diff --git a/.gitattributes b/.gitattributes
index 36c89de8dfbbd4df2fea86700d9b36cd8134dbd7..6642932f21b951dd0b3fdc13332e24b1085b8928 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3439,6 +3439,6 @@ dataset/desktop_supplies/office_tools/c61a63061046589ab89b6f887268f978/mesh/stic
 dataset/desktop_supplies/office_tools/c61a63061046589ab89b6f887268f978/sticky_notes_052.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/cb750a91f26d54c7b91f9f130bb15278/magnifier_017.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/cb750a91f26d54c7b91f9f130bb15278/mesh/magnifier_017.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/cc521d43af9851bcbbd6dc12618dd8da/mesh/sticky_notes_015.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/cc521d43af9851bcbbd6dc12618dd8da/sticky_notes_015.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/d6e8df246b4d58c7b5eaaeacccaef76c/d6e8df246b4d58c7b5eaaeacccaef76c.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/d3259afe2dd05aa28b75b3863df020e4.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mesh/pen_holder.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mesh/pen_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/d3259afe2dd05aa28b75b3863df020e4.urdf b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/d3259afe2dd05aa28b75b3863df020e4.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a3375cb5446c7b2f5de0a018560d23247310099d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/d3259afe2dd05aa28b75b3863df020e4.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder">
+   <link name="pen_holder">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pen_holder.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.150000</scale>
+         <version>v0.1.7</version>
+         <category>pen holder</category>
+         <description>wooden rectangular pen holder with circular perforations</description>
+         <min_height>0.12</min_height>
+         <max_height>0.18</max_height>
+         <real_height>0.15</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260120005347</generate_time>
+         <gs_model>mesh/pen_holder_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.054885387420654</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/d3259afe2dd05aa28b75b3863df020e4.usd b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/d3259afe2dd05aa28b75b3863df020e4.usd
new file mode 100644
index 0000000000000000000000000000000000000000..924b4a6e6f49180ec8f800e7e6f33d9d0160ff4d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/d3259afe2dd05aa28b75b3863df020e4.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ea04a8028e316f3c84d5797d69f7897ef065626b1035dc4a1d214b7989d99c4
+size 952488
diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mesh/material.mtl b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mesh/material_0.png b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9d57168aa372a2fe887cb4aa38b8ea14e80eb25
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01b1a18057c6ac69021bf10ec20b8b77ac7498830bf69080872080e0f325a347
+size 2039540
diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mesh/pen_holder.glb b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mesh/pen_holder.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4185bd98c12ac3769ca72c26f1a8ba39c6ebee8c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mesh/pen_holder.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a34fbcda17dab3b4a5065f92d4bacaf0694b48f0addd678a850f26ed3b1ca89
+size 2713076
diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mesh/pen_holder.obj b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mesh/pen_holder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38534dcb1a1e8b545c1107207af3e0ccd2833930
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mesh/pen_holder.obj
@@ -0,0 +1,61972 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v -0.03523622 -0.00607703 0.04664695
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diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mesh/pen_holder_collision.obj b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mesh/pen_holder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bffceab4b9ecfdfe0173930a4ce4f94d6ca80cd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mesh/pen_holder_collision.obj
@@ -0,0 +1,10251 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder.obj b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2f4297250c72fa7fed42bafc537c973e4cb9905
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder.obj
@@ -0,0 +1,61972 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision.obj b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..957a0dd594b6d2e629043bc774fda4fe2dd91b7f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision.obj
@@ -0,0 +1,10251 @@
+# https://github.com/mikedh/trimesh
+
+o pen_holder_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_0.obj b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0584a2d0bcbb995ca5b10002e31c3d0dff638569
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_1.obj b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc42ca24bb52814435df386d7d6d366963346327
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_10.obj b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..186ceeda52e575f698f19f0e244e04d7d1a35204
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_10.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_11.obj b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5f993f6531bb4c08ada5993dbad5c568fdf2b40
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_11.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_12.obj b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2994e699725406d4c313e844baff0ca585ebc1c6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_12.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.03590496 -0.00065298 -0.05550222
+v 0.03590496 -0.00065298 -0.05554522
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diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_13.obj b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69877b84eff71953ee7682368d8f2c5ef9415052
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_13.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_14.obj b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..180f7ad896d5ba004b4c5c8b850c4d9347bf2406
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_14.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_15.obj b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..970d52cf570d59c7897a5fd167d20e6fad8cc173
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_15.obj
@@ -0,0 +1,613 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_16.obj b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5a5eb2b3441fbfd0e4427e5be5d50cc82ad4472
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_16.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_17.obj b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d01127ff0bbc1bf3a261b4bc5bfad2f80f0d9c6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_17.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_18.obj b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd7efc426fd87a7f25a5b6bebe31c912f5b40cfc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_18.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_19.obj b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9904e84a28a9fe90ab6c67a9e04748390dc75017
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_19.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_2.obj b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..736e3acb4ca49d8d09540326f0c29100289744ad
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_2.obj
@@ -0,0 +1,919 @@
+# https://github.com/mikedh/trimesh
+v 0.01166334 -0.05031353 -0.02704291
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diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_20.obj b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74ec39b461a32afb19e226d26dc00f5466869113
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_20.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.01098154 -0.04756611 -0.05885984
+v 0.00030228 -0.04822299 -0.05885985
+v -0.01098154 -0.06418641 -0.05885991
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+v 0.00030228 -0.05077850 -0.04652717
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+v -0.01078383 -0.06419133 -0.05885991
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+v -0.00110489 -0.06428473 -0.05307688
+v -0.00110489 -0.06429289 -0.05885991
+v -0.00836382 -0.06422736 -0.05885991
+v -0.01098154 -0.06421429 -0.05307688
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+v -0.00352490 -0.06427487 -0.05885991
+v -0.00110489 -0.06427654 -0.05061035
+v 0.00030228 -0.06428145 -0.05061035
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+v -0.00352490 -0.06425199 -0.04652722
+v 0.00005707 -0.06426345 -0.04652722
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+v -0.00836382 -0.06423065 -0.05801238
+v -0.00594380 -0.06425521 -0.05885991
+v -0.01098154 -0.06422084 -0.05061035
+v -0.00435660 -0.06426831 -0.05885991
+f 1 2 6
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+f 1 14 7
+f 1 7 3
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+
diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_21.obj b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..118b541c174bcd68b41b47afcc2c37eec0c0a191
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_21.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v -0.03463859 -0.04407505 -0.05211699
+v -0.03484178 -0.04803650 -0.04652716
+v -0.03462925 -0.04407505 -0.05061027
+v -0.03462691 -0.04407504 -0.05458353
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+
diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_3.obj b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..516ea142c499e96aef41a65213a3bb4c22c3db94
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_3.obj
@@ -0,0 +1,1201 @@
+# https://github.com/mikedh/trimesh
+v 0.01150070 0.06422467 -0.05629125
+v 0.01341786 0.06422467 -0.05629125
+v 0.01150070 0.05019518 -0.05629131
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+v 0.01738448 0.04274473 0.06537643
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+v 0.01150070 0.05024779 -0.00125021
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+v 0.03606534 0.04274518 -0.05629133
+v 0.01739410 0.04274472 0.06783788
+v 0.01150070 0.05027524 0.00676561
+v 0.01150070 0.05026257 0.00430416
+v 0.01341786 0.06431739 0.01108287
+v 0.01583776 0.06430051 0.00615997
+v 0.01583776 0.06429840 0.00368563
+v 0.01825766 0.06426249 -0.00125015
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+v 0.01825766 0.06419932 -0.05629125
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+v 0.03607497 0.04544966 -0.05629132
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+v 0.01739650 0.04274472 0.06808274
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+v 0.01150070 0.06430883 0.04069758
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diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_4.obj b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a54de43e10471386097e9015933f23f0ae50d8d1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_5.obj b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19d5f1d63f0a8a18ac87f2d3cd28a19a7e842ccc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_6.obj b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ebbf375fbb1b7d71addc4f466f391a14e6c4eb7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_7.obj b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2588a73c974c4d9d6c42c5ca0fc9232a94b03d8e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_8.obj b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17bd98e2bf206637258ea9fad9c7296521750387
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_8.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.03606561 0.04274517 -0.05554544
+v 0.03605936 0.04052768 -0.05268028
+v 0.03606561 0.04274519 -0.05919933
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+v 0.01873730 -0.00065299 -0.05268043
+v 0.03590494 -0.00065298 -0.05554560
+v 0.01476832 0.04052771 -0.05919934
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+v 0.01531087 0.00116946 -0.05919949
+v 0.01534426 -0.00065296 -0.05919949
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+
diff --git a/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_9.obj b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2c282446c5b13ad7b5c01c2d19c3fef67999c0d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/d3259afe2dd05aa28b75b3863df020e4/mjcf/mesh/pen_holder_collision_9.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.01483137 -0.04407305 -0.05885983
+v -0.01705919 -0.04407310 -0.04652714
+v -0.03458699 -0.04407305 -0.05885983
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