diff --git a/.gitattributes b/.gitattributes
index c12def277d8cdcf8432ef619c444d4951b17ef05..0bbee212f435b58d0a1d88befe393502b19df0e4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3146,5 +3146,5 @@ dataset/desktop_supplies/office_stationery/56187c2f78f15b59936d05dd67d1f52b/eras
 dataset/desktop_supplies/office_stationery/56187c2f78f15b59936d05dd67d1f52b/mesh/eraser_045.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/5927302548905cb6be3a6ee2591f45c6/marker_038.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/5927302548905cb6be3a6ee2591f45c6/mesh/marker_038.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/5497f03a54f656d4a4489680bffadb27/glue_stick_010.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/5497f03a54f656d4a4489680bffadb27/mesh/glue_stick_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mesh/pen_holder_009.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/pen_holder_009.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..18e018a6c8cd9e361d0962902d423861871b8007
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pen_holder_009_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd pen_holder_009_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1b3ee2a379a1d7b79e132c75fb83d86236f66bc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2256c78b3bd41f923557ccb8cca304946639bd23dd5e04b4584e9430b9690b31
+size 13801738
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mesh/pen_holder_009.glb b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mesh/pen_holder_009.glb
new file mode 100644
index 0000000000000000000000000000000000000000..03dfe38641fbc925a860ce9f0af50b8158b393fa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mesh/pen_holder_009.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e89926216fb594f7c62f3c42a64a7ebe71218c10ce20ac772f31238bc25b2fe
+size 17305296
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mesh/pen_holder_009.mtl b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mesh/pen_holder_009.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..425e9124d8c1af6a1261cf81bef9d3ed09146f69
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mesh/pen_holder_009.mtl
@@ -0,0 +1,6 @@
+newmtl pen_holder_009_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mesh/pen_holder_009.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mesh/pen_holder_009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de6e6554120fd110ba6e7f84854089cdb8e8ca2a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mesh/pen_holder_009.obj
@@ -0,0 +1,116026 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pen_holder_009_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mesh/pen_holder_009_collision.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mesh/pen_holder_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28b388c5d35bf8c1ace12d9f55db02e3f5afabb4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mesh/pen_holder_009_collision.obj
@@ -0,0 +1,26712 @@
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/material_0.png
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+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009.obj
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+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pen_holder_009_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..817b9eac195c6a7ac3428ac8e3035b1d592829dd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision.obj
@@ -0,0 +1,26712 @@
+# https://github.com/mikedh/trimesh
+
+o pen_holder_009_collision.obj
+v 0.01983258 -0.02847354 -0.01951710
+v 0.02071968 -0.02794963 -0.01882028
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+v 0.01983258 -0.02812058 -0.02082230
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_0.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e30219032342698151cc68e8b7f2f8ca9246c560
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_1.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae589bb6d61c29c588099bbb05dd78eed539577f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_10.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..200c19cf93ae2571c132268d6bb1ad1828e4f0f2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_10.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_11.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0c193a94fca69360ce0685e396c7f609e06c7f9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_11.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_12.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..682992adf40151bee6b32d4871d31dcfaff92f03
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_12.obj
@@ -0,0 +1,472 @@
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_13.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..186de9274930bf7560d2e45f5f62114fce383116
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_13.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_14.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a779bbb85816281647bb4e369f89f42ab5230cc1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_14.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_15.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e44c410bcfceca1c5eab61ff5a71a1b967fe6ee
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_15.obj
@@ -0,0 +1,970 @@
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_16.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a68e155943ea7415d8433328acf43f996c7df861
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_16.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_17.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..808e6c8d716a2ef46fb1e7fb988e9f85f9497d08
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_17.obj
@@ -0,0 +1,889 @@
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_18.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3eb748eaadc6e3e207aa28e7f7f1d971406415e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_18.obj
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_19.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0173e95fafe6224586ae71ab8a8ee67e013b31f0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_19.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_2.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33845bcc044eec135c30cc0ff50e77008adb89c4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_2.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_20.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6cbc773ffb6a2b46e9283b1749f1a53adafae8d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_20.obj
@@ -0,0 +1,613 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_21.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b53d679f778e1fa22ef93402b5de86da596246f3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_21.obj
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_22.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29eff13e259c05831a79cba599ea15709e35a7b1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_22.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_23.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c44e48a115831a8b1e443c8d2ab59f02a5aff3f5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_23.obj
@@ -0,0 +1,214 @@
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_24.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3372b94783d17436c661c8dd053b5e198c4e3c4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_24.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_25.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce1b3f0bfbee730053be940f7b51914dca89af06
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_25.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_26.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..899a4c0a28683f333d1622ebf95e61c798fe31e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_26.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_27.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfbcb96e75e07e78ef46d5704e03365b6a479ac7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_27.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_28.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e58b79a1594920beb7f15b4916a5a8f2254bca6d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_28.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_29.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6693506b20b94069744d697b1e324f24ff0cf6b7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_29.obj
@@ -0,0 +1,532 @@
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_3.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9b4794b805491dc23d7b2bbf49ce4432b3a03ce
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_3.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_30.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62afdb50744edd32272b40b276466990af16a88e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_30.obj
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_31.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..910dbab8bcc4dbb5e826e8d76265cab8736e566a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_31.obj
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_32.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7867f192d2f1d7bbb916ff4765caaf126f4e2e7d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_32.obj
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_33.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16c54024999da621c61be9c34ae15f990830def6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_33.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_34.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce23b0da54c922b5479466522ffd05b641d826e5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_34.obj
@@ -0,0 +1,643 @@
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_35.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a16abd4a9325efcd81f25536abe36dbb0575a278
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_35.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_36.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..734613d2657fc18e769cd9f8d87f7d7a10629194
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_36.obj
@@ -0,0 +1,805 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_37.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2aaa6b77fc1a1e86acbfbfa75488a8207923949c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_37.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v 0.00907029 -0.03801781 0.04350339
+v 0.00970130 -0.03772787 0.04387448
+v 0.00907029 -0.03801781 0.04355081
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+v 0.01410603 -0.02736667 0.04604740
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_38.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1453c70f8a5156bd6a005f742b1c3a31e5e6063
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_38.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.01169094 -0.03227228 0.02252923
+v 0.01255118 -0.03212056 0.02252923
+v 0.01410603 -0.03198314 0.02523189
+v 0.01169094 -0.03223820 0.02364670
+v 0.01075133 -0.03219643 0.02362908
+v 0.00907029 -0.03208754 0.01434688
+v 0.00907029 -0.03208754 0.01430969
+v 0.00968996 -0.03205346 0.01467566
+v 0.00907029 -0.03179838 0.00846795
+v 0.01410603 -0.02298222 0.02523193
+v 0.00907374 -0.03197654 0.02523189
+v 0.01028892 -0.03148285 0.00851492
+v 0.01400497 -0.03070007 0.01131740
+v 0.01410603 -0.03065830 0.01131740
+v 0.00907029 -0.03183582 0.02405767
+v 0.00907029 -0.03135202 0.00711368
+v 0.01028892 -0.03121679 0.00711369
+v 0.01125910 -0.03077591 0.00613909
+v 0.01410603 -0.02277443 0.02393051
+v 0.00907029 -0.02561313 0.02523192
+v 0.00907029 -0.02611006 0.02523191
+v 0.01308162 -0.03082211 0.01005316
+v 0.01150016 -0.03088037 0.00711369
+v 0.01309346 -0.02982272 0.00524081
+v 0.01400595 -0.02934447 0.00524081
+v 0.01410603 -0.02927961 0.00524081
+v 0.00907029 -0.03078471 0.00584945
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_39.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..435bc12fadb87e698108e5a648e95331ae083895
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_39.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.01497984 0.02379290 0.00524101
+v 0.01496259 0.02379290 0.00571214
+v 0.02505482 0.02379290 0.00524101
+v 0.02196585 0.01626406 0.00524098
+v 0.01496259 0.02379289 0.00711376
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+v 0.02435157 0.02379285 0.01861067
+v 0.02450284 0.02364103 0.01861067
+v 0.02502828 0.02308167 0.01861066
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+v 0.02851664 0.01916472 0.01565168
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+v 0.02822871 0.01626406 0.00524098
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+v 0.02198177 0.01626405 0.00711373
+v 0.01632397 0.02379285 0.01861067
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+v 0.02851664 0.01906965 0.01689887
+v 0.02851664 0.01735549 0.01151750
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+v 0.02851664 0.01626405 0.00950865
+v 0.01506609 0.02379288 0.00991699
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+v 0.02205210 0.01626405 0.00914875
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+v 0.02636843 0.02128496 0.01861066
+v 0.02851664 0.01906818 0.01690280
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+v 0.01541505 0.02379287 0.01336802
+v 0.02271951 0.01626402 0.01693681
+v 0.02268900 0.01626402 0.01668816
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_4.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d554fbf581986f4b5dd5bfba635df437ae48fd6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_4.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.01123668 0.02698246 0.00523853
+v -0.01123668 0.02698925 0.00508618
+v -0.00125855 0.02888860 0.00523854
+v -0.01123668 0.03312205 0.00523855
+v -0.00125855 0.02889947 0.00502375
+v -0.01123668 0.02703001 0.00430946
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_40.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4007a39fede9cfa5dabea7b0fc16f55e36a82063
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_40.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_41.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3963e6a34bdfa46a4f01f6dc389a309d689df741
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_41.obj
@@ -0,0 +1,280 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_42.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e8248603f052f95cd5ddac303b47dfb150812be
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_42.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.01686725 0.02530800 -0.02161684
+v 0.01719923 0.02480890 -0.02161684
+v 0.01686725 0.02659107 -0.01720976
+v 0.01686725 0.03657779 -0.02161680
+v 0.02563976 0.01353227 -0.02161688
+v 0.02697543 0.01329751 -0.01720981
+v 0.01686725 0.03466795 -0.01720973
+v 0.01686725 0.03657323 -0.02091781
+v 0.01800217 0.03633394 -0.02161680
+v 0.02599105 0.01329753 -0.02161688
+v 0.03504151 0.01329751 -0.01720981
+v 0.01723783 0.03448335 -0.01720973
+v 0.01784004 0.03532660 -0.01893951
+v 0.01690392 0.03555678 -0.01858656
+v 0.01686725 0.03553855 -0.01853479
+v 0.01686725 0.03647068 -0.02051352
+v 0.01730346 0.03646156 -0.02091781
+v 0.02000181 0.03565479 -0.02161680
+v 0.03658563 0.01329753 -0.02161688
+v 0.03628839 0.01329752 -0.01994794
+v 0.03503765 0.01332030 -0.01720981
+v 0.01935328 0.03537901 -0.02026845
+v 0.01787285 0.03410503 -0.01720973
+v 0.01841715 0.03562515 -0.01987322
+v 0.01734399 0.03585761 -0.01944994
+v 0.01686725 0.03581659 -0.01903098
+v 0.01686725 0.03556134 -0.01857103
+v 0.01686725 0.03606044 -0.01949180
+v 0.01881283 0.03587129 -0.02080865
+v 0.01984353 0.03561148 -0.02120302
+v 0.02073912 0.03537674 -0.02161680
+v 0.03652965 0.01440058 -0.02161688
+v 0.03652193 0.01329753 -0.02086008
+v 0.03633857 0.01329752 -0.02007264
+v 0.03628839 0.01596627 -0.02151547
+v 0.03609923 0.01680951 -0.02161687
+v 0.03530594 0.01922984 -0.02161686
+v 0.03513223 0.01975173 -0.02161686
+v 0.03496431 0.02025084 -0.02161686
+v 0.03465741 0.02102799 -0.02161685
+v 0.03421155 0.02201709 -0.02161685
+v 0.03165410 0.02060635 -0.01720978
+v 0.01801568 0.03401842 -0.01720974
+v 0.02239133 0.03413923 -0.02146276
+v 0.02247625 0.03417798 -0.02161680
+v 0.03647368 0.01368952 -0.02083850
+v 0.03639261 0.01552870 -0.02161687
+v 0.03645245 0.01329753 -0.02051317
+v 0.03638103 0.01504326 -0.02126738
+v 0.03630576 0.01603008 -0.02161687
+v 0.03368269 0.02312014 -0.02161685
+v 0.03357846 0.02304949 -0.02142614
+v 0.03156725 0.02078183 -0.01720978
+v 0.01862947 0.03356034 -0.01720974
+v 0.02808719 0.03002787 -0.02161682
+v 0.03325034 0.02392919 -0.02161684
+v 0.03089942 0.02206721 -0.01720978
+v 0.03139739 0.02111913 -0.01720978
+v 0.01879546 0.03343499 -0.01720974
+v 0.02801578 0.02994354 -0.02145588
+v 0.02672451 0.02723604 -0.01720976
+v 0.02882451 0.02942165 -0.02161682
+v 0.03263655 0.02491829 -0.02161684
+v 0.03057708 0.02264152 -0.01720978
+v 0.02744252 0.02661159 -0.01720976
+v 0.02956954 0.02873110 -0.02161682
+v 0.02945953 0.02862171 -0.02138512
+v 0.03212313 0.02571823 -0.02161684
+v 0.03209418 0.02567265 -0.02153918
+v 0.03013315 0.02334802 -0.01720977
+v 0.02814123 0.02591420 -0.01720976
+v 0.03026633 0.02801321 -0.02161683
+v 0.03156918 0.02645435 -0.02161683
+v 0.02940355 0.02440549 -0.01720977
+v 0.03003664 0.02349388 -0.01720977
+v 0.02881293 0.02514617 -0.01720977
+v 0.03080870 0.02719732 -0.02141749
+v 0.03090713 0.02728848 -0.02161683
+v 0.02902910 0.02488180 -0.01720977
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 27
+f 1 27 26
+f 1 26 28
+f 1 28 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 18
+f 1 18 31
+f 1 31 45
+f 1 45 55
+f 1 55 62
+f 1 62 66
+f 1 66 72
+f 1 72 78
+f 1 78 73
+f 1 73 68
+f 1 68 63
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+f 1 56 51
+f 1 51 41
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+f 1 38 37
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+f 1 47 32
+f 1 32 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
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+f 3 11 21
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+f 3 12 7
+f 4 8 9
+f 5 10 6
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+f 6 19 33
+f 6 33 48
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+f 44 55 45
+f 46 47 49
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+f 71 76 77
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+f 76 79 77
+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_43.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e570869e974585ee7619f227bcfa33f6978fae1a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_43.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.00573978 -0.02472444 0.00523938
+v 0.00573978 -0.03124416 0.00523936
+v 0.00573978 -0.02472145 0.00456765
+v -0.00609311 -0.02453470 0.00430940
+v -0.00609311 -0.02453993 0.00523938
+v 0.00309777 -0.03193662 0.00523935
+v 0.00298078 -0.03207854 0.00508556
+v 0.00573978 -0.03131064 0.00504059
+v 0.00573978 -0.02472070 0.00430940
+v 0.00573978 -0.02473339 0.00329382
+v -0.00609311 -0.02455337 0.00290790
+v -0.00609311 -0.03209573 0.00523935
+v -0.00531707 -0.03210768 0.00523935
+v 0.00046965 -0.03212634 0.00398584
+v -0.00093070 -0.03216593 0.00150637
+v 0.00298078 -0.03207854 0.00469819
+v 0.00467765 -0.03175659 0.00430937
+v 0.00573978 -0.03155416 0.00430937
+v 0.00573978 -0.02473862 0.00290790
+v 0.00573978 -0.02476925 0.00190828
+v -0.00609311 -0.02459819 0.00150640
+v -0.00578849 -0.03210693 0.00523935
+v -0.00609311 -0.03166690 -0.00792838
+v -0.00444721 -0.03203442 -0.00760775
+v -0.00232641 -0.03214352 0.00149766
+v -0.00373603 -0.03204189 -0.00762370
+v -0.00301558 -0.03204338 -0.00762515
+v 0.00140206 -0.03207777 -0.00209459
+v 0.00467765 -0.03154737 -0.00958087
+v 0.00573978 -0.03139798 -0.00958087
+v 0.00573978 -0.02478269 0.00150640
+v -0.00609311 -0.02461611 0.00110307
+v -0.00609311 -0.03163628 -0.00826352
+v -0.00609311 -0.03148389 -0.00925589
+v -0.00609311 -0.03141889 -0.00958087
+v -0.00093070 -0.03172217 -0.00958087
+v 0.00046965 -0.03176998 -0.00958087
+v 0.00059590 -0.03176923 -0.00958087
+v 0.00187232 -0.03174981 -0.00958087
+v 0.00199741 -0.03174309 -0.00958087
+v 0.00327498 -0.03167212 -0.00958087
+v 0.00573978 -0.02588371 -0.00958085
+v 0.00573978 -0.02482825 0.00055175
+v -0.00609311 -0.02466242 0.00012521
+v -0.00609311 -0.02571787 -0.00958084
+v 0.00573978 -0.02585010 -0.00936467
+v 0.00573978 -0.02485440 0.00010490
+v 0.00573978 -0.02490893 -0.00077286
+v -0.00609311 -0.02475803 -0.00129806
+v -0.00609311 -0.02552143 -0.00830411
+v 0.00573978 -0.02568576 -0.00830411
+v 0.00573978 -0.02495224 -0.00140687
+v 0.00573978 -0.02505458 -0.00269811
+v -0.00609311 -0.02487455 -0.00269811
+v -0.00609311 -0.02532422 -0.00687214
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+v 0.00573978 -0.02563796 -0.00796317
+v 0.00573978 -0.02515991 -0.00389359
+v -0.00609311 -0.02498660 -0.00395888
+v -0.00609311 -0.02516363 -0.00550111
+v 0.00573978 -0.02530929 -0.00541696
+v 0.00573978 -0.02526298 -0.00498461
+f 1 2 8
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+f 1 61 62
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+f 55 60 61
+f 55 61 56
+f 58 62 59
+f 59 62 61
+f 59 61 60
+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_44.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fc04721a6c12c2c48011e0159258dfd92771748
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_44.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00575156 0.02770764 0.00991561
+v 0.01506609 0.02379326 0.00991560
+v 0.00575156 0.02770764 0.00991687
+v 0.01846627 0.02770764 0.00991561
+v 0.01506609 0.02379326 0.00991686
+v 0.02299600 0.02379403 0.00991560
+v 0.02299792 0.02379326 0.00991686
+v 0.00587430 0.02770764 0.01131839
+v 0.01517540 0.02379326 0.01134361
+v 0.02029005 0.02770760 0.02280175
+v 0.02295765 0.02597592 0.02280175
+v 0.02320504 0.02580693 0.02280174
+v 0.02406611 0.02510414 0.02280174
+v 0.02238616 0.02432322 0.00991560
+v 0.02431350 0.02487691 0.02280174
+v 0.02461075 0.02458721 0.02280174
+v 0.02526470 0.02389055 0.02280174
+v 0.02534142 0.02379322 0.02280174
+v 0.00610443 0.02770763 0.01271991
+v 0.01532499 0.02379325 0.01271990
+v 0.01551868 0.02379325 0.01412141
+v 0.01570854 0.02379324 0.01533371
+v 0.01572580 0.02379324 0.01543967
+v 0.01003199 0.02770760 0.02280175
+v 0.01734438 0.02379322 0.02280174
+v 0.00641894 0.02770763 0.01412142
+v 0.01575265 0.02379324 0.01559862
+v 0.01598853 0.02379324 0.01692319
+v 0.01600387 0.02379324 0.01700771
+v 0.01626085 0.02379323 0.01832470
+v 0.01629345 0.02379323 0.01848113
+v 0.01656386 0.02379323 0.01972622
+v 0.01000130 0.02770760 0.02274498
+v 0.00988624 0.02770760 0.02252927
+v 0.00919968 0.02770760 0.02112775
+v 0.00853998 0.02770761 0.01972623
+v 0.00792438 0.02770761 0.01832471
+v 0.00736631 0.02770762 0.01692320
+v 0.00684085 0.02770762 0.01552294
+v 0.01732521 0.02379322 0.02273740
+v 0.01668468 0.02379323 0.02023082
+v 0.01687070 0.02379322 0.02099150
+v 0.01698385 0.02379322 0.02143428
+v 0.01726959 0.02379322 0.02252926
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 19
+f 1 19 26
+f 1 26 39
+f 1 39 38
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+f 1 24 10
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+f 1 6 2
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+f 10 18 17
+f 10 17 16
+f 10 16 15
+f 10 15 13
+f 10 13 12
+f 10 12 11
+f 19 23 27
+f 19 27 28
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+f 19 32 26
+f 24 33 25
+f 25 33 34
+f 25 34 35
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+f 25 37 38
+f 25 38 39
+f 25 39 26
+f 25 26 40
+f 26 32 41
+f 26 41 42
+f 26 42 43
+f 26 43 44
+f 26 44 40
+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_45.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0756981405363118d66e053a69f41e9c0379a013
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_45.obj
@@ -0,0 +1,712 @@
+# https://github.com/mikedh/trimesh
+v 0.01686725 0.00341820 -0.02612738
+v 0.01768742 0.00341820 -0.02609344
+v 0.01686725 0.00341818 -0.02163261
+v 0.01686725 0.02065986 -0.02844259
+v 0.01895057 0.02065987 -0.03072213
+v 0.01927168 0.01968270 -0.03072214
+v 0.01959472 0.01898147 -0.03072214
+v 0.02011701 0.01785173 -0.03072214
+v 0.02063155 0.01693299 -0.03072215
+v 0.02130471 0.01623177 -0.03072215
+v 0.02200689 0.01558574 -0.03072215
+v 0.02201463 0.01557924 -0.03072215
+v 0.02474211 0.01419303 -0.03072216
+v 0.02474984 0.01418978 -0.03072216
+v 0.02571703 0.01397227 -0.03072216
+v 0.02572477 0.01397227 -0.03072216
+v 0.02843097 0.01407291 -0.03072216
+v 0.02969799 0.01415732 -0.03072216
+v 0.01908791 0.00341820 -0.02602734
+v 0.02788354 0.00341818 -0.02159777
+v 0.01686725 0.02530544 -0.02161824
+v 0.01686725 0.02072479 -0.02844884
+v 0.01686725 0.02192920 -0.02856228
+v 0.01686725 0.02206555 -0.02857478
+v 0.01886159 0.02206556 -0.03072213
+v 0.03039630 0.01443326 -0.03072216
+v 0.02851995 0.00341819 -0.02506264
+v 0.02750053 0.00341819 -0.02524754
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_46.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d72f15c4b74a50a1e5a5112a9afb544e9bcb5ff
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_46.obj
@@ -0,0 +1,124 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_47.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab6b08bea403588340371046cde1bc1f709f5a79
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_47.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+v -0.01212665 0.03484573 -0.00879752
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_48.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72eef506d179e503170f6b93c8cf196268091697
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_48.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_49.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0bc55a59f573899c63a21458a8b5cdb6782bf87
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_49.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_5.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa8cd4e7643a1e7b1aa496b3e59aeea7dcd140df
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_5.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_50.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40595aaa0d79f6f7a6cbff70945620e68cdea971
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_50.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.03665175 0.01222739 -0.02091662
+v 0.03663521 0.01082244 -0.02091662
+v 0.03662758 0.01290771 -0.02159610
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_51.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b7a0972f026969b89370d0c0329c77a25da1bbc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_51.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_52.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e8d270690ace2684a5c15125b12512efc7f5437
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_52.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_53.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f68b683c24094a773bb2a5b7dbce249c26baf9db
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_53.obj
@@ -0,0 +1,457 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_54.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..030bd82cefe9fae091732ea2963136d56855fe09
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_54.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.01069512 0.03248613 -0.00329429
+v 0.01095405 0.03241588 -0.00329429
+v 0.01312775 0.03612930 -0.01720930
+v 0.01225827 0.03635280 -0.01720930
+v 0.01169190 0.03648850 -0.01720930
+v 0.01069512 0.03670243 -0.01720930
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+v 0.01447960 0.03570783 -0.01720930
+v 0.01359280 0.03599520 -0.01720930
+v 0.01163821 0.03219078 -0.00329429
+v 0.01069512 0.02988235 -0.01720932
+v 0.01069512 0.02700709 -0.00410074
+v 0.01954233 0.02039295 -0.00329434
+v 0.01497929 0.03552743 -0.01720930
+v 0.01228685 0.03196249 -0.00329429
+v 0.01309398 0.03167193 -0.00329429
+v 0.01069512 0.02974346 -0.01682109
+v 0.01954233 0.02442725 -0.01720934
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+v 0.01069512 0.02717472 -0.00536624
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+v 0.01069512 0.02741420 -0.00690282
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+v 0.01666283 0.02975299 -0.00329430
+v 0.01699191 0.02949436 -0.00329430
+v 0.01820953 0.03387350 -0.01720931
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_55.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05e45a60ebe2a45b465b00ee10a9f221abf8f20e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_55.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.02649018 0.01966705 0.01578755
+v -0.02649018 0.01896507 0.00524099
+v -0.02827378 0.01713813 0.00524098
+v -0.02920704 0.01659018 0.01578754
+v -0.02649018 0.01061451 0.01578752
+v -0.02649018 0.00947250 0.00524095
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+v -0.02649018 0.01053061 0.01552117
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+v -0.02786188 0.00217496 0.01552114
+v -0.02776789 0.00217497 0.01412023
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+v -0.02649018 0.00943483 0.00569519
+v -0.02752130 0.00217500 0.00560226
+v -0.02752573 0.00217500 0.00524093
+v -0.02901575 0.01604916 0.00524098
+v -0.02948072 0.01527352 0.00524098
+v -0.03014639 0.01503890 0.01578754
+v -0.02649018 0.01015565 0.01408826
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+v -0.03181444 0.00217496 0.01578749
+v -0.02649018 0.00939201 0.00711365
+v -0.02752020 0.00217500 0.00571169
+v -0.03213788 0.00217500 0.00524093
+v -0.02968031 0.01480608 0.00524097
+v -0.02977762 0.01457150 0.00524097
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+v -0.02649018 0.01001867 0.01343375
+v -0.02757493 0.00217498 0.00991648
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+v -0.02754010 0.00217499 0.00851454
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+v -0.02649018 0.00952042 0.00991650
+v -0.03169115 0.00520392 0.00524094
+v -0.03194161 0.00379819 0.00524093
+v -0.02649018 0.00964541 0.01109133
+v -0.02649018 0.00967281 0.01131742
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_56.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5033eb10b8ce8ffb21768139de57612ba4dfcc34
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_56.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.02033778 0.02816061 -0.00982634
+v -0.02033778 0.03438346 -0.02027228
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_57.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2a1840633e8951e2a773e0973427a1ff41c8ce5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_57.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.00125855 0.03005794 -0.00608952
+v -0.00125855 0.03001937 -0.00582666
+v -0.00125855 0.03679045 -0.00608949
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_58.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfe4189fdf5ba80fcd055a766391cbb7da809a34
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_58.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.01954233 0.02099214 -0.00653829
+v 0.01954233 0.02107916 -0.00705017
+v 0.02365807 0.01501792 -0.00653831
+v 0.01954233 0.02788519 -0.00653827
+v 0.02395510 0.01501793 -0.00834032
+v 0.02371207 0.01501793 -0.00690289
+v 0.01954233 0.02174046 -0.00970670
+v 0.03021682 0.01501792 -0.00653831
+v 0.02297732 0.02509560 -0.00653828
+v 0.02672214 0.02723787 -0.01720829
+v 0.01954233 0.03279443 -0.01720827
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+v 0.01954233 0.02212679 -0.01110757
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+v 0.03080377 0.01644492 -0.00723195
+v 0.03042574 0.01644491 -0.00653831
+v 0.02383572 0.02437515 -0.00653828
+v 0.02744268 0.02661312 -0.01720829
+v 0.01954233 0.02442565 -0.01720830
+v 0.02451362 0.01501794 -0.01110759
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_59.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bed1dc758fbef0863eb988c2f915e118a0f2866
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_59.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.02033129 -0.02816087 0.01683060
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+v 0.02033129 -0.02816087 0.01692602
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_6.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e404023f9110c14e6400ed5ac35ce5aba2f1f51
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_6.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
+v 0.00906862 -0.03133000 0.04621527
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_60.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d6cf1c4dd03c82a764e8915201d1749dcc9664c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_60.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.02649033 0.02609890 0.02980233
+v -0.02649033 0.01966598 0.01578755
+v -0.02691849 0.02562117 0.02980232
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+v -0.02920694 0.01659118 0.01578754
+v -0.02649033 0.01061486 0.01578752
+v -0.02745545 0.02491863 0.02980232
+v -0.02977146 0.01588863 0.01578754
+v -0.02649033 0.01604080 0.02964865
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+v -0.02814291 0.02393975 0.02980232
+v -0.03014592 0.01503855 0.01578754
+v -0.03291553 0.01648106 0.02980229
+v -0.03256155 0.01726557 0.02980229
+v -0.02649033 0.01598928 0.02953753
+v -0.03353162 0.00217725 0.02980224
+v -0.02819943 0.00217729 0.01981660
+v -0.02649033 0.01532656 0.02810395
+v -0.02649033 0.01134784 0.01831446
+v -0.02796698 0.00217730 0.01692475
+v -0.03181404 0.00217730 0.01578749
+v -0.02649033 0.01160544 0.01908269
+v -0.02649033 0.01182791 0.01972746
+v -0.02649033 0.01231266 0.02104855
+v -0.02649033 0.01266627 0.02199649
+v -0.02649033 0.01286064 0.02246841
+v -0.03332108 0.01530313 0.02980229
+v -0.03052745 0.01390043 0.01578753
+v -0.03350972 0.00520523 0.02813546
+v -0.03338820 0.00520523 0.02673344
+v -0.03350336 0.00217725 0.02953748
+v -0.03370472 0.01249295 0.02980228
+v -0.02807649 0.00217729 0.01832540
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+v -0.03342282 0.00661032 0.02673344
+v -0.03174198 0.00661036 0.01578750
+v -0.03061577 0.01363581 0.01578753
+v -0.03340021 0.01506426 0.02980229
+v -0.03352809 0.00661032 0.02813546
+v -0.03370755 0.01337581 0.02980228
+v -0.03164094 0.00801545 0.01578751
+v -0.03368423 0.01356784 0.02980228
+v -0.03369342 0.01350227 0.02980228
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+f 10 19 20
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+f 12 28 22
+f 14 29 15
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+f 18 32 33
+f 18 34 31
+f 19 35 20
+f 20 35 36
+f 22 28 36
+f 22 36 35
+f 23 33 32
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+f 23 37 38
+f 29 30 39
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+f 31 37 32
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+f 37 42 38
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+f 39 43 44
+f 42 45 43
+f 43 45 44
+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_61.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eee3348db218dd8ca88c31e530888fc57092c0f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_61.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.00609311 -0.03209477 0.00523912
+v -0.00609311 -0.02454062 0.00523915
+v -0.00651725 -0.03207960 0.00523912
+v -0.00609311 -0.03169059 -0.01199852
+v -0.01906628 -0.01807056 0.00523917
+v -0.00609311 -0.02453510 0.00430934
+v -0.01906628 -0.01800572 0.00290706
+v -0.01906628 -0.01802089 0.00376431
+v -0.01906628 -0.01803194 0.00430936
+v -0.00687155 -0.03206442 0.00523912
+v -0.00613629 -0.03168231 -0.01199852
+v -0.00609311 -0.02617635 -0.01199850
+v -0.00725379 -0.03203546 0.00489656
+v -0.01906628 -0.02589780 0.00523914
+v -0.00609311 -0.02455302 0.00290704
+v -0.01906628 -0.01800710 0.00150645
+v -0.00695663 -0.03205753 0.00523912
+v -0.00725379 -0.03203546 0.00502312
+v -0.00654138 -0.03159956 -0.01199852
+v -0.01906628 -0.01952147 -0.01199847
+v -0.00609311 -0.02598877 -0.01112270
+v -0.00934783 -0.03143824 0.00290701
+v -0.01040946 -0.03073339 -0.00970522
+v -0.00794461 -0.03125612 -0.01199851
+v -0.01861674 -0.02650881 0.00523914
+v -0.01906628 -0.02656259 0.00290703
+v -0.00609311 -0.02459854 0.00150643
+v -0.01906628 -0.01803881 0.00010415
+v -0.00717886 -0.03199822 0.00523912
+v -0.01144569 -0.03062310 0.00343352
+v -0.01906628 -0.02599153 -0.01199850
+v -0.01906628 -0.01933113 -0.01110748
+v -0.01906628 -0.01906494 -0.00970518
+v -0.00609311 -0.02581498 -0.01015239
+v -0.01088694 -0.03086033 0.00294246
+v -0.01146219 -0.03063138 0.00219659
+v -0.01440452 -0.02931829 -0.00916354
+v -0.01111043 -0.03051823 -0.00970522
+v -0.01031676 -0.03070305 -0.01064515
+v -0.00936434 -0.03086442 -0.01199851
+v -0.01906628 -0.02670465 0.00229617
+v -0.01906628 -0.02687154 0.00146424
+v -0.01717288 -0.02788253 0.00230629
+v -0.01446421 -0.02933350 0.00258471
+v -0.00609311 -0.02461646 0.00110312
+v -0.01906628 -0.01809812 -0.00129814
+v -0.01906628 -0.01805950 -0.00040040
+v -0.01146219 -0.03063138 0.00249865
+v -0.01886690 -0.02613083 -0.01199850
+v -0.01891770 -0.02679151 -0.00550001
+v -0.01906628 -0.02661773 -0.00550001
+v -0.01906628 -0.01902219 -0.00945544
+v -0.00609311 -0.02573637 -0.00970520
+v -0.01448960 -0.02933488 0.00150641
+v -0.01787131 -0.02749355 -0.00550001
+v -0.01797671 -0.02672253 -0.01199850
+v -0.01775575 -0.02686046 -0.01199850
+v -0.01657222 -0.02755560 -0.01199850
+v -0.01565282 -0.02807558 -0.01199850
+v -0.01450865 -0.02870038 -0.01199851
+v -0.01283875 -0.02954723 -0.01199851
+v -0.01215301 -0.02983688 -0.01199851
+v -0.01164760 -0.03004514 -0.01199851
+v -0.01076503 -0.03038858 -0.01199851
+v -0.01519058 -0.02900386 0.00150641
+v -0.01635888 -0.02841768 0.00150642
+v -0.01726431 -0.02793218 0.00150642
+v -0.01796656 -0.02752255 0.00150642
+v -0.00609311 -0.02466197 0.00012438
+v -0.01906628 -0.01812570 -0.00173014
+v -0.01845800 -0.02640944 -0.01199850
+v -0.01906628 -0.01885116 -0.00845138
+v -0.01906628 -0.01883047 -0.00832989
+v -0.00609311 -0.02552121 -0.00830291
+v -0.00609311 -0.02475852 -0.00129816
+v -0.01906628 -0.01819052 -0.00269875
+v -0.01906628 -0.01866634 -0.00721783
+v -0.01906628 -0.01863324 -0.00699002
+v -0.00609311 -0.02539295 -0.00738154
+v -0.00609311 -0.02487437 -0.00269877
+v -0.01906628 -0.01831189 -0.00409937
+v -0.01906628 -0.01846222 -0.00555060
+v -0.00609311 -0.02532260 -0.00687192
+v -0.00609311 -0.02498747 -0.00395932
+v -0.01906628 -0.01845671 -0.00549998
+v -0.00609311 -0.02516262 -0.00550000
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+f 44 66 65
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+f 49 71 50
+f 50 71 55
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+f 82 85 84
+f 82 84 86
+f 82 86 83
+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_62.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51c80b552a8c18bc730607a1636278152ead815d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_62.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.03698585 0.00341492 -0.01951655
+v -0.03691854 0.00341492 -0.01809549
+v -0.03675145 0.00341492 -0.02030906
+v -0.03609273 -0.00437235 -0.02065841
+v -0.03671178 0.00015666 -0.01887256
+v -0.03671178 0.00015666 -0.01873474
+v -0.03676227 0.00098690 -0.01850066
+v -0.03670337 0.00341491 -0.01739922
+v -0.03682478 0.00251449 -0.01805153
+v -0.03666610 0.00212773 -0.01754180
+v -0.03669856 0.00306549 -0.01740991
+v -0.03658076 0.00341493 -0.02054075
+v -0.03622976 -0.00322853 -0.01951657
+v -0.03649181 0.00341493 -0.02065838
+v -0.03586795 -0.00577750 -0.02065841
+v -0.03661322 0.00098690 -0.01779964
+v -0.03627424 -0.00182339 -0.01811452
+v -0.03652907 -0.00035403 -0.01820719
+v -0.03349149 0.00341488 -0.00852117
+v -0.03352395 0.00239201 -0.00852117
+v -0.03321382 -0.00182343 -0.00852119
+v -0.03337249 -0.00041828 -0.00852118
+v -0.03347707 0.00097790 -0.00852118
+v -0.03596291 -0.00463219 -0.01951658
+v -0.03016062 0.00341493 -0.02065838
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+v -0.03299024 -0.00322857 -0.00852119
+v -0.03396029 -0.01184010 -0.01693588
+v -0.03391221 -0.01103673 -0.01595207
+v -0.02848616 0.00341488 -0.00852117
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+v -0.02533079 -0.01184011 -0.01250992
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+v -0.03269574 -0.00465910 -0.00852120
+v -0.03384730 -0.01184010 -0.01650101
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+v -0.02863161 0.00341489 -0.00970697
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+v -0.03231709 -0.00607172 -0.00852120
+v -0.03234354 -0.00598809 -0.00852120
+f 1 2 8
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+f 1 14 12
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+f 30 42 43
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+f 40 46 47
+f 40 47 41
+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_63.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fb0fa619054190ca0d008094e84c6f8e18e225e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_63.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.03355607 0.00730829 0.00524095
+v 0.03355322 0.00801317 0.00524095
+v 0.03353141 0.00694821 0.00524095
+v 0.03330187 0.00341486 -0.00269463
+v 0.03330472 0.00341487 -0.00653616
+v 0.03354089 0.00847471 0.00524095
+v 0.03328385 0.00619215 0.00524094
+v 0.03315770 0.00341485 -0.00132841
+v 0.02686720 0.00341487 -0.00653616
+v 0.03323263 0.00483720 -0.00653615
+v 0.03314252 0.00624247 -0.00653615
+v 0.03347924 0.00893265 0.00477402
+v 0.03348398 0.00894972 0.00524095
+v 0.03177572 0.00341483 0.00524093
+v 0.02477764 0.01258730 -0.00653612
+v 0.02674958 0.00341487 -0.00550084
+v 0.02445040 0.01258729 -0.00407579
+v 0.02456707 0.01258730 -0.00503848
+v 0.02461923 0.01258730 -0.00544200
+v 0.02475867 0.01258730 -0.00640815
+v 0.03310932 0.00660883 -0.00653615
+v 0.03281908 0.01222809 0.00150550
+v 0.03297748 0.00801321 -0.00653614
+v 0.03273941 0.01258727 0.00150551
+v 0.03339672 0.00929991 0.00524095
+v 0.02611408 0.00341483 0.00524093
+v 0.03091068 0.01258730 -0.00653612
+v 0.02664240 0.00341487 -0.00448166
+v 0.02429674 0.01258729 -0.00269689
+v 0.03271664 0.01258728 0.00114810
+v 0.03247572 0.00950019 -0.00653614
+v 0.03258385 0.01258728 0.00010471
+v 0.03254591 0.01258727 0.00273683
+v 0.03317951 0.01005687 0.00524096
+v 0.03332274 0.00958186 0.00524096
+v 0.02386612 0.01258726 0.00524097
+v 0.02611408 0.00341483 0.00430937
+v 0.02660256 0.00341487 -0.00409888
+v 0.02425501 0.01258729 -0.00225878
+v 0.03248995 0.01258727 0.00292936
+v 0.03279062 0.01082371 0.00524096
+v 0.03028941 0.01258726 0.00524097
+v 0.02387466 0.01258726 0.00430941
+v 0.02614064 0.00341484 0.00290742
+v 0.02647452 0.00341486 -0.00271768
+v 0.02416395 0.01258728 -0.00129609
+v 0.03227558 0.01258727 0.00326141
+v 0.03219306 0.01172165 0.00524096
+v 0.03258195 0.01117929 0.00524096
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+v 0.03154049 0.01258727 0.00406269
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_64.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7ee84335e2f6e182cf07e4bd1edceccfb9eff1a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_64.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.01069512 0.02619778 0.00524102
+v 0.01069512 0.02622801 0.00430960
+v 0.01954233 0.01960958 0.00430957
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+v 0.01069512 0.02629802 0.00290788
+v 0.01954233 0.01967323 0.00290785
+v 0.01954233 0.02656052 0.00524102
+v 0.01139919 0.03557017 0.00524105
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+v 0.01954233 0.01975119 0.00148190
+v 0.01954233 0.02727967 -0.00329295
+v 0.01212750 0.03523448 0.00524105
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+v 0.01069512 0.02646508 0.00056388
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+v 0.01666283 0.02975203 -0.00329294
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+f 35 37 41
+f 35 41 36
+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_65.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8222a2abd7b553e835bc86c76d3b86b4b3d816bc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_65.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.00125855 0.03876438 -0.01720929
+v -0.00035173 0.03673821 -0.00609059
+v 0.00106057 0.03664050 -0.00609059
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+v -0.00125855 0.03240969 -0.01720931
+v -0.00125855 0.03678988 -0.00609058
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+v -0.00047810 0.03864983 -0.01720929
+v -0.00105964 0.03873743 -0.01720929
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+v 0.00999774 0.03683484 -0.01720929
+v 0.00984563 0.03686292 -0.01720929
+v 0.00950864 0.03692245 -0.01720929
+v -0.00125855 0.03226369 -0.01671297
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+v -0.00125855 0.03005781 -0.00609061
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+v -0.00125855 0.03111695 -0.01218712
+v -0.00125855 0.03069464 -0.01003304
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_66.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfaf38910f8c815d34ba8347d2632b167d54cef4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_66.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.00125855 0.04063359 -0.02162302
+v -0.00125855 0.03123033 -0.02162306
+v -0.00125855 0.04057200 -0.02092780
+v 0.01537155 0.03686176 -0.02008913
+v 0.01622319 0.03674010 -0.02091788
+v 0.01676611 0.03660341 -0.02162304
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+v -0.00125855 0.03991857 -0.01945958
+v -0.00106338 0.03988552 -0.01944964
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+v 0.01528461 0.03686777 -0.02004506
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_67.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0077cd76eb15e91d411643934d5a542dac0a3614
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_67.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.01123757 0.03507019 -0.00879753
+v -0.01123757 0.04033800 -0.02027216
+v -0.01212665 0.03484607 -0.00879753
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_68.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e8f1fb6c2a0d7c5c83b106f3ad6afb7ccffee7e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_68.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_69.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61c5e6a481f9ad8d53578ee703a37c1a0dc1ea56
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_69.obj
@@ -0,0 +1,172 @@
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_7.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ff04c1f0a9b00ba0b15859be2ec4b32dc4e97b9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_7.obj
@@ -0,0 +1,961 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_70.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee701d43a8a75c6c50aa323c9ebbd3de39bf0682
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_70.obj
@@ -0,0 +1,154 @@
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_71.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42ad02593f4c9601ce186f85fe874cc8f5e9eba3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_71.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_72.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7817b4ccb628213b585959abaa9c89a5345d2588
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_72.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
+v 0.03352696 0.00217493 0.02466151
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_73.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bab5734011b1ff9799283ef16b76c7f5448c5f3c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_73.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.02048887 0.01909759 -0.00232903
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_74.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..563a3b39ed36f92c6cb9a06204d0416b0c831d3a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_74.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_75.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0e1c0641b3ef3918d383081a653e30c826c9392
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_75.obj
@@ -0,0 +1,727 @@
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_76.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2f8a67cfba311bff30ef95d617b9569138ba7a2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_76.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_77.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eaa507bc861c74f13b9f185d793428fbaa96c40
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_77.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_78.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8182ed8c4b7246838257ffebd2be06500b4b0a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_78.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.00880015 0.03333925 0.00860133
+v 0.00880196 0.03334590 0.00860133
+v 0.00880105 0.03327527 0.00860133
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+v 0.00963765 0.03474642 0.00860134
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+v 0.00949687 0.03327526 0.01174097
+v 0.01085420 0.03556962 0.01237545
+v 0.01041830 0.03588644 0.00860134
+v 0.01531606 0.03327526 0.01046582
+v 0.01289832 0.03475103 0.00860134
+v 0.01005189 0.03327525 0.01275418
+v 0.01105816 0.03523210 0.01330814
+v 0.01229907 0.03550872 0.01492663
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+v 0.01461574 0.03327524 0.01717516
+v 0.01574113 0.03327524 0.01739373
+v 0.01585846 0.03327524 0.01737073
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_79.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6085e4d3235d4b21003af274d1587ee43087bcb1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_79.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.00021724 0.02880490 0.00524136
+v -0.00021724 0.02878064 0.00571161
+v -0.00021724 0.03437938 0.00524138
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+v -0.00021724 0.03459298 0.01812093
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+v 0.01825642 0.02770766 0.00524135
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+v -0.00021724 0.02916408 0.01812091
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+v 0.01585741 0.03327469 0.01736952
+v 0.01692448 0.03327469 0.01687784
+v 0.01731892 0.03327469 0.01667361
+v 0.01314591 0.03438207 0.00860121
+v 0.01323166 0.03438207 0.00759137
+v 0.01319355 0.03438207 0.00711356
+v 0.01290201 0.03438208 0.00568894
+v 0.01286009 0.03438208 0.00556160
+v 0.01275148 0.03438208 0.00524138
+v 0.01655291 0.03111463 0.00678575
+v 0.01803728 0.02987247 0.00776029
+v 0.01823355 0.03013735 0.00851546
+v 0.01891000 0.03049589 0.01131805
+v 0.01912722 0.03049588 0.01271871
+v 0.01924917 0.02770761 0.01812090
+v -0.00021724 0.02869704 0.00991738
+v 0.00575073 0.02770765 0.00851545
+v -0.00021724 0.02904614 0.01692322
+v 0.00784486 0.02770761 0.01812090
+v 0.01186162 0.03236750 0.01812092
+v 0.01339172 0.03193818 0.01812092
+v 0.01444355 0.03154862 0.01812092
+v 0.01500185 0.03129857 0.01812091
+v 0.01602319 0.03061718 0.01812091
+v 0.01684445 0.03004565 0.01812091
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+v 0.01829262 0.02868488 0.01812091
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+v -0.00021724 0.02879341 0.01343102
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_8.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7ec767fe7944a73171baee9cbae56ef1eb7632a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_8.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.02051638 0.02011086 0.00711300
+v -0.02051638 0.02011357 0.00571303
+v -0.01142872 0.02680704 0.00851479
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+v -0.01142872 0.02681377 0.00991656
+v -0.02051638 0.02012165 0.00760478
+v -0.01142872 0.02682052 0.00711303
+v -0.02051638 0.02012570 0.00524099
+v -0.01142872 0.02684477 0.01110294
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+v -0.01142872 0.02687579 0.00552281
+v -0.01142872 0.02686905 0.00564845
+v -0.01142872 0.02686636 0.00571306
+v -0.02051638 0.02662779 0.00524102
+v -0.01142872 0.02685151 0.01131832
+v -0.01142872 0.02690676 0.01259983
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+v -0.01142872 0.03300317 0.00524104
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_80.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcaf6afcbc89f8901b8c35a0efe57a199b630a83
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_80.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.03460901 -0.01184178 -0.02065906
+v -0.03428492 -0.01307111 -0.02065907
+v -0.03392431 -0.01248371 -0.01729634
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+v -0.03320766 -0.01184011 -0.01489841
+v -0.02683993 -0.01184178 -0.02065906
+v -0.03395779 -0.01390031 -0.02065907
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+v -0.03349067 -0.01184180 -0.01539724
+v -0.02997586 -0.01184013 -0.00866826
+v -0.02584635 -0.01184011 -0.01489841
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+v -0.01906628 -0.02911197 -0.01993494
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+v -0.01919409 -0.02894681 -0.01798890
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+v -0.02427154 -0.02517710 -0.01848536
+v -0.02106409 -0.02766300 -0.01811448
+f 1 2 3
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+f 49 58 59
+f 49 59 60
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+f 49 61 62
+f 49 62 63
+f 49 63 50
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+f 52 67 66
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+f 64 67 65
+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_81.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f38b407bd81e62e282c2f6e64357081d1beb2e2f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_81.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.01332456 -0.02263740 0.01561687
+v -0.01332456 -0.02262611 0.01552241
+v -0.01332456 -0.02883125 0.01561684
+v -0.00297953 -0.02570198 0.01561686
+v -0.01332456 -0.02259324 0.01521162
+v -0.00297953 -0.02569171 0.01552037
+v -0.01332456 -0.02933756 0.01313862
+v -0.00474168 -0.03212687 0.00809888
+v -0.00297953 -0.03224087 0.00926588
+v -0.00297953 -0.03078461 0.01561684
+v -0.01332456 -0.02247821 0.01411876
+v -0.00297953 -0.02561775 0.01476268
+v -0.01332456 -0.02936118 0.01298830
+v -0.00599747 -0.03208989 0.00665765
+v -0.00518222 -0.03217822 0.00712080
+v -0.00297953 -0.03234768 0.00852952
+v -0.00376440 -0.03222033 0.00854577
+v -0.01332456 -0.02234162 0.01271816
+v -0.00297953 -0.02555613 0.01411875
+v -0.01332456 -0.02938172 0.01275876
+v -0.00717831 -0.03199746 0.00524080
+v -0.00695652 -0.03205805 0.00524080
+v -0.00297953 -0.03239184 0.00787137
+v -0.01332456 -0.02232416 0.01251401
+v -0.00297953 -0.02543803 0.01271815
+v -0.01332456 -0.02222247 0.01131655
+v -0.01332456 -0.02940327 0.01146988
+v -0.00912173 -0.03093451 0.00524081
+v -0.01332456 -0.02940019 0.01128402
+v -0.00687044 -0.03206422 0.00524080
+v -0.00373807 -0.03231995 0.00711369
+v -0.00297953 -0.03227887 0.00707611
+v -0.00297953 -0.02533634 0.01131654
+v -0.01332456 -0.02218550 0.01082903
+v -0.01332456 -0.02936219 0.01108291
+v -0.01190471 -0.02875316 0.00524081
+v -0.00651700 -0.03208065 0.00524080
+v -0.00579087 -0.03210632 0.00524080
+v -0.00531894 -0.03210735 0.00524080
+v -0.00373807 -0.03215665 0.00601677
+v -0.00297953 -0.03220286 0.00656218
+v -0.00297953 -0.02525213 0.00991695
+v -0.01332456 -0.02203350 0.00851534
+v -0.01332456 -0.02207560 0.00920803
+v -0.01332456 -0.02212080 0.00991696
+v -0.01332456 -0.02756184 0.00524082
+v -0.00446116 -0.03202724 0.00524080
+v -0.00297953 -0.03211967 0.00620975
+v -0.00297953 -0.02518434 0.00857424
+v -0.01332456 -0.02197701 0.00738186
+v -0.01332456 -0.02190100 0.00524084
+v -0.00373807 -0.03182903 0.00524080
+v -0.00297953 -0.03205086 0.00605232
+v -0.00297953 -0.02515456 0.00779421
+v -0.01332456 -0.02195955 0.00700200
+v -0.01332456 -0.02196674 0.00717060
+v -0.01332456 -0.02190100 0.00530077
+v -0.00297953 -0.02510833 0.00524083
+v -0.00297953 -0.03154866 0.00524080
+v -0.00297953 -0.02513402 0.00711372
+v -0.01332456 -0.02191127 0.00571313
+v -0.00297953 -0.02512168 0.00651651
+v -0.00297953 -0.02511038 0.00571312
+v -0.00297953 -0.02510936 0.00552928
+f 1 2 5
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+f 1 11 18
+f 1 18 24
+f 1 24 26
+f 1 26 34
+f 1 34 45
+f 1 45 44
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+f 1 61 57
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+f 43 49 50
+f 47 52 53
+f 47 53 48
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+f 54 60 61
+f 54 61 55
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+f 57 63 64
+f 57 64 58
+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_82.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac4cb88dc0c12c95fe40458098f8ce5cd0f8690c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_82.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.03308995 0.01626402 0.01553683
+v 0.03237094 0.01784964 0.01664074
+v 0.03262165 0.01644425 0.01664697
+v 0.03261673 0.01626402 0.01661935
+v 0.03143568 0.01626404 0.01125668
+v 0.03305414 0.01644425 0.01552169
+v 0.03215738 0.01879925 0.01644562
+v 0.03064772 0.01998956 0.01763505
+v 0.02893973 0.01626401 0.01861064
+v 0.03118541 0.01626404 0.01067399
+v 0.03133450 0.01651236 0.01126470
+v 0.03215738 0.01879925 0.01600460
+v 0.03095664 0.02035002 0.01577740
+v 0.03088993 0.02027632 0.01692317
+v 0.03059176 0.01998956 0.01763505
+v 0.02851664 0.01724806 0.01861064
+v 0.03004466 0.02029555 0.01688575
+v 0.02851664 0.01626401 0.01861064
+v 0.03094321 0.01739268 0.01169592
+v 0.02851664 0.01626405 0.00950862
+v 0.02992468 0.02035562 0.01575335
+v 0.03078472 0.01867189 0.01325510
+v 0.02911702 0.02009529 0.01639395
+v 0.02851664 0.01906759 0.01690446
+v 0.02851664 0.01700619 0.01074794
+v 0.02911702 0.02009529 0.01604113
+v 0.02851664 0.01916411 0.01565178
+v 0.02851664 0.01906959 0.01690001
+v 0.02851664 0.01735463 0.01151684
+v 0.02851664 0.01916131 0.01563396
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 18
+f 1 18 20
+f 1 20 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
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+f 2 8 3
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+f 3 9 4
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+f 25 29 26
+f 26 29 30
+f 26 30 27
+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_83.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..358b1746e3ed25597378bc0b4c18700e54012c45
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_83.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.01954233 0.02024619 -0.00232903
+v 0.01954233 0.02712850 -0.00232900
+v 0.01954233 0.02029860 -0.00269812
+v 0.02426153 0.01258819 -0.00232905
+v 0.01954233 0.02788623 -0.00653722
+v 0.02767376 0.02166578 -0.00232902
+v 0.01954233 0.02051873 -0.00409989
+v 0.02429619 0.01258819 -0.00269814
+v 0.03095629 0.01258819 -0.00232905
+v 0.02789960 0.02145014 -0.00269811
+v 0.02297691 0.02509646 -0.00653723
+v 0.01954233 0.02099043 -0.00653724
+v 0.02789624 0.02145164 -0.00232902
+v 0.01954233 0.02077330 -0.00550084
+v 0.02445048 0.01258819 -0.00407685
+v 0.03096300 0.01258819 -0.00233029
+v 0.03096188 0.01259118 -0.00232905
+v 0.02963254 0.01917402 -0.00550085
+v 0.02969180 0.01904374 -0.00653725
+v 0.02953192 0.01922643 -0.00653725
+v 0.02784593 0.02138276 -0.00345028
+v 0.02383556 0.02437618 -0.00653723
+v 0.01954233 0.02090807 -0.00614468
+v 0.02477694 0.01258820 -0.00653727
+v 0.02461930 0.01258820 -0.00544279
+v 0.02833675 0.02065948 -0.00232902
+v 0.02841277 0.02065948 -0.00269811
+v 0.02456675 0.01258820 -0.00503869
+v 0.03091045 0.01258820 -0.00653727
+v 0.03035032 0.01787722 -0.00653725
+v 0.02916856 0.01963673 -0.00409990
+f 1 2 5
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+f 1 23 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 17
+f 1 17 26
+f 1 26 13
+f 1 13 6
+f 1 6 2
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+f 16 30 17
+f 17 30 31
+f 17 31 26
+f 18 30 19
+f 18 27 31
+f 18 31 30
+f 20 22 21
+f 23 25 28
+f 26 31 27
+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_84.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afd0ac30ed7bd008012b41d8ba45f7d154ba7d7e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_84.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00338089 0.03438306 0.00524138
+v 0.00349180 0.03438306 0.00534957
+v 0.00533110 0.03687082 0.00644987
+v 0.00417563 0.03695772 0.00524139
+v 0.01275289 0.03438306 0.00524138
+v 0.00410329 0.03438306 0.00578890
+v 0.00608148 0.03706387 0.00665572
+v 0.00479002 0.03709905 0.00561462
+v 0.00608148 0.03611573 0.00687340
+v 0.00941959 0.03438305 0.00860045
+v 0.00760731 0.03605920 0.00756232
+v 0.00475819 0.03720129 0.00524139
+v 0.01265934 0.03458153 0.00524138
+v 0.01254842 0.03551643 0.00616410
+v 0.01285995 0.03438306 0.00556134
+v 0.00608148 0.03745479 0.00571163
+v 0.01041785 0.03588689 0.00860045
+v 0.00748385 0.03718444 0.00693819
+v 0.01314737 0.03438305 0.00860045
+v 0.00963661 0.03474691 0.00860045
+v 0.00609691 0.03738081 0.00524139
+v 0.01212597 0.03523466 0.00524138
+v 0.01269116 0.03560513 0.00711279
+v 0.01307793 0.03471112 0.00711279
+v 0.01290239 0.03438306 0.00568893
+v 0.01209993 0.03525782 0.00524138
+v 0.01166205 0.03568753 0.00570274
+v 0.00964432 0.03684285 0.00636865
+v 0.01169098 0.03607844 0.00711279
+v 0.00757162 0.03722264 0.00561166
+v 0.00888526 0.03699680 0.00697699
+v 0.01163601 0.03573022 0.00860045
+v 0.01323418 0.03438305 0.00759027
+v 0.01263426 0.03556633 0.00805886
+v 0.01295351 0.03468556 0.00860045
+v 0.00740959 0.03713574 0.00524139
+v 0.01319560 0.03438305 0.00711279
+v 0.01139778 0.03557086 0.00524138
+v 0.00964432 0.03684285 0.00675075
+v 0.01020662 0.03605139 0.00524138
+v 0.00888526 0.03699681 0.00607960
+v 0.01018251 0.03662092 0.00717560
+v 0.01230633 0.03538531 0.00860045
+v 0.01289757 0.03475142 0.00860045
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+f 14 25 15
+f 14 22 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 23
+f 16 30 21
+f 16 18 31
+f 16 31 30
+f 17 32 31
+f 17 31 18
+f 19 33 34
+f 19 34 35
+f 21 30 36
+f 23 34 33
+f 23 33 24
+f 23 29 34
+f 24 33 37
+f 24 37 25
+f 26 38 27
+f 27 38 28
+f 28 39 29
+f 28 38 40
+f 28 40 41
+f 28 41 31
+f 28 31 39
+f 29 39 42
+f 29 42 34
+f 30 41 36
+f 30 31 41
+f 31 32 42
+f 31 42 39
+f 32 43 34
+f 32 34 42
+f 34 43 44
+f 34 44 35
+f 36 41 40
+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_85.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f81b5ab7ed5cb181fbb93f518575b850d94dc692
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_85.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.02427612 -0.01678744 0.02671922
+v -0.02427612 -0.01824717 0.02671921
+v -0.02427612 -0.01676460 0.02669443
+v -0.02427806 -0.01676826 0.02671922
+v -0.03062332 -0.01824717 0.02671921
+v -0.02427612 -0.01824712 0.01465811
+v -0.02427612 -0.01464531 0.01938693
+v -0.02634742 -0.00891598 0.01465815
+v -0.02647584 -0.00891599 0.01552244
+v -0.02764041 -0.00891601 0.02252532
+v -0.02788947 -0.00891602 0.02393038
+v -0.02837884 -0.00891603 0.02666966
+v -0.02838857 -0.00891603 0.02671925
+v -0.02668405 -0.00891599 0.01683069
+v -0.02714228 -0.00891600 0.01963018
+v -0.02739621 -0.00891601 0.02112734
+v -0.03120316 -0.01745702 0.02671922
+v -0.03061359 -0.01824715 0.02255480
+v -0.02759662 -0.01824712 0.01465811
+v -0.02427612 -0.01329883 0.01465813
+v -0.02427612 -0.01434112 0.01832546
+v -0.03211088 -0.00891598 0.01465815
+v -0.03421429 -0.00891603 0.02671925
+v -0.03135202 -0.01722865 0.02671922
+v -0.03060872 -0.01824715 0.02252882
+v -0.03213715 -0.01588675 0.02671922
+v -0.03217023 -0.01583012 0.02671922
+v -0.03279288 -0.01451837 0.02671923
+v -0.03259344 -0.01118322 0.01465814
+v -0.03125765 -0.01422327 0.01465813
+v -0.03068169 -0.01545920 0.01465812
+v -0.02992477 -0.01697922 0.01465812
+v -0.03023416 -0.01824715 0.02115800
+v -0.03233951 -0.00955267 0.01465814
+v -0.03404987 -0.01019672 0.02671924
+v -0.03245139 -0.00995734 0.01465814
+v -0.03258079 -0.01044331 0.01465814
+v -0.03259344 -0.01103707 0.01465814
+v -0.03035577 -0.01824715 0.02155591
+v -0.03333868 -0.01307691 0.02671923
+v -0.03334257 -0.01306503 0.02671923
+v -0.03373757 -0.01172496 0.02671924
+v -0.03374243 -0.01170578 0.02671924
+v -0.03404306 -0.01023874 0.02671924
+v -0.03404792 -0.01020951 0.02671924
+f 1 2 6
+f 1 6 20
+f 1 20 21
+f 1 21 7
+f 1 7 3
+f 1 3 4
+f 1 4 13
+f 1 13 23
+f 1 23 35
+f 1 35 45
+f 1 45 44
+f 1 44 43
+f 1 43 42
+f 1 42 41
+f 1 41 40
+f 1 40 28
+f 1 28 27
+f 1 27 26
+f 1 26 24
+f 1 24 17
+f 1 17 5
+f 1 5 2
+f 2 5 18
+f 2 18 25
+f 2 25 39
+f 2 39 33
+f 2 33 19
+f 2 19 6
+f 3 7 8
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+f 3 9 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 9 14
+f 4 14 15
+f 4 15 16
+f 4 16 10
+f 5 17 18
+f 6 19 32
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+f 6 31 30
+f 6 30 29
+f 6 29 38
+f 6 38 37
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+f 6 34 22
+f 6 22 8
+f 6 8 20
+f 7 21 8
+f 8 21 20
+f 8 22 23
+f 8 23 13
+f 8 13 12
+f 8 12 11
+f 8 11 10
+f 8 10 16
+f 8 16 15
+f 8 15 14
+f 8 14 9
+f 17 24 18
+f 18 24 26
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 25
+f 19 33 32
+f 22 34 23
+f 23 34 36
+f 23 36 37
+f 23 37 38
+f 23 38 29
+f 23 29 35
+f 25 32 39
+f 28 40 29
+f 29 40 41
+f 29 41 42
+f 29 42 43
+f 29 43 44
+f 29 44 45
+f 29 45 35
+f 32 33 39
+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_86.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..409f4fcf2437f8d0477967120f7b537c6df6f0f3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_86.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.00021724 0.03531742 0.02280132
+v -0.00021724 0.03459266 0.01812093
+v -0.00021724 0.02977840 0.02280130
+v 0.01168936 0.03301273 0.02280131
+v 0.01185999 0.03236766 0.01812092
+v 0.01020580 0.03268722 0.01812092
+v -0.00021724 0.02916388 0.01812091
+v -0.00021724 0.02970615 0.02237977
+v 0.01003315 0.02770835 0.02280129
+v 0.01254054 0.03280341 0.02280131
+v 0.01283364 0.03272967 0.02280131
+v 0.01339374 0.03193935 0.01812092
+v -0.00021724 0.02918473 0.01832572
+v 0.00784496 0.02770836 0.01812090
+v 0.00792526 0.02770836 0.01832571
+v 0.00853956 0.02770836 0.01972731
+v 0.00920003 0.02770835 0.02112845
+v 0.00988660 0.02770835 0.02252959
+v 0.01000304 0.02770835 0.02274585
+v -0.00021724 0.02952738 0.02112846
+v 0.02028957 0.02770835 0.02280129
+v -0.00021724 0.02943650 0.02044117
+v -0.00021724 0.02934489 0.01972732
+v -0.00021724 0.02926593 0.01903958
+v 0.01305246 0.03266486 0.02280131
+v 0.01352824 0.03251812 0.02280131
+v 0.01444367 0.03154977 0.01812092
+v 0.01924766 0.02770836 0.01812090
+v 0.01829409 0.02868342 0.01812091
+v 0.01745093 0.02954079 0.01812091
+v 0.01821580 0.02973073 0.02280130
+v 0.01424091 0.03223729 0.02280131
+v 0.01448583 0.03213822 0.02280131
+v 0.01500377 0.03129948 0.01812091
+v 0.01684466 0.03004509 0.01812091
+v 0.01796285 0.02996388 0.02280130
+v 0.01545948 0.03166596 0.02280131
+v 0.01577666 0.03151177 0.02280131
+v 0.01600753 0.03138067 0.02280131
+v 0.01646725 0.03111698 0.02280130
+v 0.01602560 0.03061716 0.01812091
+v 0.01737666 0.03043540 0.02280130
+f 1 2 7
+f 1 7 13
+f 1 13 24
+f 1 24 23
+f 1 23 22
+f 1 22 20
+f 1 20 8
+f 1 8 3
+f 1 3 9
+f 1 9 21
+f 1 21 31
+f 1 31 36
+f 1 36 42
+f 1 42 40
+f 1 40 39
+f 1 39 38
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+f 1 37 33
+f 1 33 32
+f 1 32 26
+f 1 26 25
+f 1 25 11
+f 1 11 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 5
+f 2 5 12
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+f 2 27 34
+f 2 34 41
+f 2 41 35
+f 2 35 30
+f 2 30 29
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+f 2 28 14
+f 2 14 7
+f 3 8 9
+f 4 10 5
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+f 5 11 12
+f 7 14 15
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+f 7 17 18
+f 7 18 19
+f 7 19 13
+f 8 20 9
+f 9 19 18
+f 9 18 17
+f 9 17 16
+f 9 16 15
+f 9 15 14
+f 9 14 28
+f 9 28 21
+f 9 20 22
+f 9 22 23
+f 9 23 24
+f 9 24 13
+f 9 13 19
+f 11 25 12
+f 12 25 26
+f 12 26 27
+f 21 28 29
+f 21 29 30
+f 21 30 31
+f 26 32 27
+f 27 32 33
+f 27 33 34
+f 30 35 36
+f 30 36 31
+f 33 37 34
+f 34 37 38
+f 34 38 39
+f 34 39 40
+f 34 40 41
+f 35 41 40
+f 35 40 42
+f 35 42 36
+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_87.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed381a892e98c2336fe4b7728fbbb52e32d223f1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_87.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.01156764 -0.03299112 -0.02137111
+v 0.01156764 -0.03260365 -0.02191403
+v 0.01950011 -0.02785777 -0.02166491
+v 0.01968050 -0.02791544 -0.02137109
+v 0.01156764 -0.02503745 -0.02137108
+v 0.01156764 -0.03256963 -0.02194460
+v 0.01983097 -0.02633447 -0.02295287
+v 0.01983097 -0.02741705 -0.02196327
+v 0.01983097 -0.02780452 -0.02137109
+v 0.01983097 -0.01868250 -0.02137106
+v 0.01156764 -0.01788388 -0.02163940
+v 0.01156764 -0.03161276 -0.02278644
+v 0.01983097 -0.02565563 -0.02345389
+v 0.01983097 -0.01841777 -0.02142880
+v 0.01983097 -0.01788388 -0.02160600
+v 0.01156764 -0.01788387 -0.02542515
+v 0.01156764 -0.03146635 -0.02288439
+v 0.01983097 -0.02459820 -0.02416835
+v 0.01983097 -0.01788386 -0.02715469
+v 0.01156764 -0.02430537 -0.02486583
+v 0.01156764 -0.03128000 -0.02299704
+v 0.01983097 -0.02389571 -0.02460144
+v 0.01983097 -0.01870762 -0.02691238
+v 0.01156764 -0.02865933 -0.02417516
+v 0.01156764 -0.02859426 -0.02419271
+v 0.01156764 -0.02711386 -0.02452502
+v 0.01156764 -0.02657405 -0.02460938
+v 0.01156764 -0.02575916 -0.02472090
+v 0.01156764 -0.03053314 -0.02342107
+v 0.01983097 -0.02290039 -0.02515115
+v 0.01983097 -0.02009781 -0.02642494
+v 0.01156764 -0.02997114 -0.02369565
+v 0.01983097 -0.02182521 -0.02567709
+v 0.01983097 -0.02113750 -0.02598846
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 11
+f 1 11 16
+f 1 16 20
+f 1 20 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
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+f 1 32 29
+f 1 29 21
+f 1 21 17
+f 1 17 12
+f 1 12 6
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+f 7 18 22
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+f 7 9 8
+f 10 14 11
+f 11 14 15
+f 11 15 19
+f 11 19 16
+f 12 17 18
+f 12 18 13
+f 16 19 20
+f 17 21 22
+f 17 22 18
+f 19 23 24
+f 19 24 25
+f 19 25 26
+f 19 26 27
+f 19 27 28
+f 19 28 20
+f 21 29 22
+f 22 29 30
+f 23 31 24
+f 24 31 32
+f 29 32 33
+f 29 33 30
+f 31 34 32
+f 32 34 33
+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_88.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b21011edf7418030818bda46e46df3e7f8183c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_88.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.00297852 -0.03657722 0.03042057
+v -0.00297852 -0.02783707 0.03042060
+v -0.00324678 -0.03640598 0.03042057
+v -0.00450559 -0.03348802 0.02027966
+v -0.00323670 -0.03351751 0.01890010
+v -0.00297852 -0.03352318 0.01887401
+v -0.00679004 -0.02693323 0.03042060
+v -0.00297852 -0.02774635 0.03001050
+v -0.00350384 -0.03618598 0.03042057
+v -0.00679004 -0.02996337 0.01561786
+v -0.00679004 -0.03253431 0.02693111
+v -0.00654193 -0.03002461 0.01561786
+v -0.00644269 -0.03004616 0.01561786
+v -0.00297852 -0.03078443 0.01561786
+v -0.00679004 -0.03239370 0.03042058
+v -0.00297852 -0.02754222 0.02877875
+v -0.00297852 -0.02731653 0.02737745
+v -0.00297852 -0.02709312 0.02597616
+v -0.00297852 -0.02687537 0.02457486
+v -0.00297852 -0.02677671 0.02393000
+v -0.00297852 -0.02666444 0.02317211
+v -0.00297852 -0.02657484 0.02256493
+v -0.00679004 -0.02683911 0.02977284
+v -0.00395006 -0.03575617 0.03042057
+v -0.00679004 -0.02499168 0.01561788
+v -0.00436792 -0.03531162 0.03042057
+v -0.00679004 -0.03250596 0.02779768
+v -0.00297852 -0.02570160 0.01561788
+v -0.00297852 -0.02648071 0.02191138
+v -0.00679004 -0.02623350 0.02553997
+v -0.00679004 -0.02511416 0.01675688
+v -0.00297852 -0.02576057 0.01616709
+v -0.00297852 -0.02629019 0.02053327
+v -0.00679004 -0.02604071 0.02417780
+v -0.00679004 -0.02514138 0.01700758
+v -0.00297852 -0.02584336 0.01692498
+v -0.00297852 -0.02618812 0.01978843
+v -0.00679004 -0.02584905 0.02277796
+v -0.00679004 -0.02515839 0.01715684
+v -0.00679004 -0.02532170 0.01858857
+v -0.00297852 -0.02591707 0.01756838
+v -0.00679004 -0.02563357 0.02112887
+v -0.00679004 -0.02566533 0.02137667
+v -0.00297852 -0.02600667 0.01832627
+v -0.00679004 -0.02546232 0.01974786
+f 1 2 7
+f 1 7 15
+f 1 15 26
+f 1 26 24
+f 1 24 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 28
+f 1 28 32
+f 1 32 36
+f 1 36 41
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+f 1 33 29
+f 1 29 22
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+f 1 8 2
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+f 7 25 10
+f 7 10 11
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+f 7 27 15
+f 9 24 11
+f 10 25 28
+f 10 28 14
+f 10 14 13
+f 10 13 12
+f 11 24 26
+f 11 26 27
+f 15 27 26
+f 22 29 23
+f 23 29 30
+f 25 31 32
+f 25 32 28
+f 29 33 34
+f 29 34 30
+f 31 35 32
+f 32 35 36
+f 33 37 34
+f 34 37 38
+f 35 39 36
+f 36 39 40
+f 36 40 41
+f 37 42 43
+f 37 43 38
+f 37 44 42
+f 40 44 41
+f 40 45 44
+f 42 44 45
+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_89.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76eb7017e04e9e749623f3f31b059ad6ae14d364
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_89.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.02825272 -0.02572818 0.01832117
+v -0.02979409 -0.02509996 0.01886090
+v -0.02894758 -0.02535769 0.01836720
+v -0.02825272 -0.02537965 0.01769882
+v -0.02825272 -0.02555758 0.01938702
+v -0.02979409 -0.02509996 0.01919666
+v -0.03000407 -0.02421034 0.01836720
+v -0.02939087 -0.02461597 0.01792684
+v -0.02845611 -0.02516511 0.01752309
+v -0.03117011 -0.02370146 0.02018615
+v -0.03100223 -0.02336318 0.01925209
+v -0.02825272 -0.02521929 0.01748857
+v -0.02898308 -0.02532694 0.01935355
+v -0.02825272 -0.02088839 0.02671934
+v -0.03129538 -0.02222171 0.02324983
+v -0.03117011 -0.02370147 0.02071646
+v -0.03066139 -0.02289677 0.01837871
+v -0.02972460 -0.02367875 0.01758271
+v -0.02894758 -0.02421033 0.01729821
+v -0.02825272 -0.02339759 0.01633591
+v -0.03310100 -0.02139871 0.02252915
+v -0.03291131 -0.02117612 0.02157208
+v -0.03116301 -0.02242670 0.01888078
+v -0.02825272 -0.01824808 0.02671935
+v -0.02901351 -0.02012910 0.02671935
+v -0.03288240 -0.02121713 0.02344752
+v -0.03155659 -0.02252556 0.02252915
+v -0.03225753 -0.02210089 0.02252915
+v -0.02991683 -0.02289896 0.01738608
+v -0.02897243 -0.02295827 0.01663297
+v -0.02849770 -0.02252920 0.01609325
+v -0.02825272 -0.02317061 0.01622817
+v -0.03343372 -0.02008954 0.02252916
+v -0.03298232 -0.02008954 0.02155745
+v -0.03124111 -0.02149462 0.01878350
+v -0.03062386 -0.01824808 0.02671935
+v -0.02825272 -0.01824805 0.01801367
+v -0.02908401 -0.02005441 0.02671935
+v -0.03294073 -0.02008955 0.02349669
+v -0.03022875 -0.01875989 0.02671935
+v -0.03033374 -0.01863176 0.02671935
+v -0.03052800 -0.01837915 0.02671935
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_9.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f115b93b80cc72f4f1cdaad828f6c8f9b9a53193
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_9.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_90.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dff4fb23a4105c8e253abd378ec6325daacaa0f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_90.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.01332482 -0.03009996 0.01689486
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_91.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cdf9ae9dd3010e5eb519c876611871f57107c59
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_91.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_92.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d0affd2e644e8e5c44ed139170bc18a4a4a0c9b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_92.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.01156683 -0.02599728 -0.01882124
+v 0.01156683 -0.02476799 -0.02156275
+v 0.00573978 -0.02476799 -0.02163464
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+v 0.01156683 -0.03343355 -0.01882126
+v 0.01156683 -0.02476798 -0.02481331
+v 0.00573978 -0.02476797 -0.02686411
+v 0.00573978 -0.03533566 -0.01882127
+v 0.01149040 -0.03348447 -0.01882126
+v 0.01156683 -0.03345901 -0.01890578
+v 0.00573978 -0.02845701 -0.02802018
+v 0.01156683 -0.02575965 -0.02472102
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+v 0.00573978 -0.03132895 -0.02865360
+v 0.00573978 -0.03012636 -0.02841169
+v 0.00573978 -0.02973842 -0.02832523
+v 0.00573978 -0.03593090 -0.01984619
+v 0.00596280 -0.03529323 -0.01882127
+v 0.01129704 -0.03359721 -0.01882126
+v 0.01141454 -0.03368329 -0.01951782
+v 0.01156683 -0.03359358 -0.01951782
+v 0.01156683 -0.02657553 -0.02460931
+v 0.00573978 -0.03414757 -0.02847486
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+v 0.01098561 -0.03376330 -0.01882126
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+v 0.00959273 -0.03484467 -0.02026198
+v 0.00608144 -0.03692861 -0.02372240
+v 0.00690793 -0.03634064 -0.02372239
+v 0.01122916 -0.03359599 -0.02091869
+v 0.01156683 -0.03331595 -0.02091869
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+v 0.00608144 -0.03686558 -0.02232055
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_93.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08223df3ed9ca2ea2839eec5d39fdf06411358fb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_93.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.01954322 0.02712968 -0.00232900
+v 0.01954322 0.02024760 -0.00232903
+v 0.01954322 0.02655890 0.00524102
+v 0.02299111 0.02667132 0.00524102
+v 0.02335826 0.02657698 0.00524102
+v 0.02412823 0.02595984 0.00430959
+v 0.02657534 0.02290090 -0.00090779
+v 0.02767414 0.02166663 -0.00232902
+v 0.01954322 0.02010372 -0.00130423
+v 0.02048784 0.01909901 -0.00232903
+v 0.02036219 0.01909900 -0.00130498
+v 0.01954322 0.01959741 0.00524099
+v 0.02410862 0.02609978 0.00524102
+v 0.02482957 0.02533484 0.00430958
+v 0.02540971 0.02462180 0.00290761
+v 0.02666446 0.02303612 0.00010515
+v 0.02789693 0.02145279 -0.00232902
+v 0.01954322 0.01992448 0.00010514
+v 0.02023654 0.01909900 -0.00009493
+v 0.02864640 0.01909901 -0.00232903
+v 0.01970808 0.01939615 0.00524099
+v 0.01954322 0.01960527 0.00465635
+v 0.02488304 0.02480890 0.00524101
+v 0.02527158 0.02463280 0.00430958
+v 0.02659317 0.02304004 0.00150638
+v 0.02788980 0.02145435 -0.00129607
+v 0.02833716 0.02066034 -0.00232902
+v 0.01954322 0.01975151 0.00148191
+v 0.02021604 0.01909900 0.00010514
+v 0.02863125 0.01921379 -0.00232903
+v 0.02665288 0.01909898 0.00524099
+v 0.01995226 0.01909898 0.00524099
+v 0.01954322 0.01960999 0.00430956
+v 0.01996206 0.01909898 0.00430956
+v 0.02505681 0.02449129 0.00524101
+v 0.02510939 0.02443232 0.00517655
+v 0.02648088 0.02290717 0.00235926
+v 0.02783366 0.02138753 -0.00055508
+v 0.01954322 0.01967211 0.00290759
+v 0.02009395 0.01909899 0.00148858
+v 0.02002088 0.01909899 0.00273939
+v 0.02001108 0.01909899 0.00290759
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+f 33 42 34
+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_94.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d09ff66cc17ad10df23d52f67239ebc99a5ec8a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_94.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.01082134 -0.03509503 0.02396394
+v -0.00930864 -0.03509503 0.02534481
+v -0.00938987 -0.03508772 0.02676770
+v -0.01044013 -0.03508161 0.02533177
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+v -0.01064736 -0.03508038 0.02244251
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+v -0.00823728 -0.03501332 0.02759072
+v -0.00895045 -0.03501332 0.02759072
+v -0.01021690 -0.03497674 0.02632432
+v -0.01156458 -0.03495355 0.02351910
+v -0.01176670 -0.03504502 0.02253090
+v -0.01175839 -0.03500111 0.02150937
+v -0.01104713 -0.03500111 0.02150937
+v -0.00985551 -0.03496818 0.02284967
+v -0.00825774 -0.03494502 0.02582007
+v -0.00679045 -0.02996159 0.01561930
+v -0.00739617 -0.03413885 0.02673293
+v -0.00679045 -0.03239358 0.03041913
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+v -0.01332418 -0.03398149 0.02012996
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+v -0.00679045 -0.02623444 0.02553900
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+v -0.00679045 -0.02549045 0.01997639
+v -0.00679045 -0.02546240 0.01974891
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+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_95.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aee97aa86671c882d47ae87571d1d99b97f47c7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_95.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.01906665 -0.02687060 0.00146417
+v -0.01906665 -0.02670502 0.00229738
+v -0.01982005 -0.02637128 0.00189030
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+v -0.01906665 -0.02589803 0.00523946
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+v -0.02293202 -0.02371428 -0.00269776
+v -0.02009099 -0.02527611 -0.00690191
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+v -0.02293202 -0.01394161 -0.00409865
+v -0.01906665 -0.01845638 -0.00550096
+v -0.01906665 -0.01819044 -0.00269774
+v -0.02293202 -0.01378779 -0.00269772
+v -0.01906665 -0.01831167 -0.00409867
+v -0.01906665 -0.01821912 -0.00302993
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 17
+f 1 17 22
+f 1 22 28
+f 1 28 33
+f 1 33 37
+f 1 37 44
+f 1 44 50
+f 1 50 53
+f 1 53 54
+f 1 54 51
+f 1 51 47
+f 1 47 46
+f 1 46 43
+f 1 43 42
+f 1 42 40
+f 1 40 34
+f 1 34 29
+f 1 29 23
+f 1 23 18
+f 1 18 13
+f 1 13 8
+f 1 8 2
+f 2 8 3
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+f 3 5 4
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+f 10 26 20
+f 10 20 15
+f 10 15 12
+f 10 12 11
+f 13 18 19
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+f 16 21 22
+f 16 22 17
+f 16 20 21
+f 18 23 24
+f 18 24 25
+f 18 25 19
+f 20 26 27
+f 20 27 21
+f 21 27 26
+f 21 26 32
+f 21 32 33
+f 21 33 28
+f 21 28 22
+f 23 29 30
+f 23 30 31
+f 23 31 24
+f 29 34 30
+f 30 34 35
+f 32 36 33
+f 33 36 38
+f 33 38 39
+f 33 39 37
+f 34 40 35
+f 35 40 42
+f 35 42 43
+f 35 43 41
+f 37 39 44
+f 39 45 44
+f 41 43 46
+f 41 46 47
+f 41 47 48
+f 44 45 49
+f 44 49 50
+f 47 51 48
+f 48 51 52
+f 49 52 50
+f 50 52 53
+f 51 54 52
+f 52 54 53
+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_96.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..625408b627161fc54cf8bfe00c7bcefd89e547ad
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_96.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.03211049 -0.00891598 0.01465815
+v -0.03235121 -0.00466459 0.01465816
+v -0.02634647 -0.00891598 0.01465815
+v -0.03421387 -0.00891603 0.02671925
+v -0.03422088 -0.00886283 0.02671925
+v -0.03422244 -0.00884763 0.02671925
+v -0.03430501 -0.00744281 0.02671925
+v -0.03241276 -0.00322829 0.01465817
+v -0.02645943 -0.00891599 0.01541382
+v -0.02780481 0.00217497 0.01465819
+v -0.02786168 0.00217496 0.01552248
+v -0.02796685 0.00217496 0.01692400
+v -0.02807669 0.00217495 0.01832552
+v -0.02820445 0.00217495 0.01987227
+v -0.02878872 0.00217492 0.02671929
+v -0.02838830 -0.00891603 0.02671925
+v -0.03428787 -0.00603690 0.02671926
+v -0.03238393 -0.00183432 0.01465817
+v -0.02647579 -0.00891599 0.01552244
+v -0.03181836 0.00217497 0.01465819
+v -0.03304143 0.00217492 0.02671929
+v -0.02837895 -0.00891603 0.02666966
+v -0.02788972 -0.00891602 0.02393038
+v -0.02764043 -0.00891601 0.02252532
+v -0.02740673 -0.00891601 0.02118638
+v -0.02739660 -0.00891601 0.02112734
+v -0.02714186 -0.00891600 0.01963018
+v -0.02668456 -0.00891599 0.01683069
+v -0.03418426 -0.00463207 0.02671926
+v -0.03226941 -0.00041755 0.01465818
+v -0.03206765 0.00098727 0.01465818
+v -0.03389291 -0.00256066 0.02671927
+v -0.03400509 -0.00324788 0.02671927
+f 1 2 8
+f 1 8 18
+f 1 18 30
+f 1 30 31
+f 1 31 20
+f 1 20 10
+f 1 10 3
+f 1 3 9
+f 1 9 19
+f 1 19 28
+f 1 28 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
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+f 1 23 22
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+f 3 15 9
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+f 4 29 17
+f 4 17 7
+f 4 7 6
+f 4 6 5
+f 7 17 8
+f 8 17 18
+f 9 15 19
+f 10 20 21
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+f 10 15 14
+f 10 14 13
+f 10 13 12
+f 10 12 11
+f 15 16 22
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 19
+f 17 29 18
+f 18 29 30
+f 20 31 21
+f 21 31 32
+f 29 33 30
+f 30 33 31
+f 31 33 32
+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_97.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9399d3be423f3dd8226af1aa4339c8a8f7e04b79
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_97.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
+v 0.00573978 -0.02476676 -0.02686473
+v 0.01156683 -0.02430391 -0.02486590
+v 0.01156683 -0.02476677 -0.02481347
+v 0.00573978 -0.02476678 -0.02163433
+v 0.00573978 -0.01788454 -0.02563717
+v 0.01156683 -0.01788454 -0.02542540
+v 0.01156683 -0.02476678 -0.02156271
+v 0.00573978 -0.01788455 -0.02163431
+v 0.01156683 -0.01788455 -0.02163951
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 5
+f 1 5 6
+f 1 6 2
+f 2 6 9
+f 2 9 7
+f 2 7 3
+f 4 7 8
+f 5 8 9
+f 5 9 6
+f 7 9 8
+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_98.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb77fa0526ddebeb67ae91b038e3cd3e29ac798c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_98.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.02500935 -0.00969221 -0.02162591
+v 0.02685048 -0.00969222 -0.01882022
+v 0.02926704 0.00341492 -0.01882017
+v 0.02516607 -0.00884663 -0.02162590
+v 0.03633726 -0.00969221 -0.02162591
+v 0.03463132 -0.00969222 -0.01882022
+v 0.03649279 0.00341492 -0.01882017
+v 0.02783744 0.00341493 -0.02162586
+v 0.03636359 -0.00960496 -0.02162591
+v 0.03628822 -0.00969221 -0.02153307
+v 0.03470788 -0.00948307 -0.01882021
+v 0.03714358 -0.00322654 -0.02162588
+v 0.03654423 0.00341492 -0.01951699
+v 0.03652150 0.00239227 -0.01882017
+v 0.03709094 -0.00322654 -0.02091807
+v 0.03532518 0.00341493 -0.02162586
+v 0.03657413 -0.00884663 -0.02162590
+v 0.03641144 -0.00884663 -0.02132679
+v 0.03535509 -0.00741211 -0.01882021
+v 0.03501055 -0.00856692 -0.01882021
+v 0.03475693 -0.00934834 -0.01882021
+v 0.03722972 -0.00468802 -0.02162589
+v 0.03683254 -0.00177660 -0.02162588
+v 0.03631812 0.00341492 -0.02035581
+v 0.03654423 0.00098724 -0.01882018
+v 0.03673085 -0.00041778 -0.01951700
+v 0.03702634 -0.00463156 -0.02091808
+v 0.03669975 -0.00182280 -0.01951701
+v 0.03580610 0.00341493 -0.02105648
+v 0.03648082 -0.00041777 -0.02162587
+v 0.03691269 -0.00734794 -0.02162590
+v 0.03653346 -0.00736077 -0.02087469
+v 0.03569963 -0.00607765 -0.01882020
+v 0.03713521 -0.00603658 -0.02162589
+v 0.03651552 -0.00041778 -0.01882018
+v 0.03647963 -0.00463157 -0.01974087
+v 0.03683015 -0.00603658 -0.02091808
+v 0.03641024 -0.00182280 -0.01882019
+v 0.03652269 -0.00322398 -0.01941840
+v 0.03634923 -0.00603659 -0.02000510
+v 0.03600349 -0.00463157 -0.01882020
+v 0.03617457 -0.00364484 -0.01882019
+v 0.03629659 -0.00280568 -0.01882019
+f 1 2 3
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+f 1 30 23
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+f 1 12 22
+f 1 22 34
+f 1 34 31
+f 1 31 17
+f 1 17 9
+f 1 9 5
+f 1 5 10
+f 1 10 6
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+f 2 6 11
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+f 2 14 7
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+f 3 29 16
+f 3 16 8
+f 3 8 4
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+f 9 17 18
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+f 15 27 22
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+f 16 29 30
+f 17 31 32
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+f 18 32 33
+f 18 33 19
+f 22 27 34
+f 23 30 24
+f 24 30 29
+f 25 35 26
+f 26 35 28
+f 27 36 37
+f 27 37 34
+f 27 28 38
+f 27 38 39
+f 27 39 36
+f 28 35 38
+f 31 34 37
+f 31 37 32
+f 32 37 40
+f 32 40 33
+f 33 40 41
+f 36 42 41
+f 36 41 37
+f 36 39 43
+f 36 43 42
+f 37 41 40
+f 38 43 39
+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_99.obj b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45cf98552e44eb75f0b590bd2cb6ca96e91e3f15
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/mesh/pen_holder_009_collision_99.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.01983258 -0.02847354 -0.01951710
+v 0.02071968 -0.02794963 -0.01882028
+v 0.01983258 -0.02843126 -0.01900677
+v 0.01983258 -0.02812058 -0.02082230
+v 0.02084733 -0.02783750 -0.02027902
+v 0.02159062 -0.02746064 -0.01951710
+v 0.02102346 -0.02777499 -0.01882028
+v 0.02087965 -0.02785772 -0.01882028
+v 0.01983258 -0.02841472 -0.01882028
+v 0.01983258 -0.02796433 -0.02112718
+v 0.02043529 -0.02766101 -0.02121342
+v 0.02245833 -0.02653597 -0.02162597
+v 0.02519395 -0.02511681 -0.02162596
+v 0.02337451 -0.02629331 -0.02091816
+v 0.02431493 -0.02576572 -0.02091815
+v 0.02278796 -0.02675841 -0.01951710
+v 0.02348924 -0.02631906 -0.01951710
+v 0.02300125 -0.02646612 -0.01882028
+v 0.01983258 -0.02002105 -0.01882025
+v 0.01983258 -0.02763711 -0.02162597
+v 0.02720891 -0.02369029 -0.02162596
+v 0.02526989 -0.02518114 -0.02091815
+v 0.02520526 -0.02515174 -0.01987525
+v 0.02494996 -0.02491277 -0.01894084
+v 0.02475444 -0.02501019 -0.01882027
+v 0.02685019 -0.00969350 -0.01882022
+v 0.02500974 -0.00969349 -0.02162591
+v 0.02002487 -0.01719191 -0.02162593
+v 0.01983905 -0.01747317 -0.02162593
+v 0.01983258 -0.01748420 -0.02162593
+v 0.02683080 -0.02395316 -0.02091815
+v 0.02597117 -0.02465539 -0.02091815
+v 0.02855167 -0.02236304 -0.02162595
+v 0.02659327 -0.02379324 -0.02000352
+v 0.03199988 -0.01512200 -0.01882024
+v 0.02503883 -0.02465173 -0.01882027
+v 0.02488694 -0.02485945 -0.01882027
+v 0.03463209 -0.00969350 -0.01882022
+v 0.03633842 -0.00969349 -0.02162591
+v 0.02816548 -0.02257812 -0.02116067
+v 0.03310835 -0.01620474 -0.02162593
+v 0.03342828 -0.01575620 -0.02162593
+v 0.03356078 -0.01537199 -0.02142240
+v 0.03248948 -0.01434072 -0.01882023
+v 0.03623177 -0.01002255 -0.02162591
+v 0.03628671 -0.00970452 -0.02153554
+v 0.03628833 -0.00969349 -0.02153307
+v 0.03441718 -0.01028176 -0.01882022
+v 0.03605080 -0.01054463 -0.02162591
+v 0.03631741 -0.00976519 -0.02162591
+v 0.03629479 -0.00969349 -0.02154488
+v 0.03361572 -0.01547678 -0.02162593
+v 0.03380962 -0.01516794 -0.02162593
+v 0.03465956 -0.01373959 -0.02162592
+v 0.03381286 -0.01443079 -0.02094036
+v 0.03353008 -0.01393629 -0.02006336
+v 0.03284658 -0.01370834 -0.01882023
+v 0.03386295 -0.01164394 -0.01882022
+v 0.03518632 -0.01160900 -0.02090244
+v 0.03594415 -0.01082956 -0.02162591
+v 0.03474196 -0.01358885 -0.02162592
+v 0.03308249 -0.01328554 -0.01882023
+v 0.03353331 -0.01237006 -0.01882023
+v 0.03500050 -0.01271014 -0.02135922
+v 0.03559513 -0.01168437 -0.02162591
+v 0.03483084 -0.01340869 -0.02162592
+v 0.03348484 -0.01247669 -0.01882023
+v 0.03509583 -0.01283882 -0.02162592
+v 0.03527842 -0.01243440 -0.02162592
+f 1 2 3
+f 1 3 9
+f 1 9 19
+f 1 19 30
+f 1 30 20
+f 1 20 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
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+f 2 26 19
+f 2 19 9
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+f 21 32 22
+f 21 33 31
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+f 59 64 65
+f 59 65 60
+f 61 66 67
+f 61 67 62
+f 63 67 64
+f 64 68 69
+f 64 69 65
+f 64 67 66
+f 64 66 68
+
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/pen_holder_009.xml b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/pen_holder_009.xml
new file mode 100644
index 0000000000000000000000000000000000000000..92d23f6806fe338aba14032fe11c92d21cb50bfc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mjcf/pen_holder_009.xml
@@ -0,0 +1,214 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pen_holder_009">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/pen_holder_009.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pen_holder_009_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pen_holder_009_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pen_holder_009_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pen_holder_009_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pen_holder_009_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pen_holder_009_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pen_holder_009_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pen_holder_009_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pen_holder_009_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+      <geom type="mesh" mesh="collision_mesh_0_86" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_87" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_88" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_89" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_90" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_91" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_92" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_93" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_94" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_95" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_96" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_97" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_98" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_99" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/pen_holder_009.urdf b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/pen_holder_009.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..918dd2e1cd7164df04453f53207400963866d608
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/pen_holder_009.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_009">
+   <link name="pen_holder_009">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_009.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_009_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>53e4afdca675561b9c3be5703f6fbdbb</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>pen_holder</category>
+         <name>floral pen holder</name>
+         <color>purple,brown</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>purple pen holder with floral design and wooden-textured base</description>
+         <min_height>0.0851</min_height>
+         <max_height>0.0851</max_height>
+         <real_height>0.0851</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427233908</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/pen_holder_009.usd b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/pen_holder_009.usd
new file mode 100644
index 0000000000000000000000000000000000000000..fadfa1a88c5b674fdcc73af1ed6f81448798d06a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/pen_holder_009.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c7e9256835ddd148ce9e949ddc14a5d668c191938d98d5486b10072befb99d4
+size 5012238
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/textures/material_0.png b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1b3ee2a379a1d7b79e132c75fb83d86236f66bc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2256c78b3bd41f923557ccb8cca304946639bd23dd5e04b4584e9430b9690b31
+size 13801738
diff --git a/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/video.mp4 b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c93958436222dfce5633974002ad66a9c48d55f6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdeca9aac6fb6833e12031ad643a453493487e921c771c3322a5478bc08cf547
+size 498491