diff --git a/.gitattributes b/.gitattributes
index 4f61ba65bd2e1156248e1ec49258ee44de51ab9e..2529cd2c2c9498f85ae972b95d2c5088371876a0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5331,3 +5331,4 @@ dataset/desktop_supplies/office_stationery/5a174a26a1045026acb234d3e860c7a3/shar
dataset/desktop_supplies/office_stationery/5a6a0ff6a828596d8f3d26428378d4ba/ballpoint_pen_032.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/5a6a0ff6a828596d8f3d26428378d4ba/mesh/ballpoint_pen_032.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/5b16eeb5c8345f0b908f4a9040c1e085/5b16eeb5c8345f0b908f4a9040c1e085.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/5be383ac6e935e05867292f6f1d3075c.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/5be383ac6e935e05867292f6f1d3075c.urdf b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/5be383ac6e935e05867292f6f1d3075c.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..953945f17defe028a5cbf4aa7531976c157c3d13
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/5be383ac6e935e05867292f6f1d3075c.urdf
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+ pen holder
+ rectangular wooden pen holder with smooth texture and curved edges
+ 0.04
+ 0.06
+ 0.05
+ 0.2
+ 0.4
+ 20251014173008
+ mesh/pen_holder_38_gs.ply
+
+
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+ NO: Object appears incomplete and lacks clear structural definition.
+ YES
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+ YES
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+ affordance/affordance_annot.json
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/5be383ac6e935e05867292f6f1d3075c.usd b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/5be383ac6e935e05867292f6f1d3075c.usd
new file mode 100644
index 0000000000000000000000000000000000000000..910e2ec985ee67686e2fa1f96fb5f256a8558a2f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/5be383ac6e935e05867292f6f1d3075c.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3eba4462e7a5d3b052d4441b9aba9aec96ec992ee7aac14ad39ec194c5e9a42
+size 354192
diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mesh/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mesh/material_0.png
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+size 966060
diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mesh/pen_holder_38.glb b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mesh/pen_holder_38.glb
new file mode 100644
index 0000000000000000000000000000000000000000..413cecd5788b1d6bdd363d0c68a7fe9a17cd146f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mesh/pen_holder_38.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dc39a5becae2c9de42666b6c6099ad824251c3aa56f28365d61ecab1f3dd964
+size 1202800
diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mesh/pen_holder_38.obj b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mesh/pen_holder_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b76c3632666b1842170e6e71584f683b2b6e5590
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mesh/pen_holder_38.obj
@@ -0,0 +1,21514 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mesh/pen_holder_38_collision.obj b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mesh/pen_holder_38_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c44394a0eabad75c47e06e76c9d526042c95be1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mesh/pen_holder_38_collision.obj
@@ -0,0 +1,10369 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision.obj b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96d02805a21e289d6fe13af14c951aac96d80ca7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision.obj
@@ -0,0 +1,10369 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_0.obj b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9953bfa82e8e9e3870c36335da8aa37349f1e69e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_1.obj b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65a5248572a3e4e4cd1e450496a5ba33698d9eea
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_10.obj b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a5d7bcebe26d676857c9df47676f0c234f9de11
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_11.obj b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f932623ed75e570c334ce8fefdc55db3e646650
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_11.obj
@@ -0,0 +1,529 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_12.obj b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d72e8d6cda9b5d849c00f5961dd1ef7673c52e6b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_12.obj
@@ -0,0 +1,709 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_13.obj b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dff3448f9d812fb47eae1c6f1f66a973074c624f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_13.obj
@@ -0,0 +1,739 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_14.obj b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..616318f788644367321ac017e8e5e4913f33a9fb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_14.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_15.obj b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4b68c18c0c94dd296ee531179e3b00e0e4405be
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_15.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_16.obj b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33899606b9c6c94ac53433142736d5433d04252b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_16.obj
@@ -0,0 +1,547 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_17.obj b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fda59886dcdf8fce8fcebba83e87f7f07821a22
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_17.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_18.obj b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67f9f4e3e72f57a192360842ae44a579a110e446
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_18.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_19.obj b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e950ab7eded5496857fad36276ca33870057b78
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_19.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_2.obj b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3232562c955e3354dbb2b38735832fa2ed3fa7a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_2.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_20.obj b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d240639ddc8803088adebae54e1b6819a878bb3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_20.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_21.obj b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1faa39cebfcffc85aa8248cba5dc35391bb1b6a3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_21.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_22.obj b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c2f45f3b51aef2e008e1ed6381fed94353be1fa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_22.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_3.obj b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fca3e53f590d0ef328089cd11db90f028bfdbec
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_3.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_4.obj b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c54adce354474b021464df53f5a2036f17cc79eb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_4.obj
@@ -0,0 +1,961 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_5.obj b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bedc3ee93c51ae12dfa6f25fd14fef428c8f617
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_5.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_6.obj b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58534561db4f084137534da2094395d128d2c192
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_6.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_7.obj b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..152b87c493f91363bc0deb273b366765aa91ecf1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_8.obj b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f646458237a4f46907923d5727513512064323c8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_8.obj
@@ -0,0 +1,91 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_9.obj b/dataset/desktop_supplies/office_stationery/5be383ac6e935e05867292f6f1d3075c/mjcf/mesh/pen_holder_38_collision_9.obj
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