diff --git a/.gitattributes b/.gitattributes
index 0b52110e079b83541bb319a805985988bd79a0ae..f1e6a8c512bb974c423187e9c9dfe4592c0d259b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3141,3 +3141,4 @@ dataset/desktop_supplies/office_stationery/527fc29b5c765d7e8fc8b3c85af02897/mesh
dataset/desktop_supplies/office_stationery/559366301ba05cdea0f2681d2462fcd8/559366301ba05cdea0f2681d2462fcd8.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/559366301ba05cdea0f2681d2462fcd8/mesh/marker.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/559366301ba05cdea0f2681d2462fcd8/mesh/marker_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/578402ee38675fc3ae80aea665420931.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/578402ee38675fc3ae80aea665420931.urdf b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/578402ee38675fc3ae80aea665420931.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..352bbb8508853b788691e0023f36d787597bdc97
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+ cylindrical pen holder with smooth surface and uniform color
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+ 20251009013609
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\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/578402ee38675fc3ae80aea665420931.usd b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/578402ee38675fc3ae80aea665420931.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b2fb30df2c5f180ecb83ea8c70697430bce4add8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/578402ee38675fc3ae80aea665420931.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d0c92ef12f982dec5a3f851c46fedc6a801740c32b07eb6f0f4553eccf8121e
+size 220117
diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mesh/material.mtl
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+newmtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mesh/material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mesh/pen_holder.glb b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mesh/pen_holder.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d269851d12682cebd935d0c647a3ef508acdbab5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mesh/pen_holder.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63ece9d973ed710b861f1ef7d39a1eed48e13d6b205bb19380c999bafd12fbd6
+size 256624
diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mesh/pen_holder.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mesh/pen_holder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13e5cd197f0f550a021177bf6e1cc1752db68124
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mesh/pen_holder.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/578402ee38675fc3ae80aea665420931/mesh/pen_holder_collision.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mesh/pen_holder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66d9d3393643b0239a88c07eb39fd67ffc94da76
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mesh/pen_holder_collision.obj
@@ -0,0 +1,39414 @@
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..182b36b55fb4cde5e2710be916c395cf09ab3ff0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision.obj
@@ -0,0 +1,39414 @@
+# https://github.com/mikedh/trimesh
+
+o pen_holder_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_0.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bd0772cd9483ad897f2eb227c966745b26f5297
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_1.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1460eaeb1442b13b27c20b1605529702590c2fe9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_10.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..213e03a946a41583c27d432ff595b8f4b4be9767
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_11.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17cb9b40a6a55459ffe497900baa817e2f592927
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_11.obj
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_12.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75896348853f1a8b9ea8fdfd216647aae2ddbd3a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_12.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_13.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6290c149e567b6344cfae2a5154d9b762ed9bb53
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_13.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_14.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22c01e4477f181c966f919132563dd80b8fcbc0f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_14.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_15.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ad2b8d416cac0b821ad3dbcdc024d471bf2e3ef
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_15.obj
@@ -0,0 +1,505 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_16.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5ea44eab69113fea7245550e520c5977bc7f257
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_16.obj
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_17.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b06cf5f4cc2b39a78b9987ed6d1ea0bb838cb9d9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_17.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_18.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..559cc564d82fc6329b1136a606415378b8a8b0c3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_18.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_19.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccf02eb390ed03cf1548149406005090886603aa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_19.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_2.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8080339f107480b17704e152fd57f1291a4e6a88
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_20.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cd4d69e8a8b44bcdc092a2bdcd3ff92aa88a9da
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_20.obj
@@ -0,0 +1,823 @@
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_21.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45361bc42ff45a156871de5e71fe51501a169b64
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_21.obj
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_22.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2728a68551893b5bc7adfa2a5195f234a53ed88
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_22.obj
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_23.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e52ab0300119117973ee3381b5498e4c36fb31bd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_23.obj
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_24.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c071f2399d08a27d31f30dfead463b3cb1a310bb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_24.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_25.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac5915ed342a359036ea97d2f322d8d49698d475
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_25.obj
@@ -0,0 +1,925 @@
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_26.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c6e05033c5c69e11a93323ca4cb5f59db7b81c6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_26.obj
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_27.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92f628d35b7b66f6bea63aab1af1b786fb9fa5a4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_27.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_28.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b05f9e05ec3f91e06c04b8d8bad9e69fa6741a0a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_28.obj
@@ -0,0 +1,598 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_29.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34cdd9b8570d78d0d2cfbfec30c8b0150aac94e2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_29.obj
@@ -0,0 +1,1078 @@
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_3.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f7bf656744998651c0faf3e0835625fb4e39b0f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_3.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_30.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7681d24b6e1a49c382024b53f6f7c099b43ba15f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_30.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_31.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38a9ce3ddc2c108ed1df4edf8f730f641e96982f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_31.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_32.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e33e9de5cfefcfc2b28cf79f9502122b52d96fc0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_32.obj
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_33.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7fc55972320cb6c2731207b4c9bf8b8929e3f74
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_33.obj
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_34.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d0809e16f33f2a2d4d68d85f93d1bc145b0da05
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_34.obj
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_35.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bea717bc657e1a9fb037799022dd59667d4d555
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_35.obj
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_36.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fdc08e59ccfe714a46b1b331e9d53a7fc378f6c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_36.obj
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_37.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6afc6e4e1a9ff6c2feefa3d3a636fab7a52a373
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_37.obj
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_38.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b54fd04a432457e36c86cd23e3991a5525f46de8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_38.obj
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_39.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05dfe6560247d3d28207f45b40f27b56dabbd381
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_39.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01822386 -0.03049642 -0.04665165
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+
diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_4.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bfcac4983207925187bb0309466f01c73f22182
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_4.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_5.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e78d4c16dcc3f8ab43ef67fa7af3cae24535fe6e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_5.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_6.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79e1592f3d081f137b55c426194c24893733ab52
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_7.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40c6efcdf347b5797073a2797c367454a23e33b5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_8.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74bae558f3a7596f7d4fd8dd4de6e52464dc1c86
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_8.obj
@@ -0,0 +1,1261 @@
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diff --git a/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_9.obj b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..122aff6f2b63dc63a030554af97fa1b1de214400
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/578402ee38675fc3ae80aea665420931/mjcf/mesh/pen_holder_collision_9.obj
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