diff --git a/.gitattributes b/.gitattributes
index 4cf66a4bffde5b60ceaa65365fff37ce4f6fdf5c..1551117981757cf0a1de126be9a353874d0fd1bc 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5318,3 +5318,5 @@ dataset/desktop_supplies/electronic_accessories/902d2e5e0f0f5a9f9295b539d8827d63
 dataset/desktop_supplies/office_stationery/1af6d7f1186a5d138c02efee361e7042/1af6d7f1186a5d138c02efee361e7042.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/1af6d7f1186a5d138c02efee361e7042/mesh/pen.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/1af6d7f1186a5d138c02efee361e7042/mesh/pen_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mesh/pen_holder_023.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/pen_holder_023.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8f2c94366664a5edbd2c6c90bea97889820ccc64
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pen_holder_023_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd pen_holder_023_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7eefc6bc7c91b621aceb3d9748817120a17e3ed6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a8b7b9b9bdd495ccc13398fe745f130f76409eb693f3bc7e4de7f9a8fab6f34
+size 11112490
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mesh/pen_holder_023.glb b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mesh/pen_holder_023.glb
new file mode 100644
index 0000000000000000000000000000000000000000..107de32eda79cb8fc6e8bbfef557c564f69d6844
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mesh/pen_holder_023.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3cadcfa2fcc7695ec973c06915e59cb4853b4330de9619af168c4eb19206582
+size 14455948
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mesh/pen_holder_023.mtl b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mesh/pen_holder_023.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..91adfb16c24eb416c73862aa1875329f5f522481
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mesh/pen_holder_023.mtl
@@ -0,0 +1,6 @@
+newmtl pen_holder_023_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/54262817079f52c2b26b1aec0fe31d79/mesh/pen_holder_023.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mesh/pen_holder_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..739485e2101726a1cdf2ef32d3fa3966bf420d26
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mesh/pen_holder_023.obj
@@ -0,0 +1,119072 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pen_holder_023_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mesh/pen_holder_023_collision.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mesh/pen_holder_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83728184d7acaa5d1fbfe60fd84faf7b1e36f233
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mesh/pen_holder_023_collision.obj
@@ -0,0 +1,13311 @@
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023.obj
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08a419b6bd5123a3951559fde03b8fe63ec9ad0c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision.obj
@@ -0,0 +1,13311 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_0.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff0545300acc6650c90c4417681150194c81a596
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_0.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_1.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c596b5738db1b9531a750df847b3ac04aceda2d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_1.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_10.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f5650c71cdd0ff891e595451286400daeb6e761
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_10.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_11.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1e4c1706cfb08a61e0e32861baac262c03c5a1a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_11.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_12.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd5a4bb65b6b44495eb5067ec1853e558eff25ac
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_12.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_13.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d1179d561aa8f85ca12fe6838a33d29f64a8e67
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_13.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v -0.04453815 0.00029678 -0.03078915
+v -0.04453815 -0.02942501 -0.03077405
+v -0.04453815 0.00029688 -0.05665031
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+v -0.04834541 -0.02967734 -0.03077405
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+
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_14.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba0335897e57856afa8d62277badf1af77ce8b27
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_14.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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+v -0.10854395 -0.02969827 -0.02835285
+v -0.08278776 -0.01503179 -0.02835280
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+v -0.08351936 -0.02617955 0.07261959
+v -0.08353465 -0.02969864 0.07261958
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+
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_15.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8ebc6209b7b7014d9f155f1cb1332878ed7adf0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_15.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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+v -0.08278718 -0.01503179 -0.02835280
+v -0.10856894 0.00029677 -0.02835274
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+v -0.08348825 -0.00870026 0.06910813
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+v -0.10387045 -0.01503187 -0.00466001
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+
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_16.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80759e94bdd6d5dbe3550e38673bb4dd5002b81b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_16.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.08025342 -0.03458502 0.01100093
+v -0.08348066 -0.02970249 0.01100095
+v -0.08025342 -0.05141055 0.01100087
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_17.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3c01c20315bf866de2f6dc2c824e9a5af8baa23
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_17.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_18.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..198045835656c011389bdf09a448b19d3faf4b2a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_18.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_19.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a960dc4f6661de18a22b3de32874d2e639db5fb3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_19.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_2.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea7cea8c9be153b65d0c8d6d2b30ba57f84cd4fd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_2.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_20.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a486a0d556f3620885b2790dc29387d679d6b327
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_20.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_21.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..258afd352f6a4863da6561c08484e3eb9be344bf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_21.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_22.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97acf56b07f8a856dee9346bb65d4c7801ba22ff
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_22.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_23.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..088e1204e1764c1369a4e8099c5f733d6a204aa3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_23.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_24.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66362c71e831601116d4ba997035b43bf30a9e41
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_24.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_25.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21d79a93a773d18d47384c115b01fe5ea5b49a58
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_25.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_26.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3dec77b4f64c718975a55f50edb28c06d01f1e4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_26.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_27.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fd0ed176f35caebf415024dfceaf2a7ce0ccc10
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_27.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_28.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..148fe333525674a9f0a8f5ec048f42f2c3cf4957
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_28.obj
@@ -0,0 +1,448 @@
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_29.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..169e007e31c3f4edd0b0f933b7b077858dd71d89
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_29.obj
@@ -0,0 +1,538 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_3.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aa4cc854bfc236b5f73d1982452c0858a18dffa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_3.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_30.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bace7853e06fb67a216b931011e11b69f2be6baa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_30.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_31.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e64088eef8562959cadbf549c9d6537dc96c686
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_31.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_32.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5fb8441b14d8414d5272c42f681a3d785160c82
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_32.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_33.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03977647b48a03c8addba7a4137ff819f885d933
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_33.obj
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_34.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb2de754fab96d878a4ec96654c4abd44a46aad4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_34.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_35.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b75e06551deb69bae67f4413eb970abba75ad84
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_35.obj
@@ -0,0 +1,157 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_36.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca0b4f8d9d3279eb060f13b6360dac23f819bfcb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_36.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_37.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65d599fe7521145c83744a0f0af48b5aae413e43
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_37.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v 0.07955858 0.05678988 -0.00114967
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+
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_38.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5c7ac8d96ebde814dc9d3ffe6c0e3ceebc2a13f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_38.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.07832607 -0.03486546 -0.02741239
+v 0.07832271 -0.03508326 -0.01524354
+v 0.07832607 -0.03508325 -0.01868003
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+
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_39.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e91463178bd624cb076c74b966461094004b692
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_39.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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+v -0.02347363 -0.03527192 -0.02233095
+v -0.00068338 -0.03527192 -0.02233095
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+v -0.07260962 -0.03527850 -0.02233095
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+v -0.07260962 -0.05108348 -0.02233101
+v -0.00208445 -0.05568149 -0.02233102
+v -0.05544476 -0.05660589 -0.02835236
+v -0.07260962 -0.05262343 -0.02835234
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+
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_4.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94070e4ba3328551a0de16817695a0f1618c62ed
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_4.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_40.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..166fe070d8a81558210cb9e701a7332903c44727
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_40.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v -0.08025622 -0.03458148 0.04307576
+v -0.08348421 -0.02970261 0.04307578
+v -0.08025622 -0.05179898 0.04307570
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+v -0.10353190 -0.02970261 0.04307578
+v -0.08185064 -0.05179104 0.04307570
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+v -0.10352911 -0.03317203 0.04307577
+v -0.10785361 -0.02970259 0.03696285
+v -0.10785361 -0.03317201 0.03697226
+v -0.08387303 -0.05173551 0.04307570
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+v -0.08025622 -0.03458400 0.01100093
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+v -0.10877110 -0.03317199 0.03398015
+v -0.10838509 -0.03666784 0.03398014
+v -0.10746759 -0.03666785 0.03637257
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+
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_41.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3d274e22ef00b7ac5c51651e240dbfcaf74ef94
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_41.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.04398622 -0.05280716 -0.01524360
+v 0.04919351 -0.05599826 -0.01013262
+v 0.04398622 -0.05496706 -0.00470636
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+
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_42.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e867bd183205720d8d82039993de14b91b39c90c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_42.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+v -0.02347128 -0.04366006 0.07898341
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+
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_43.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8eea158fa0c78628d06b62498fe7a1a8a6e0c1e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_43.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+v -0.07260962 -0.05560331 -0.00465690
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+v -0.06283030 -0.05635060 -0.00843343
+v -0.07260962 -0.05556764 -0.00391565
+v -0.06254867 -0.05663399 -0.00465691
+v -0.06254867 -0.05654375 -0.00115089
+v -0.07260962 -0.03527952 0.00587527
+v -0.06254867 -0.03527527 -0.00816987
+v -0.00216189 -0.03526687 -0.01168291
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+
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_44.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f9e6db29f33c41740f259c37199f075fdd4cac7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_44.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.08311205 0.05679414 -0.02924873
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+v 0.08666502 0.05671870 -0.02924873
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+
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_45.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2d3e255958c7f6314f93e1201fc4e858271cbea
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_45.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_46.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7e22b3d95eb5acbf8a2e4d1425759314276fbf7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_46.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_47.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85aef17eaff8f8aa36606c8deb7769b92e416c3c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_47.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_48.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84baf6781ad2d54838654c0a0c3a3b07cafaf67f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_48.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_49.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d6947c66b4452501dd8ee9272eaa1114aa0d909
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_49.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_5.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e23b33510af957f8cb30c690e5b753265cf65256
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_5.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_50.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc675b800b91c197a1e764c5e3e75ea301becb75
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_50.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_51.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de93a270dec7569db935625fd8922ae62fced16e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_51.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_52.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..054e83dc40b397ff16ad59220a0e9f38484e0296
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_52.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 12
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+f 17 33 34
+f 17 34 18
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+f 18 34 35
+f 18 35 20
+f 18 20 19
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+f 20 38 22
+f 20 22 21
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+f 22 40 41
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+f 29 51 52
+f 30 32 33
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+f 32 34 33
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+f 36 57 37
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+f 37 58 40
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+f 50 56 51
+f 51 56 55
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+f 53 55 54
+f 56 60 57
+f 57 60 58
+
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_53.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a7fb93e7632702bbe3119a35435fcf94461185b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_53.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.07832607 -0.05195405 0.06941460
+v 0.07632769 -0.05195405 0.06877919
+v 0.07832607 -0.05548592 0.06688412
+v 0.07832607 -0.05195397 0.04664045
+v 0.07603373 -0.05195405 0.06860975
+v 0.07832607 -0.05554891 0.06680609
+v 0.07458347 -0.05559947 0.06333033
+v 0.07832607 -0.05320865 0.04746758
+v 0.07327914 -0.05195398 0.04843295
+v 0.07276802 -0.05195404 0.06529451
+v 0.07832607 -0.05623119 0.06516072
+v 0.07695192 -0.05615165 0.06457883
+v 0.07261092 -0.05195404 0.06509163
+v 0.07400183 -0.05604496 0.06098714
+v 0.07832607 -0.05608170 0.04948079
+v 0.07753915 -0.05601366 0.04961233
+v 0.07201880 -0.05195399 0.05157429
+v 0.07417918 -0.05593000 0.05321963
+v 0.07832607 -0.05656726 0.06209742
+v 0.07586196 -0.05630014 0.06212863
+v 0.07159288 -0.05195403 0.06208406
+v 0.07383983 -0.05614841 0.05856815
+v 0.07600440 -0.05655208 0.05856815
+v 0.07155238 -0.05195403 0.06184774
+v 0.07119278 -0.05195402 0.05856817
+v 0.07832607 -0.05624079 0.05036589
+v 0.07832607 -0.05643251 0.05165676
+v 0.07621458 -0.05615068 0.05184627
+v 0.07132126 -0.05195400 0.05505897
+v 0.07600440 -0.05646930 0.05505895
+v 0.07397250 -0.05606241 0.05505895
+v 0.07832607 -0.05664909 0.06086452
+v 0.07832607 -0.05662470 0.05505895
+v 0.07832607 -0.05665047 0.05856815
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 19
+f 1 19 32
+f 1 32 34
+f 1 34 33
+f 1 33 27
+f 1 27 26
+f 1 26 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 29
+f 1 29 25
+f 1 25 24
+f 1 24 21
+f 1 21 13
+f 1 13 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 7
+f 3 7 6
+f 4 8 9
+f 5 10 7
+f 6 7 12
+f 6 12 11
+f 7 10 13
+f 7 13 14
+f 7 14 12
+f 8 15 16
+f 8 16 9
+f 9 16 18
+f 9 18 17
+f 11 12 19
+f 12 14 20
+f 12 20 19
+f 13 21 14
+f 14 22 23
+f 14 23 20
+f 14 21 24
+f 14 24 25
+f 14 25 22
+f 15 26 16
+f 16 26 27
+f 16 27 28
+f 16 28 18
+f 17 18 29
+f 18 28 30
+f 18 30 31
+f 18 31 29
+f 19 20 23
+f 19 23 32
+f 22 25 29
+f 22 29 31
+f 22 31 30
+f 22 30 23
+f 23 30 33
+f 23 33 34
+f 23 34 32
+f 27 33 30
+f 27 30 28
+
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_54.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d46578ccb269642ce362dc2125302a00b275fe16
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_54.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.07832607 -0.05195439 0.03865508
+v 0.07603424 -0.05195439 0.03783409
+v 0.07832607 -0.05531016 0.03649970
+v 0.07832607 -0.05195431 0.01605018
+v 0.07297173 -0.05195438 0.03653954
+v 0.07764250 -0.05596105 0.03583139
+v 0.07832607 -0.05602370 0.03594425
+v 0.07832607 -0.05556622 0.01852642
+v 0.07652202 -0.05195431 0.01659013
+v 0.07203103 -0.05195437 0.03362956
+v 0.07421764 -0.05590162 0.03224204
+v 0.07832607 -0.05637884 0.03385083
+v 0.07627673 -0.05610522 0.03363839
+v 0.07631576 -0.05195431 0.01674061
+v 0.07832607 -0.05623691 0.02029452
+v 0.07693314 -0.05616138 0.02087431
+v 0.07456535 -0.05560676 0.02214674
+v 0.07136696 -0.05195436 0.03046730
+v 0.07398769 -0.05605500 0.03046728
+v 0.07600428 -0.05646543 0.03046728
+v 0.07832607 -0.05651611 0.03276208
+v 0.07295013 -0.05195432 0.01995154
+v 0.07832607 -0.05644744 0.02223746
+v 0.07585098 -0.05632031 0.02336826
+v 0.07398002 -0.05606465 0.02448799
+v 0.07277175 -0.05195432 0.02023037
+v 0.07135511 -0.05195436 0.03031683
+v 0.07380930 -0.05617706 0.02695539
+v 0.07600428 -0.05658381 0.02695539
+v 0.07832607 -0.05665983 0.02925018
+v 0.07832607 -0.05661837 0.03046728
+v 0.07832607 -0.05657413 0.02341916
+v 0.07255643 -0.05414609 0.02695540
+v 0.07120739 -0.05195435 0.02695541
+v 0.07158925 -0.05195434 0.02343909
+v 0.07832607 -0.05665797 0.02695539
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 21
+f 1 21 31
+f 1 31 30
+f 1 30 36
+f 1 36 32
+f 1 32 23
+f 1 23 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 22
+f 1 22 26
+f 1 26 35
+f 1 35 34
+f 1 34 27
+f 1 27 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
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+f 6 12 7
+f 6 11 13
+f 6 13 12
+f 8 14 9
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+f 8 17 14
+f 10 18 11
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+f 14 17 22
+f 15 23 16
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+f 16 25 17
+f 17 25 26
+f 17 26 22
+f 18 27 19
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+f 20 28 29
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+f 20 30 31
+f 20 31 21
+f 23 32 24
+f 24 32 29
+f 24 29 25
+f 25 28 33
+f 25 33 34
+f 25 34 35
+f 25 35 26
+f 25 29 28
+f 27 34 33
+f 27 33 28
+f 29 36 30
+f 29 32 36
+
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_6.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4b64c3b11ee7939f22f9b9e7ed962504b09d1ab
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_6.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.10807846 0.02625352 0.02694891
+v 0.10807564 0.02715347 0.02604154
+v 0.10807282 0.02715335 0.05856807
+v 0.10807564 0.02625340 0.05856807
+v 0.10807282 0.00011804 0.06208002
+v 0.10807564 0.00528224 0.02694883
+v 0.10807564 0.02625364 -0.00465957
+v 0.10807282 0.02715359 -0.00555626
+v 0.10795997 0.02715334 0.06208012
+v 0.10807000 0.00178558 0.06208003
+v 0.10779068 0.00178557 0.06559208
+v 0.10776811 0.00011803 0.06559207
+v 0.10807000 0.00011830 -0.00817172
+v 0.10806153 0.00260910 -0.03007667
+v 0.10774837 0.02715368 -0.03007658
+v 0.10716998 0.02715333 0.06560285
+v 0.10663110 0.02715332 0.06704396
+v 0.10685116 0.00178556 0.06804732
+v 0.10682860 0.00011802 0.06801528
+v 0.10805871 0.00011838 -0.03007668
+v 0.07925834 0.02715368 -0.03007658
+v 0.10284485 0.02715330 0.07472991
+v 0.10284767 0.00178554 0.07472982
+v 0.10284767 0.00011800 0.07472981
+v 0.07926681 0.00011838 -0.03007668
+v 0.08273707 0.02625335 0.07261628
+v 0.08274271 0.02715330 0.07261628
+v 0.07926116 0.01198172 -0.03007664
+v 0.08273707 0.00011800 0.07261618
+v 0.10144828 0.02715329 0.07649127
+v 0.10218183 0.00011799 0.07557313
+v 0.07926399 0.00528245 -0.03007666
+v 0.08382329 0.01926292 0.07560523
+v 0.08382611 0.02625334 0.07560526
+v 0.08383176 0.02715329 0.07560526
+v 0.08382611 0.00011799 0.07560516
+v 0.08382329 0.01227514 0.07560521
+v 0.10145110 0.00178553 0.07649118
+v 0.10012788 0.02715328 0.07780429
+v 0.09967365 0.00011798 0.07826321
+v 0.10145110 0.00011799 0.07649117
+v 0.08568538 0.02625334 0.07736662
+v 0.08430574 0.02715329 0.07605360
+v 0.08568538 0.00011799 0.07736652
+v 0.09967083 0.02715328 0.07825264
+v 0.09792441 0.02715328 0.07865829
+v 0.09732064 0.02715328 0.07879706
+v 0.09855075 0.00011798 0.07851941
+v 0.08746001 0.02275945 0.07842342
+v 0.08746283 0.02715328 0.07841276
+v 0.08614244 0.02715328 0.07763349
+v 0.08568538 0.02715329 0.07735595
+v 0.08746283 0.00011798 0.07842334
+v 0.08746001 0.00877859 0.07842337
+v 0.09468267 0.02715328 0.07892516
+v 0.09376574 0.00011798 0.07897843
+v 0.09732064 0.00011798 0.07879696
+v 0.09021647 0.02715328 0.07896786
+v 0.08817099 0.02715328 0.07856221
+v 0.09021647 0.00011798 0.07896776
+v 0.09376574 0.02715328 0.07896786
+f 1 2 3
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+f 1 7 2
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+f 2 8 15
+f 2 15 21
+f 2 21 27
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+f 49 60 58
+f 49 58 59
+f 49 59 50
+f 53 60 54
+f 55 61 56
+f 56 61 58
+f 56 58 60
+
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_7.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0a70aae95c05e3db77040718d42a093bc0e0e31
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_7.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.05544438 0.05679674 -0.02924930
+v -0.05391799 0.05679146 -0.03075887
+v -0.05544438 0.05678617 -0.03075887
+v -0.05899696 0.05675444 -0.03075887
+v -0.05899696 0.05674387 -0.02924930
+v -0.05544438 0.05639750 -0.02651976
+v -0.00571507 0.05677030 -0.02924930
+v -0.00418868 0.05677295 -0.03075887
+v -0.06252927 0.05649798 -0.03075887
+v -0.06251577 0.05635785 -0.02932932
+v -0.06131356 0.05618334 -0.02711609
+v -0.05899696 0.05634462 -0.02671091
+v -0.05544438 0.05528175 -0.02476315
+v -0.00571507 0.05637106 -0.02661692
+v -0.00216249 0.05672800 -0.02924930
+v -0.00216249 0.05674651 -0.03075887
+v -0.06438661 0.05618599 -0.03075887
+v -0.06457572 0.05613576 -0.03055374
+v -0.05899696 0.05490895 -0.02495431
+v -0.06968170 0.05128939 -0.02427162
+v -0.05544438 0.05475295 -0.02427161
+v -0.00571507 0.05450443 -0.02427161
+v -0.00571507 0.05513104 -0.02486096
+v -0.00216249 0.05632611 -0.02676172
+v -0.00068338 0.05622300 -0.02701702
+v -0.00068338 0.05656144 -0.02930328
+v -0.00068338 0.05670421 -0.03070616
+v -0.00068338 0.05670421 -0.03075887
+v -0.06460274 0.05614898 -0.03075887
+v -0.06968170 0.05252678 -0.03075889
+v -0.05899696 0.05413956 -0.02427161
+v -0.06968170 0.03563459 -0.02427168
+v -0.00362134 0.05420302 -0.02427161
+v -0.00216249 0.05477410 -0.02500512
+v -0.00068338 0.05568364 -0.02640609
+v -0.00068338 0.02979678 -0.03075897
+v -0.06968170 0.02980471 -0.03075897
+v -0.06968170 0.03539664 -0.02428057
+v -0.06965468 0.03539664 -0.02427168
+v -0.00216249 0.05390689 -0.02427161
+v -0.00157490 0.05357905 -0.02427161
+v -0.00113589 0.05333316 -0.02427161
+v -0.00068338 0.05307934 -0.02427162
+v -0.00068338 0.03539399 -0.02428057
+v -0.00069013 0.03539399 -0.02427168
+v -0.00778178 0.03539135 -0.02427168
+v -0.02199208 0.03538870 -0.02427168
+v -0.04478665 0.02978885 -0.03075897
+v -0.06610211 0.03539135 -0.02427168
+v -0.06817557 0.03539399 -0.02427168
+v -0.00068338 0.03546538 -0.02427168
+v -0.05396527 0.03538870 -0.02427168
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 16
+f 2 16 28
+f 2 28 36
+f 2 36 48
+f 2 48 37
+f 2 37 30
+f 2 30 29
+f 2 29 17
+f 2 17 9
+f 2 9 4
+f 2 4 3
+f 4 9 5
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+f 5 11 12
+f 5 12 6
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+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 9 17 18
+f 9 18 10
+f 10 18 11
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+f 11 18 20
+f 11 20 19
+f 12 19 13
+f 13 19 21
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 14 24 15
+f 15 24 25
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+f 15 27 16
+f 16 27 28
+f 17 29 18
+f 18 29 30
+f 18 30 20
+f 19 31 21
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+f 20 38 32
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+f 20 39 50
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+f 20 42 41
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+f 20 22 21
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+f 22 34 23
+f 23 34 24
+f 24 34 35
+f 24 35 25
+f 25 35 43
+f 25 43 51
+f 25 51 44
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+f 25 36 28
+f 25 28 27
+f 25 27 26
+f 32 38 39
+f 33 40 34
+f 34 40 35
+f 35 40 41
+f 35 41 42
+f 35 42 43
+f 36 44 45
+f 36 45 46
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+f 37 48 49
+f 37 49 50
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+f 44 51 45
+f 47 52 48
+f 48 52 49
+
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_8.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bc226dda2030f9d609e90109d1d8a977c6fa43b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_8.obj
@@ -0,0 +1,451 @@
+# https://github.com/mikedh/trimesh
+v -0.09452295 -0.04016363 -0.05668207
+v -0.09097373 -0.04365644 -0.05666822
+v -0.09452295 -0.04365644 -0.05663772
+v -0.09807846 -0.04016363 -0.05641864
+v -0.09807846 -0.03666817 -0.05642971
+v -0.09807846 -0.03317270 -0.05642970
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_9.obj b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da1bba6c7f555ee4c8b4f71e99dd8096643feb58
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/mesh/pen_holder_023_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/pen_holder_023.xml b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/pen_holder_023.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a214ce39f6ce143fbaa176e6b767070f41413dd3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/mjcf/pen_holder_023.xml
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+    <mesh name="collision_mesh_0_18" file="mesh/pen_holder_023_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/pen_holder_023_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/pen_holder_023_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/pen_holder_023_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/pen_holder_023_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/pen_holder_023_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/pen_holder_023_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/pen_holder_023_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/pen_holder_023_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/pen_holder_023_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/pen_holder_023_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/pen_holder_023_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_31" file="mesh/pen_holder_023_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/pen_holder_023_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/pen_holder_023_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/pen_holder_023_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/pen_holder_023_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/pen_holder_023_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/pen_holder_023_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/pen_holder_023_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/pen_holder_023_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/pen_holder_023_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/pen_holder_023_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/pen_holder_023_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/pen_holder_023_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/pen_holder_023_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/pen_holder_023_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/pen_holder_023_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/pen_holder_023_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/pen_holder_023_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/pen_holder_023_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/pen_holder_023_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/pen_holder_023_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/pen_holder_023_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/pen_holder_023_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/pen_holder_023_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pen_holder_023">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_54" 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/54262817079f52c2b26b1aec0fe31d79/pen_holder_023.urdf b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/pen_holder_023.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cad7ac19507e1beaf5ee9fd7968bf58429237a6a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/pen_holder_023.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_023">
+   <link name="pen_holder_023">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_023.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_023_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>54262817079f52c2b26b1aec0fe31d79</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>pen_holder</category>
+         <name>lego pen holder</name>
+         <color>golden</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular lego-style hollow pen holder with studded sides and open top</description>
+         <min_height>0.1350</min_height>
+         <max_height>0.1350</max_height>
+         <real_height>0.1350</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611144904</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.108307 -0.056454 -0.056084</min>
+            <max>0.107537 0.056532 0.078916</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/pen_holder_023.usd b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/pen_holder_023.usd
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+++ b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/pen_holder_023.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c24d8dd094bffb493e1ed6f77849eaafc2ed5cff89b195aa2a63286900ade8f
+size 4910001
diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/textures/material_0.png b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/textures/material_0.png
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/video.mp4 b/dataset/desktop_supplies/office_stationery/54262817079f52c2b26b1aec0fe31d79/video.mp4
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+size 462822