diff --git a/.gitattributes b/.gitattributes
index fc348468b019db452fba703f82727d73cdf1c413..6f08d0bdf0dd10574f0f7306f9e20a3401f3948a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3194,7 +3194,5 @@ dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mesh
 dataset/desktop_supplies/office_stationery/8ea5a2833892579bae1d08dc199791c2/8ea5a2833892579bae1d08dc199791c2.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/glue_stick_035.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/8e854c27138959e6b112239a1b0dd6c7/mesh/glue_stick_035.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/correction_tape_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/8cecc1f9ac935135a9882a9edb58ca29/mesh/correction_tape_003.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/8fbe7666b91c5db695c16b389f469dce/glue_stick_011.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/8fbe7666b91c5db695c16b389f469dce/mesh/glue_stick_011.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mesh/pen_holder_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/pen_holder_007.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e01af1e161288d67c2219a1985fef7e5e9c87e54
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pen_holder_007_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_007_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..10aada88069367a93aa4596313e43b20ae1ad1d1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8170f3e33720565765f33cd3fb388f5eff23a9b023103d09ebe7875e29fa045c
+size 9035868
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mesh/pen_holder_007.glb b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mesh/pen_holder_007.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e90d116e2ee0bb17fcbb8da0e5555cc6d38075ab
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mesh/pen_holder_007.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfcc7c06d76661b0b9c659177e293bc16ca79912e783c1beef89f3af4f174bfd
+size 12446208
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mesh/pen_holder_007.mtl b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mesh/pen_holder_007.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9a63aedcfc2749f99dc84d12b37fa067ed6b7cfe
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mesh/pen_holder_007.mtl
@@ -0,0 +1,6 @@
+newmtl pen_holder_007_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/90077b0dd6c85831a73215709bd7e8cd/mesh/pen_holder_007.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mesh/pen_holder_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..693d15d078b20efc865b19bb178aea5f812d1838
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mesh/pen_holder_007.obj
@@ -0,0 +1,114006 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pen_holder_007_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mesh/pen_holder_007_collision.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mesh/pen_holder_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2516977e9c316989a95b38d1859a1809b64deeb4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mesh/pen_holder_007_collision.obj
@@ -0,0 +1,31795 @@
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mesh/pen_holder_007_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mesh/pen_holder_007_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..10aada88069367a93aa4596313e43b20ae1ad1d1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mesh/pen_holder_007_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8170f3e33720565765f33cd3fb388f5eff23a9b023103d09ebe7875e29fa045c
+size 9035868
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..10aada88069367a93aa4596313e43b20ae1ad1d1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8170f3e33720565765f33cd3fb388f5eff23a9b023103d09ebe7875e29fa045c
+size 9035868
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce5b2bf7fd6d94dbd7b098d3a4b7ca11258349a1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8abd5ba62b7e17b2e4d2577f0d41b08851363bc3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision.obj
@@ -0,0 +1,31795 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_0.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..925808bd20044f065d7093675eda000c89606c29
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_1.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96a26cc49ebacaad8163c7b1073cae36ceaa50ff
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_10.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d9000b844a3d96102bb513c5eea2e4afd48794c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_11.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60a1f6bcf2a58c43661f15b97e457385e30d5c9a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_11.obj
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_12.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c20c83a32e69dec0866015922f861d37690e8ebe
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_12.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_13.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79b897f65d1755deacea61b4c3ecfadf120a2ec1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_13.obj
@@ -0,0 +1,937 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_14.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b88b0c30304bc1f3f5c5e0eaeba63727b3c0715d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_14.obj
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_15.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..360a4f42a7888436cedf2310cb4e69a457bdcb42
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_15.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_16.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17d098fe00df253283d07ae6e60c3c7f8fbc2fd5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_16.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_17.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb7cb960cc40caa018b620da2d99fb38030f05fb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_17.obj
@@ -0,0 +1,475 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_18.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c194683a5d26a46dce2e9462cb14a025ddf541f7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_18.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_19.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bb767d0c4903339413b6821758fb7be44c529a2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_19.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_2.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..276e8c4d34665ff92eda55858046b776199fd6de
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_2.obj
@@ -0,0 +1,4306 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_20.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3988a07cff65b4d8eadd623a510716dd37403c31
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_20.obj
@@ -0,0 +1,436 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_21.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04e4d513d232601ba4938f9a174a11d7f45cec1a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_21.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02100799 -0.03440101 -0.03471800
+v -0.02100799 -0.03440101 -0.03371800
+v -0.02100799 -0.01510627 -0.03471800
+v -0.02100799 -0.01510627 -0.03371800
+v -0.01212487 -0.03440101 -0.03471800
+v -0.01212487 -0.03440101 -0.03371800
+v -0.01212487 -0.01510627 -0.03471800
+v -0.01212487 -0.01510627 -0.03371800
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_22.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b93e0a3a5633ad72de2f07a2e66b73a5982b4be0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_22.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.03889492 0.00273675 -0.03334573
+v -0.03885812 0.00132010 -0.03334574
+v -0.03878563 0.00273675 -0.03300004
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+v -0.03680386 -0.00938130 -0.03334577
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+v -0.03742281 -0.00735122 -0.03334577
+v -0.03773731 -0.00613415 -0.03334576
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_23.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..287fd139498ae5fcf91e99b2211f2b864d667984
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_23.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.02815132 0.00312735 -0.03449653
+v -0.03015048 0.00312734 -0.03334810
+v -0.03015191 0.00312489 -0.03334573
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+v -0.03673923 0.00312734 -0.03334573
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+v -0.03862214 -0.00437465 -0.03449656
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_24.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c43f5c83f447b9bee5039f1b7764c0ce745349a8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_24.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.02266233 -0.03029886 -0.02444785
+v 0.02322078 -0.03001171 -0.02444785
+v 0.02319632 -0.02999432 -0.02300957
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_25.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e0f8147c1c1b894637ce75f060f06a880762819
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_25.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_26.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..295f08818ba26fb6158a22ca123367617a43f10f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_26.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+v -0.00014176 -0.02186366 -0.03371800
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_27.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84be1ab8c2f65a0c175a1453be747b2a8d7053c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_27.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_28.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ab04f377f5f15fd4c17b2b3476b3347b79a33e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_28.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.02100799 -0.03003984 -0.03393931
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+v -0.02100799 -0.02802379 -0.02915656
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_29.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54118c6ea53085f7dbe91ecb4f995957023fc7a1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_29.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v 0.01303156 -0.03701041 -0.00000796
+v 0.01303156 -0.03681433 -0.00108305
+v 0.02064210 -0.03457506 -0.00000795
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+v 0.02064210 -0.03477311 0.00286768
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_3.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17811594335ab3fe1ab9ccf3e17f8aa5e62df71f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_3.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.02266147 -0.01697901 -0.00682550
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+v 0.02266233 -0.01697901 -0.00682743
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_30.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4912a3b8e2e249d4c6d8012ba96ec5ed0b0ce118
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_30.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
+v -0.03732856 0.00312711 0.02894520
+v -0.03732977 0.00327300 0.02894520
+v -0.03061677 0.00312711 0.02894520
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+v -0.03733700 0.00418263 0.02894521
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_31.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffb7d75137f2f007ba8c80fa74ea8641a9ec4836
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_31.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_32.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e21cfec2365b20762b34de693d844963b1974d1f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_32.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_33.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6932588b38cdfbeceb5392e839b08752fc568646
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_33.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_34.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0665b8db31441eb014c7063ce7676d211fca6ae3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_34.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_35.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fed6abedb046ea304906ef8893ef40ae5aab7ed7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_35.obj
@@ -0,0 +1,226 @@
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_36.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a76574aec8a55d9e42eb0ab03deb5d46e3cb923
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_36.obj
@@ -0,0 +1,778 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_37.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c384e39f091d3eabc33d5d1311f04170ca5d0974
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_37.obj
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_38.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c036fab79d4c2ba5c85c519e20b433a55ba0eafc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_38.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_39.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96754c04b1577cf843c5ffeb614f64ee8ad86699
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_39.obj
@@ -0,0 +1,781 @@
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_4.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..677111eefdaf3654223118aeb008ed28eb46bc34
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_4.obj
@@ -0,0 +1,70 @@
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_40.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d8aca90e3ef1b7bf18c18dad53e50ce5fc69914
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_40.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_41.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dd173ee66901a4cfce4eef6f36ef55b8ba6807a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_41.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_42.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e04615ff054e667736011268f9c3904a7b5a0c55
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_42.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_43.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e28b5c3900da52d2e5d546b8fd8b52be50d8d139
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_43.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_44.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94964ba2627be9ca9832951ce0a58f8b7e4bee94
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_44.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.03684106 0.00312718 0.00966417
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_45.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6c8269d1aa9b92d20e743e59300010d6650e83c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_45.obj
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_46.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5834fd6b739704cd6cfb611b1498f7d60de6c49
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_46.obj
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_47.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c93f3c5aa9f1c9524df9f08e756aee45e651543
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_47.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_48.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fb8826a139c836a1e0bd528727dca4cd3103284
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_48.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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+v -0.00595129 -0.03748173 -0.02446409
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_49.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a36e6f5ca2f6a7a754f9d354e140fba3763b1e18
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_49.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_5.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73262d70a9251e9c2050a35b66206c51d73dfdcc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_5.obj
@@ -0,0 +1,958 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_50.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cecb3209959a4e54d2347823639715557401474
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_50.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.01930385 0.02662055 0.00074838
+v 0.02740978 0.01593145 0.00074834
+v 0.02740978 0.01593144 0.00143004
+v 0.02741886 0.01593141 0.01159623
+v 0.01931293 0.02662051 0.01074678
+v 0.02907789 0.02662055 0.00074838
+v 0.03475431 0.01593145 0.00074834
+v 0.01931445 0.02662051 0.01159627
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+v 0.02921715 0.02643744 0.00074838
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+v 0.03475582 0.01593144 0.00143004
+v 0.03476642 0.01593141 0.01124157
+v 0.03446671 0.01680403 0.01159623
+v 0.03073086 0.02439605 0.01159626
+v 0.03127883 0.02344290 0.00074837
+v 0.03098668 0.02389491 0.00074837
+v 0.03066275 0.02439609 0.00074837
+v 0.03008451 0.02526453 0.00074837
+v 0.02955774 0.02598648 0.00074838
+v 0.03443643 0.01684906 0.00074834
+v 0.03444097 0.01686263 0.00717998
+v 0.03476491 0.01593141 0.00980382
+v 0.03444249 0.01686785 0.01005548
+v 0.03442432 0.01692226 0.01159623
+v 0.03175565 0.02276695 0.01159625
+v 0.03170418 0.02272095 0.00074836
+v 0.03429717 0.01722887 0.00074834
+v 0.03417759 0.01758773 0.00861773
+v 0.03417910 0.01759295 0.01149323
+v 0.03417910 0.01759295 0.01159623
+v 0.03205839 0.02208270 0.00074836
+v 0.03242168 0.02150824 0.01159625
+v 0.03280919 0.02069111 0.00074836
+v 0.03237627 0.02150828 0.00074836
+v 0.03417002 0.01757101 0.00074834
+v 0.03417153 0.01757310 0.00143004
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+v 0.03281979 0.02071304 0.01159625
+v 0.03281524 0.02070573 0.00718000
+v 0.03316340 0.02000260 0.01159624
+v 0.03315129 0.01996916 0.00074835
+v 0.03397021 0.01807010 0.00074835
+v 0.03374921 0.01862151 0.00074835
+v 0.03375526 0.01862149 0.00430555
+v 0.03346614 0.01926080 0.00074835
+f 1 2 3
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_51.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a30c2bfd57a9d98119534bbfd69cc4a466e6300c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_51.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.00595129 -0.04001151 0.00143137
+v -0.00691668 -0.03970585 0.00143137
+v -0.00809611 -0.03940626 -0.00000599
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+v -0.00595129 -0.04000541 0.00036035
+v -0.00595129 -0.03998414 0.00178971
+v -0.00809611 -0.03905957 0.00574147
+v -0.00953298 -0.03888315 -0.00000599
+v -0.01037543 -0.03846952 -0.00090885
+v -0.00809611 -0.03913557 -0.00144536
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+v -0.00595129 -0.03999477 -0.00000600
+v -0.00595129 -0.03990961 -0.00071868
+v -0.00595129 -0.03991266 0.00231421
+v -0.00595129 -0.03842546 0.01082630
+v -0.00597877 -0.03842242 0.01081629
+v -0.00653848 -0.03815934 0.01137482
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+v -0.01325930 -0.03705833 -0.00000599
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_52.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31d6181233d8bf464dcaaabe9ea9ee304677f12e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_52.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.02797932 -0.00827759 0.00966612
+v 0.02797932 -0.00825441 -0.00494926
+v 0.02266233 -0.01699030 0.00966609
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+v 0.02266233 -0.01698099 -0.00494929
+v 0.02266233 -0.02400394 0.00966606
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+v 0.02500907 -0.02400394 0.00966606
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+v 0.02604322 -0.02291074 -0.00494931
+v 0.02531458 -0.02363231 -0.00494932
+f 1 2 3
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_53.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca83bfdd2205e4c734d6772ee4dd758e628b8393
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_53.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v -0.03517041 0.01608772 0.01150578
+v -0.03724022 0.01608770 0.01724576
+v -0.03557598 0.02150792 0.01580819
+v -0.03525082 0.02295221 0.01580819
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_54.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79baf6e05953ef7c01822729aa3f9ddc698c382e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_54.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_55.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b93134ad07608c5626042327d51f59a6fd05c00
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_55.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+v 0.00569476 -0.03675133 0.01591525
+v 0.00569476 -0.03698407 0.02525841
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+v 0.00569476 -0.03681675 0.02603508
+v 0.00052610 -0.03752928 0.02443273
+v -0.00014176 -0.03752485 0.02443273
+v -0.00014176 -0.02741735 0.01591528
+v 0.00569476 -0.02688876 0.01591528
+v 0.00569476 -0.03616848 0.02721040
+v -0.00014176 -0.03705499 0.02523777
+v -0.00014176 -0.02741185 0.02797548
+v 0.00569476 -0.02687108 0.02909403
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+v 0.00569476 -0.03556121 0.02790192
+v -0.00014176 -0.03389456 0.02909401
+v -0.00014176 -0.02741186 0.02909403
+v 0.00569476 -0.03369952 0.02909401
+v 0.00569476 -0.03534623 0.02805544
+v 0.00052610 -0.03389566 0.02909401
+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 9
+f 1 9 10
+f 1 10 11
+f 1 11 2
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+f 2 12 13
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+f 2 21 16
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+f 5 23 19
+f 5 19 7
+f 5 7 6
+f 7 19 20
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+f 7 12 11
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+f 7 10 9
+f 7 9 8
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+f 23 28 24
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+f 29 31 30
+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_56.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72d35a0d47d2a8e521f5904f15f90a56e9a75c4f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_56.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.02266233 -0.01692374 0.03292230
+v 0.02266233 -0.01695385 0.02621761
+v 0.01642248 -0.02252800 0.02046305
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+v 0.02266233 -0.02480225 0.03292227
+v 0.02266233 -0.01698003 0.02046307
+v 0.01642248 -0.03002136 0.02046302
+v 0.01642248 -0.03001485 0.03292225
+v 0.02265989 -0.02663498 0.03292226
+v 0.02266233 -0.02663629 0.03291860
+v 0.02266233 -0.02691135 0.02046303
+v 0.01873272 -0.02988382 0.02492956
+v 0.01890315 -0.02992313 0.02587116
+v 0.01642248 -0.03030698 0.02875332
+v 0.01882679 -0.02991265 0.02846425
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+v 0.02266233 -0.02688388 0.03244536
+v 0.02266233 -0.02701749 0.02785197
+v 0.02146628 -0.02840350 0.02730798
+v 0.02142536 -0.02836943 0.02643468
+v 0.02064163 -0.02902445 0.02730797
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+v 0.02266233 -0.02702143 0.03118663
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_57.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7aace9f3b2f2f50652fa1592612322b7d89235c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_57.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.01333884 -0.03568396 0.02299666
+v -0.01333884 -0.03564720 0.02167434
+v -0.01333884 -0.03568158 0.02306808
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+v -0.01333884 -0.03531641 0.01763961
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+v -0.01386424 -0.03480427 0.02443436
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+v -0.01333884 -0.03510656 0.01647663
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+v -0.01498918 -0.02363497 0.01576789
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+v -0.01333884 -0.02448740 0.01576789
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+v -0.01364258 -0.03140646 0.03447631
+v -0.01333884 -0.02443293 0.03447634
+f 1 2 5
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+f 16 20 17
+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_58.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b73b6aa884ffd43349c67f61b4b70c929f0d6e24
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_58.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00014176 -0.03817767 0.02155872
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+v -0.00522169 -0.03354406 0.03029584
+v -0.00595129 -0.03345678 0.03029584
+v -0.00014176 -0.02741007 0.03029586
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_59.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc3ddf67207ddb4cbfebdf8d3fe80572efe1d405
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_59.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v 0.02266275 -0.03383699 0.00286621
+v 0.02266275 -0.03382255 0.00142985
+v 0.02351629 -0.03325563 0.00142985
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+v 0.02266275 -0.03363487 0.00469743
+v 0.02355690 -0.03300729 0.00010365
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+v 0.02310526 -0.03287061 -0.00111525
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+v 0.02330954 -0.03301790 0.00574179
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_6.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0588d0336163facd03bd9a8959edbdd2d67c3dc0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_6.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_60.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..106080f53ba8ab9d3d1c850207a12f0709e62022
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_60.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.00809611 -0.03778138 0.02012099
+v -0.00953298 -0.03775137 0.02012099
+v -0.00953298 -0.03775920 0.01868365
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_61.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb09b37f04d09b0cbbbf0e4ddf3e98bd80d12394
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_61.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.00052610 -0.04224062 0.00286678
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+v 0.00282906 -0.04144137 0.00391721
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_62.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3d7c1d1da13e579ec7d4575128dc0b7c5ee85a5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_62.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_63.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c4714e729798f41a71bf0596892f473c7faf7e1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_63.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.01303207 -0.03300974 -0.01869682
+v 0.01303207 -0.03300625 -0.01912305
+v 0.01435360 -0.03270141 -0.01869682
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_64.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1502ebdd1d0fccc024b119361d1a708e4637b72
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_64.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+v 0.00196295 -0.03609540 0.04456019
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_65.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd8af573fc9e82d1ec4fd929ab9e85fb405a5f44
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_65.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00483608 -0.03812142 -0.02301147
+v 0.00569476 -0.03793414 -0.02301147
+v 0.00569476 -0.03792084 -0.02215204
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_66.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9f5b497329627f771dff0fced8210ec5a522d1f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_66.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.01333884 -0.03700304 -0.00000708
+v -0.01333884 -0.03692344 -0.00068992
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+v -0.01641312 -0.02995105 -0.00717911
+v -0.01883189 -0.03291983 -0.00312252
+v -0.01815380 -0.02905512 -0.00717911
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_67.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31f46e93d1964417a79a1a0d9bf7f9cf1bc3897a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_67.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.01333884 -0.03304423 -0.01869707
+v -0.01477908 -0.03271642 -0.01869707
+v -0.01333884 -0.03302583 -0.02013412
+v -0.01333884 -0.03301894 -0.01726216
+v -0.01479197 -0.03271413 -0.01726216
+v -0.01551060 -0.03245764 -0.01726216
+v -0.01549721 -0.03240012 -0.01869707
+v -0.01467939 -0.03268767 -0.02013412
+v -0.01333884 -0.03296371 -0.02152385
+v -0.01333884 -0.03294647 -0.01582296
+v -0.01456483 -0.03263938 -0.01366307
+v -0.01462732 -0.03265778 -0.01438590
+v -0.01473246 -0.03269113 -0.01582296
+v -0.01545109 -0.03245534 -0.01582296
+v -0.01671725 -0.03173302 -0.01438590
+v -0.01671725 -0.03175486 -0.01582296
+v -0.01840496 -0.03045280 -0.02456144
+v -0.01459310 -0.03265545 -0.02096236
+v -0.01333884 -0.03280268 -0.02251989
+v -0.01333884 -0.03283031 -0.01438590
+v -0.01513864 -0.03231962 -0.01309083
+v -0.01534595 -0.03242199 -0.01438590
+v -0.01333884 -0.03270149 -0.01346300
+v -0.01333884 -0.03128791 -0.00717911
+v -0.01676039 -0.03152368 -0.01305856
+v -0.01745026 -0.03121082 -0.01360928
+v -0.01746365 -0.03122693 -0.01438589
+v -0.01840496 -0.03045050 -0.02331155
+v -0.01840496 -0.03010427 -0.02588663
+v -0.01668898 -0.03007436 -0.02915657
+v -0.01572336 -0.03052639 -0.02915657
+v -0.01524973 -0.03074608 -0.02915657
+v -0.01422411 -0.03118776 -0.02915657
+v -0.01369295 -0.03139595 -0.02915658
+v -0.01344398 -0.03275092 -0.02262530
+v -0.01333884 -0.03152247 -0.02915658
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+v -0.01639934 -0.02995712 -0.00717911
+v -0.01642216 -0.02994677 -0.00717911
+v -0.01333884 -0.02447638 -0.00717909
+v -0.01713186 -0.02959940 -0.00717911
+v -0.01815401 -0.02905420 -0.00717911
+v -0.01840496 -0.02891503 -0.00718341
+v -0.01840496 -0.02896794 -0.00744587
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+v -0.01813169 -0.02932902 -0.02915657
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+v -0.01333884 -0.02440384 -0.02915655
+v -0.01840496 -0.02137428 -0.00717908
+v -0.01333884 -0.02440384 -0.02914365
+v -0.01840496 -0.02129368 -0.02915654
+v -0.01840496 -0.02749913 -0.00717910
+f 1 2 3
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+f 1 9 19
+f 1 19 36
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+f 1 51 40
+f 1 40 24
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+f 40 52 50
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+f 49 52 51
+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_68.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3949c88bf852654a4ba4e041718f4080503463cc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_68.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.01125260 0.04089644 -0.03333667
+v -0.01125260 0.04078402 -0.03301782
+v -0.01125260 0.03128556 -0.03333671
+v -0.01240683 0.04055780 -0.03333667
+v -0.01125260 0.04070075 -0.03285641
+v -0.01240683 0.04045649 -0.03307499
+v -0.01354329 0.03971537 -0.03215941
+v -0.01125260 0.03151038 -0.03021426
+v -0.01940912 0.02671952 -0.03021428
+v -0.01912500 0.02671814 -0.03333672
+v -0.01392606 0.04005262 -0.03333667
+v -0.01450219 0.03952801 -0.03245044
+v -0.01125260 0.03921296 -0.03021424
+v -0.01391225 0.03835111 -0.03021424
+v -0.01240683 0.03884518 -0.03021424
+v -0.01942293 0.02671813 -0.03021428
+v -0.03140910 0.02671814 -0.03333672
+v -0.01548673 0.03940311 -0.03333668
+v -0.01674158 0.03886879 -0.03333668
+v -0.01750514 0.03814849 -0.03230493
+v -0.01516118 0.03780013 -0.03021424
+v -0.02937294 0.02671813 -0.03021428
+v -0.03131045 0.02671814 -0.03308360
+v -0.03096122 0.02735516 -0.03333672
+v -0.01757617 0.03846770 -0.03333668
+v -0.01811284 0.03636093 -0.03021425
+v -0.01683234 0.03705763 -0.03021424
+v -0.01784253 0.03833724 -0.03333668
+v -0.01972086 0.03734215 -0.03333668
+v -0.02030290 0.03666488 -0.03237159
+v -0.02922890 0.02689161 -0.03021428
+v -0.02889941 0.02942168 -0.03241807
+v -0.03063765 0.02691660 -0.03209587
+v -0.03070868 0.02671814 -0.03202220
+v -0.03095333 0.02671814 -0.03241075
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+v -0.02976951 0.02884572 -0.03333671
+v -0.02213191 0.03406403 -0.03021425
+v -0.02118880 0.03642894 -0.03333669
+v -0.02233118 0.03567811 -0.03333669
+v -0.02198196 0.03539083 -0.03217502
+v -0.02787935 0.02843629 -0.03021428
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+v -0.02371625 0.03279970 -0.03021426
+v -0.02689480 0.03193924 -0.03333670
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+f 51 53 55
+f 51 52 54
+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_69.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1472e7a47bd37f88b31d6d5b62ed06aeb95684f9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_69.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.00522169 -0.03814643 -0.02301148
+v -0.00378466 -0.03812094 -0.02301148
+v -0.00378466 -0.03808991 -0.02157449
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+v -0.00595129 -0.03793586 -0.02157449
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+v -0.00373973 -0.03747149 -0.02456257
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+v -0.00522169 -0.03775412 -0.02013750
+v -0.00595129 -0.03777184 -0.02086683
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+v -0.00595129 -0.03713347 -0.02509259
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+v -0.00014176 -0.03653945 -0.02157448
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+v -0.00595129 -0.03589226 -0.01440252
+v -0.00595129 -0.03704370 -0.02521968
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+v -0.00595129 -0.03349060 -0.02915658
+v -0.00561578 -0.03354491 -0.02915658
+f 1 2 3
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+f 22 26 23
+f 22 36 26
+f 24 35 38
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+f 30 39 40
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_7.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f552061eaea87e8505f5b97040823989946e3a99
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_7.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.03896812 0.00312625 -0.03447242
+v 0.03697475 0.00312623 -0.02915590
+v 0.03896681 0.00273700 -0.03447242
+v 0.02786499 0.00312625 -0.03447242
+v 0.03696692 0.00277668 -0.02915590
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+v 0.03896551 0.00269400 -0.03447242
+v 0.02564072 -0.00813653 -0.03447246
+v 0.02795501 -0.00813655 -0.02915594
+v 0.03696561 0.00273698 -0.02915590
+v 0.03895116 0.00227718 -0.03447242
+v 0.03731002 -0.00813653 -0.03447246
+v 0.03538840 -0.00813655 -0.02915594
+v 0.03682994 0.00135753 -0.02915591
+v 0.03881418 -0.00015092 -0.03447243
+v 0.03888854 0.00092750 -0.03447243
+v 0.03888332 0.00140386 -0.03439643
+v 0.03891072 0.00139835 -0.03447242
+v 0.03750440 -0.00745838 -0.03447246
+v 0.03605764 -0.00570955 -0.02915593
+v 0.03629246 -0.00408640 -0.02915593
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+v 0.03818668 -0.00461236 -0.03447245
+v 0.03821147 -0.00449658 -0.03447245
+v 0.03847108 -0.00303773 -0.03447244
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_70.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ee1c207be74b68f5b30ce12de9c433d61e3f05a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_70.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_71.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30360d7fd64ba98c6883c93539e095e7d842098d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_71.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_72.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..779fc201edb9686711ccb6d18028f6f9242065ed
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_72.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_73.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f3d95677d39b4852614075268b6f3a028afdcdb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_73.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_74.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a855dc9ac2805285da6f606942bc07c7a247ba3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_74.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_75.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d80f23582438a2ae58dfe3c0f3f7c3b0f7c3334
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_75.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_76.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af770b5495cecc6f78a4c4c0d8b1956fae916090
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_76.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_77.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d0b62d82020fcd169744b9f5083080c471e34c7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_77.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_78.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b209770ea9090c786ac2841b09605fd6064f869
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_78.obj
@@ -0,0 +1,580 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_79.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..060224188961053b7b744a3b5595cc61485fac81
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_79.obj
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_8.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cd7deb55e42f75af3269768d1ea813d60b579db
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_8.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00014176 -0.03625086 -0.03447256
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+v 0.00052609 -0.03547594 -0.03249636
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_80.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1f2d0aae3a7ba401db0bdfe2bd4492cf3aac8b6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_80.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.02417856 -0.02761412 0.01868414
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_81.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecc81c19dc4bec28006afdc94fe0c4ec51655e26
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_81.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.01303156 -0.03557248 0.02299535
+v 0.01303156 -0.03553216 0.02443241
+v 0.01303156 -0.03526789 0.01807493
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_82.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..812ca8e79e93e4eb86a35bab9964ad902ea1b8f5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_82.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.02846500 -0.00690144 0.03388599
+v 0.02846500 -0.00697485 0.02663882
+v 0.02417856 -0.01501219 0.02663879
+v 0.02417856 -0.01497832 0.03373556
+v 0.02417856 -0.01497832 0.03388596
+v 0.02846500 -0.02039114 0.03388595
+v 0.02846500 -0.02067541 0.02663877
+v 0.02417856 -0.02484752 0.02663876
+v 0.02417856 -0.02544059 0.03388593
+v 0.02822122 -0.02069049 0.03388594
+v 0.02461744 -0.02581149 0.03162133
+v 0.02459184 -0.02582278 0.03018466
+v 0.02768122 -0.02170526 0.02663877
+v 0.02442065 -0.02566463 0.02919070
+v 0.02417856 -0.02579454 0.02904952
+v 0.02417856 -0.02545566 0.03386110
+v 0.02424653 -0.02543306 0.03380789
+v 0.02429856 -0.02533516 0.03388593
+v 0.02440891 -0.02560251 0.03305941
+v 0.02417856 -0.02613532 0.03162132
+v 0.02417856 -0.02608071 0.03020310
+v 0.02417856 -0.02595457 0.02962347
+v 0.02417856 -0.02547260 0.03381499
+v 0.02417856 -0.02575313 0.03302819
+v 0.02417856 -0.02587927 0.03263017
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 18
+f 1 18 10
+f 1 10 6
+f 1 6 7
+f 1 7 2
+f 2 7 13
+f 2 13 8
+f 2 8 3
+f 3 8 15
+f 3 15 22
+f 3 22 21
+f 3 21 20
+f 3 20 25
+f 3 25 24
+f 3 24 23
+f 3 23 16
+f 3 16 9
+f 3 9 5
+f 3 5 4
+f 6 10 11
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 8 13 14
+f 8 14 15
+f 9 16 17
+f 9 17 18
+f 10 18 19
+f 10 19 11
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+f 12 22 15
+f 12 15 14
+f 12 14 13
+f 16 23 17
+f 17 23 19
+f 17 19 18
+f 19 23 24
+f 19 24 25
+f 19 25 20
+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_83.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c3810414d879d25635660380dac1968724b5387
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_83.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.02390182 -0.02761777 0.01868387
+v -0.02525164 -0.02760171 0.01868387
+v -0.02525164 -0.02756156 0.01733341
+v -0.02525164 -0.02755487 0.01724678
+v -0.02390182 -0.02750270 0.01724678
+v -0.02295335 -0.02729666 0.01724678
+v -0.02295335 -0.02738631 0.01868387
+v -0.02295335 -0.02709869 0.02778173
+v -0.02295335 -0.02674685 0.03161988
+v -0.02390182 -0.02635084 0.03161988
+v -0.02491598 -0.02572738 0.03161989
+v -0.02525164 -0.02507716 0.03161989
+v -0.02525164 -0.02716421 0.01612066
+v -0.02295335 -0.02629991 0.01181384
+v -0.02295335 -0.02628529 0.03413423
+v -0.02478483 -0.02559359 0.03272603
+v -0.02525164 -0.02429718 0.03450295
+v -0.02525164 -0.02714013 0.01605625
+v -0.02525164 -0.02669729 0.01538101
+v -0.02525164 -0.02666652 0.01533659
+v -0.02508561 -0.02435061 0.01181385
+v -0.02295335 -0.01708320 0.01181388
+v -0.02295335 -0.02618227 0.03450516
+v -0.02365998 -0.02571535 0.03450517
+v -0.02437696 -0.02521631 0.03450517
+v -0.02507369 -0.02449519 0.03450517
+v -0.02507863 -0.02448850 0.03450517
+v -0.02525164 -0.02242414 0.03450518
+v -0.02525164 -0.02417802 0.01181385
+v -0.02525164 -0.01407161 0.01181389
+v -0.02525164 -0.01394995 0.03450521
+v -0.02295335 -0.01699364 0.03160215
+v -0.02295335 -0.01698964 0.03450520
+v -0.02295335 -0.01698964 0.03449632
+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 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 17
+f 2 17 28
+f 2 28 31
+f 2 31 30
+f 2 30 29
+f 2 29 20
+f 2 20 19
+f 2 19 18
+f 2 18 13
+f 2 13 4
+f 2 4 3
+f 4 13 14
+f 4 14 5
+f 5 14 6
+f 6 14 22
+f 6 22 32
+f 6 32 34
+f 6 34 33
+f 6 33 23
+f 6 23 15
+f 6 15 9
+f 6 9 8
+f 6 8 7
+f 9 15 10
+f 10 15 16
+f 10 16 11
+f 11 16 17
+f 11 17 12
+f 13 18 14
+f 14 19 20
+f 14 20 21
+f 14 21 29
+f 14 29 30
+f 14 30 22
+f 14 18 19
+f 15 23 16
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 17 26 27
+f 17 27 28
+f 20 29 21
+f 22 30 31
+f 22 31 32
+f 23 33 31
+f 23 31 28
+f 23 28 27
+f 23 27 26
+f 23 26 25
+f 23 25 24
+f 31 33 34
+f 31 34 32
+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_84.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43cb6ee12fa64c0dbccac39c077b5b9d1ccbc519
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_84.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.02846500 -0.00697467 0.02663811
+v 0.02846500 -0.00706149 0.00966612
+v 0.02417856 -0.01506660 0.00966609
+v 0.02417856 -0.01501211 0.02663808
+v 0.02846500 -0.02067549 0.02663806
+v 0.02846500 -0.02025315 0.00966608
+v 0.02417856 -0.02482548 0.00966606
+v 0.02417856 -0.02484777 0.02663805
+v 0.02768122 -0.02170391 0.02663806
+v 0.02846416 -0.02251411 0.02513790
+v 0.02846500 -0.02251209 0.02513790
+v 0.02846500 -0.02439311 0.01475134
+v 0.02816751 -0.02062290 0.00966607
+v 0.02536219 -0.02366977 0.00966606
+v 0.02827115 -0.02519323 0.01555542
+v 0.02731325 -0.02556903 0.01493243
+v 0.02642751 -0.02653078 0.01577636
+v 0.02597394 -0.02701165 0.01623489
+v 0.02495310 -0.02714501 0.01604550
+v 0.02417856 -0.02752283 0.01724497
+v 0.02417856 -0.02693085 0.02092146
+v 0.02455115 -0.02693085 0.02092146
+v 0.02499926 -0.02717128 0.02021540
+v 0.02550905 -0.02681771 0.02075699
+v 0.02596891 -0.02702581 0.01979841
+v 0.02642457 -0.02655908 0.02021540
+v 0.02846500 -0.02433455 0.02224387
+v 0.02846500 -0.02412240 0.02264757
+v 0.02846500 -0.02375064 0.02333037
+v 0.02846500 -0.02354859 0.02368257
+v 0.02846500 -0.02506190 0.01565842
+v 0.02607758 -0.02294846 0.00966607
+v 0.02679548 -0.02219685 0.00966607
+v 0.02744919 -0.02147352 0.00966607
+v 0.02764388 -0.02124318 0.00966607
+v 0.02846500 -0.02535285 0.01621828
+v 0.02780583 -0.02574078 0.01594417
+v 0.02693059 -0.02676111 0.01724497
+v 0.02621269 -0.02714298 0.01724497
+v 0.02495310 -0.02756324 0.01724497
+v 0.02417856 -0.02761376 0.01868200
+v 0.02417856 -0.02717330 0.02019214
+v 0.02417856 -0.02741576 0.01936647
+v 0.02495310 -0.02761579 0.01868200
+v 0.02620891 -0.02715310 0.01868200
+v 0.02692681 -0.02674900 0.01868200
+v 0.02759856 -0.02579534 0.02011905
+v 0.02846500 -0.02504575 0.02044633
+v 0.02846500 -0.02545993 0.01644755
+v 0.02782639 -0.02608830 0.01724497
+v 0.02846500 -0.02559329 0.01815039
+v 0.02846500 -0.02558319 0.01844943
+v 0.02796024 -0.02594081 0.01877338
+v 0.02846500 -0.02546398 0.01925351
+v 0.02846500 -0.02543165 0.01936980
+v 0.02846500 -0.02536498 0.01955753
+v 0.02846500 -0.02557510 0.01724498
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 11
+f 1 11 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 48
+f 1 48 56
+f 1 56 55
+f 1 55 54
+f 1 54 52
+f 1 52 51
+f 1 51 57
+f 1 57 49
+f 1 49 36
+f 1 36 31
+f 1 31 12
+f 1 12 6
+f 1 6 2
+f 2 6 13
+f 2 13 35
+f 2 35 34
+f 2 34 33
+f 2 33 32
+f 2 32 14
+f 2 14 7
+f 2 7 3
+f 3 7 20
+f 3 20 41
+f 3 41 43
+f 3 43 42
+f 3 42 21
+f 3 21 8
+f 3 8 4
+f 5 9 10
+f 5 10 11
+f 6 12 13
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 8 21 22
+f 8 22 23
+f 8 23 24
+f 8 24 25
+f 8 25 26
+f 8 26 27
+f 8 27 28
+f 8 28 29
+f 8 29 30
+f 8 30 10
+f 8 10 9
+f 10 30 11
+f 12 31 15
+f 12 15 14
+f 12 14 32
+f 12 32 33
+f 12 33 34
+f 12 34 35
+f 12 35 13
+f 15 31 36
+f 15 36 37
+f 15 37 16
+f 16 37 17
+f 17 37 18
+f 18 37 38
+f 18 38 39
+f 18 39 40
+f 18 40 19
+f 19 40 20
+f 20 40 41
+f 21 42 23
+f 21 23 22
+f 23 25 24
+f 23 42 43
+f 23 43 44
+f 23 44 25
+f 25 44 45
+f 25 45 46
+f 25 46 47
+f 25 47 26
+f 26 47 27
+f 27 47 48
+f 36 49 37
+f 37 49 38
+f 38 46 45
+f 38 45 39
+f 38 49 50
+f 38 50 46
+f 39 45 44
+f 39 44 40
+f 40 44 41
+f 41 44 43
+f 46 50 51
+f 46 51 52
+f 46 52 53
+f 46 53 54
+f 46 54 55
+f 46 55 47
+f 47 55 56
+f 47 56 48
+f 49 57 50
+f 50 57 51
+f 52 54 53
+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_85.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3521058c1f76df7dd2238326d63c251be1ebf8ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_85.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.02525164 -0.02417791 0.01181385
+v -0.02525164 -0.02410679 0.00963272
+v -0.02449529 -0.02956524 0.00963270
+v -0.02438910 -0.03006486 0.00963270
+v -0.02334818 -0.03047202 0.01101333
+v -0.02295335 -0.03047202 0.01160735
+v -0.02295335 -0.02902828 0.01179781
+v -0.02508561 -0.02435038 0.01181385
+v -0.02525164 -0.01407178 0.01181389
+v -0.02525164 -0.01407178 0.00963276
+v -0.02417516 -0.03050224 0.00963270
+v -0.02319700 -0.03121344 0.01079746
+v -0.02295335 -0.03066048 0.01149483
+v -0.02295335 -0.02629906 0.01181384
+v -0.02295335 -0.01708371 0.01181388
+v -0.02295335 -0.01708371 0.01149381
+v -0.02295335 -0.01708549 0.00963275
+v -0.02352725 -0.03157793 0.00963269
+v -0.02340667 -0.03146414 0.01005632
+v -0.02295335 -0.03197976 0.01005632
+v -0.02295335 -0.03138768 0.01095290
+v -0.02295335 -0.03223401 0.00963269
+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 14
+f 1 14 15
+f 1 15 9
+f 1 9 10
+f 1 10 2
+f 2 10 17
+f 2 17 22
+f 2 22 18
+f 2 18 11
+f 2 11 4
+f 2 4 3
+f 4 11 12
+f 4 12 5
+f 5 13 6
+f 5 12 13
+f 6 13 21
+f 6 21 20
+f 6 20 22
+f 6 22 17
+f 6 17 16
+f 6 16 15
+f 6 15 14
+f 6 14 7
+f 7 14 8
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 18 22 19
+f 19 22 20
+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_86.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe8ae90e3e8dc323f4145e9da99b245652d91c43
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_86.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.02295335 -0.01699100 0.03447820
+v -0.01499012 -0.02357345 0.03447817
+v -0.02295335 -0.01699375 0.03160349
+v -0.02295335 -0.02618601 0.03447816
+v -0.01499012 -0.02362306 0.02164933
+v -0.01499012 -0.03084283 0.03447815
+v -0.02295335 -0.01706130 0.02164936
+v -0.02295335 -0.02628533 0.03413530
+v -0.02185261 -0.02694054 0.03447816
+v -0.01499012 -0.03091037 0.02164931
+v -0.01528090 -0.03071593 0.03447815
+v -0.01920132 -0.02989654 0.02841349
+v -0.01930188 -0.02991585 0.02730957
+v -0.01499012 -0.03106901 0.02519718
+v -0.02295335 -0.02652805 0.02164932
+v -0.02295335 -0.02674741 0.03162103
+v -0.02179648 -0.02835162 0.02816107
+v -0.02109877 -0.02875166 0.02868225
+v -0.02104031 -0.02749229 0.03447816
+v -0.01499012 -0.03100279 0.02250959
+v -0.01499168 -0.03097382 0.02164931
+v -0.01529883 -0.03070765 0.03447815
+v -0.01734050 -0.02971173 0.03447815
+v -0.01736155 -0.02970069 0.03447815
+v -0.01815437 -0.02926895 0.03447815
+v -0.01964411 -0.02956825 0.02883422
+v -0.02001986 -0.02963170 0.02730957
+v -0.01663188 -0.03007451 0.03447815
+v -0.01918339 -0.02986895 0.02587159
+v -0.01499012 -0.03105383 0.02299687
+v -0.01499012 -0.03108142 0.02443360
+v -0.01815437 -0.02923993 0.02164931
+v -0.01904307 -0.02983308 0.02501005
+v -0.01990137 -0.02950755 0.02587159
+v -0.02178323 -0.02834197 0.02648698
+v -0.02295335 -0.02709914 0.02778305
+v -0.02181207 -0.02836817 0.02730958
+v -0.02102784 -0.02897097 0.02730957
+v -0.01932917 -0.02859167 0.03447815
+v -0.02004793 -0.02814336 0.03447816
+v -0.02006118 -0.02813509 0.03447816
+v -0.01732803 -0.02969513 0.02164931
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 36
+f 1 36 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 19
+f 1 19 41
+f 1 41 40
+f 1 40 39
+f 1 39 25
+f 1 25 24
+f 1 24 23
+f 1 23 28
+f 1 28 22
+f 1 22 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
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+f 2 30 20
+f 2 20 10
+f 2 10 5
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+f 4 8 9
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+f 5 21 42
+f 5 42 32
+f 5 32 15
+f 5 15 7
+f 6 11 12
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+f 6 13 14
+f 8 16 17
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+f 8 19 9
+f 10 20 21
+f 11 22 12
+f 12 23 24
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+f 12 27 13
+f 12 22 28
+f 12 28 23
+f 13 27 29
+f 13 29 21
+f 13 21 30
+f 13 30 31
+f 13 31 14
+f 15 32 33
+f 15 33 34
+f 15 34 35
+f 15 35 36
+f 16 36 17
+f 17 36 37
+f 17 37 38
+f 17 38 18
+f 18 38 27
+f 18 27 26
+f 18 26 39
+f 18 39 40
+f 18 40 41
+f 18 41 19
+f 20 30 21
+f 21 29 33
+f 21 33 42
+f 25 39 26
+f 27 38 34
+f 27 34 33
+f 27 33 29
+f 32 42 33
+f 34 38 35
+f 35 37 36
+f 35 38 37
+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_87.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..500fd515b502e620d3864882a4e889e96ee70edd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_87.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.01303156 -0.03201952 0.01549775
+v 0.01303156 -0.02447384 0.01549778
+v 0.01642187 -0.03201952 0.01549775
+v 0.01303156 -0.03201957 0.02862752
+v 0.01642187 -0.02253658 0.01566835
+v 0.01642187 -0.02253751 0.01549779
+v 0.01303156 -0.02443752 0.03292227
+v 0.01642187 -0.02249187 0.03292228
+v 0.01642187 -0.03201953 0.01795553
+v 0.01308499 -0.03201957 0.02860535
+v 0.01303156 -0.03148607 0.03292224
+v 0.01642187 -0.03001517 0.03292225
+v 0.01635052 -0.03005155 0.03292225
+v 0.01628182 -0.03008606 0.03292225
+v 0.01489431 -0.03073616 0.03292225
+v 0.01369861 -0.03201956 0.02729203
+v 0.01316630 -0.03201956 0.02855247
+v 0.01325292 -0.03140865 0.03292224
+v 0.01480769 -0.03077347 0.03292225
+v 0.01399363 -0.03112231 0.03292225
+v 0.01334418 -0.03137414 0.03292224
+v 0.01327548 -0.03140026 0.03292224
+f 1 2 6
+f 1 6 3
+f 1 3 9
+f 1 9 16
+f 1 16 17
+f 1 17 10
+f 1 10 4
+f 1 4 11
+f 1 11 7
+f 1 7 2
+f 2 5 6
+f 2 7 8
+f 2 8 5
+f 3 6 5
+f 3 5 8
+f 3 8 12
+f 3 12 9
+f 4 10 11
+f 7 11 18
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_88.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..816edabf47c59b2f2d190897614fa3f3ca2801b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_88.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.02266233 -0.01694357 -0.01669573
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_89.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..038ea5fbf6c3aecab547ffc3070a3e81a7e8f7ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_89.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_9.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7348f7a14267d46d36ae3fc7da9bc83208239a28
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_9.obj
@@ -0,0 +1,970 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_90.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..193426afd450d0e0eb3506626c6cbd05fc9a9f4c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_90.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.02295335 -0.02738649 0.01868265
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+
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_91.obj b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aca9dbf4666a7bca68e37d644ccb2a03683a8e3e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/mesh/pen_holder_007_collision_91.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.02417856 -0.01506674 0.01170955
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diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/pen_holder_007.xml b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/pen_holder_007.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1a712bfb59391a86b6cdd46213e853a157b77722
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/mjcf/pen_holder_007.xml
@@ -0,0 +1,198 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pen_holder_007">
+  <asset>
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+    <mesh name="collision_mesh_0_6" file="mesh/pen_holder_007_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+      <geom type="mesh" mesh="collision_mesh_0_66" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_67" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_68" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_69" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_70" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_71" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_72" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_73" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_74" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_75" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_76" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_77" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_78" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_79" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_80" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_81" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_82" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_83" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_84" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_85" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_86" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_87" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_88" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_89" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_90" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_91" 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/90077b0dd6c85831a73215709bd7e8cd/pen_holder_007.urdf b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/pen_holder_007.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3e19697243131bcb4fef49af2505157accdf2e8d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/pen_holder_007.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_007">
+   <link name="pen_holder_007">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_007.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_007_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>90077b0dd6c85831a73215709bd7e8cd</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>pen_holder</category>
+         <name>cloud dog holder</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cylindrical pen holder with cloud and dog design</description>
+         <min_height>0.0874</min_height>
+         <max_height>0.0874</max_height>
+         <real_height>0.0874</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427233749</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>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/pen_holder_007.usd b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/pen_holder_007.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/pen_holder_007.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:740b0063830a4e5b5c81e6f44bac22878b43fc618c38fc5557622ffb0ee2328f
+size 4945577
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/textures/material_0.png b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8170f3e33720565765f33cd3fb388f5eff23a9b023103d09ebe7875e29fa045c
+size 9035868
diff --git a/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/video.mp4 b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90077b0dd6c85831a73215709bd7e8cd/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82488a37702a5b32b0aeda62e73d99998c9d7a14d06f3b8caaebd45da170529e
+size 416070