diff --git a/.gitattributes b/.gitattributes
index 29f7741cd46c734509dc5086682b7dbdf4f151ba..e77fd22a2874ca0705b477d46e3b8c59d7441e8e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3298,5 +3298,6 @@ dataset/desktop_supplies/office_stationery/f7c00501187f5139ab801243a0de9f84/ball
 dataset/desktop_supplies/office_stationery/f7c00501187f5139ab801243a0de9f84/mesh/ballpoint_pen_024.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/fa5669ae4d385322a126c0098dfe2624/mesh/notebook_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/fa5669ae4d385322a126c0098dfe2624/notebook_015.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/fa5587eb897a56bbaab33a324ba729c1/mesh/pen_holder_022.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/fa5587eb897a56bbaab33a324ba729c1/pen_holder_022.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/fb06d9350be952aeac9af66a63ff443f.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mesh/pen.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mesh/pen_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/fb06d9350be952aeac9af66a63ff443f.urdf b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/fb06d9350be952aeac9af66a63ff443f.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a7c33ef833f37b68519148f5a1132698077133aa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/fb06d9350be952aeac9af66a63ff443f.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen">
+   <link name="pen">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pen.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_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <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>0.105482</scale>
+         <version>v0.1.7</version>
+         <category>pen</category>
+         <description>red hexagonal pen with a conical tip</description>
+         <min_height>0.018</min_height>
+         <max_height>0.025</max_height>
+         <real_height>0.0215</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <generate_time>20260120041944</generate_time>
+         <gs_model>mesh/pen_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.446222305297852</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/fb06d9350be952aeac9af66a63ff443f.usd b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/fb06d9350be952aeac9af66a63ff443f.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e255656ee931d40f6f49d3246ee2b4a959faffda
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/fb06d9350be952aeac9af66a63ff443f.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c51593f759f39c1366047c1e8ba12c2bd50e6e07ebbb65a37700b24a2454da3
+size 438830
diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/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_stationery/fb06d9350be952aeac9af66a63ff443f/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c67330d368ee1fcf535788a99c4443947663a40
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4877645190b22bf67dd88095408bb47b698578ca773a4040977b7263a8cf7b5
+size 1328052
diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mesh/pen.glb b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mesh/pen.glb
new file mode 100644
index 0000000000000000000000000000000000000000..abbccda87e9d3f9cd3639fbd9c6bbf8ef8455e01
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mesh/pen.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cca3e289b941ae73d4dba2e769ed7a1b05a07019ffa40a08fa8141e6a35fe87
+size 1623076
diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mesh/pen.obj b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mesh/pen.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e524eb8c93712f3232f1f3fe769983d28b34ce23
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mesh/pen.obj
@@ -0,0 +1,26870 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mesh/pen_collision.obj b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mesh/pen_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18341caf99f1a8db31ec5a98e1bf816351d4fd14
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mesh/pen_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mesh/pen_gs.ply b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mesh/pen_gs.ply
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--- /dev/null
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diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/fb06d9350be952aeac9af66a63ff443f.xml b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/fb06d9350be952aeac9af66a63ff443f.xml
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index 0000000000000000000000000000000000000000..ea9a1ea334af03f182b85a645842c1d6670a5804
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/fb06d9350be952aeac9af66a63ff443f.xml
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+    <mesh name="collision_mesh_0_1" file="mesh/pen_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pen_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pen_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pen_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pen_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pen_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pen_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pen_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pen_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pen_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pen_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pen_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pen_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pen_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pen_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pen_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pen_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_21" file="mesh/pen_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pen">
+      <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" />
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+      <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" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c67330d368ee1fcf535788a99c4443947663a40
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4877645190b22bf67dd88095408bb47b698578ca773a4040977b7263a8cf7b5
+size 1328052
diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen.obj b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f5dcae8e4474abb156d986725f88e7a1efc711b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen.obj
@@ -0,0 +1,26870 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision.obj b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d75c9f27f5753cc055f84de593b32e6b1fe63d1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision.obj
@@ -0,0 +1,4839 @@
+# https://github.com/mikedh/trimesh
+
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+o pen_collision.obj_21
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diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_0.obj b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3337a8e5d3f2e7d39230141e04f6596375b12b08
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_0.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_1.obj b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e17b76001d6c6ed2f2d4b42eccb70afa3e44ae0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_1.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_10.obj b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52e750dc9148d30b813917f4641a32e012acd380
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_10.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_11.obj b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32f84a10322737c941ed989dc6d6786bc3d0ad28
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_11.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.02883048 0.01071805 0.00002875
+v 0.02883048 0.00864725 -0.00652825
+v 0.02883048 0.01254176 0.00002876
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+
diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_12.obj b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eae051f2213accac4cad446555b594fe7c05b0fe
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_12.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_13.obj b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..391ef7b7d53432ef022f861c7290e69262b2bfb8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_13.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_14.obj b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..708eb6f8b94c2c108ba3f740796e1e19d0384cae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_14.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_15.obj b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..353f2f34be4d7aa071831cab63af0fa6475b1f55
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_15.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_16.obj b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f20099f4f4687441204e8cfdc1d017cb765f5522
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_16.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_17.obj b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1534f3cfb1b47d86b3e4703e87fac1990aa8514
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_17.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.02885486 0.01258071 -0.00076069
+v 0.02885486 0.01210398 -0.00230432
+v 0.02883597 0.01210870 -0.00228956
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+
diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_18.obj b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04b76fe0088057a5ac46700d81028487af7b6a97
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_18.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.02887125 -0.01256154 0.00001124
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+v 0.02884930 -0.01256194 0.00001124
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+
diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_19.obj b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec91d8b2fdc3610da529be740c9e4bb70d61e437
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_19.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_2.obj b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7ed95873cefcd53dee30e02831da728dbd4ffa5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_2.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_20.obj b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cfc28e4c4392bbd918c5385b01ac89d8e282c84
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_20.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_21.obj b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f2a3450f6d05dd6266fc785b15c65358dbd1bdd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_21.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.05177786 -0.00477779 -0.00652567
+v 0.05160951 -0.00806714 0.00001126
+v 0.05226392 -0.00804490 0.00001126
+v 0.05280689 -0.00803646 0.00001126
+v 0.05248205 -0.00496645 -0.00652567
+v 0.03065190 -0.00820900 -0.00652568
+v 0.02887125 -0.01073833 0.00001125
+v 0.05295863 -0.00866764 0.00001126
+v 0.05283060 -0.00587756 -0.00652567
+v 0.05250577 -0.00497719 -0.00652567
+v 0.02887125 -0.00866225 -0.00652568
+v 0.02887125 -0.01256131 0.00001124
+v 0.05308430 -0.00922443 0.00001126
+v 0.05309378 -0.00922443 -0.00076058
+v 0.05283534 -0.00762537 -0.00575256
+v 0.05279029 -0.00737612 -0.00652568
+v 0.02887125 -0.01055425 -0.00652569
+v 0.02887125 -0.01261192 -0.00076060
+v 0.03060685 -0.01257128 -0.00076060
+v 0.03060685 -0.01251682 0.00001124
+v 0.05292306 -0.00982723 0.00001125
+v 0.05278792 -0.01036101 -0.00076059
+v 0.05278555 -0.00877730 -0.00405017
+v 0.05265277 -0.00853724 -0.00524185
+v 0.05162611 -0.00814381 -0.00652568
+v 0.02962761 -0.01051667 -0.00652569
+v 0.02993585 -0.01177367 -0.00328410
+v 0.02887125 -0.01178364 -0.00331034
+v 0.02887125 -0.01213412 -0.00238810
+v 0.03055469 -0.01201601 -0.00251226
+v 0.04286749 -0.01179899 -0.00007131
+v 0.04353138 -0.01176984 0.00001125
+v 0.05278081 -0.01035334 0.00001125
+v 0.05216433 -0.01055734 0.00001125
+v 0.05162611 -0.01074523 -0.00076059
+v 0.05263380 -0.01018154 -0.00184986
+v 0.05162611 -0.00867452 -0.00552857
+v 0.05162611 -0.00824505 -0.00635096
+v 0.05127994 -0.00819596 -0.00652568
+v 0.03060685 -0.01044765 -0.00652569
+v 0.05162611 -0.01027894 -0.00206618
+v 0.02887125 -0.01212799 -0.00240730
+v 0.04377086 -0.01174684 0.00001125
+v 0.05162611 -0.01072913 0.00001125
+v 0.04384199 -0.01173993 0.00001125
+v 0.04991422 -0.00871517 -0.00583384
+v 0.04939970 -0.00843831 -0.00652568
+v 0.05052358 -0.00833708 -0.00647448
+v 0.05048090 -0.00831330 -0.00652568
+v 0.04997824 -0.00837312 -0.00652568
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+f 1 25 39
+f 1 39 49
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+f 40 46 41
+f 47 50 48
+f 48 50 49
+
diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_3.obj b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52ed5a836168943628e83dc8960b9e1ce40b3216
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_3.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.05289497 0.00001080 0.00001132
+v -0.05285614 0.00001080 -0.00076079
+v -0.05289497 -0.00038911 0.00001132
+v -0.04905134 0.00001080 0.00001132
+v -0.05285614 -0.00032984 -0.00076079
+v -0.05263679 0.00001081 -0.00159533
+v -0.05118669 -0.00171611 -0.00014141
+v -0.05118669 -0.00171611 0.00001131
+v -0.04479616 -0.00084267 0.00001132
+v -0.04480393 0.00001080 -0.00080806
+v -0.05175741 -0.00109784 -0.00071837
+v -0.05262902 0.00001081 -0.00159957
+v -0.04908628 -0.00162501 -0.00156564
+v -0.04569107 -0.00335130 -0.00003353
+v -0.04402938 -0.00338374 -0.00167352
+v -0.03874730 -0.00505886 -0.00169110
+v -0.04569107 -0.00335130 0.00001131
+v -0.03306532 -0.00368259 0.00001131
+v -0.03306532 0.00001081 -0.00405651
+v -0.04058370 -0.00341368 -0.00331532
+v -0.03772427 0.00001082 -0.00545105
+v -0.03772427 -0.00079711 -0.00547105
+v -0.03880359 -0.00179532 -0.00495227
+v -0.03306532 -0.00409994 -0.00560803
+v -0.03306532 -0.00567027 -0.00402744
+v -0.03898413 -0.00513062 -0.00076081
+v -0.03306532 -0.00571456 -0.00393593
+v -0.03306532 -0.00621866 -0.00241534
+v -0.03772427 -0.00546128 -0.00076081
+v -0.03772427 -0.00543383 0.00001130
+v -0.03306532 -0.00634844 0.00001130
+v -0.03306532 0.00001082 -0.00617710
+v -0.03597134 0.00001082 -0.00574377
+v -0.03597134 -0.00079711 -0.00575529
+v -0.03306532 -0.00236804 -0.00612317
+v -0.03306532 -0.00248284 -0.00610438
+v -0.03772427 -0.00212598 -0.00510985
+v -0.03306532 -0.00396581 -0.00566742
+v -0.03306532 -0.00636216 -0.00076081
+v -0.03306532 -0.00634969 -0.00004082
+v -0.03306532 -0.00079711 -0.00617952
+f 1 2 5
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+f 1 18 9
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+f 1 4 10
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+f 29 40 31
+f 29 31 30
+f 32 41 34
+f 32 34 33
+f 34 41 35
+f 36 38 37
+
diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_4.obj b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0139f13c879007451003f0bb0973e32b41b955a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_4.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.02717792 0.01282113 0.00088483
+v -0.02717792 0.01280574 0.00002876
+v -0.02717792 0.01259565 0.00249914
+v 0.02885199 0.01250024 0.00088483
+v 0.02885199 0.01254179 0.00002876
+v -0.02717792 0.01096734 0.00002875
+v -0.02717792 0.01259104 0.00252983
+v 0.02885199 0.01084728 0.00581919
+v 0.03060269 0.01241482 0.00088483
+v -0.02717792 0.01219934 0.00417419
+v -0.02545863 0.01190999 0.00522077
+v 0.03060269 0.01245330 0.00002876
+v -0.02717792 0.00925282 0.00656016
+v 0.05157956 0.00805930 0.00002874
+v 0.05174442 0.00496040 0.00656015
+v 0.02885199 0.01057794 0.00656017
+v 0.03060269 0.01047560 0.00656017
+v 0.03060269 0.01073877 0.00581919
+v 0.04055728 0.01187846 0.00014383
+v -0.02717792 0.01191769 0.00520095
+v -0.02717792 0.01191230 0.00522013
+v -0.02545863 0.01135055 0.00656017
+v 0.04055728 0.01187846 0.00002875
+v -0.02717792 0.01134670 0.00656017
+v 0.05217620 0.00806161 0.00002874
+v 0.05283566 0.00806931 0.00002874
+v 0.05252949 0.00499811 0.00656015
+v 0.04770920 0.00857410 0.00656016
+v 0.05162666 0.00868568 0.00543558
+v 0.05162666 0.01025783 0.00194611
+v 0.04987597 0.01076419 0.00088482
+v 0.05162666 0.01059028 0.00088482
+v 0.05168162 0.01052564 0.00002875
+v 0.05292201 0.00866800 0.00002874
+v 0.05296127 0.00763143 0.00417418
+v 0.05281210 0.00594463 0.00656015
+v 0.05277285 0.00594386 0.00593872
+v 0.05254518 0.00500119 0.00656015
+v 0.05162666 0.00802081 0.00656016
+v 0.04987597 0.00832862 0.00646490
+v 0.05162666 0.00820549 0.00625840
+v 0.05260799 0.00857717 0.00521053
+v 0.05254518 0.01019627 0.00179843
+v 0.05268650 0.01032017 0.00088482
+v 0.05230967 0.01042868 0.00002875
+v 0.05296127 0.00939212 0.00002874
+v 0.05302407 0.00931671 0.00088481
+v 0.05281996 0.00766144 0.00578338
+v 0.05275715 0.00738672 0.00656016
+v 0.05275715 0.00879187 0.00417418
+v 0.05269435 0.01033018 0.00002875
+v 0.05281210 0.00934056 0.00241985
+f 1 2 6
+f 1 6 13
+f 1 13 24
+f 1 24 21
+f 1 21 20
+f 1 20 10
+f 1 10 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
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+f 2 33 45
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+f 44 52 47
+f 44 47 51
+f 46 51 47
+f 47 52 50
+f 47 50 48
+f 48 50 49
+
diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_5.obj b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..550a10e79d7ba0016acaaa88011ef8e971f93c6e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_5.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
+v -0.02631872 0.01105030 -0.00652865
+v -0.02545527 0.01104597 -0.00652865
+v -0.02545527 0.01076828 -0.00734073
+v -0.02720571 0.01073263 -0.00734073
+v -0.02720571 0.01103193 -0.00652865
+v 0.02884752 0.01057162 -0.00652865
+v -0.02545527 0.01027231 -0.00828527
+v 0.02884752 0.01037389 -0.00708320
+v 0.00432571 0.01049815 -0.00734073
+v 0.00554238 0.01016750 -0.00817296
+v 0.00432571 0.01017506 -0.00818160
+v -0.02720571 0.01024530 -0.00825771
+v -0.02721356 0.01024530 -0.00825730
+v -0.02721356 0.01073155 -0.00734073
+v -0.02721356 0.01006160 -0.00652865
+v 0.03059796 0.01043871 -0.00652865
+v -0.02545527 0.00839326 -0.00971115
+v -0.02720571 0.00838461 -0.00971979
+v -0.02721356 0.00931927 -0.00898875
+v 0.03059796 0.01030365 -0.00689355
+v 0.02884752 0.01001731 -0.00790556
+v 0.02884752 0.00917448 -0.00875180
+v 0.02884752 0.00812852 -0.00957416
+v -0.02721356 0.00894107 -0.00652866
+v 0.05162676 0.00794049 -0.00652866
+v -0.02545527 0.00755043 -0.01023320
+v -0.02720571 0.00754179 -0.01020852
+v -0.02721356 0.00754071 -0.01020810
+v -0.02721356 0.00838569 -0.00971773
+v 0.03059796 0.00993518 -0.00771632
+v 0.05162676 0.00696585 -0.00835398
+v 0.03059796 0.00909236 -0.00870695
+v 0.03059796 0.00804748 -0.00952932
+v 0.02884752 0.00728570 -0.01007111
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diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_6.obj b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d4f30d0b454e6dad9ad74945891375d1a332c60
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_6.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_7.obj b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcfa693a4d1775c6fe3382ccb4319c232a71c2c5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_7.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_8.obj b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc38ebfe3171059d2aac33b40e86ef381442c51e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_8.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_9.obj b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2391234c9811e5638f039c567e446bb4f3bef4b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fb06d9350be952aeac9af66a63ff443f/mjcf/mesh/pen_collision_9.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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