diff --git a/.gitattributes b/.gitattributes
index 38bb1f05e39af50e6b567a876750e56f890e9742..b47ec01230de1ee993481852bf7338f8b6e481aa 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3150,5 +3150,5 @@ dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/mesh
 dataset/desktop_supplies/office_stationery/53e4afdca675561b9c3be5703f6fbdbb/pen_holder_009.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/mesh/notebook_019.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/56fab4b6ded85bde91b5d0076630befe/notebook_019.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/6ec54b87d0aa58b3805a82fe470f37ad/mesh/notebook_027.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/6ec54b87d0aa58b3805a82fe470f37ad/notebook_027.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mesh/pen_holder_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/pen_holder_005.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7fc1f152084aece56d5e59022019b5d3eff291fd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pen_holder_005_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_005_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bfd8e9d1dd090476581723d644160ed3f2d425e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad3804251261159abc7c084af3a7e04a61c0521cae8202c605967bb8c4a1a998
+size 8626312
diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mesh/pen_holder_005.glb b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mesh/pen_holder_005.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3a5c9b9d05634afbfc7bbc6a6592d43b976c3f9e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mesh/pen_holder_005.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef4e73ac89fd62531a98f51f22c320b9cb3eca06d8c9277e89bf4f817dd836c5
+size 11008060
diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mesh/pen_holder_005.mtl b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mesh/pen_holder_005.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f39ad598f55683573b2d60bc0a40c3196ab42a7b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mesh/pen_holder_005.mtl
@@ -0,0 +1,6 @@
+newmtl pen_holder_005_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/72728be4ac8b5c1f9a11c41b27f6697b/mesh/pen_holder_005.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mesh/pen_holder_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79f1b08e869b7f2ff126a2635cd475aeb5290aea
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mesh/pen_holder_005.obj
@@ -0,0 +1,103626 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pen_holder_005_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mesh/pen_holder_005_collision.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mesh/pen_holder_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c03b6b3c30d31074a25663a8874055af1654ee70
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mesh/pen_holder_005_collision.obj
@@ -0,0 +1,11900 @@
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diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mesh/pen_holder_005_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mesh/pen_holder_005_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bfd8e9d1dd090476581723d644160ed3f2d425e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mesh/pen_holder_005_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad3804251261159abc7c084af3a7e04a61c0521cae8202c605967bb8c4a1a998
+size 8626312
diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bfd8e9d1dd090476581723d644160ed3f2d425e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad3804251261159abc7c084af3a7e04a61c0521cae8202c605967bb8c4a1a998
+size 8626312
diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17e1f9a1b3a617f7e2fb9eafb9a3b2a99028fcb2
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+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82293d703b7cc78f3511777f6b0f628e3c51bfcd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision.obj
@@ -0,0 +1,11900 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_0.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77f55cc7001ca1bb31008e9ec8b71e90eb86cc3f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_0.obj
@@ -0,0 +1,1030 @@
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diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_1.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f904f731acc3178ce4569153f7d378306d06816e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_10.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4e76a526529cbeaab145de651f7d31b0c963211
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_10.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_11.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dade5ac7d8d3061c1a446d55ee85565f5aff7cf0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_11.obj
@@ -0,0 +1,694 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_12.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6ee1d0f60359d718572e89af4f27ac5b1831645
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_12.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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+v -0.02543451 0.02223023 -0.03936705
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+
diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_13.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c10a33818a3315536ea6243912dbf8fd8f4c044
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_13.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v -0.03212786 0.02223118 -0.02218249
+v -0.03212887 0.02223831 -0.02218249
+v -0.02545373 0.02223118 -0.02218249
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+
diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_14.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf5b971983cd333d54618b3808b7462bf0c721ef
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_14.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.00011716 -0.00030063 -0.02857888
+v 0.00011716 -0.02070118 -0.02821945
+v 0.00011716 -0.00030059 -0.03938707
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+
diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_15.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..936fe0495c4f5f0d8c80e9711861f0e9ad12b6f2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_15.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v -0.02306777 -0.03306056 0.04531155
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diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_16.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a00d69b72dbef488b1f7e20038c2bf3caf1fb2a9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_16.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_17.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be9ce28e728ab56d0aa03030ffe361128f258f1c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_17.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_18.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..614f8d00f21f74bfd72dc2962f9d349acc63e60c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_18.obj
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diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_19.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41be3778379f03a136b504d0f28f7f826bb065e1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_19.obj
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diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_2.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f82acf9eed3c7c3a2efe752270f8184df6b11ea9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_20.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d56977d96dd4cae50d8e0892364627866440cdc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_20.obj
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diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_21.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..925c83049ab01ff9e8ea8f2ea345d6fbac1b6a79
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_21.obj
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diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_22.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3b6e6d3ed6f45c9a4ab2067b51f3c585c4258cf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_22.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_23.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db332f75795c0eac27d79ed7e734d62a25d27548
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_23.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.01783754 0.02402078 -0.02686082
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+
diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_24.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aa3e746015ca485fb138075d318c3d2b582b9b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_24.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.00017990 0.03263750 -0.02188167
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+v 0.00017990 0.02596347 -0.02188169
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+v 0.01783754 0.03244857 -0.02685007
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diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_25.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b4773535e8b8defbe4cd3c592ecb3816b04375c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_25.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_26.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca930ad44881f5b660249a1713ec6d84c0aa0030
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_26.obj
@@ -0,0 +1,523 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_3.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d30aa31ad7cce5eea481d76db6fc1d1ad7fe7c0b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_4.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24dab4a769ea5e7296bd684ee16901ddc499ed77
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_5.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d54c8be39799495effd9a33bb5611bb15217711f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_5.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_6.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c75d20383c2df27249158e04925c208aa22f5e5f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_6.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_7.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa513767c47f200341da5ec3da1293d35e5abbaa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_7.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_8.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46de4cb9e287f2778711a4a86a1e4cc07aba6319
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_8.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_9.obj b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be85170f4f15a688ec7ac441e62ed8b7db035007
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/mesh/pen_holder_005_collision_9.obj
@@ -0,0 +1,628 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/pen_holder_005.xml b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/pen_holder_005.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6446b958bc5f2f68bea357faf552cdd461f11fd5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/mjcf/pen_holder_005.xml
@@ -0,0 +1,68 @@
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+    <mesh name="collision_mesh_0_20" file="mesh/pen_holder_005_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/pen_holder_005_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/pen_holder_005_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/pen_holder_005_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/pen_holder_005_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/pen_holder_005_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/pen_holder_005_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pen_holder_005">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/pen_holder_005.urdf b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/pen_holder_005.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6c16b3227fb46d3cbeac3e6f1cbf2147aaba2d6c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/pen_holder_005.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_005">
+   <link name="pen_holder_005">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_005.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_005_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <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>72728be4ac8b5c1f9a11c41b27f6697b</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>pen_holder</category>
+         <name>purple pen holder</name>
+         <color>purple</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>square-shaped purple pen holder with smooth gradient finish</description>
+         <min_height>0.0868</min_height>
+         <max_height>0.0868</max_height>
+         <real_height>0.0868</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427233637</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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>
+      <quality>
+         <PartSegChecker>Error when calling GPT api, check config in `embodied_gen/utils/gpt_config.yaml` or net connection.</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/pen_holder_005.usd b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/pen_holder_005.usd
new file mode 100644
index 0000000000000000000000000000000000000000..3e979864b410aff322501fbac5b54ae345ede14f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/pen_holder_005.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d538906291e7be95a9549230eb0142a5b046bc10ca8cb11f19a8c19d81cbfb1c
+size 4321849
diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/textures/material_0.png b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bfd8e9d1dd090476581723d644160ed3f2d425e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad3804251261159abc7c084af3a7e04a61c0521cae8202c605967bb8c4a1a998
+size 8626312
diff --git a/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/video.mp4 b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..85fb80c22e9eaa8428b0899b8b4bcd529a9e7c17
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/72728be4ac8b5c1f9a11c41b27f6697b/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70bfe35c1b9c7f4dfe46b174b004d7bed51fac3df480d02ac816bce8511575bf
+size 348209