diff --git a/.gitattributes b/.gitattributes
index 9a2b472b0af6b9d513cebc6ee6869b337dba9708..f4eff395a798fbe6cf9251661579bdedd70a599d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3109,3 +3109,5 @@ dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/corr
 dataset/desktop_supplies/office_stationery/28589710654854b6a9b468892ce5931d/mesh/correction_tape_032.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/ballpoint_pen_026.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/27cfd23efdf15e2480ec25e3560190f9/mesh/ballpoint_pen_026.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mesh/pen_holder_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/pen_holder_004.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2273e01dd6ea0cda6f774dc55cce8bb40344c90e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pen_holder_004_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd pen_holder_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6395fa529b69bb634801fb92a013cc2eb186be56
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f067cf7e3dcdcbc542b6764d91684c65915dc4f511e3c600c1460afbc76f8e58
+size 7893684
diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mesh/pen_holder_004.glb b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mesh/pen_holder_004.glb
new file mode 100644
index 0000000000000000000000000000000000000000..75775a76e5bd69ca3f09a7b0b8716fae3f02b444
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mesh/pen_holder_004.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:119eac03ad5164f2f051acc26141b7c1612fdd9a409b08cd4a9609f7f503be0c
+size 10536616
diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mesh/pen_holder_004.mtl b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mesh/pen_holder_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dd558eb5528c579f99223112c001a2fa591c91b4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mesh/pen_holder_004.mtl
@@ -0,0 +1,6 @@
+newmtl pen_holder_004_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/25f6d86093f45c489abf1975f8ab1bae/mesh/pen_holder_004.obj b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mesh/pen_holder_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca7043fe7a8bf09408faaaf3eb0e748a8af107af
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mesh/pen_holder_004.obj
@@ -0,0 +1,105398 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pen_holder_004_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mesh/pen_holder_004_collision.obj b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mesh/pen_holder_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3fbe1f628bb1a2b30462157b1d35c38340b961d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mesh/pen_holder_004_collision.obj
@@ -0,0 +1,11611 @@
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diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mesh/pen_holder_004_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mesh/pen_holder_004_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004.obj b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004.obj
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diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision.obj b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc8584ca6f4111cd1d55a8c292937b519f3efce2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision.obj
@@ -0,0 +1,11611 @@
+# https://github.com/mikedh/trimesh
+
+o pen_holder_004_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_0.obj b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d68f05668493b3b161c289285d2fafd7bb6c549
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_1.obj b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f09fe4f1765e8b5b003ca592b8e169454f5bbd10
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_10.obj b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c240c17240bf93b92eaa15aaf7746ead1a47e581
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_10.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_11.obj b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77184da957f0886a9ef36da3859035062a46df9a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_11.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_12.obj b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb7f81331cfe3234c526ba63177d73556291c454
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_12.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_13.obj b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3412a8e6fc13a50a183efbcc1d282b95e6f7bbd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_13.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_14.obj b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d3db948f05545f8286f949b63d0f0cea8144f55
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_14.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_15.obj b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40f23593803b73a715ca223a7c8b5329f70a76a6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_15.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_16.obj b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d58b35f5e5bb8ffa1247032b8c0d9e06e009a6e9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_16.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_17.obj b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaf903460dd4b2ecd3de59befd6bd41585845b98
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_17.obj
@@ -0,0 +1,502 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_18.obj b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b23308692a89d222df0654274d60731868d484e9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_18.obj
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diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_19.obj b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2947fb6e25a47897da6cd4ac36673d3f0903cd74
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_19.obj
@@ -0,0 +1,538 @@
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diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_2.obj b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..212316fc0a4327c84a10b5b2d379984f21b8fb8d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_2.obj
@@ -0,0 +1,1507 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_3.obj b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90da9369ba3f1d209b495226eda3721cb99eede6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_4.obj b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfeaa4464698559b584e18390b2c88bcd6afc49d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_4.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_5.obj b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebab99897ed813e042c3d7cc175bfb87f656834b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_5.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_6.obj b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9c0abd51330875415f3961c44ebed3bfe941a7a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_6.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_7.obj b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca5f4334ceecf1a5a5ff7b52033aae41338d78ba
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_7.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_8.obj b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98925fe811422f80dc92fa6a9d77e8cd699888ea
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_8.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_9.obj b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..639a775dc7929280d91f040153d5f7ab187068f2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/mesh/pen_holder_004_collision_9.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/pen_holder_004.xml b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/pen_holder_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..980ba1e12ef5e1e8461ae63a2c4e55560ec63596
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/mjcf/pen_holder_004.xml
@@ -0,0 +1,54 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pen_holder_004">
+  <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_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pen_holder_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pen_holder_004_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pen_holder_004_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pen_holder_004_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pen_holder_004_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pen_holder_004_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pen_holder_004_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pen_holder_004_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pen_holder_004_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pen_holder_004_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pen_holder_004_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pen_holder_004_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pen_holder_004_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pen_holder_004_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pen_holder_004_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pen_holder_004_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pen_holder_004_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pen_holder_004_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/pen_holder_004_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/pen_holder_004_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pen_holder_004">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/pen_holder_004.urdf b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/pen_holder_004.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ecd9a8f8d8fe213ff15d327bd68611df66a1b6cb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/pen_holder_004.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_004">
+   <link name="pen_holder_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_004.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_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>25f6d86093f45c489abf1975f8ab1bae</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>pen_holder</category>
+         <name>cylindrical pen holder</name>
+         <color>red</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>simple cylindrical pen holder with textured base</description>
+         <min_height>0.0917</min_height>
+         <max_height>0.0917</max_height>
+         <real_height>0.0917</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427233606</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/pen_holder_004.usd b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/pen_holder_004.usd
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/pen_holder_004.usd
@@ -0,0 +1,3 @@
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+size 4475694
diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/textures/material_0.png b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/textures/material_0.png
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/video.mp4 b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/25f6d86093f45c489abf1975f8ab1bae/video.mp4
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