diff --git a/.gitattributes b/.gitattributes
index a579c33657a72ff21dd6897e674c4490f3eaeb76..0320e6d3f9b8f566ec734467c976511698f13f01 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3275,4 +3275,5 @@ dataset/desktop_supplies/office_stationery/e10c9ac27c785067aadb50379cfaea97/e10c
 dataset/desktop_supplies/office_stationery/df57dbad1d945dbb8ca344a6cae408c6/eraser_046.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/df57dbad1d945dbb8ca344a6cae408c6/mesh/eraser_046.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/e576f860571b5d3b9766d6a19c81d309/e576f860571b5d3b9766d6a19c81d309.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/e5847c4a01df5ad5a1e869538e8e9447/e5847c4a01df5ad5a1e869538e8e9447.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mesh/pen_holder_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/pen_holder_008.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..40be3a9182237da0d8610b4142e07a174c847167
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pen_holder_008_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd pen_holder_008_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..507630c06cdc53e6031987e32e8056e3717f709d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mesh/pen_holder_008.glb b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mesh/pen_holder_008.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0d35d193108170b8cff9a495b9fc7dec0bdec6c0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mesh/pen_holder_008.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f14cd7a021583d28534088c736dfab05d0e33d2a3a6d4d9061ebf7ef6a18cf3
+size 15899136
diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mesh/pen_holder_008.mtl b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mesh/pen_holder_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a200900436f26750907fe87bc91157ab3cbf2571
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mesh/pen_holder_008.mtl
@@ -0,0 +1,6 @@
+newmtl pen_holder_008_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/e3ca020479c7573f853dd27b90371bb7/mesh/pen_holder_008.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mesh/pen_holder_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f714873bc7bf510cb9edfc99fa5f4cb4b298c23
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mesh/pen_holder_008.obj
@@ -0,0 +1,104374 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pen_holder_008_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mesh/pen_holder_008_collision.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mesh/pen_holder_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40433cdacf0aeb200d0bef81fe11bb9f5e6ac5b4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mesh/pen_holder_008_collision.obj
@@ -0,0 +1,7896 @@
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diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mesh/pen_holder_008_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mesh/pen_holder_008_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f1905af52e898491098a6f9b6f44d0f4f9e91df
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision.obj
@@ -0,0 +1,7896 @@
+# https://github.com/mikedh/trimesh
+
+o pen_holder_008_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_0.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b49553b64e91e432ca8aaff6864ffdd9d03f70b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_1.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d13a76481bae5ac7f3cdeb60bb4ffbc7efe90fc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_10.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d73ad50fea483963498575bed7e85a0f62112527
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_10.obj
@@ -0,0 +1,520 @@
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diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_11.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c4f945dab028b0f50cb3d78d18c22ec2a4d927f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_11.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_12.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2976b0e6976060a280c751984d0e3ac2019843b1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_12.obj
@@ -0,0 +1,190 @@
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diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_13.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56a6d11d07d117d999a7d86984458c5075712992
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_13.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_14.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f5b96d9b5679dbe9fd9343a1287f462eb407b4c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_14.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_15.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f427b50e6e5e424e36a0e5456e660e468296d60a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_15.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_16.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39d48c91c7842afd3a67adb3ccb3b385155814e2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_16.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
+v 0.02757748 0.01968719 0.04609822
+v 0.02282060 0.02979831 0.04614966
+v 0.02753188 0.01968719 0.04702348
+v 0.02697565 0.01968745 -0.02576383
+v 0.02272638 0.02939765 -0.02576379
+v 0.02194369 0.03110535 0.04304342
+v 0.02194521 0.03110974 0.04629653
+v 0.02147560 0.03173829 0.04691338
+v 0.02184339 0.03098051 0.04751552
+v 0.02309568 0.02898178 0.04719976
+v 0.02193154 0.03083685 -0.02576379
+v 0.02268838 0.02947668 0.04769177
+v 0.02717474 0.01968718 0.04788265
+v 0.01565641 0.01968745 -0.02576383
+v 0.02148928 0.03175005 0.04228707
+v 0.02148928 0.03175005 0.04249268
+v 0.01901206 0.03371940 0.04614967
+v 0.01884793 0.03358575 0.04766974
+v 0.01858653 0.03337133 0.04855095
+v 0.02111086 0.03148569 0.04791942
+v 0.02167621 0.03047531 0.04861703
+v 0.02154247 0.03133029 -0.02576378
+v 0.02288443 0.02845162 0.04821313
+v 0.02647716 0.01968718 0.04871980
+v 0.01516857 0.02010452 -0.02576383
+v 0.01962757 0.01968718 0.04766969
+v 0.02133123 0.03159610 -0.02576378
+v 0.01973699 0.03303677 -0.02370764
+v 0.01898318 0.03370202 -0.02219491
+v 0.01768226 0.03443312 0.04614968
+v 0.01768226 0.03417317 0.04766975
+v 0.02064885 0.03098050 0.04875655
+v 0.01768226 0.03356372 0.04871250
+v 0.01768226 0.03249460 0.04912373
+v 0.02071572 0.02946346 0.04917512
+v 0.02192546 0.02946346 0.04877124
+v 0.02531758 0.01968718 0.04904290
+v 0.01205304 0.02284488 -0.02576382
+v 0.01983274 0.01968718 0.04852887
+v 0.01205304 0.02735753 0.04769910
+v 0.02002575 0.03276802 -0.02576378
+v 0.01972483 0.03303236 -0.02576378
+v 0.01897863 0.03369175 -0.02370764
+v 0.01768226 0.03439959 -0.02219490
+v 0.01616553 0.03468865 0.04614968
+v 0.01616553 0.03444045 0.04766975
+v 0.01616553 0.03467569 -0.02067482
+v 0.01616553 0.03370323 0.04881531
+v 0.01616553 0.03249460 0.04923388
+v 0.01768226 0.03097903 0.04924856
+v 0.01920051 0.02946346 0.04924856
+v 0.02071572 0.02794790 0.04924120
+v 0.02223245 0.02491676 0.04921182
+v 0.02375070 0.02036859 0.04924117
+v 0.02375070 0.01968718 0.04924117
+v 0.01205304 0.03394141 -0.02576378
+v 0.02074004 0.01968718 0.04890338
+v 0.01205304 0.02808154 0.04882263
+v 0.01896647 0.03367413 -0.02576378
+v 0.01768226 0.03437170 -0.02370763
+v 0.01616553 0.03465953 -0.02219490
+v 0.01464729 0.03459026 0.04614968
+v 0.01464729 0.03435381 0.04766975
+v 0.01464729 0.03459784 -0.01915475
+v 0.01464729 0.03366358 0.04880062
+v 0.01464729 0.03459345 -0.02067482
+v 0.01464729 0.03249460 0.04921185
+v 0.01205304 0.03097903 0.04924856
+v 0.01616553 0.03097903 0.04925590
+v 0.02071572 0.02643233 0.04924855
+v 0.02223245 0.02188416 0.04924853
+v 0.02223245 0.02036859 0.04924117
+v 0.02223245 0.01968718 0.04919711
+v 0.01205304 0.03411029 -0.02111543
+v 0.01214423 0.03396197 -0.02576378
+v 0.02071572 0.02036859 0.04907962
+v 0.01205304 0.02946346 0.04924121
+v 0.01205304 0.02849274 0.04894747
+v 0.01813059 0.03410295 -0.02576377
+v 0.01768226 0.03433058 -0.02576377
+v 0.01464729 0.03456114 -0.02219490
+v 0.01669593 0.03448625 -0.02576377
+v 0.01616553 0.03456996 -0.02576377
+v 0.01313055 0.03433620 0.04614968
+v 0.01313055 0.03411590 0.04766975
+v 0.01313055 0.03436140 -0.01915475
+v 0.01205304 0.03361071 0.04833065
+v 0.01205304 0.03344623 0.04863907
+v 0.01313055 0.03354756 0.04872719
+v 0.01313055 0.03249460 0.04913842
+v 0.01313055 0.03434379 -0.02067482
+v 0.01205304 0.03141960 0.04921919
+v 0.01205304 0.03412350 -0.02067482
+v 0.01313055 0.03429826 -0.02219490
+v 0.01313055 0.03417638 -0.02576377
+v 0.01517768 0.03449506 -0.02576377
+v 0.01464729 0.03445394 -0.02576377
+v 0.01205304 0.03411297 0.04614968
+v 0.01205304 0.03396905 0.04722914
+v 0.01205304 0.03414993 -0.01915475
+v 0.01205304 0.03390443 0.04766974
+v 0.01205304 0.03280006 0.04893281
+v 0.01205304 0.03249460 0.04905030
+v 0.01205304 0.03414405 -0.01959535
+v 0.01366095 0.03427477 -0.02576377
+f 1 2 3
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+f 1 37 55
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+
diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_17.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8b2d2bafe925cdfab0c030d1f47f0d070eb5944
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_17.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.02837433 -0.01870158 -0.02729383
+v -0.02438528 -0.02403851 -0.02729385
+v -0.02854295 -0.01870160 -0.02134604
+v -0.01474812 -0.01870158 -0.02729383
+v -0.02438347 -0.02403853 -0.02134606
+v -0.01001929 -0.02403851 -0.02729385
+v -0.02005717 -0.01870160 -0.02134604
+v -0.01783419 -0.02043512 -0.02134605
+v -0.01730292 -0.02085570 -0.02134605
+v -0.01658852 -0.02142623 -0.02134605
+v -0.01350971 -0.02403853 -0.02134606
+v -0.01027314 -0.02370518 -0.02729385
+v -0.01958574 -0.01905844 -0.02134604
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 11
+f 2 11 5
+f 3 5 11
+f 3 11 10
+f 3 10 9
+f 3 9 8
+f 3 8 13
+f 3 13 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 7 13
+f 4 13 8
+f 6 12 11
+
diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_18.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3649a1cfee08a1d514aa9e6269127632853aa9f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_18.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.03553009 -0.01146553 -0.02219568
+v -0.03551484 -0.01146552 -0.02371467
+v -0.03521529 -0.01298231 -0.02219569
+v -0.03518371 -0.01298231 -0.02134602
+v -0.03549742 -0.01146553 -0.02134601
+v -0.03539285 -0.01061824 -0.02134601
+v -0.03530679 -0.00994875 -0.02134601
+v -0.03533403 -0.00994875 -0.02219568
+v -0.03532422 -0.00994874 -0.02371467
+v -0.03538195 -0.01146551 -0.02732826
+v -0.03519242 -0.01298230 -0.02371468
+v -0.03523708 -0.00994873 -0.02732826
+v -0.03478068 -0.01388221 -0.02219569
+v -0.03476652 -0.01386407 -0.02134602
+v -0.03312935 -0.00016588 -0.02134597
+v -0.03311192 -0.00016586 -0.02732822
+v -0.03525124 -0.01204065 -0.02732826
+v -0.03503557 -0.01298229 -0.02732827
+v -0.03468700 -0.01376426 -0.02732827
+v -0.03476652 -0.01386406 -0.02371468
+v -0.03398224 -0.01464061 -0.02219569
+v -0.03432645 -0.01428862 -0.02134602
+v -0.02720808 -0.00016588 -0.02134597
+v -0.02601642 -0.00016586 -0.02732822
+v -0.03390817 -0.01450088 -0.02732827
+v -0.03396155 -0.01462245 -0.02371468
+v -0.03397462 -0.01462246 -0.02134602
+v -0.03320233 -0.01529557 -0.02371469
+v -0.03322411 -0.01531009 -0.02219570
+v -0.03321540 -0.01530465 -0.02134603
+v -0.02440322 -0.01412171 -0.02134602
+v -0.02440322 -0.00974371 -0.02732826
+v -0.03311954 -0.01523387 -0.02732828
+v -0.02837578 -0.01870105 -0.02732829
+v -0.02854353 -0.01870107 -0.02134604
+v -0.02440322 -0.01870107 -0.02134604
+v -0.02440322 -0.01870105 -0.02732829
+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 2
+f 2 10 11
+f 2 11 3
+f 2 9 12
+f 2 12 10
+f 3 11 13
+f 3 13 14
+f 3 14 4
+f 4 14 22
+f 4 22 27
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+f 4 23 15
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+f 4 6 5
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+f 23 31 24
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+f 28 34 35
+f 28 35 29
+f 29 35 30
+f 31 36 37
+f 31 37 32
+f 34 37 36
+f 34 36 35
+
diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_19.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..515b45181a6fd48590955707efb9db68d0e71f54
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_19.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.01205304 0.03379270 -0.01003069
+v -0.00023458 0.03196105 -0.01004609
+v -0.00023458 0.03195995 -0.01003069
+v 0.01205304 0.02492222 -0.01003072
+v 0.01205304 0.03402955 -0.01460199
+v 0.01205304 0.03405170 -0.01504247
+v -0.00023458 0.03197544 -0.01033719
+v -0.00023458 0.02696414 -0.01003071
+v 0.00554359 0.02449284 -0.02067501
+v 0.00496745 0.02387640 -0.02576381
+v 0.01205304 0.02284381 -0.02576382
+v 0.01205304 0.03410372 -0.01612061
+v -0.00023458 0.03204406 -0.01185582
+v -0.00023458 0.02565050 -0.02576381
+v 0.00045943 0.02530409 -0.02576381
+v 0.00413633 0.02402249 -0.02576381
+v 0.01205304 0.03394216 -0.02576378
+v 0.01205304 0.03411811 -0.01656110
+v -0.00023458 0.03215032 -0.01460199
+v -0.00023458 0.03210937 -0.01337445
+v -0.00023458 0.03209830 -0.01308336
+v -0.00023458 0.03189691 -0.02576378
+v 0.01205304 0.03407164 -0.02219514
+v 0.01205304 0.03414467 -0.01763924
+v -0.00023458 0.03215364 -0.01489462
+v -0.00023458 0.03214258 -0.01763925
+v 0.01205304 0.03411038 -0.02111700
+v 0.01205304 0.03414910 -0.01807974
+v -0.00023458 0.03216582 -0.01612062
+v -0.00023458 0.03216139 -0.01641326
+v 0.01205304 0.03414468 -0.01959837
+v 0.01205304 0.03412366 -0.02067497
+v 0.01205304 0.03415021 -0.01915633
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 11
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+f 1 17 23
+f 1 23 27
+f 1 27 32
+f 1 32 31
+f 1 31 33
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+f 1 24 18
+f 1 18 12
+f 1 12 6
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+f 29 33 31
+f 29 31 30
+
diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_2.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c0bde61180ee56b5858f7383c127f1d9e91fcc7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_2.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.01464685 -0.03268823 -0.04350962
+v 0.01768077 -0.03117320 -0.04350266
+v 0.01616381 -0.03268823 -0.04347837
+v 0.01312989 -0.03420466 -0.04329432
+v 0.01312989 -0.03268823 -0.04350094
+v -0.00023457 -0.02965678 -0.04341411
+v 0.02375124 -0.02126961 -0.04138254
+v 0.02507956 -0.02126961 -0.04128531
+v 0.01919773 -0.03117320 -0.04338807
+v 0.00402811 -0.02965678 -0.04342280
+v 0.00554508 -0.02965678 -0.04341759
+v 0.00706204 -0.02965678 -0.04339154
+v 0.01605115 -0.03423960 -0.04301477
+v 0.01464685 -0.03420466 -0.04322140
+v 0.01312989 -0.03512570 -0.04289149
+v 0.01214216 -0.03507678 -0.04283245
+v -0.00023457 -0.03110612 -0.04304600
+v -0.00023457 -0.02993770 -0.04334292
+v -0.00023457 -0.02820883 -0.04306683
+v 0.02223166 -0.02126961 -0.04139643
+v 0.02580530 -0.02126961 -0.04099186
+v 0.02046318 -0.03117320 -0.04298871
+v 0.02014092 -0.03208586 -0.04284460
+v 0.01919773 -0.03232625 -0.04300434
+v 0.01727468 -0.03375602 -0.04292621
+v -0.00023457 -0.02126961 -0.04139643
+v 0.00402811 -0.02126961 -0.04139817
+v 0.01161292 -0.02126961 -0.04139817
+v 0.01546952 -0.03498454 -0.04272827
+v 0.01464685 -0.03505722 -0.04281335
+v 0.01464685 -0.03530740 -0.04193996
+v 0.01312989 -0.03538986 -0.04193996
+v 0.01190112 -0.03516904 -0.04193996
+v -0.00023457 -0.03255547 -0.04042064
+v -0.00023457 -0.03221026 -0.04153712
+v -0.00023457 -0.03212500 -0.04180799
+v -0.00023457 -0.03186503 -0.04256852
+v -0.00023457 -0.03125287 -0.04295745
+v 0.02636335 -0.02126961 -0.04019314
+v 0.02115223 -0.03113827 -0.04207191
+v 0.02032170 -0.03224520 -0.04193995
+v 0.01649917 -0.03477351 -0.04193996
+v -0.00023457 -0.02126966 -0.02785631
+v 0.01574200 -0.03508658 -0.04193996
+v 0.01464685 -0.03554640 -0.04042065
+v 0.01312989 -0.03553522 -0.04042065
+v 0.01152647 -0.03518860 -0.04042412
+v -0.00023457 -0.03273018 -0.03890133
+v 0.02653103 -0.02126962 -0.03890129
+v 0.02157143 -0.03060857 -0.04165344
+v 0.02119677 -0.03151144 -0.04042064
+v 0.02043698 -0.03235840 -0.04042064
+v 0.01692622 -0.03496638 -0.03969833
+v 0.01680046 -0.03490628 -0.04071062
+v -0.00023457 -0.02586927 -0.02577097
+v 0.01469401 -0.02126967 -0.02577095
+v 0.01624241 -0.03517323 -0.04029042
+v 0.01624503 -0.03517883 -0.03903156
+v 0.01464685 -0.03554361 -0.03890134
+v 0.01312989 -0.03549190 -0.03890134
+v 0.01148979 -0.03516206 -0.03881105
+v 0.01069594 -0.03500832 -0.03925729
+v -0.00023457 -0.03261559 -0.03434686
+v 0.02586032 -0.02126967 -0.02577095
+v 0.02156881 -0.03058623 -0.03434685
+v 0.02159763 -0.03063934 -0.03586443
+v 0.02164741 -0.03072738 -0.03890132
+v 0.02165265 -0.03075393 -0.04042063
+v 0.02117319 -0.03148489 -0.03890133
+v 0.02041602 -0.03234444 -0.03890133
+v 0.01692622 -0.03496638 -0.03962540
+v -0.00023457 -0.03236825 -0.02577099
+v 0.01594635 -0.03518024 -0.03586445
+v 0.01588347 -0.03514949 -0.03434687
+v 0.01464685 -0.03544579 -0.03586445
+v 0.01312989 -0.03533677 -0.03434687
+v 0.01173344 -0.03512154 -0.03586445
+v 0.02133825 -0.03011946 -0.02577098
+v 0.02093215 -0.03078892 -0.02577098
+v 0.02069898 -0.03117327 -0.02577098
+v 0.02107887 -0.03134374 -0.03434686
+v 0.02111031 -0.03139685 -0.03586444
+v 0.02031908 -0.03225779 -0.03434686
+v 0.02007542 -0.03204679 -0.02577099
+v 0.01741354 -0.03384275 -0.02577099
+v 0.01664064 -0.03482803 -0.03434687
+v 0.01185658 -0.03509219 -0.03434687
+v 0.01317443 -0.03483366 -0.02577100
+v 0.01616381 -0.03456812 -0.02577100
+v 0.01540926 -0.03496502 -0.02899889
+v 0.01464685 -0.03539268 -0.03434687
+v 0.01461279 -0.03492731 -0.02577100
+v 0.01415953 -0.03490215 -0.02577100
+v 0.01697600 -0.03409991 -0.02577100
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 6 10
+f 2 10 11
+f 2 11 12
+f 2 12 7
+f 3 13 14
+f 3 14 4
+f 3 9 13
+f 4 14 15
+f 4 15 16
+f 4 16 17
+f 4 17 18
+f 4 18 6
+f 4 6 5
+f 6 18 17
+f 6 17 38
+f 6 38 37
+f 6 37 36
+f 6 36 35
+f 6 35 34
+f 6 34 48
+f 6 48 63
+f 6 63 72
+f 6 72 55
+f 6 55 43
+f 6 43 26
+f 6 26 19
+f 6 19 10
+f 7 20 28
+f 7 28 27
+f 7 27 26
+f 7 26 43
+f 7 43 56
+f 7 56 64
+f 7 64 49
+f 7 49 39
+f 7 39 21
+f 7 21 8
+f 7 12 11
+f 7 11 20
+f 8 21 22
+f 8 22 9
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 13
+f 10 19 26
+f 10 26 27
+f 10 27 28
+f 10 28 20
+f 10 20 11
+f 13 29 30
+f 13 30 14
+f 13 25 29
+f 14 30 15
+f 15 30 31
+f 15 31 32
+f 15 32 16
+f 16 32 33
+f 16 33 34
+f 16 34 35
+f 16 35 36
+f 16 36 37
+f 16 37 38
+f 16 38 17
+f 21 39 40
+f 21 40 22
+f 22 40 23
+f 23 25 24
+f 23 40 41
+f 23 41 42
+f 23 42 29
+f 23 29 25
+f 29 42 44
+f 29 44 31
+f 29 31 30
+f 31 44 45
+f 31 45 32
+f 32 45 46
+f 32 46 33
+f 33 46 47
+f 33 47 48
+f 33 48 34
+f 39 49 50
+f 39 50 40
+f 40 50 51
+f 40 51 41
+f 41 52 53
+f 41 53 54
+f 41 54 42
+f 41 51 52
+f 42 54 44
+f 43 55 56
+f 44 54 57
+f 44 57 45
+f 45 57 58
+f 45 58 59
+f 45 59 46
+f 46 59 60
+f 46 60 61
+f 46 61 62
+f 46 62 48
+f 46 48 47
+f 48 62 61
+f 48 61 63
+f 49 64 65
+f 49 65 66
+f 49 66 67
+f 49 67 68
+f 49 68 50
+f 50 68 51
+f 51 68 67
+f 51 67 69
+f 51 69 70
+f 51 70 52
+f 52 70 71
+f 52 71 53
+f 53 58 57
+f 53 57 54
+f 53 71 58
+f 55 72 88
+f 55 88 93
+f 55 93 92
+f 55 92 89
+f 55 89 94
+f 55 94 85
+f 55 85 84
+f 55 84 80
+f 55 80 79
+f 55 79 78
+f 55 78 64
+f 55 64 56
+f 58 71 73
+f 58 73 59
+f 59 73 74
+f 59 74 75
+f 59 75 60
+f 60 76 77
+f 60 77 61
+f 60 75 76
+f 61 77 72
+f 61 72 63
+f 64 78 65
+f 65 78 79
+f 65 79 80
+f 65 80 81
+f 65 81 82
+f 65 82 66
+f 66 82 69
+f 66 69 67
+f 69 82 83
+f 69 83 70
+f 70 83 71
+f 71 83 84
+f 71 84 85
+f 71 85 86
+f 71 86 74
+f 71 74 73
+f 72 77 87
+f 72 87 76
+f 72 76 88
+f 74 86 89
+f 74 89 90
+f 74 90 91
+f 74 91 75
+f 75 91 76
+f 76 91 92
+f 76 92 93
+f 76 93 88
+f 76 87 77
+f 80 84 81
+f 81 84 82
+f 82 84 83
+f 85 94 86
+f 86 94 89
+f 89 92 90
+f 90 92 91
+
diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_20.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35a590adec0d1e67777390a73e2719b8d420f9eb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_20.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.03587524 0.00994834 -0.00852752
+v 0.03581022 0.00994834 -0.00720095
+v 0.03578814 0.00975613 -0.00700916
+v 0.03586174 0.00975613 -0.00852752
+v 0.03578569 0.00975619 -0.02576386
+v 0.03579428 0.00994840 -0.02576386
+v 0.03579918 0.00994834 -0.00700916
+v 0.03542137 0.00975611 -0.00244035
+v 0.03542014 0.00974801 -0.00244035
+v 0.03522019 0.00863217 -0.00244036
+v 0.03350653 -0.00038459 -0.00244039
+v 0.03352248 -0.00038458 -0.00443140
+v 0.03368072 -0.00038451 -0.02576390
+v 0.02334356 0.00994840 -0.02576386
+v 0.03542628 0.00994832 -0.00245177
+v 0.03542505 0.00994731 -0.00244035
+v 0.02791414 -0.00038459 -0.00244039
+v 0.02664454 -0.00038451 -0.02576390
+v 0.02653782 0.00994832 -0.00244035
+v 0.02742838 -0.00038456 -0.01004593
+v 0.02745168 -0.00038456 -0.00967148
+v 0.03506073 0.00994832 -0.00244035
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 19
+f 1 19 22
+f 1 22 15
+f 1 15 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 5 13 18
+f 5 18 14
+f 5 14 6
+f 7 15 8
+f 8 15 16
+f 8 16 22
+f 8 22 19
+f 8 19 17
+f 8 17 11
+f 8 11 10
+f 8 10 9
+f 11 17 21
+f 11 21 20
+f 11 20 18
+f 11 18 13
+f 11 13 12
+f 14 18 20
+f 14 20 21
+f 14 21 17
+f 14 17 19
+f 15 22 16
+
diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_21.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c0e0b36274cbf3f542646fa9dfeb6fc452ddad2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_21.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.02387510 0.01128437 -0.02576943
+v -0.02597293 0.01128434 -0.01499000
+v -0.02765679 -0.00016590 -0.01499004
+v -0.02663461 -0.00016587 -0.02576947
+v -0.03551903 0.01128437 -0.02576943
+v -0.02817659 0.01128434 -0.01499000
+v -0.03322816 -0.00016590 -0.01499004
+v -0.03309326 -0.00016587 -0.02576947
+v -0.03552136 0.01127204 -0.02576943
+v -0.03567370 0.01128437 -0.02371399
+v -0.03555508 0.01128434 -0.01610846
+v -0.03555043 0.01128098 -0.01499000
+v -0.03511784 0.00824021 -0.01499001
+v -0.03560044 0.00975669 -0.02067621
+v -0.03323746 -0.00016590 -0.01612010
+v -0.03320955 -0.00016589 -0.01915789
+v -0.03559113 0.00975669 -0.02219457
+v -0.03552252 0.00975670 -0.02371399
+v -0.03538530 0.00975670 -0.02576943
+v -0.03547601 0.01073629 -0.02576943
+v -0.03567602 0.01127204 -0.02371399
+v -0.03574812 0.01128436 -0.02219457
+v -0.03569811 0.01128435 -0.01915785
+v -0.03570044 0.01127202 -0.01915785
+v -0.03555159 0.01127201 -0.01499000
+v -0.03545275 0.00975667 -0.01499000
+v -0.03575393 0.01127203 -0.02067621
+v -0.03575045 0.01127203 -0.02219457
+v -0.03323281 -0.00016590 -0.01763952
+v -0.03323513 -0.00016590 -0.01694945
+v -0.03575161 0.01128436 -0.02067621
+v -0.03575161 0.01128436 -0.02066460
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 19
+f 1 19 20
+f 1 20 9
+f 1 9 5
+f 1 5 10
+f 1 10 22
+f 1 22 31
+f 1 31 32
+f 1 32 23
+f 1 23 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 25
+f 2 25 26
+f 2 26 13
+f 2 13 7
+f 2 7 3
+f 3 7 15
+f 3 15 30
+f 3 30 29
+f 3 29 16
+f 3 16 8
+f 3 8 4
+f 5 9 21
+f 5 21 10
+f 6 11 12
+f 7 13 14
+f 7 14 15
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 9 20 21
+f 10 21 28
+f 10 28 22
+f 11 23 12
+f 12 23 24
+f 12 24 25
+f 13 26 14
+f 14 26 27
+f 14 27 28
+f 14 28 17
+f 14 17 29
+f 14 29 30
+f 14 30 15
+f 16 29 17
+f 17 28 18
+f 18 28 21
+f 18 21 19
+f 19 21 20
+f 22 28 27
+f 22 27 31
+f 23 32 24
+f 24 32 27
+f 24 27 26
+f 24 26 25
+f 27 32 31
+
diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_22.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc57e641ebf0bfc7db3a415d8079af545b44d960
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_22.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.00463617 -0.02403846 -0.04140057
+v -0.00023739 -0.01870153 -0.04139641
+v -0.00023739 -0.02403846 -0.04139919
+v -0.02176882 -0.02403846 -0.04139505
+v -0.02480284 -0.01904635 -0.04139917
+v -0.02514685 -0.01870153 -0.04139917
+v -0.02480284 -0.01870153 -0.04139917
+v -0.00023739 -0.01870158 -0.02773294
+v -0.00023739 -0.02403851 -0.02778819
+v -0.02284032 -0.02403846 -0.04136467
+v -0.02328583 -0.02207767 -0.04139366
+v -0.02666668 -0.01870153 -0.04135084
+v -0.00957351 -0.02403851 -0.02729937
+v -0.01474488 -0.01870158 -0.02729383
+v -0.02327455 -0.02403846 -0.04132739
+v -0.02791300 -0.01870153 -0.04124313
+v -0.01027280 -0.02370518 -0.02729385
+v -0.01002184 -0.02403851 -0.02729385
+v -0.02837262 -0.01870158 -0.02729383
+v -0.02388643 -0.02403846 -0.04125420
+v -0.02803143 -0.01870153 -0.04122518
+v -0.02438552 -0.02403851 -0.02729385
+v -0.02882659 -0.01870155 -0.03434719
+v -0.02411765 -0.02403846 -0.04121830
+v -0.02840645 -0.01870153 -0.04089378
+v -0.02904089 -0.01870154 -0.03890260
+v -0.02469005 -0.02403848 -0.03434721
+v -0.02436579 -0.02403846 -0.04084271
+v -0.02870534 -0.01870153 -0.04042015
+v -0.02456035 -0.02403846 -0.04038703
+v -0.02478311 -0.02403847 -0.03935001
+v -0.02484514 -0.02403847 -0.03890952
+f 1 2 3
+f 1 3 9
+f 1 9 13
+f 1 13 18
+f 1 18 22
+f 1 22 27
+f 1 27 32
+f 1 32 31
+f 1 31 30
+f 1 30 28
+f 1 28 24
+f 1 24 20
+f 1 20 15
+f 1 15 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 3
+f 2 7 6
+f 2 6 12
+f 2 12 16
+f 2 16 21
+f 2 21 25
+f 2 25 29
+f 2 29 26
+f 2 26 23
+f 2 23 19
+f 2 19 14
+f 2 14 8
+f 4 10 11
+f 4 11 6
+f 4 6 5
+f 6 11 12
+f 8 13 9
+f 8 14 13
+f 10 15 12
+f 10 12 11
+f 12 15 16
+f 13 17 18
+f 13 14 17
+f 14 19 22
+f 14 22 18
+f 14 18 17
+f 15 20 16
+f 16 20 21
+f 19 23 22
+f 20 24 21
+f 21 24 25
+f 22 23 26
+f 22 26 27
+f 24 28 25
+f 25 28 29
+f 26 29 30
+f 26 30 31
+f 26 31 32
+f 26 32 27
+f 28 30 29
+
diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_23.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f69b556e9e53d82d3560efc28f70e4d8a749adf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_23.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v -0.02440322 -0.00974461 -0.02732826
+v -0.02395728 -0.00983140 -0.02732826
+v -0.02440322 -0.01870105 -0.02732829
+v -0.02440322 -0.01412378 -0.02134602
+v -0.01909441 -0.01334086 -0.02732827
+v -0.02440322 -0.01870107 -0.02134604
+v -0.01459271 -0.01870105 -0.02732829
+v -0.02005754 -0.01870107 -0.02134604
+v -0.01590257 -0.01621559 -0.02732828
+v -0.01743396 -0.01471379 -0.02732827
+v -0.01456381 -0.01791026 -0.02732829
+f 1 2 5
+f 1 5 10
+f 1 10 9
+f 1 9 11
+f 1 11 7
+f 1 7 3
+f 1 3 6
+f 1 6 4
+f 1 4 2
+f 2 4 5
+f 3 7 8
+f 3 8 6
+f 4 6 8
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 7 11 8
+f 8 11 9
+
diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_24.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04e14104d43c11023c51a968d95f0b26d87bfe8d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_24.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.01205304 0.03097929 0.04925000
+v 0.01161162 0.03097929 0.04925581
+v 0.01205304 0.02990400 0.04924420
+v 0.01205304 0.03141930 0.04922099
+v 0.00857700 0.02946399 0.04925000
+v 0.00857700 0.03097929 0.04924420
+v -0.00023458 0.02946399 0.04925000
+v 0.01205304 0.02946399 0.04923840
+v 0.01205304 0.03249549 0.04905271
+v 0.00250897 0.02794869 0.04910491
+v 0.00706029 0.03097929 0.04920938
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+v 0.01205304 0.03398579 -0.00245024
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+v -0.00023458 0.03218609 0.00970156
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+f 1 28 36
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+f 1 18 9
+f 1 9 4
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+f 4 9 6
+f 5 7 10
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+f 23 34 24
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+f 28 35 36
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+f 38 43 39
+f 39 43 44
+f 39 44 45
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+f 45 48 49
+f 46 47 50
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+f 55 62 63
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+
diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_25.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b1c724c120eb90c47e0c089fd89fc81d35439ea
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_25.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.01120120 -0.02453430 -0.02576924
+v 0.02531772 -0.00807923 -0.02576918
+v 0.02379635 -0.02453430 -0.02576924
+v 0.01599192 -0.02453436 -0.00820295
+v 0.01705038 -0.02301838 -0.00820294
+v 0.01719961 -0.02280572 -0.00820294
+v 0.01786150 -0.02190033 -0.00820294
+v 0.01836724 -0.02122530 -0.00820294
+v 0.02531772 -0.01228247 -0.00820291
+v 0.02531772 -0.02200498 -0.02576923
+v 0.02384610 -0.02453430 -0.02371425
+v 0.02339148 -0.02453436 -0.00820295
+v 0.02531772 -0.02147501 -0.00820294
+v 0.02531772 -0.02212099 -0.02219406
+v 0.02388202 -0.02453431 -0.02219407
+v 0.02382399 -0.02453433 -0.01763870
+v 0.02531772 -0.02199857 -0.01612024
+v 0.02531772 -0.02212260 -0.02212872
+v 0.02531772 -0.02215482 -0.02067561
+v 0.02389584 -0.02453431 -0.02067562
+v 0.02387788 -0.02453432 -0.01915716
+v 0.02531772 -0.02208879 -0.01763869
+v 0.02531772 -0.02214194 -0.01915715
+v 0.02531772 -0.02213872 -0.01906257
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+f 1 3 11
+f 1 11 15
+f 1 15 20
+f 1 20 21
+f 1 21 16
+f 1 16 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 13
+f 2 13 17
+f 2 17 22
+f 2 22 24
+f 2 24 23
+f 2 23 19
+f 2 19 18
+f 2 18 14
+f 2 14 10
+f 3 10 11
+f 4 12 13
+f 4 13 9
+f 4 9 8
+f 4 8 7
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+f 4 6 5
+f 10 14 15
+f 10 15 11
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+f 14 18 15
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+f 16 21 22
+f 16 22 17
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+f 20 23 21
+f 21 23 24
+f 21 24 22
+
diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_26.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c922784be5a4e614f0e24c4228c1e7ab9e979a1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_26.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.03322812 -0.00016590 -0.01499004
+v -0.03571037 0.00975664 -0.00852546
+v -0.03567925 0.00975665 -0.01004098
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+v -0.02765693 -0.00016590 -0.01499004
+v -0.03368218 -0.00016613 0.04614638
+v -0.03590579 0.01127198 -0.00852546
+v -0.03564620 0.00975644 0.04614642
+v -0.03586010 0.01127199 -0.01004098
+v -0.03545271 0.00975667 -0.01499000
+v -0.03536715 0.00936775 -0.01499001
+v -0.02597390 0.01128434 -0.01499000
+v -0.02808570 -0.00016613 0.04614638
+v -0.03351397 -0.00016614 0.04766819
+v -0.03590288 0.01128431 -0.00851288
+v -0.03590288 0.01128431 -0.00852546
+v -0.03585815 0.01128432 -0.01004098
+v -0.03580273 0.01127178 0.04614642
+v -0.03542840 0.00975643 0.04766823
+v -0.03555188 0.01127201 -0.01499000
+v -0.02817613 0.01128434 -0.01499000
+v -0.02634240 0.01128427 0.00210833
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+v -0.02814015 -0.00016614 0.04766819
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+v -0.03321548 -0.00016614 0.04851084
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+v -0.03554800 0.01128433 -0.01458753
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+v -0.03478670 0.00853586 0.04856746
+v -0.03491893 0.00975643 0.04869324
+v -0.03554702 0.01128433 -0.01460011
+v -0.02769387 0.01128410 0.04764307
+v -0.02769582 0.01128410 0.04766823
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+v -0.03284018 -0.00016614 0.04869949
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+v -0.03497921 0.01127177 0.04873726
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+v -0.03239001 -0.00016614 0.04891959
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+v -0.03497337 0.01128410 0.04874355
+v -0.02819168 0.01128410 0.04868696
+v -0.02820238 0.01128410 0.04869953
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+v -0.03087422 -0.00016614 0.04924030
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+v -0.03390775 0.01127177 0.04915230
+v -0.03390872 0.01128410 0.04915230
+v -0.02934384 0.01128410 0.04910828
+v -0.03086255 0.01128410 0.04924663
+v -0.03239001 0.00975643 0.04925292
+v -0.03239001 0.00823997 0.04924662
+v -0.03239001 0.00672462 0.04924032
+v -0.03239001 0.01128410 0.04924663
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 10
+f 1 10 20
+f 1 20 29
+f 1 29 21
+f 1 21 12
+f 1 12 5
+f 1 5 13
+f 1 13 24
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+f 50 54 53
+f 50 53 56
+f 52 56 53
+
diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_27.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c94a0a78bce51db0d5cde22692a482fe015cf414
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_27.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.01147798 -0.03117398 0.04924344
+v 0.00857707 -0.02965809 0.04922320
+v 0.00706011 -0.02965809 0.04923838
+v 0.00402620 -0.02965809 0.04924849
+v 0.00099114 -0.02965809 0.04925355
+v 0.00857707 -0.03117398 0.04924344
+v 0.01147798 -0.03268987 0.04921814
+v 0.01147798 -0.02965809 0.04917769
+v 0.00099114 -0.02814220 0.04893495
+v -0.00023343 -0.02936655 0.04918780
+v -0.00023343 -0.02965809 0.04924849
+v -0.00023343 -0.03088320 0.04906137
+v -0.00023343 -0.03117398 0.04901586
+v 0.01009403 -0.03268987 0.04914734
+v 0.01147798 -0.03392799 0.04880850
+v 0.01147798 -0.02854700 0.04876806
+v 0.00250925 -0.02814220 0.04890966
+v -0.00023343 -0.02814220 0.04892483
+v 0.00099114 -0.02731271 0.04852025
+v -0.00023343 -0.02731960 0.04851520
+v -0.00023343 -0.03190247 0.04868713
+v -0.00023343 -0.03207846 0.04860621
+v 0.01009403 -0.03377112 0.04873770
+v 0.01147798 -0.03471310 0.04766049
+v 0.00462817 -0.02740377 0.04827245
+v 0.00361686 -0.02735939 0.04845957
+v 0.00250925 -0.02733108 0.04850003
+v 0.00706011 -0.02832739 0.04882875
+v 0.01147798 -0.02811542 0.04767064
+v 0.00099114 -0.02718416 0.04767064
+v -0.00023343 -0.02729511 0.04834831
+v -0.00023343 -0.03246490 0.04767062
+v 0.01147798 -0.03476283 0.04734189
+v 0.00502948 -0.02735938 0.04726100
+v 0.00408353 -0.02731654 0.04772627
+v 0.00250925 -0.02721936 0.04767064
+v 0.01147798 -0.02804348 0.04628495
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+v 0.01147798 -0.03494571 0.04614838
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+v 0.01147798 -0.02717940 0.00514418
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+v 0.01147798 -0.02736532 -0.00241136
+v 0.00250925 -0.02733548 -0.00241136
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+f 1 6 7
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+f 1 24 33
+f 1 33 43
+f 1 43 54
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+f 1 60 63
+f 1 63 61
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+f 1 47 46
+f 1 46 45
+f 1 45 37
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+f 1 16 8
+f 1 8 2
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+f 34 36 35
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+f 42 49 43
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+f 56 59 57
+f 61 63 64
+f 61 64 62
+
diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_28.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9de0af485102773cbcb1fae9fafdfd55c995e083
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_28.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.01018436 0.02622240 -0.02022509
+v -0.01018436 0.02491206 -0.02576938
+v -0.01018436 0.02622242 -0.02576937
+v -0.01522707 0.02622215 0.04766479
+v -0.01401023 0.02169880 -0.02576939
+v -0.01777261 0.02234198 0.04766477
+v -0.01823063 0.02169853 0.04766477
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diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_29.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b3ce8276d16482fe03e7a3a2c26124450799803
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_29.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_3.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eafd2564b2cc8ec36cf30ff54f3b35642cf923e1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_3.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_30.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddf18bd0757b91c274a30dc7e60a53fee377cd2a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_30.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_31.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc1518caeff2f2516113fcc780ccd3ea7e76d4be
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_31.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_32.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d90c5d351ef52c9747fb5ec5863a6d2774996c86
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_32.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_33.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a164b4e69ed22147ba0028d4be182c4311a2fd9b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_33.obj
@@ -0,0 +1,364 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_34.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5172c1ae1fcb69c0b72d50ab98e9235bce9293d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_34.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.02531772 -0.02226171 0.00818282
+v 0.02531772 -0.02215452 -0.02067494
+v 0.02732080 -0.01998847 0.01122281
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+
diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_35.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ad8dfa7b67aaa0db58ebf76a3265e19653433ee
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_35.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.02732080 -0.00361201 -0.02097178
+v 0.02732080 -0.00038553 -0.02266026
+v 0.02612797 -0.00842695 -0.02097180
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+
diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_36.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83ff490b554432414a9126eeaa140007dd9bdf94
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_36.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.02612809 -0.00842695 -0.02097133
+v 0.02732088 -0.00361176 -0.02097131
+v 0.02732088 -0.00842695 -0.02097133
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+
diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_4.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..822b88a6ce055f970290ee3a445d19739dcd3a76
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_4.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v 0.01616226 0.03249493 -0.04350816
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diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_5.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf0dd8a502c83188b56a435382d081f00cf0de56
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_5.obj
@@ -0,0 +1,241 @@
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diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_6.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae4d6ee745c3d749ee4465d5dd555207a6c58d9f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_6.obj
@@ -0,0 +1,178 @@
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diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_7.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7432576a79d5697cd63a551ebc27691f74eced9b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_7.obj
@@ -0,0 +1,229 @@
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diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_8.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ba70a0c6458499ba52aadcbd847a48f95914390
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_8.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_9.obj b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f54c1250a0daea78461404b58535a24abd7f6f43
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/mesh/pen_holder_008_collision_9.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/pen_holder_008.xml b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/pen_holder_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7541924b9aa3ad76960d89b9e366d76548b2b601
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/mjcf/pen_holder_008.xml
@@ -0,0 +1,88 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pen_holder_008">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/pen_holder_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pen_holder_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pen_holder_008_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pen_holder_008_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pen_holder_008_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pen_holder_008_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pen_holder_008_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pen_holder_008_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pen_holder_008_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pen_holder_008_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pen_holder_008_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pen_holder_008_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pen_holder_008_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pen_holder_008_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pen_holder_008_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pen_holder_008_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pen_holder_008_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pen_holder_008_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pen_holder_008_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/pen_holder_008_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/pen_holder_008_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/pen_holder_008_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/pen_holder_008_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/pen_holder_008_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/pen_holder_008_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/pen_holder_008_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/pen_holder_008_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/pen_holder_008_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/pen_holder_008_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/pen_holder_008_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/pen_holder_008_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/pen_holder_008_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/pen_holder_008_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/pen_holder_008_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/pen_holder_008_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/pen_holder_008_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/pen_holder_008_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/pen_holder_008_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pen_holder_008">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" 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/e3ca020479c7573f853dd27b90371bb7/pen_holder_008.urdf b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/pen_holder_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fc25ca17883c91cda22d904841cbef67d6c35710
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/pen_holder_008.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_008">
+   <link name="pen_holder_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_008.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_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7500" />
+         <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>e3ca020479c7573f853dd27b90371bb7</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>pen_holder</category>
+         <name>floral pen holder</name>
+         <color>black,white</color>
+         <shape>cylinder</shape>
+         <material>ceramic</material>
+         <description>decorative pen holder with floral patterns and curved edges</description>
+         <min_height>0.0923</min_height>
+         <max_height>0.0923</max_height>
+         <real_height>0.0923</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427233836</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>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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/pen_holder_008.usd b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/pen_holder_008.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/pen_holder_008.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02625368669ded1f9b81f46a03ee56db844e8970862625493899c77ba9297c1c
+size 4910284
diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/textures/material_0.png b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..507630c06cdc53e6031987e32e8056e3717f709d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 12555758
diff --git a/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/video.mp4 b/dataset/desktop_supplies/office_stationery/e3ca020479c7573f853dd27b90371bb7/video.mp4
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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+size 1216594