diff --git a/.gitattributes b/.gitattributes
index 1aadb8eaacb5ee30a58c0c7d152b60a4f6e670d2..2e28b4087567a6640136f197fd1d51349374364f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3212,7 +3212,5 @@ dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mesh
 dataset/desktop_supplies/office_stationery/9adec9407d6b57e484c8a0bd2bdfa65f/mesh/open_notebook_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mesh/notebook_037.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/notebook_037.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/9e32571529dc5357af6232884880b3c9/eraser_025.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/9e32571529dc5357af6232884880b3c9/mesh/eraser_025.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/9f23d63e8a005c07a927b0f84940e8a8/glue_stick_015.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/9f23d63e8a005c07a927b0f84940e8a8/mesh/glue_stick_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mesh/pen_holder_039.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/pen_holder_039.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8ae223a8559977c75c4b4b6461a6a67ce5a20a6d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pen_holder_039_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_039_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e989731eb130cc02d2247da42e2df3dd2d455f8e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cad2bb6ce9dbe9f42c653ad1b89483da2e4b580f1262de5f7a68d91099b1749a
+size 7991875
diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mesh/pen_holder_039.glb b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mesh/pen_holder_039.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c7695fccb5b884d4d8a76a2e53e476fffa3b4d81
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mesh/pen_holder_039.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d94352258c1bc5d2a9c4711f7d1a1167d913b3c820bb2989c0bff9f40146a48f
+size 10882088
diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mesh/pen_holder_039.mtl b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mesh/pen_holder_039.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..35f3952da4178c908a2596081c4a24fa37adb02f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mesh/pen_holder_039.mtl
@@ -0,0 +1,6 @@
+newmtl pen_holder_039_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/9ce8a160837757e3b84ba7609c3d72f8/mesh/pen_holder_039.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mesh/pen_holder_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7319740e1e21952182b469a1228506ddaaf4cdd2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mesh/pen_holder_039.obj
@@ -0,0 +1,106442 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pen_holder_039_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mesh/pen_holder_039_collision.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mesh/pen_holder_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78b23096383239b2aca40860faabbdd5162a6552
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mesh/pen_holder_039_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4911010fe33e4c5042f8dda4169ad3aeaef9ab6f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision.obj
@@ -0,0 +1,15007 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_0.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9caf257a296214e4f2a1807e394f9e34c5b926d1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_0.obj
@@ -0,0 +1,1735 @@
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diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_1.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74bed45b15aa74b708449fcf15532125738168f8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_10.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..117453cf211ce4e0410fc3aa43b8deab470667f1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_11.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..558350373ca1ea4e9c574ca1305b711c4748cafb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_11.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_12.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fbc5a60c1f12e1630e1c2098aea7f0a808e030f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_12.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_13.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9689b6b50a66944977caae436306f09a5e53562
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_13.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_14.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ce296106008856ad5e906f01a44ac887bf4ca38
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_14.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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+v 0.04621787 0.01915047 0.07992320
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diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_15.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e95c3253700aad8a653ec872d762518d655bfa2a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_15.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_16.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8401502f818c494f1eb67039ad2e50f2039f8eca
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_16.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_17.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea84d890593f5b1932e346e8e3523860a29f5871
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_17.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_18.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3717c064a4b183e7199ab2be67a59cf1a56dc8c8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_18.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_19.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e6aa0c81a5c2a22f825643eaf4c6fe81fe8b89c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_19.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_2.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b6489aa18a7be3e0e5c56cbf95d06106ac4d07c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_2.obj
@@ -0,0 +1,610 @@
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diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_20.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49c774848f3a3654151ce72cdc1e4f6b3fd87ce2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_20.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_21.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..764afa2cf3cfc6e2c4e935b26efd12e0ba85c649
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_21.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.05010166 -0.00105235 -0.03137054
+v -0.05009408 -0.00134389 -0.03137054
+v -0.05002776 -0.00105239 -0.02303277
+v -0.05010166 0.00000449 -0.03137054
+v -0.05001071 -0.00326755 -0.03137055
+v -0.04993492 -0.00326759 -0.02303278
+v -0.05002587 0.00000445 -0.02303277
+v -0.04065034 0.00000449 -0.03137054
+v -0.04999366 -0.00354087 -0.03137055
+v -0.04980986 -0.00570921 -0.03137056
+v -0.04986292 -0.00406933 -0.02303278
+v -0.04148785 0.00000445 -0.02303277
+v -0.03074616 -0.02658831 -0.03137064
+v -0.04954838 -0.00769014 -0.03137057
+v -0.04973407 -0.00548279 -0.02303279
+v -0.03191525 -0.02658835 -0.02303287
+v -0.04243336 -0.02658831 -0.03137064
+v -0.04950101 -0.00795825 -0.03137057
+v -0.04943658 -0.00769798 -0.02303280
+v -0.04231209 -0.02658835 -0.02303287
+v -0.04302075 -0.02542218 -0.02303286
+v -0.04299990 -0.02565381 -0.03137063
+v -0.04914099 -0.00991575 -0.03137058
+v -0.04903299 -0.00991579 -0.02303281
+v -0.04363846 -0.02434972 -0.02303286
+v -0.04312307 -0.02544036 -0.03137063
+v -0.04883972 -0.01127714 -0.03137058
+v -0.04876393 -0.01117827 -0.02303281
+v -0.04893635 -0.01037132 -0.02303281
+v -0.04398710 -0.02374060 -0.02303286
+v -0.04396626 -0.02396703 -0.03137063
+v -0.04858960 -0.01225329 -0.03137059
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+v -0.04419743 -0.02333974 -0.02303286
+v -0.04464271 -0.02270976 -0.03137062
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+v -0.04456691 -0.02263431 -0.02303285
+v -0.04536084 -0.02099178 -0.02303285
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+v -0.04716281 -0.01655878 -0.02303283
+v -0.04635562 -0.01870890 -0.02303284
+f 1 2 3
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+
diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_22.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f469c82dc79eab5d06c6c91a21b50b9c114ea1a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_22.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01788074 -0.01325329 -0.03186994
+v -0.01788074 -0.01325329 -0.03086994
+v -0.01788074 0.00000319 -0.03186994
+v -0.01788074 0.00000319 -0.03086994
+v -0.01134056 -0.01325329 -0.03186994
+v -0.01134056 -0.01325329 -0.03086994
+v -0.01134056 0.00000319 -0.03186994
+v -0.01134056 0.00000319 -0.03086994
+f 2 4 1
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+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_23.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb2bca0dcbd69810f2c1bd6ebc197c36cc56c62e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_23.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.03782790 0.01475577 -0.03134911
+v 0.03789993 0.01436298 -0.03134911
+v 0.03874620 0.01475573 -0.02303349
+v 0.04787754 0.01475577 -0.03134911
+v 0.04066082 0.00000594 -0.03134916
+v 0.04149749 0.00000590 -0.02303354
+v 0.04776711 0.01475573 -0.02303349
+v 0.04790395 0.01467490 -0.03134911
+v 0.04786554 0.01445825 -0.02303349
+v 0.05008866 0.00000594 -0.03134916
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+v 0.04847774 0.01224159 -0.02303350
+v 0.05008866 0.00014746 -0.03134916
+v 0.05000343 0.00116549 -0.02303354
+v 0.04866380 0.01150222 -0.02303350
+v 0.04876823 0.01108199 -0.02303350
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+v 0.05008626 0.00116553 -0.03134916
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+v 0.04939604 0.00781115 -0.02303351
+v 0.04958930 0.00639884 -0.02303352
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+f 25 26 30
+
diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_24.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6306f909a3be9718eec4b7889978d21bd68328fe
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_24.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00009479 0.04993352 -0.03134898
+v 0.00009479 0.04983797 -0.02303336
+v 0.00113610 0.04983797 -0.02303336
+v 0.00113610 0.04993230 -0.03134898
+v 0.00009479 0.04079887 -0.03134901
+v 0.00009479 0.04161311 -0.02303339
+v 0.00193842 0.04980368 -0.02303336
+v 0.00357721 0.04983189 -0.03134898
+v 0.00138751 0.04992495 -0.03134898
+v 0.01594722 0.03742419 -0.03134902
+v 0.01594722 0.03837679 -0.02303340
+v 0.00335218 0.04974246 -0.02303336
+v 0.00557602 0.04965556 -0.03134898
+v 0.01594722 0.04733272 -0.03134899
+v 0.01594722 0.04720533 -0.02303337
+v 0.00556827 0.04954532 -0.02303336
+v 0.00778435 0.04924165 -0.02303336
+v 0.00778435 0.04935189 -0.03134898
+v 0.01463899 0.04776496 -0.03134898
+v 0.01443104 0.04770982 -0.02303336
+v 0.00953021 0.04893308 -0.02303336
+v 0.00960936 0.04901760 -0.03134898
+v 0.01248964 0.04833312 -0.03134898
+v 0.01221496 0.04832818 -0.02303336
+v 0.01023787 0.04878614 -0.02303336
+v 0.01063825 0.04870287 -0.02303336
+v 0.01058859 0.04880944 -0.03134898
+v 0.01120624 0.04856818 -0.02303336
+f 1 2 3
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+f 1 6 2
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+f 2 11 15
+f 2 15 20
+f 2 20 24
+f 2 24 28
+f 2 28 26
+f 2 26 25
+f 2 25 21
+f 2 21 17
+f 2 17 16
+f 2 16 12
+f 2 12 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 5 10 6
+f 6 10 11
+f 7 12 8
+f 8 12 13
+f 10 14 15
+f 10 15 11
+f 12 16 13
+f 13 16 17
+f 13 17 18
+f 14 19 20
+f 14 20 15
+f 17 21 18
+f 18 21 22
+f 19 23 24
+f 19 24 20
+f 21 25 22
+f 22 25 26
+f 22 26 27
+f 23 27 24
+f 24 27 28
+f 26 28 27
+
diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_25.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b58f1aa29aacb5591cd194299a799e2b1d9cfe32
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_25.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.01594722 0.04733142 -0.03134899
+v 0.01594722 0.03742577 -0.03134902
+v 0.01594722 0.04720496 -0.02303337
+v 0.01663927 0.04710528 -0.03134899
+v 0.02836041 0.02914227 -0.03134905
+v 0.02958182 0.02914223 -0.02303343
+v 0.01594722 0.03837481 -0.02303340
+v 0.01672912 0.04694677 -0.02303337
+v 0.01775384 0.04658352 -0.02303337
+v 0.01787039 0.04665478 -0.03134899
+v 0.04075417 0.02914227 -0.03134905
+v 0.04063276 0.02914223 -0.02303343
+v 0.01878098 0.04617575 -0.02303337
+v 0.01886112 0.04625948 -0.03134899
+v 0.04046521 0.02955716 -0.03134905
+v 0.04038508 0.02950192 -0.02303343
+v 0.01966729 0.04579826 -0.02303337
+v 0.02108053 0.04519106 -0.02303337
+v 0.02109753 0.04529616 -0.03134899
+v 0.03971488 0.03054897 -0.03134905
+v 0.03955462 0.03060947 -0.02303343
+v 0.03985572 0.03020883 -0.02303343
+v 0.02159289 0.04495068 -0.02303337
+v 0.02130636 0.04520001 -0.03134899
+v 0.03949391 0.03082141 -0.03134905
+v 0.03844734 0.03197522 -0.02303342
+v 0.02249620 0.04452511 -0.02303338
+v 0.02257876 0.04459637 -0.03134900
+v 0.03851290 0.03202512 -0.03134904
+v 0.03768487 0.03300625 -0.03134904
+v 0.03751246 0.03308277 -0.02303342
+v 0.02360348 0.04395175 -0.02303338
+v 0.02356948 0.04407999 -0.03134900
+v 0.03743719 0.03327868 -0.03134904
+v 0.03646346 0.03432035 -0.03134903
+v 0.03711180 0.03351012 -0.02303342
+v 0.02429553 0.04356535 -0.02303338
+v 0.02552665 0.04299381 -0.03134900
+v 0.03640518 0.03426155 -0.02303341
+v 0.03553102 0.03529436 -0.03134903
+v 0.02551208 0.04288337 -0.02303338
+v 0.02571605 0.04288341 -0.03134900
+v 0.03534161 0.03536910 -0.02303341
+v 0.03526634 0.03555789 -0.03134903
+v 0.02593702 0.04263408 -0.02303338
+v 0.02678448 0.04225484 -0.03134900
+v 0.03423433 0.03641077 -0.02303341
+v 0.03429019 0.03646957 -0.03134903
+v 0.02668249 0.04219426 -0.02303339
+v 0.02778249 0.04159957 -0.03134901
+v 0.03302507 0.03751833 -0.02303340
+v 0.03322418 0.03744358 -0.03134902
+v 0.02739154 0.04172418 -0.02303339
+v 0.02779220 0.04145708 -0.02303339
+v 0.02947012 0.04043860 -0.03134901
+v 0.03295222 0.03768931 -0.03134902
+v 0.03197121 0.03849415 -0.03134902
+v 0.03262441 0.03784596 -0.02303340
+v 0.02940213 0.04034953 -0.02303339
+v 0.03050941 0.03953044 -0.02303339
+v 0.03046327 0.03969430 -0.03134901
+v 0.03191779 0.03842110 -0.02303340
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 10
+f 1 10 14
+f 1 14 19
+f 1 19 24
+f 1 24 28
+f 1 28 33
+f 1 33 38
+f 1 38 42
+f 1 42 46
+f 1 46 50
+f 1 50 55
+f 1 55 61
+f 1 61 57
+f 1 57 56
+f 1 56 52
+f 1 52 48
+f 1 48 44
+f 1 44 40
+f 1 40 35
+f 1 35 34
+f 1 34 30
+f 1 30 29
+f 1 29 25
+f 1 25 20
+f 1 20 15
+f 1 15 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
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+f 3 6 12
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+f 3 53 49
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+f 3 45 41
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+f 3 37 32
+f 3 32 27
+f 3 27 23
+f 3 23 18
+f 3 18 17
+f 3 17 13
+f 3 13 9
+f 3 9 8
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+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 9 13 10
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+f 11 15 16
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+f 13 17 14
+f 14 17 18
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+f 18 23 24
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+f 20 26 21
+f 23 27 24
+f 24 27 28
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+f 31 35 36
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+f 32 38 33
+f 35 39 36
+f 35 40 39
+f 37 41 38
+f 38 41 42
+f 39 40 43
+f 40 44 43
+f 41 45 42
+f 42 45 46
+f 43 44 47
+f 44 48 47
+f 45 49 46
+f 46 49 50
+f 47 48 51
+f 48 52 51
+f 49 53 50
+f 50 53 54
+f 50 54 55
+f 51 52 56
+f 51 56 57
+f 51 57 58
+f 54 59 55
+f 55 60 61
+f 55 59 60
+f 57 62 58
+f 57 61 62
+f 60 62 61
+
diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_26.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3ba2dc2dece6b7052bd3c6aeb2254fe7b88efd9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_26.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.02625719 0.03095458 -0.03134905
+v -0.02758464 0.03095454 -0.02303343
+v -0.03772992 0.01714858 -0.02303348
+v -0.03675673 0.01714862 -0.03134910
+v -0.03925080 0.03095458 -0.03134905
+v -0.03919990 0.03095454 -0.02303343
+v -0.04694069 0.01714858 -0.02303348
+v -0.04705470 0.01714862 -0.03134910
+v -0.04039705 0.02953966 -0.03134905
+v -0.03949104 0.03059507 -0.02303343
+v -0.04661290 0.01804321 -0.02303347
+v -0.04676967 0.01792027 -0.03134909
+v -0.04223554 0.02688820 -0.03134906
+v -0.04142726 0.02790442 -0.02303344
+v -0.04072078 0.02891392 -0.02303343
+v -0.04031969 0.02948692 -0.02303343
+v -0.04002040 0.02988828 -0.02303343
+v -0.04616295 0.01915136 -0.02303347
+v -0.04668619 0.01813785 -0.03134909
+v -0.04217650 0.02679627 -0.02303344
+v -0.04190572 0.02719763 -0.02303344
+v -0.04303568 0.02555166 -0.03134907
+v -0.04293796 0.02553676 -0.02303345
+v -0.04561119 0.02039871 -0.02303347
+v -0.04538927 0.02112581 -0.03134908
+v -0.04460542 0.02275290 -0.03134908
+v -0.04394577 0.02378939 -0.02303345
+v -0.04529766 0.02110685 -0.02303346
+v -0.04453620 0.02268124 -0.02303346
+v -0.04432242 0.02308260 -0.02303346
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 19
+f 1 19 25
+f 1 25 26
+f 1 26 22
+f 1 22 13
+f 1 13 9
+f 1 9 5
+f 1 5 6
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+f 2 7 3
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+f 7 11 8
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+f 9 13 14
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+f 9 15 16
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+f 18 24 25
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+f 22 26 27
+f 22 27 23
+f 24 28 25
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+f 26 28 29
+f 26 29 30
+f 26 30 27
+
diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_27.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb8c5663542264069eff9f2a9356f9a7a579e70b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_27.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.01661479 -0.03713563 -0.03137068
+v 0.01661479 -0.03815488 -0.02303291
+v 0.01661479 -0.04719681 -0.03137071
+v -0.00913716 -0.03959430 -0.03137069
+v -0.00913716 -0.04054309 -0.02303945
+v 0.01661479 -0.04708235 -0.02303294
+v -0.00772806 -0.04085388 -0.02303292
+v 0.01442930 -0.04780838 -0.02303295
+v 0.01442930 -0.04788258 -0.03137072
+v -0.00913716 -0.04915595 -0.03137072
+v -0.00913716 -0.04514460 -0.02303294
+v 0.01364030 -0.04802857 -0.02303295
+v 0.01125568 -0.04876966 -0.03137072
+v -0.00770537 -0.04942900 -0.03137072
+v -0.00913716 -0.04906036 -0.02303295
+v 0.01224633 -0.04841738 -0.02303295
+v 0.01154052 -0.04859480 -0.02303295
+v 0.01113721 -0.04869546 -0.02303295
+v 0.01101873 -0.04882251 -0.03137072
+v -0.00572407 -0.04969324 -0.03137072
+v -0.00772806 -0.04931328 -0.02303295
+v 0.00999783 -0.04892950 -0.02303295
+v 0.00999783 -0.04904271 -0.03137072
+v -0.00551232 -0.04960771 -0.02303295
+v -0.00356379 -0.04987694 -0.03137072
+v -0.00329659 -0.04980526 -0.02303295
+v 0.00778209 -0.04932712 -0.02303295
+v 0.00776193 -0.04944661 -0.03137072
+v -0.00329659 -0.04989205 -0.03137072
+v -0.00108085 -0.04990592 -0.02303295
+v 0.00556636 -0.04962030 -0.02303295
+v 0.00556636 -0.04971714 -0.03137072
+v -0.00136317 -0.04997635 -0.03137072
+v -0.00108085 -0.04998516 -0.03137072
+v 0.00113740 -0.04999019 -0.03137072
+v 0.00113740 -0.04990844 -0.02303295
+v 0.00335314 -0.04981407 -0.02303295
+v 0.00335314 -0.04989959 -0.03137072
+f 1 2 6
+f 1 6 3
+f 1 3 9
+f 1 9 13
+f 1 13 19
+f 1 19 23
+f 1 23 28
+f 1 28 32
+f 1 32 38
+f 1 38 35
+f 1 35 34
+f 1 34 33
+f 1 33 29
+f 1 29 25
+f 1 25 20
+f 1 20 14
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+f 1 4 5
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+f 2 12 8
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+f 12 16 13
+f 13 16 17
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+f 28 31 32
+f 29 33 30
+f 30 33 34
+f 30 34 35
+f 30 35 36
+f 31 37 32
+f 32 37 38
+f 35 38 36
+f 36 38 37
+
diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_28.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46029801d9ce0453bd51159186cbab51223e1987
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_28.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.05009720 0.00000449 -0.03134916
+v -0.04066367 0.00000449 -0.03134916
+v -0.05002539 0.00000445 -0.02303354
+v -0.05002539 0.00036358 -0.02303354
+v -0.05009590 0.00116578 -0.03134916
+v -0.04148886 0.00000445 -0.02303354
+v -0.03675838 0.01714862 -0.03134910
+v -0.05002277 0.00116574 -0.02303354
+v -0.04999666 0.00338096 -0.03134915
+v -0.03773111 0.01714858 -0.02303348
+v -0.04705627 0.01714862 -0.03134910
+v -0.04991963 0.00338092 -0.02303353
+v -0.04980211 0.00559614 -0.03134914
+v -0.04694007 0.01714858 -0.02303348
+v -0.04723254 0.01667202 -0.03134910
+v -0.04978906 0.00479561 -0.02303352
+v -0.04971333 0.00559610 -0.02303352
+v -0.04952009 0.00780292 -0.03134913
+v -0.04711372 0.01667366 -0.02303348
+v -0.04793238 0.01445852 -0.03134911
+v -0.04785143 0.01445848 -0.02303349
+v -0.04738138 0.01587150 -0.02303348
+v -0.04951878 0.00701079 -0.02303351
+v -0.04940780 0.00781295 -0.02303351
+v -0.04910750 0.01002649 -0.03134912
+v -0.04881894 0.01132707 -0.03134912
+v -0.04807078 0.01368149 -0.02303349
+v -0.04899390 0.01002645 -0.02303350
+v -0.04874191 0.01119949 -0.02303350
+v -0.04886856 0.01110723 -0.03134912
+v -0.04845727 0.01230875 -0.02303349
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+f 1 5 9
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+f 24 28 25
+f 25 28 29
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+f 26 30 29
+f 26 29 31
+f 26 31 27
+
diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_29.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d05fbc0c8e01a3d486b54657f675ad78bc9bf6f7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_29.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.04075247 0.02914087 -0.03134905
+v 0.04063403 0.02914083 -0.02303343
+v 0.04145744 0.02813126 -0.03134906
+v 0.02836304 0.02914087 -0.03134905
+v 0.04109254 0.02848325 -0.02303344
+v 0.04162938 0.02788485 -0.03134906
+v 0.02958383 0.02914083 -0.02303343
+v 0.03782754 0.01475722 -0.03134911
+v 0.03874457 0.01475718 -0.02303349
+v 0.04149183 0.02790593 -0.02303344
+v 0.04175930 0.02750603 -0.02303344
+v 0.04223118 0.02679917 -0.02303344
+v 0.04229041 0.02688933 -0.03134906
+v 0.04787855 0.01475722 -0.03134911
+v 0.04776774 0.01475718 -0.02303349
+v 0.04271262 0.02599374 -0.02303344
+v 0.04297436 0.02574596 -0.03134907
+v 0.04725955 0.01667081 -0.03134910
+v 0.04760344 0.01526127 -0.02303348
+v 0.04298582 0.02553611 -0.02303345
+v 0.04308516 0.02555305 -0.03134907
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+v 0.04636927 0.01872377 -0.02303347
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+v 0.04465175 0.02273828 -0.03134908
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+v 0.04533380 0.02110626 -0.02303346
+v 0.04589165 0.01984039 -0.02303347
+v 0.04532806 0.02134145 -0.03134908
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diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_3.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8a1944820285d3aaf99b1acbb5ca008f01b9cf9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_30.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9bf1849e2813220680d558cb861708614383541
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_30.obj
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diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_31.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e613a0c5d1d0be5fa2b1cefc9bdfa2cdebd7d04
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_31.obj
@@ -0,0 +1,235 @@
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diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_4.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fa571ad815a0fb0c0092eb9edf11feb30505593
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_4.obj
@@ -0,0 +1,526 @@
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diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_5.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9643a83950a4be4fe875281edc39606cc5c3b1c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_5.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_6.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b858eabf4cc935c5be6c7ac75c12abd05b0c20ff
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_6.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_7.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f025169db2f68d44bb8165ea228fa8ed7d71aa9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_7.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_8.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74f5bdb1b4ac75c862cb80d3a609e4345e5791e3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_8.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_9.obj b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e22f2e4aa1e33e7bf6f63cdbf56b9ab9ec60e247
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/mesh/pen_holder_039_collision_9.obj
@@ -0,0 +1,643 @@
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diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/pen_holder_039.xml b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/pen_holder_039.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2dc4393593960962f9fd47f530e182486bbde733
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/mjcf/pen_holder_039.xml
@@ -0,0 +1,78 @@
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+    <mesh name="collision_mesh_0_27" file="mesh/pen_holder_039_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/pen_holder_039_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/pen_holder_039_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/pen_holder_039_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/pen_holder_039_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pen_holder_039">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" 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/9ce8a160837757e3b84ba7609c3d72f8/pen_holder_039.urdf b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/pen_holder_039.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..44631fdb55c48c692f39a775cca8a575c702e182
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/pen_holder_039.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_039">
+   <link name="pen_holder_039">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_039.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_039_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1850" />
+         <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>9ce8a160837757e3b84ba7609c3d72f8</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>pen_holder</category>
+         <name>gray pen holder</name>
+         <color>gray,black</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cylindrical gray pen holder with black base ring</description>
+         <min_height>0.1350</min_height>
+         <max_height>0.1350</max_height>
+         <real_height>0.1350</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611145704</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.053999 -0.053894 -0.048397</min>
+            <max>0.054054 0.054009 0.086603</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/pen_holder_039.usd b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/pen_holder_039.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/pen_holder_039.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4dfc38ad638797dffede8b8b497c8ced73f8e284931f6252e2817fd8faa46a9
+size 4622184
diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/textures/material_0.png b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/video.mp4 b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/9ce8a160837757e3b84ba7609c3d72f8/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:606db49aef6c62572eddaa04f7db7214b49e66f427fb32f816596240821abce1
+size 159286