diff --git a/.gitattributes b/.gitattributes
index cb266fc3f0be56af1628cb36969a3c4f6636f628..b4c2578a5cc0919d629728bc30a67fc0950a1466 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3268,3 +3268,5 @@ dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/glue
 dataset/desktop_supplies/office_stationery/d1cb8b93f3875a0d803af89315bb9f10/mesh/glue_stick_039.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/eraser_017.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/da9eae16a4545372b130f139a34ba2e3/mesh/eraser_017.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mesh/pen_holder_026.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/pen_holder_026.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..de6623451ad3e0e53e90ac0af52fec6ef629d94f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pen_holder_026_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_026_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..64c6e09a75a022751b61dba3fd58b72b3cf704a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbbbe04fc37543b05ba9d9018f6bf781d53f1661dc3b33f60581e02b08a41c0b
+size 8552734
diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mesh/pen_holder_026.glb b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mesh/pen_holder_026.glb
new file mode 100644
index 0000000000000000000000000000000000000000..259c1f8b3e4264834db9dd3c54b2c18277afc908
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mesh/pen_holder_026.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:030c373bb6852e17ce2661d1b46d168c71f5da5454e51f579ccd813752c1e25c
+size 11830076
diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mesh/pen_holder_026.mtl b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mesh/pen_holder_026.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f1e92d17086200cc0af192a3eff7328ad2bb32c2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mesh/pen_holder_026.mtl
@@ -0,0 +1,6 @@
+newmtl pen_holder_026_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/da619259ee825ac9b5f0dcfebc492a87/mesh/pen_holder_026.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mesh/pen_holder_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56b45b1b66ef8b4cfd33ead83b11e1e35659a4ee
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mesh/pen_holder_026.obj
@@ -0,0 +1,122612 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pen_holder_026_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mesh/pen_holder_026_collision.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mesh/pen_holder_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41f5e30ab043d0a3fed709ab8be1e3393402fb4b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mesh/pen_holder_026_collision.obj
@@ -0,0 +1,10197 @@
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diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mesh/pen_holder_026_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mesh/pen_holder_026_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..64c6e09a75a022751b61dba3fd58b72b3cf704a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mesh/pen_holder_026_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbbbe04fc37543b05ba9d9018f6bf781d53f1661dc3b33f60581e02b08a41c0b
+size 8552734
diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..64c6e09a75a022751b61dba3fd58b72b3cf704a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbbbe04fc37543b05ba9d9018f6bf781d53f1661dc3b33f60581e02b08a41c0b
+size 8552734
diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026.obj
new file mode 100644
index 0000000000000000000000000000000000000000..927aa1f346dac93b63680ea25f690bf79ea921cd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64919c9738e5d87337abfac6e717849f636ff53c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision.obj
@@ -0,0 +1,10197 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_0.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9607d0e3399732480d71a4d1b7d3633bd492d907
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_1.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03f808b2d44fe6541430a32c2d72853157d505ff
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_10.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4572ad94da8077250173238ff00e3f41e9e2a8d2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_11.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42b3004be07013aa134ec67390a89e1053306447
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_11.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_12.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c7398279551f195617d8674f870361dc5b9899f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_12.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_13.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6054d197d0ace7e5fd13b66ea1ccfd3b8c3ca76c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_13.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_14.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..720e358603310188cadf78d7078155935514e83c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_14.obj
@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_15.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96f87893debf742d1ea9fcfb6826c1aab2e9fb30
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_15.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_16.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..672d7ff9570f1753c80d4b925fea07fbfdc2dbac
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_16.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.00001235 0.03394141 -0.02245768
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+
diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_17.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..882715f945d50fc42f768b405e06677718ed1a35
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_17.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.01505496 0.03063055 -0.02261901
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+
diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_18.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b123d6c0cf803df10c784de534be7d478774a78
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_18.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_19.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3de2a87074efb9e86c8d2c4bcda879cfd30ac556
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_19.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_2.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1d60260d2bdbb568a15aa3287bf59cef22726cc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_2.obj
@@ -0,0 +1,961 @@
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diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_20.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da8a6cef32d20307fc99d782600036add0e6ae85
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_20.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.03141598 0.01435465 -0.02262225
+v -0.03438712 0.01435463 -0.01720516
+v -0.03728058 -0.00006060 -0.01720521
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+
diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_21.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71c0b37e66096bc07875a9613e89889a6329a2e7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_21.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.02609242 0.02243589 -0.02262222
+v -0.02609242 0.02631222 -0.01721496
+v -0.02609242 0.03966654 -0.02262215
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+
diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_22.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f7c3b07a49f5c026aa777c777c2cc54ab91cf44
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_22.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v 0.02103215 0.01412310 -0.03915501
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diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_23.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b363499e6d609ab53cbaf0b1a58615c6d588a313
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_23.obj
@@ -0,0 +1,298 @@
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diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_24.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb01f0a1fc2987be14148744d4f08ab87e81f99a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_24.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_25.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00e30dfea23e5b58130afe4048074b9f8d3c6ee0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_25.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_26.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afb838c3008f4f867993adc1989bb1c87f0db31f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_26.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.02622534 0.02615571 -0.01718677
+v 0.02622534 0.03961974 -0.01718672
+v 0.02622534 0.02615571 -0.01716762
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+
diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_27.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..472664f5477c7a70485bfbfefc220ee54a8a58f7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_27.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_3.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a35f3bf21c05228b43816154126063d2e3bc3980
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_3.obj
@@ -0,0 +1,388 @@
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diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_4.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44c35b32714975646e4d8c02adaede2b7215b5ce
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_4.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_5.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..424e217db77132c3738f9d5bdf1fd17688cea126
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_5.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_6.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e616e550779cbfc1132fd2025ad588fcbc3bd10e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_6.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_7.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..293122f9ed7a63df63ad7d885e5f71cf6a64ec7b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_7.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_8.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfe7d4520a2aa6c94a07b5b8dd853443cee21ff8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_8.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_9.obj b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a162a1e9820be7df46cb97efe5f92afae1b484c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/mesh/pen_holder_026_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/pen_holder_026.xml b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/pen_holder_026.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9827e8fa7b1799064321e420721e85ad0b55c293
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/mjcf/pen_holder_026.xml
@@ -0,0 +1,70 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pen_holder_026">
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+    <mesh name="collision_mesh_0_1" file="mesh/pen_holder_026_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_11" file="mesh/pen_holder_026_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pen_holder_026_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pen_holder_026_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_20" file="mesh/pen_holder_026_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_25" file="mesh/pen_holder_026_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_27" file="mesh/pen_holder_026_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/pen_holder_026.urdf b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/pen_holder_026.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9b0aec204e8f9453c2cd3da3766df5c2c1723a47
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/pen_holder_026.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_026">
+   <link name="pen_holder_026">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_026.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_026_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1300" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>da619259ee825ac9b5f0dcfebc492a87</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>pen_holder</category>
+         <name>gray pen holder</name>
+         <color>gray,pink</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cylindrical gray pen holder with vented base and pink side accents</description>
+         <min_height>0.1350</min_height>
+         <max_height>0.1350</max_height>
+         <real_height>0.1350</real_height>
+         <min_mass>0.08</min_mass>
+         <max_mass>0.18</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611145027</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.047736 -0.047902 -0.054550</min>
+            <max>0.047706 0.047788 0.080450</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/pen_holder_026.usd b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/pen_holder_026.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5b1435b73eef98f335685c6c1d4f7e9e7c24bace
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/pen_holder_026.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8cdd899cc47f8483bbec0efbce0b713ce35e3af41105af3fc8d24360538d843
+size 4916906
diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/textures/material_0.png b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..64c6e09a75a022751b61dba3fd58b72b3cf704a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbbbe04fc37543b05ba9d9018f6bf781d53f1661dc3b33f60581e02b08a41c0b
+size 8552734
diff --git a/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/video.mp4 b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cbb42864c4f87f6ad253ceb3cd10fff38d95d7fa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/da619259ee825ac9b5f0dcfebc492a87/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04aa7be1cdc4573af0da394cce6b731ed350ee8620808eaaf92b01b11338097c
+size 206329