.01605777 0.00235584
+v 0.00329513 0.01909693 -0.00052530
+v -0.01458032 0.01135786 0.00112000
+v 0.01102336 0.01168045 -0.00052533
+v 0.01102336 0.01016231 0.00090566
+v 0.01102336 0.00948842 0.00235581
+v 0.00538574 0.01904142 -0.00052530
+v 0.00521779 0.01904620 -0.00052530
+v 0.00748136 0.01599460 0.00235584
+v 0.01102336 0.01843837 -0.00052530
+v 0.01102336 0.01553992 0.00235584
+v 0.00723570 0.01895527 -0.00052530
+v 0.00788494 0.01596779 0.00235584
+v 0.00748136 0.01894091 -0.00052530
+v 0.00957447 0.01876095 -0.00052530
+v 0.00986776 0.01579358 0.00235584
+v 0.00957447 0.01585388 0.00235584
+v 0.00920849 0.01880116 -0.00052530
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 13
+f 1 13 19
+f 1 19 18
+f 1 18 23
+f 1 23 25
+f 1 25 29
+f 1 29 26
+f 1 26 21
+f 1 21 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 11
+f 3 11 17
+f 3 17 22
+f 3 22 27
+f 3 27 28
+f 3 28 24
+f 3 24 20
+f 3 20 12
+f 3 12 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 6 10 14
+f 6 14 11
+f 6 11 7
+f 8 12 9
+f 9 12 13
+f 10 15 16
+f 10 16 17
+f 10 17 14
+f 11 14 17
+f 12 18 19
+f 12 19 13
+f 12 20 18
+f 15 21 22
+f 15 22 17
+f 15 17 16
+f 18 20 23
+f 20 24 25
+f 20 25 23
+f 21 26 22
+f 22 26 27
+f 24 28 25
+f 25 28 29
+f 26 29 28
+f 26 28 27
+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_66.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b224bed8623f0b4557bc96892406fbabe081380b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_66.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.01136102 0.01476637 0.00540698
+v -0.00926747 0.01475178 0.00540698
+v -0.01165352 0.01476504 0.00540698
+v -0.00717510 0.01437061 0.01204875
+v -0.00508038 0.01437392 0.01204875
+v -0.00347041 0.01437260 0.01204875
+v -0.00306114 0.01437194 0.01204875
+v -0.00306114 0.01468284 0.00540698
+v -0.01345457 0.01475443 0.00540698
+v -0.00926747 0.01435337 0.01204875
+v -0.00306114 0.00799507 0.01204873
+v -0.00306114 0.01002017 0.00540697
+v -0.01374825 0.01471997 0.00540698
+v -0.01345457 0.01428709 0.01204875
+v -0.01136102 0.01432951 0.01204875
+v -0.00975105 0.01434807 0.01204875
+v -0.00306114 0.00799507 0.01068007
+v -0.00333123 0.00799507 0.01204873
+v -0.01511053 0.00801895 0.00540696
+v -0.01511053 0.01454231 0.00540698
+v -0.01511053 0.01404182 0.01204875
+v -0.00324159 0.00799507 0.01155198
+v -0.01511053 0.00800503 0.00563583
+v -0.01511053 0.00824364 0.01204873
+v -0.01511053 0.00807661 0.00789396
+f 1 2 8
+f 1 8 12
+f 1 12 19
+f 1 19 20
+f 1 20 13
+f 1 13 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 4
+f 4 9 10
+f 4 10 16
+f 4 16 15
+f 4 15 14
+f 4 14 21
+f 4 21 24
+f 4 24 18
+f 4 18 11
+f 4 11 7
+f 4 7 6
+f 4 6 5
+f 7 11 17
+f 7 17 12
+f 7 12 8
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 11 18 22
+f 11 22 17
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+f 17 22 23
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+f 18 23 22
+f 18 24 25
+f 18 25 23
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+f 19 21 20
+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_67.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7428f5c14cd3edab255ec4569d1c17d8676f1aa2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_67.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.00276188 -0.00632596 0.00540822
+v -0.00306209 -0.00632457 0.01155174
+v -0.00298719 -0.00623151 0.00235701
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+v -0.00276188 0.00754855 0.00540827
+v -0.00306209 -0.00632316 0.01204910
+v -0.00315617 -0.00629356 0.01155174
+v -0.00315308 -0.00629497 0.01204910
+v -0.00504407 -0.00515036 0.00235701
+v -0.00276188 -0.00625547 0.00235701
+v -0.00306209 0.00799396 0.01068032
+v -0.00306209 0.00799396 0.01204915
+v -0.00276188 0.00733712 0.00235706
+v -0.00407784 -0.00560432 0.02444858
+v -0.00407784 -0.00570016 0.02229478
+v -0.00508059 -0.00523782 0.02229478
+v -0.00508059 -0.00521383 0.01370121
+v -0.00608953 -0.00434408 0.00235701
+v -0.00507316 -0.00518562 0.00940443
+v -0.00625727 -0.00449921 0.02444858
+v -0.00298719 0.00727228 0.00235706
+v -0.00324159 0.00799396 0.01155179
+v -0.00426848 0.00807426 0.02444430
+v -0.00407784 0.00807426 0.02362906
+v -0.00407784 0.00807426 0.02444430
+v -0.00407784 0.00336062 0.02444861
+v -0.00508059 -0.00518850 0.02444858
+v -0.00627894 -0.00403820 0.00235702
+v -0.00730335 -0.00334476 0.02444859
+v -0.00825659 -0.00225234 0.02444859
+v -0.00421896 0.00667462 0.00235705
+v -0.00333196 0.00799396 0.01204915
+v -0.00407784 0.00783325 0.01584857
+v -0.00508492 0.00752311 0.02444863
+v -0.00424063 0.00807426 0.02444863
+v -0.00676298 -0.00325165 0.00235702
+v -0.00872639 -0.00110917 0.02444860
+v -0.00822502 -0.00220864 0.02332195
+v -0.00526504 0.00570765 0.00235705
+v -0.00598244 0.00639829 0.01584856
+v -0.00493575 0.00719612 0.01584857
+v -0.00407784 0.00774868 0.01467220
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+v -0.00624861 0.00669287 0.02444862
+v -0.00699634 -0.00265399 0.00235702
+v -0.00908540 0.00107709 0.02444860
+v -0.00822502 -0.00003079 0.01038620
+v -0.00758870 -0.00110768 0.00235703
+v -0.00631917 0.00461522 0.00235705
+v -0.00683540 0.00530446 0.01584856
+v -0.00719256 0.00544821 0.02444862
+v -0.00861621 0.00307024 0.02444861
+v -0.00822378 0.00217803 0.01043162
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+v -0.00763513 0.00107435 0.00235703
+v -0.00760294 -0.00049592 0.00235703
+v -0.00681188 0.00364120 0.00235704
+v -0.00780659 0.00347906 0.01370124
+v -0.00788272 0.00359746 0.01584855
+v -0.00812103 0.00416831 0.02444429
+v -0.00812103 0.00416831 0.02444862
+v -0.00861436 0.00307447 0.02444428
+v -0.00700315 0.00326202 0.00235704
+f 1 2 3
+f 1 3 4
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+f 1 6 2
+f 2 7 3
+f 2 6 8
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+f 46 53 54
+f 46 54 47
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+f 47 55 56
+f 47 56 48
+f 49 57 53
+f 49 53 58
+f 49 58 50
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+f 50 59 60
+f 50 60 51
+f 51 60 61
+f 52 61 62
+f 52 62 53
+f 53 57 63
+f 53 63 55
+f 53 55 54
+f 53 62 60
+f 53 60 59
+f 53 59 58
+f 60 62 61
+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_68.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2671573acba16ffb7e778178897b38b4c52c448
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_68.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.00719418 0.00847513 0.02445679
+v 0.00719418 0.01415034 0.02445681
+v 0.00719062 0.00843937 0.02445679
+v 0.00719418 0.00844492 0.02444465
+v 0.00719418 0.01419413 0.02259123
+v 0.00538752 0.01427858 0.02445681
+v 0.00209637 0.00843448 0.01204873
+v 0.00719418 0.00965769 0.01204874
+v 0.00097677 0.00843443 0.02445679
+v -0.00424031 0.00807561 0.02444829
+v -0.00407655 0.00807561 0.02444465
+v -0.00407655 0.00807561 0.02362846
+v 0.00719418 0.01422557 0.02044266
+v 0.00538752 0.01429092 0.02229609
+v 0.00329428 0.01430694 0.02445681
+v 0.00719418 0.01424777 0.01829408
+v 0.00719418 0.01430638 0.01204875
+v -0.00318657 0.00843448 0.01204873
+v -0.00374726 0.00843443 0.02445679
+v -0.01098993 0.00980993 0.02444830
+v -0.00426700 0.00807561 0.02444465
+v 0.00699839 0.01431069 0.01204875
+v 0.00538752 0.01433289 0.01204875
+v 0.00329428 0.01431497 0.02229609
+v 0.00120104 0.01431927 0.02445681
+v -0.01098993 0.01025080 0.01204996
+v -0.00407655 0.00962193 0.01204874
+v -0.00407655 0.00911324 0.02445679
+v -0.01098993 0.01428845 0.02444831
+v -0.01098993 0.00999182 0.01838030
+v -0.01098993 0.01000354 0.01800014
+v -0.01098993 0.01007199 0.01623294
+v 0.00490337 0.01433658 0.01204875
+v 0.00329428 0.01434151 0.01370300
+v 0.00120104 0.01435322 0.01370300
+v -0.00089397 0.01436185 0.01370300
+v -0.00298543 0.01436740 0.01370300
+v -0.00089397 0.01433964 0.02014630
+v -0.00298543 0.01435197 0.01800015
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+v -0.01098993 0.01433412 0.01204997
+v -0.00407655 0.01437234 0.01204875
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+v -0.00299611 0.01432297 0.02445681
+v -0.00717368 0.01432668 0.02229609
+v -0.00407655 0.01432729 0.02341471
+f 1 2 6
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+f 1 19 9
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+f 51 60 55
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+f 54 62 60
+f 58 60 62
+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_69.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..334d7dcb8b6c005ed4bd0f7b495bcc95ccc4ac1f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_69.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.01102615 0.01843872 -0.00052530
+v 0.01168120 0.01828688 -0.00052530
+v 0.01102615 0.01167848 -0.00052533
+v 0.01093079 0.01555724 0.00235632
+v 0.01093079 0.01407336 0.00540633
+v 0.01214294 0.01808673 -0.00052530
+v 0.01176360 0.01377658 0.00540633
+v 0.01197918 -0.01681529 -0.00052543
+v 0.01100645 -0.01670833 0.00510545
+v 0.01099972 -0.01670833 0.00514610
+v 0.01095670 -0.01670833 0.00540622
+v 0.01093079 0.00959415 0.00235630
+v 0.01093079 0.00655393 0.00540630
+v 0.01291563 0.01772439 -0.00052530
+v 0.01271611 0.01309676 0.00540633
+v 0.01597581 -0.01681529 -0.00052543
+v 0.01150603 -0.01681530 0.00235620
+v 0.01493467 -0.01670833 0.00540622
+v 0.01396609 0.01664082 -0.00052531
+v 0.01335406 0.01220644 0.00540632
+v 0.01495385 0.01549513 -0.00052531
+v 0.01399201 0.01661321 -0.00052531
+v 0.01546379 -0.01681530 0.00235620
+v 0.01598151 -0.01641499 -0.00052543
+v 0.01600846 -0.01422714 -0.00052542
+v 0.01621109 0.00763062 -0.00052534
+v 0.01497043 -0.01203932 0.00540624
+v 0.01343542 0.01208911 0.00540632
+v 0.01553790 0.01417000 -0.00052532
+v 0.01437032 0.01052587 0.00540632
+v 0.01452216 0.01023945 0.00540632
+v 0.01622508 0.00981846 -0.00052533
+v 0.01507512 0.00325835 0.00540629
+v 0.01491291 0.00913862 0.00540631
+v 0.01606287 0.01205117 -0.00052533
+v 0.01502848 0.00792392 0.00540631
+v 0.01504143 0.00763405 0.00540631
+v 0.01507512 0.00544620 0.00540630
+f 1 2 6
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+f 32 38 33
+f 32 35 36
+f 34 36 35
+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_7.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b91364b923da524d51c38e9ec0e3f7a33db6a88
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_7.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
+v 0.01676340 -0.05529583 -0.03258172
+v 0.01741332 -0.05529583 -0.03258172
+v 0.01594783 -0.05529583 -0.03142386
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+v 0.01764328 -0.05529583 -0.03249072
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+v 0.01518098 -0.05529584 -0.02927444
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+v 0.01111092 -0.05529594 -0.00142299
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+v 0.01530375 0.00763574 -0.02927421
+v 0.01531349 0.01245724 -0.02927419
+v 0.01921011 -0.04265514 -0.03108493
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+v 0.01919257 -0.05358477 -0.03109125
+v 0.01918867 -0.05529584 -0.03109125
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+v 0.01931145 -0.05529584 -0.02880376
+v 0.01948197 0.01245720 -0.02024035
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+v 0.01621091 0.00763563 -0.00052534
+v 0.01605598 -0.05529594 -0.00302015
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+v 0.01925298 -0.05358478 -0.02712502
+v 0.01939330 0.01245720 -0.01853023
+v 0.01922667 -0.05529585 -0.02712502
+v 0.01712587 0.01245714 -0.00375102
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_70.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7f0d2c0535a8359ec7033ca958a25c2276c08df
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_70.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00769605 -0.02734943 0.00235598
+v 0.00767675 -0.02734943 0.00295706
+v 0.00726148 -0.02953637 0.00295705
+v 0.00727322 -0.02953637 0.00235597
+v 0.00756601 -0.02516369 0.00235599
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+v 0.00758615 -0.02734944 0.00510578
+v 0.00718429 -0.02953638 0.00510577
+v 0.00754672 -0.02516369 0.00295707
+v 0.00745947 -0.02516370 0.00510579
+v 0.00744688 -0.02516370 0.00540619
+v 0.00663982 -0.03103486 0.00510577
+v 0.00668093 -0.03109623 0.00295705
+v 0.00668512 -0.03110345 0.00235597
+v 0.00737389 -0.02443311 0.00235599
+v 0.00733866 -0.02443311 0.00367401
+v 0.00757272 -0.02734944 0.00540618
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+v 0.00716835 -0.02953638 0.00540617
+v 0.00670022 -0.03082543 0.00540617
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_71.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3285e3657d563df25dfbc025031c8ce596d54153
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_71.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.00332228 -0.03527835 0.01204857
+v 0.00332228 -0.02414978 0.01204861
+v 0.00405249 -0.03470749 0.01204857
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+
diff --git a/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_8.obj b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36b32f12a3b2fe766bbc3144aeb4c725d31cae52
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/c3f43d32fd235292a166d97bd86abdeb/mjcf/mesh/pencil_sharpener_collision_8.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
+v -0.01250184 -0.06641094 -0.02927519
+v -0.01345628 -0.06611294 -0.02712403
+v -0.01345628 -0.06633998 -0.02927519
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