diff --git a/.gitattributes b/.gitattributes
index 61f174c0857279e6371410c5a74b831464c89d44..4fad94cce9412f51af3d81f4b9b97e4ac40c0569 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3221,3 +3221,5 @@ dataset/desktop_supplies/office_stationery/a1df11275353567ab3807beabbdde088/mesh
 dataset/desktop_supplies/office_stationery/a1df11275353567ab3807beabbdde088/sharpener_030.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/ballpoint_pen_031.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mesh/ballpoint_pen_031.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mesh/pen_holder_038.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/pen_holder_038.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..92596e44930faeed74eaa4cf5390b949624a9b31
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pen_holder_038_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_038_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f58fce425ab9ed1806bbf2b967a6592a18f95971
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd3e8c56ebd5ac63b6c49bf5eb35d8e5c45f444206f37cea7a271139c45a25f5
+size 9467586
diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mesh/pen_holder_038.glb b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mesh/pen_holder_038.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4c9c5dc5219578e98ff02c38d924e5f9b0984ad7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mesh/pen_holder_038.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed47f8848bbf19d1c76100935f215c09f6c03b2153be57dc88ab2e15fb9b9dd1
+size 12789964
diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mesh/pen_holder_038.mtl b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mesh/pen_holder_038.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d1ef599f3cd7618d1297a7740a3b4e087abdab5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mesh/pen_holder_038.mtl
@@ -0,0 +1,6 @@
+newmtl pen_holder_038_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/a040dec1c2fc58c18c0f5ab03ad755a5/mesh/pen_holder_038.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mesh/pen_holder_038.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd7b779ddcd65a63d9ee9c04ad5b9756623117d7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mesh/pen_holder_038.obj
@@ -0,0 +1,112298 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pen_holder_038_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mesh/pen_holder_038_collision.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mesh/pen_holder_038_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21249b401b3f058c827c09f2fe3152c3175c4330
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mesh/pen_holder_038_collision.obj
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1c95dd06fbc903cea4e9f9a8a1610472161cf36
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision.obj
@@ -0,0 +1,15442 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_0.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba2f7942895240be5fa26425ee46164a03745c0f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_1.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa2a1ef5f3e47f3cccb35c5ceb73581f7e3b1851
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_10.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2628de5ffa444388eacc490d06470878023cd3a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_11.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01415a28e86b63a19a4581f748d693afe11ef7d1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_11.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_12.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a513d4ef8b0676cd7449710c63d859bb0ba31fda
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_12.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_13.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a11b00c9526deca0c8a095414e3a62959ab63531
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_13.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_14.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c98113ab3099d44b0c72f4c7411e5e0406b17b9d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_14.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_15.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10d0f9742e410117f70699351fe2b423e893368c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_15.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_16.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cacd26d6562e7a8b6a25e9b19280b7f16667fa0a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_16.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_17.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..606d733d4c1d7416c644056e5939596f08ee199a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_17.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_18.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7d71d736405ddc742ff260fda97f81b5d269405
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_18.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_19.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..265d857918e6c9cd3d65ddac314bf31cf05e6ed8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_19.obj
@@ -0,0 +1,193 @@
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_2.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..218328f2680271ae6281994686bdb350e2d22dd4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_2.obj
@@ -0,0 +1,1417 @@
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_20.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..602cf8e215c74a5e7b14b6dbcf9610305a1c1fde
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_20.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_21.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..775226a848910cd60b04ee4ae572e4d97319d141
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_21.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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+f 21 25 26
+f 21 26 22
+f 23 27 24
+f 23 28 27
+f 25 29 26
+f 26 29 30
+f 27 28 31
+f 28 32 31
+f 29 33 30
+f 30 33 34
+f 31 32 35
+f 31 35 36
+f 33 37 34
+f 34 37 38
+f 34 38 39
+f 35 40 36
+f 36 40 41
+f 38 42 43
+f 38 43 39
+f 40 43 42
+f 40 42 44
+f 40 44 41
+
diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_22.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86e4678e839652fb60cd605a75af7cf5c1ef4c7b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_22.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.01606480 0.03447679 -0.06833338
+v -0.01606480 0.04314471 -0.06833335
+v -0.01435302 0.03463924 -0.06833338
+v -0.01606480 0.03719867 -0.05331516
+v -0.01606480 0.04319695 -0.06663231
+v -0.01449185 0.04371727 -0.06833335
+v -0.01528227 0.03735885 -0.05331516
+v -0.01558519 0.03729637 -0.05331516
+v 0.00005275 0.03787580 -0.06833337
+v 0.00005275 0.04058972 -0.05331515
+v -0.01606480 0.04312307 -0.05331514
+v -0.01606480 0.04320604 -0.06611480
+v -0.01451867 0.04374907 -0.06611480
+v -0.01338432 0.04409216 -0.06833335
+v 0.00005275 0.04602909 -0.06833334
+v 0.00005275 0.04590862 -0.05331513
+v -0.01606480 0.04319809 -0.06441670
+v -0.01189342 0.04439770 -0.05331514
+v -0.01341588 0.04410010 -0.06611480
+v -0.01213007 0.04446931 -0.06611480
+v -0.01213323 0.04444433 -0.06833335
+v 0.00005275 0.04608134 -0.06611479
+v -0.00110684 0.04603023 -0.06833334
+v -0.00056885 0.04590749 -0.05331513
+v -0.00992448 0.04503846 -0.06611479
+v -0.00551487 0.04567460 -0.05331513
+v -0.00992921 0.04498508 -0.06833334
+v -0.00110211 0.04607907 -0.06611479
+v -0.00331243 0.04591435 -0.06833334
+v -0.00330928 0.04597569 -0.06611479
+v -0.00110211 0.04590521 -0.05331513
+v -0.00772046 0.04545879 -0.06611479
+v -0.00330928 0.04579729 -0.05331513
+v -0.00551487 0.04576325 -0.06611479
+v -0.00772520 0.04539859 -0.06833334
+v -0.00551803 0.04570192 -0.06833334
+f 1 2 6
+f 1 6 14
+f 1 14 21
+f 1 21 27
+f 1 27 35
+f 1 35 36
+f 1 36 29
+f 1 29 23
+f 1 23 15
+f 1 15 9
+f 1 9 3
+f 1 3 4
+f 1 4 11
+f 1 11 17
+f 1 17 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 3 9 10
+f 3 10 7
+f 4 8 7
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+f 4 10 16
+f 4 16 24
+f 4 24 31
+f 4 31 33
+f 4 33 26
+f 4 26 18
+f 4 18 11
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 9 15 22
+f 9 22 16
+f 9 16 10
+f 11 13 17
+f 11 18 19
+f 11 19 13
+f 12 17 13
+f 13 19 14
+f 14 19 20
+f 14 20 21
+f 15 23 22
+f 16 22 24
+f 18 25 20
+f 18 20 19
+f 18 26 25
+f 20 25 21
+f 21 25 27
+f 22 23 28
+f 22 28 24
+f 23 29 30
+f 23 30 28
+f 24 28 31
+f 25 26 32
+f 25 32 27
+f 26 33 30
+f 26 30 34
+f 26 34 32
+f 27 32 35
+f 28 30 31
+f 29 36 34
+f 29 34 30
+f 30 33 31
+f 32 34 35
+f 34 36 35
+
diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_23.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2b1c931bc281acfa26a0895dc0f5f2f66838f09
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_23.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.00005275 0.03894278 -0.06806708
+v 0.00005275 0.04058987 -0.05331659
+v 0.00005275 0.04603443 -0.06806705
+v 0.00469211 0.03777825 -0.06806708
+v 0.00005275 0.04590834 -0.05331657
+v 0.01564421 0.03517018 -0.06806709
+v 0.01528920 0.03736237 -0.05331660
+v 0.00005275 0.04608182 -0.06611601
+v 0.00110488 0.04608506 -0.06611601
+v 0.00110488 0.04603443 -0.06806705
+v 0.00110488 0.04591157 -0.05331657
+v 0.01653658 0.03508077 -0.06806709
+v 0.01653658 0.03711352 -0.05331660
+v 0.00331079 0.04597517 -0.06611601
+v 0.00331079 0.04592348 -0.06806705
+v 0.00163739 0.04588464 -0.05331657
+v 0.01653658 0.04294052 -0.06806706
+v 0.01653658 0.04297278 -0.05331658
+v 0.00331079 0.04579846 -0.05331657
+v 0.00551670 0.04565195 -0.05331657
+v 0.00551670 0.04576295 -0.06611601
+v 0.00551670 0.04570587 -0.06806705
+v 0.01629775 0.04304178 -0.06806706
+v 0.01653658 0.04295668 -0.06806128
+v 0.01653658 0.04302237 -0.06389204
+v 0.01452915 0.04374630 -0.06611602
+v 0.01342700 0.04410396 -0.06611602
+v 0.01190852 0.04438508 -0.05331658
+v 0.00772261 0.04543869 -0.06611601
+v 0.00772261 0.04538053 -0.06806705
+v 0.01447429 0.04370753 -0.06806706
+v 0.01653658 0.04303207 -0.06611602
+v 0.01350607 0.04404364 -0.06806706
+v 0.01337052 0.04408673 -0.06806706
+v 0.01321399 0.04412982 -0.06806706
+v 0.01213282 0.04445515 -0.06611602
+v 0.00992691 0.04499486 -0.06611601
+v 0.00992691 0.04494639 -0.06806705
+v 0.00965743 0.04500025 -0.06806705
+v 0.01213282 0.04441530 -0.06806706
+v 0.01186334 0.04448101 -0.06806706
+f 1 2 5
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+f 1 8 3
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+f 1 15 22
+f 1 22 30
+f 1 30 39
+f 1 39 38
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+f 1 41 40
+f 1 40 35
+f 1 35 34
+f 1 34 33
+f 1 33 31
+f 1 31 23
+f 1 23 17
+f 1 17 12
+f 1 12 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
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+f 2 7 13
+f 2 13 18
+f 2 18 28
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+f 2 20 19
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+f 2 11 5
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+f 5 9 8
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+f 10 14 15
+f 11 16 14
+f 12 17 24
+f 12 24 32
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+f 12 25 18
+f 12 18 13
+f 14 16 19
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+f 15 21 22
+f 17 23 24
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 20 29 21
+f 20 28 29
+f 21 29 22
+f 22 29 30
+f 23 31 24
+f 24 31 32
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+f 26 31 33
+f 26 33 27
+f 27 34 35
+f 27 35 36
+f 27 36 28
+f 27 33 34
+f 28 36 37
+f 28 37 29
+f 29 37 38
+f 29 38 39
+f 29 39 30
+f 35 40 36
+f 36 40 37
+f 37 40 41
+f 37 41 38
+
diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_24.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..887bae44dcbac559c42ba7a8f51da887641b2397
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_24.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.01653839 -0.04319841 -0.06611566
+v -0.01859722 -0.04237310 -0.06611566
+v -0.01654309 -0.04313005 -0.06825776
+v -0.01653839 -0.04313176 -0.06825125
+v -0.01653839 -0.04314551 -0.04610972
+v -0.01654309 -0.04314380 -0.04608802
+v -0.01970067 -0.04189808 -0.06611565
+v -0.01854551 -0.04231670 -0.06825776
+v -0.01850438 -0.04233379 -0.06825776
+v -0.01653839 -0.04311980 -0.06825776
+v -0.01653839 -0.03727095 -0.04608800
+v -0.02284766 -0.04024069 -0.04608801
+v -0.02095453 -0.04127611 -0.06611565
+v -0.02090870 -0.04122313 -0.06825775
+v -0.01960783 -0.04185364 -0.06825775
+v -0.01653839 -0.03464971 -0.06825773
+v -0.01654309 -0.03720602 -0.04608800
+v -0.01653839 -0.03720944 -0.04610970
+v -0.02287822 -0.04022532 -0.04608801
+v -0.02289467 -0.04024062 -0.06611565
+v -0.02282651 -0.04020815 -0.06825775
+v -0.02095453 -0.04119920 -0.06825775
+v -0.01763126 -0.03313749 -0.06825772
+v -0.02854234 -0.02889313 -0.04608797
+v -0.02645649 -0.02651623 -0.06825770
+v -0.02396991 -0.03956234 -0.04608801
+v -0.02399811 -0.03959645 -0.06389325
+v -0.02399811 -0.03960157 -0.06611565
+v -0.02289584 -0.04023722 -0.06389325
+v -0.02286764 -0.04018423 -0.06825775
+v -0.02854234 -0.02574389 -0.06825769
+v -0.02854234 -0.03630895 -0.04608799
+v -0.02853294 -0.03631578 -0.04608799
+v -0.02680785 -0.03779375 -0.06611564
+v -0.02536479 -0.03873867 -0.06611564
+v -0.02531426 -0.03870107 -0.06825774
+v -0.02392996 -0.03955713 -0.06825775
+v -0.02854234 -0.03643019 -0.06825773
+v -0.02854234 -0.03649684 -0.06611563
+v -0.02791012 -0.03698553 -0.06611564
+v -0.02681255 -0.03773906 -0.06825774
+v -0.02677260 -0.03776811 -0.06825774
+v -0.02671854 -0.03780399 -0.06825774
+v -0.02787487 -0.03694963 -0.06825774
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 18
+f 1 18 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 6 7
+f 3 10 4
+f 3 9 8
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+f 3 44 38
+f 3 38 31
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+f 3 23 16
+f 3 16 10
+f 5 11 6
+f 6 11 17
+f 6 17 24
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+f 6 32 33
+f 6 33 26
+f 6 26 19
+f 6 19 12
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+f 7 14 15
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+f 7 12 13
+f 11 18 17
+f 12 19 13
+f 13 20 21
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+f 13 22 14
+f 13 19 20
+f 16 23 18
+f 17 18 23
+f 17 23 25
+f 17 25 24
+f 19 26 27
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+f 19 28 29
+f 19 29 20
+f 20 29 28
+f 20 28 21
+f 21 28 30
+f 24 31 38
+f 24 38 39
+f 24 39 32
+f 24 25 31
+f 26 33 34
+f 26 34 35
+f 26 35 27
+f 27 35 28
+f 28 35 36
+f 28 36 37
+f 28 37 30
+f 32 39 40
+f 32 40 34
+f 32 34 33
+f 34 40 41
+f 34 41 42
+f 34 42 43
+f 34 43 35
+f 35 43 36
+f 38 44 39
+f 39 44 40
+f 40 44 41
+
diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_25.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b0fccb253b572a93d5f684be5a9ccc11e474850
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_25.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.03693998 0.02778527 -0.06611608
+v 0.03775081 0.02667666 -0.05331664
+v 0.03774739 0.02671968 -0.06389210
+v 0.03774053 0.02673044 -0.06611608
+v 0.03688169 0.02778528 -0.06806712
+v 0.03657484 0.02778523 -0.05331664
+v 0.03848451 0.02563105 -0.05331665
+v 0.03871765 0.02529633 -0.05331665
+v 0.03870222 0.02529637 -0.06611609
+v 0.03782796 0.02651703 -0.06806712
+v 0.03771139 0.02669053 -0.06806712
+v 0.02702134 0.02778528 -0.06806712
+v 0.02937157 0.02778523 -0.05331664
+v 0.03956278 0.02394981 -0.06611609
+v 0.04180501 0.01961531 -0.05331667
+v 0.04018162 0.02284585 -0.06611610
+v 0.03953192 0.02390683 -0.06806713
+v 0.03864051 0.02529638 -0.06806713
+v 0.02728362 0.02721103 -0.06806712
+v 0.03895936 0.01209948 -0.05331670
+v 0.04015762 0.02280441 -0.06806714
+v 0.04008219 0.02293799 -0.06806714
+v 0.04193015 0.01934815 -0.05331667
+v 0.04184272 0.01963224 -0.06611611
+v 0.04121702 0.02088667 -0.06611610
+v 0.04028447 0.02256488 -0.06806714
+v 0.03570572 0.01354742 -0.06806717
+v 0.03710626 0.01209953 -0.06806718
+v 0.04448781 0.01209948 -0.05331670
+v 0.04232100 0.01851289 -0.05331667
+v 0.04232271 0.01852366 -0.06166960
+v 0.04232271 0.01852673 -0.06389213
+v 0.04231929 0.01852981 -0.06611611
+v 0.04181872 0.01958158 -0.06806715
+v 0.04116902 0.02088668 -0.06806714
+v 0.04449124 0.01209953 -0.06806718
+v 0.04452552 0.01209951 -0.06389216
+v 0.04418096 0.01337698 -0.06611613
+v 0.04441410 0.01234514 -0.05331669
+v 0.04414839 0.01321726 -0.05331669
+v 0.04382954 0.01447940 -0.06611613
+v 0.04313698 0.01647697 -0.06611612
+v 0.04229186 0.01847916 -0.06806715
+v 0.04420839 0.01316357 -0.06806717
+v 0.04453238 0.01209952 -0.06611614
+v 0.04416382 0.01332325 -0.06806717
+v 0.04412096 0.01345683 -0.06806717
+v 0.04380382 0.01442567 -0.06806717
+v 0.04316784 0.01623439 -0.06806716
+v 0.04308213 0.01647698 -0.06806716
+v 0.04239128 0.01822888 -0.06806715
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 13
+f 1 13 6
+f 1 6 2
+f 2 7 3
+f 2 6 13
+f 2 13 20
+f 2 20 29
+f 2 29 39
+f 2 39 40
+f 2 40 30
+f 2 30 23
+f 2 23 15
+f 2 15 8
+f 2 8 7
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 10
+f 5 10 18
+f 5 18 17
+f 5 17 22
+f 5 22 21
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+f 5 26 35
+f 5 35 34
+f 5 34 43
+f 5 43 51
+f 5 51 50
+f 5 50 49
+f 5 49 48
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+f 5 46 44
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+f 5 27 19
+f 5 19 12
+f 8 14 9
+f 8 15 16
+f 8 16 14
+f 9 14 17
+f 9 17 18
+f 9 18 10
+f 12 19 13
+f 13 19 20
+f 14 16 21
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+f 14 22 17
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 16 25 26
+f 16 26 21
+f 19 27 20
+f 20 28 36
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+f 20 45 37
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+f 20 27 28
+f 23 30 24
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+f 24 34 35
+f 24 35 25
+f 25 35 26
+f 29 37 38
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+f 30 40 41
+f 30 41 42
+f 30 42 31
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+f 32 42 33
+f 33 43 34
+f 33 42 43
+f 36 44 45
+f 37 45 38
+f 38 45 44
+f 38 44 46
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+f 38 41 40
+f 38 40 39
+f 41 46 47
+f 41 47 48
+f 41 48 42
+f 42 48 49
+f 42 49 50
+f 42 50 51
+f 42 51 43
+
diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_26.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..508b01430467b384a808ef79fc0c149e5cb273b5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_26.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
+v -0.00715799 -0.04709571 0.05837310
+v -0.00715799 -0.04690520 0.06059334
+v -0.00771986 -0.04683407 0.06059334
+v -0.00771986 -0.04701823 0.05837310
+v -0.00715799 -0.04682248 0.01613714
+v -0.00715799 -0.04654323 0.06187672
+v -0.00771986 -0.04650894 0.06185105
+v -0.00899968 -0.04641241 0.06174839
+v -0.00981128 -0.04649241 0.06037517
+v -0.01103142 -0.04637683 0.05948964
+v -0.01013812 -0.04656099 0.05850144
+v -0.00988472 -0.04659909 0.05615286
+v -0.00929806 -0.04646813 0.01835739
+v -0.00771986 -0.04673993 0.01613714
+v -0.00715799 -0.04680215 0.01390407
+v -0.00715799 -0.04527311 0.06244141
+v -0.00771986 -0.04527311 0.06240290
+v -0.01213038 -0.04486032 0.06215907
+v -0.01433655 -0.04457201 0.06204357
+v -0.01047047 -0.04619521 0.06096552
+v -0.01593587 -0.04434211 0.06186390
+v -0.01433655 -0.04520960 0.06059334
+v -0.01433655 -0.04543821 0.05837310
+v -0.01191187 -0.04613804 0.05850144
+v -0.01103142 -0.04637683 0.05933563
+v -0.01101489 -0.04637301 0.05784692
+v -0.01036764 -0.04624839 0.01613714
+v -0.00926409 -0.04645923 0.01613714
+v -0.00921360 -0.04645033 0.01390407
+v -0.00771986 -0.04671960 0.01390407
+v -0.00771986 -0.04557239 -0.06611453
+v -0.00715799 -0.04565241 -0.06611453
+v -0.00715799 -0.04306819 0.06285210
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_27.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3abee7f945ff6dde7a206a428efe4b64fbe57c7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_27.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_28.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..618a14641838e717c3c57f0f05af2581d5b4d773
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_28.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_29.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9056f9a509b75238230028eb8c76bf8f2652f873
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_29.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_3.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c352e2e48a228c9ed9d77582b1bf78276ae1beff
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_3.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_30.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..821f46ee53db5da596059cf41e04819aeb8ea54d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_30.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_31.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a1054d6a40852e8926119456eb3c6fffed14f26
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_31.obj
@@ -0,0 +1,448 @@
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_4.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2983aa8ffa8a5b477368c008adfb8f6f8d2710a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_4.obj
@@ -0,0 +1,601 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_5.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dfd2a1c1398a146a02b33813c671550c6bb74d8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_5.obj
@@ -0,0 +1,580 @@
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_6.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcf792dba3b5b4ae549557df4378b6f1b0a2daa1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_7.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85164d5cd9c9fd22b9eeea81b917e60965d4eae2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_8.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3060baeb8e81d75271a99a7f45a9f6f6c2ebe24c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_9.obj b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9ee6b819d1630fa7e8a3e555fafeb5f7132d26c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/mesh/pen_holder_038_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/pen_holder_038.xml b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/pen_holder_038.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d532b0c068af6f920b81c329b3430a34107f62d3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mjcf/pen_holder_038.xml
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+    <mesh name="collision_mesh_0_30" file="mesh/pen_holder_038_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/pen_holder_038_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pen_holder_038">
+      <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/a040dec1c2fc58c18c0f5ab03ad755a5/pen_holder_038.urdf b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/pen_holder_038.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..511d509d4611330a0d7b07eea7a4cc4956ab571a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/pen_holder_038.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_038">
+   <link name="pen_holder_038">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_038.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_038_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <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>a040dec1c2fc58c18c0f5ab03ad755a5</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>pen_holder</category>
+         <name>gray pen holder</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cylindrical gray pen holder with vented lower band and textured base</description>
+         <min_height>0.1350</min_height>
+         <max_height>0.1350</max_height>
+         <real_height>0.1350</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611145635</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.047381 -0.047380 -0.072541</min>
+            <max>0.047383 0.047250 0.062459</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/a040dec1c2fc58c18c0f5ab03ad755a5/pen_holder_038.usd b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/pen_holder_038.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/pen_holder_038.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b9530f240786a28421f3dcb597c1415224ef962e056e168c536e5174aebd8c5
+size 4904957
diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/textures/material_0.png b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd3e8c56ebd5ac63b6c49bf5eb35d8e5c45f444206f37cea7a271139c45a25f5
+size 9467586
diff --git a/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/video.mp4 b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..20534bbec066db520af7f09ddfe77672f05054d7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:657d288df17fc4b8f71a65ba34e7ca41fcaef57110001ff2f4795d70863d3b59
+size 274890