diff --git a/.gitattributes b/.gitattributes
index 693e15ea2dedc1ce4f0e2ddcfda0c3d9368913e1..f8e7fa8b47c6874a2d4cc8192b8c9a68f544d8c7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3254,3 +3254,5 @@ dataset/desktop_supplies/office_stationery/cd4c41958cb458bc842999d05db57409/mark
 dataset/desktop_supplies/office_stationery/cd4c41958cb458bc842999d05db57409/mesh/marker_039.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/correction_tape_023.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/cc7bc20e82f85f6ba2a7bf8dd249f485/mesh/correction_tape_023.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mesh/pen_holder_035.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/pen_holder_035.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6a458a7d7da8f17f389261525f73a85379e2eae1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pen_holder_035_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_035_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2bea8ca951e75d716474b12e680b6d564b5eb32b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bbf2eb4169ed5ed4c659a78a2f39fb3d8e02e61548bbfaf772fe016d4a65081
+size 10417788
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mesh/pen_holder_035.glb b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mesh/pen_holder_035.glb
new file mode 100644
index 0000000000000000000000000000000000000000..51ae4dcd2077e643281998743650ec5bdda80ecd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mesh/pen_holder_035.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68d885fd7aee628651d57ed9224129335d79634f61634f51bd3b1300b98fa058
+size 13931716
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mesh/pen_holder_035.mtl b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mesh/pen_holder_035.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0467cd7683e68724e13951b682721542a8f6f140
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mesh/pen_holder_035.mtl
@@ -0,0 +1,6 @@
+newmtl pen_holder_035_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/cbbd04da68d15aa988350a61b88dcf5e/mesh/pen_holder_035.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mesh/pen_holder_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..895329bf9a5eeba05c89d859654c23b88b018328
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mesh/pen_holder_035.obj
@@ -0,0 +1,123098 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pen_holder_035_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mesh/pen_holder_035_collision.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mesh/pen_holder_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..895fe2b9e0d14532f51469f56c33e577abd6fb67
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mesh/pen_holder_035_collision.obj
@@ -0,0 +1,23519 @@
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mesh/pen_holder_035_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mesh/pen_holder_035_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2bea8ca951e75d716474b12e680b6d564b5eb32b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mesh/pen_holder_035_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bbf2eb4169ed5ed4c659a78a2f39fb3d8e02e61548bbfaf772fe016d4a65081
+size 10417788
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..2bea8ca951e75d716474b12e680b6d564b5eb32b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bbf2eb4169ed5ed4c659a78a2f39fb3d8e02e61548bbfaf772fe016d4a65081
+size 10417788
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b030bf6eff1b24afd8b3b2227dcb69eb79460237
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+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035.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/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c878c2c08940b23d2192ea830d00f6e4831f518
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision.obj
@@ -0,0 +1,23519 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_0.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47d6769a98293c0405ba0a847c296cd4e14dc509
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_1.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0822c2332db63f0f0a21d075620cf88c7c6412eb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_10.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40b189bd8f0b5f0d026d5fcb229fda6f4e28a030
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_10.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.04107492 -0.03739841 -0.02971019
+v 0.03208453 -0.03739473 -0.03219527
+v 0.03346881 -0.03739840 -0.03219527
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+v 0.03512679 -0.03513270 -0.04830731
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_11.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db4f5cc6cfca7c693a5c03fc90806aca55bd1cac
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_11.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.03132390 -0.04107192 -0.02968927
+v 0.03132390 -0.04116070 -0.01511261
+v 0.03132390 -0.05817248 -0.02968933
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_12.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7da0a5bea78d961e7415a45133d00c0c8b86d8ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_12.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_13.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17f692af7a0cae03b22594a7a09b9f3ec2f21158
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_13.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_14.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56d4d93fad6af06cd5b39a3de70b2e5fcecb6849
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_14.obj
@@ -0,0 +1,520 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_15.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4ec8aa2922f1d9261a71309b1282862a92d37e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_15.obj
@@ -0,0 +1,514 @@
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_16.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aebd41403e10aa7524e9f4fe3ce1f1cf16a8ddce
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_16.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_17.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7512f7230877b58ad448ad3283686b7817a131f8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_17.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_18.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92ea3c7bc611069b97ece8e723d19b0842c99040
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_18.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v -0.00024755 0.05891924 -0.03633833
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_19.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9219d240048ef52ded3ca61991204329d6b5b8b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_19.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_2.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b7aaefd083f18baa7008dabc30acd9f1d532449
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_2.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_20.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33aa5852e8f04f0e6cabee271aefe29f47f1d284
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_20.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_21.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..532ab1e807b3de99443d7f6c59f85bf9503edca9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_21.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_22.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dcb17b64f9bb9ff6356f7d56b7501d41d34e64a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_22.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.05925033 -0.03022200 -0.03633318
+v 0.05924499 -0.03739769 -0.03633321
+v 0.05920763 -0.03212918 -0.03856027
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_23.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd9d06ad5fe5be73dc4d77eb4bedff49a836e7a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_23.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
+v -0.04777238 0.00011204 0.06596415
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_24.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2eb0e02f0f5261b5c45e974318ba3bd7d541dfb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_24.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.05661484 -0.01754611 -0.02521414
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_25.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..decca14bb2d6a0126c4ae6f61b4ff347bbcd6977
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_25.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.05937082 -0.03434722 0.05699115
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+v 0.05915722 -0.03022235 0.05921508
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_26.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25b93b7918c09065fc63a9f82a4dd4ec88c66854
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_26.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
+v -0.01925651 -0.04766179 0.06595956
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_27.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..585892de66012809d65e13f274b8fdc68ace32cd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_27.obj
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_28.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f5ff1a92eb7a0582a03314ed71f1a61fa69ed6f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_28.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_29.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae61da0d311e0d287e9a8cdadadbec728b45a4cb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_29.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.05956695 0.01002717 -0.00522852
+v -0.05920334 0.01002716 -0.00300559
+v -0.05950341 0.01224687 -0.00522852
+v -0.05905154 0.01002718 -0.00744863
+v -0.05684342 0.00011233 -0.01306256
+v -0.05926159 0.00780747 -0.00522853
+v -0.05787070 0.00011229 -0.00150812
+v -0.05808781 0.01002714 0.00138372
+v -0.05913098 0.01224686 -0.00300559
+v -0.05894741 0.01224688 -0.00744863
+v -0.05829079 0.02555603 -0.00300554
+v -0.05857144 0.02555604 -0.00522847
+v -0.05814606 0.02555605 -0.00712758
+v -0.05735176 0.01218064 -0.01306252
+v -0.05744002 0.01001817 -0.01306252
+v -0.04153834 0.00011233 -0.01306256
+v -0.05787600 0.00011230 -0.00476474
+v -0.05790247 0.00011229 -0.00395165
+v -0.05793248 0.00011229 -0.00300563
+v -0.05789012 0.00011229 -0.00197759
+v -0.05706053 0.00011227 0.00138368
+v -0.05759711 0.02333631 0.00138377
+v -0.05742767 0.02555601 0.00138377
+v -0.05676399 0.03088089 0.00138379
+v -0.05808604 0.02745950 -0.00522846
+v -0.05796249 0.02716736 -0.00674577
+v -0.05590086 0.03016715 -0.01306245
+v -0.04153657 0.00011227 0.00138368
+v -0.04153834 0.03088095 -0.01306245
+v -0.04153657 0.03088091 -0.00300552
+v -0.04153657 0.03088089 0.00138379
+v -0.05680812 0.03088090 0.00010404
+v -0.05674105 0.03088091 -0.00214152
+v -0.05756887 0.02856785 -0.00522846
+v -0.05565375 0.03088095 -0.01306245
+v -0.05569258 0.03076951 -0.01306245
+f 1 2 3
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+f 2 9 3
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+f 26 36 27
+f 28 30 31
+f 33 35 34
+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_3.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7cc21d268f40cecdd0a3b6560752881448cf9b9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_3.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.00024755 -0.03739834 -0.04789552
+v 0.03208136 -0.03739834 -0.04800229
+v -0.00024755 -0.03739840 -0.03219985
+v -0.00024755 -0.00994258 -0.04790625
+v 0.03208453 -0.03739834 -0.04800229
+v -0.00024755 -0.00550677 -0.04790778
+v -0.00024755 0.00011144 -0.04790776
+v 0.03208136 -0.03739840 -0.03219521
+v -0.00024755 0.00011138 -0.03226007
+v 0.03208453 -0.03739834 -0.04797908
+v 0.00324644 0.00011144 -0.04790776
+v 0.00546500 0.00011144 -0.04790621
+v 0.03208453 0.00011144 -0.04788764
+v 0.03208453 -0.03739473 -0.03219676
+v 0.03208453 0.00011138 -0.03226161
+v 0.01655462 0.00011138 -0.03226007
+f 1 2 5
+f 1 5 10
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+f 1 8 3
+f 1 3 9
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+f 1 7 6
+f 1 6 4
+f 1 4 2
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+f 7 15 13
+f 7 13 12
+f 7 12 11
+f 8 10 14
+f 8 14 15
+f 8 15 16
+f 8 16 9
+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_30.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a3ee6534c9a7eaa204a27fa56c0e745746b5fa4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_30.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.01983371 0.05440367 0.01648079
+v 0.01737663 0.05559433 0.01648079
+v 0.01983371 0.04119916 0.01648074
+v 0.01983371 0.05614644 0.00142991
+v 0.01857765 0.05706366 0.00141095
+v 0.01770883 0.05775245 0.00065272
+v 0.01751619 0.05768495 0.00213443
+v 0.01669258 0.05586430 0.01648080
+v 0.00989923 0.04119570 0.01648074
+v 0.00989923 0.04119399 0.01032643
+v 0.01983371 0.04119918 0.01032643
+v 0.01770883 0.05775245 0.00022938
+v 0.01983371 0.05494547 -0.01579459
+v 0.01668668 0.05795492 0.00141095
+v 0.01433574 0.05639906 0.01648080
+v 0.01483502 0.05629349 0.01648080
+v -0.00024755 0.04119743 0.01648074
+v -0.00024755 0.04119747 0.00460494
+v 0.00989923 0.04119928 -0.01579464
+v 0.01211847 0.04119928 -0.01579464
+v 0.01983371 0.04120274 -0.01579464
+v 0.01660215 0.05639226 -0.01579458
+v 0.01601049 0.05652205 -0.01579458
+v 0.01433574 0.05685433 -0.01579458
+v 0.01639773 0.05788917 -0.00062047
+v 0.01433574 0.05826124 0.00143623
+v 0.01603801 0.05786666 0.00284843
+v 0.00102817 0.05680229 0.01648080
+v -0.00024755 0.05668980 0.01648080
+v -0.00024755 0.04119923 -0.00300265
+v -0.00024755 0.04120273 -0.01316926
+v -0.00024755 0.04120447 -0.01579464
+v -0.00024755 0.04120098 -0.00872413
+v 0.00102817 0.05654628 -0.01579458
+v 0.00102817 0.05838589 -0.00744772
+v 0.00102817 0.05887217 -0.00522672
+v 0.01433574 0.05809338 -0.00078160
+v 0.00033428 0.05674172 0.01648080
+v -0.00024755 0.05883064 -0.00522672
+v -0.00024755 0.05646321 -0.01579458
+v 0.00048564 0.05651340 -0.01579458
+v -0.00024755 0.05862297 -0.00617135
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+f 35 39 36
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_31.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be880a7683f87eacd90e0f3e656d6bb8ffd2a82c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_31.obj
@@ -0,0 +1,760 @@
+# https://github.com/mikedh/trimesh
+v 0.03872080 0.03730735 -0.04827359
+v 0.03872080 0.05533667 -0.04827353
+v 0.05455843 0.03730735 -0.04827359
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+v 0.05827777 0.03730733 -0.04300355
+v 0.05585370 0.04552694 -0.04827356
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+v 0.03872080 0.05766363 -0.04393298
+v 0.04539205 0.05609469 -0.04827352
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_32.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a3b192e7e96b0a8dfb9bb35230278b445dfba4b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_32.obj
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_33.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afe423c7bfa2bd8f79b736a2efae29c5c8c24600
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_33.obj
@@ -0,0 +1,109 @@
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_34.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..374730e31148e21a1bfdfeeb3a90526ff7547d08
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_34.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_35.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..479fdd491115088a0e81f876d9a8058b8cebb1eb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_35.obj
@@ -0,0 +1,193 @@
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+f 3 10 4
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+f 23 25 24
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+f 28 34 35
+f 28 35 29
+f 29 35 36
+f 32 37 38
+f 32 38 33
+f 34 39 40
+f 34 40 41
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+f 34 42 35
+f 35 42 41
+f 35 41 40
+f 35 40 46
+f 35 46 51
+f 35 51 57
+f 35 57 62
+f 35 62 65
+f 35 65 63
+f 35 63 60
+f 35 60 59
+f 35 59 58
+f 35 58 54
+f 35 54 52
+f 35 52 47
+f 35 47 43
+f 37 43 47
+f 37 47 44
+f 37 44 38
+f 39 45 40
+f 40 45 46
+f 44 47 48
+f 45 49 46
+f 46 49 50
+f 46 50 51
+f 47 52 48
+f 48 52 54
+f 48 54 53
+f 50 55 51
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+f 51 56 57
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+f 53 58 59
+f 53 59 60
+f 56 61 57
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+f 61 64 65
+f 61 65 62
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_36.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00f8f16b6a1b5aaaad57816ebfca8a658ff9dad1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_36.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.03687115 0.04051480 -0.03126122
+v -0.03687115 0.05815606 -0.03126116
+v -0.03686281 0.04051480 -0.03126122
+v -0.03687115 0.04111246 -0.00913141
+v -0.02622239 0.05815606 -0.03126116
+v -0.03687115 0.05820631 -0.02967102
+v -0.03446175 0.05820977 -0.02967102
+v -0.03002671 0.05821324 -0.02967102
+v -0.01982513 0.04055465 -0.03126122
+v -0.01982513 0.04119043 -0.00913141
+v -0.03687115 0.05628305 -0.00913135
+v -0.02178569 0.05814394 -0.03126116
+v -0.02780919 0.05821151 -0.02967102
+v -0.03687115 0.05801913 -0.01411624
+v -0.03668094 0.05802086 -0.01411624
+v -0.03224423 0.05807979 -0.01856170
+v -0.01982513 0.05813354 -0.03126116
+v -0.01982513 0.05314879 -0.00913136
+v -0.03687115 0.05786145 -0.01194551
+v -0.02559168 0.05532666 -0.00913136
+v -0.02337249 0.05817512 -0.02967102
+v -0.02780919 0.05812138 -0.02300283
+v -0.03687115 0.05801393 -0.01392777
+v -0.03687115 0.05786319 -0.01195634
+v -0.03685614 0.05786319 -0.01196717
+v -0.02115497 0.05801052 -0.02744829
+v -0.01982513 0.05813527 -0.03100119
+v -0.02337249 0.05469599 -0.00913136
+v -0.01982513 0.05590192 -0.01870035
+v -0.03535777 0.05781815 -0.01275574
+v -0.02003036 0.05773850 -0.02631309
+v -0.02115497 0.05814740 -0.02967102
+v -0.01982513 0.05798627 -0.02891711
+v -0.02548489 0.05794639 -0.02290534
+v -0.02115497 0.05783206 -0.02600980
+v -0.01982513 0.05620859 -0.02000886
+v -0.01982513 0.05782339 -0.02769959
+f 1 2 5
+f 1 5 12
+f 1 12 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 11
+f 1 11 19
+f 1 19 24
+f 1 24 23
+f 1 23 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 4
+f 4 10 18
+f 4 18 28
+f 4 28 20
+f 4 20 11
+f 4 9 10
+f 5 8 13
+f 5 13 12
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+f 7 16 8
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+f 9 33 37
+f 9 37 36
+f 9 36 29
+f 9 29 18
+f 9 18 10
+f 11 20 19
+f 12 13 17
+f 13 21 17
+f 13 16 22
+f 13 22 21
+f 14 23 15
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 16 25 26
+f 16 26 22
+f 17 21 27
+f 18 29 28
+f 19 30 24
+f 19 20 30
+f 20 28 31
+f 20 31 30
+f 21 32 27
+f 21 22 32
+f 22 26 32
+f 24 30 25
+f 25 30 26
+f 26 31 33
+f 26 33 27
+f 26 27 32
+f 26 30 34
+f 26 34 35
+f 26 35 31
+f 28 29 36
+f 28 36 31
+f 30 31 35
+f 30 35 34
+f 31 36 37
+f 31 37 33
+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_37.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4d24faa1754bb4df90706a01754a28e01346cb8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_37.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.04129655 0.00011672 0.00641496
+v 0.04129481 0.00168346 0.00641497
+v 0.05667361 0.00011672 0.00641496
+v 0.04128959 0.00011667 0.01921940
+v 0.04129133 0.00780768 0.00641499
+v 0.05752925 0.00989486 0.00641500
+v 0.05905443 0.01002489 0.02810274
+v 0.05808228 0.00011664 0.02810270
+v 0.04129133 0.01857425 0.01921947
+v 0.04129133 0.01857427 0.01445023
+v 0.04129133 0.01668047 0.00641502
+v 0.04129133 0.00011664 0.02810270
+v 0.04129133 0.01002488 0.03032439
+v 0.04129133 0.01224399 0.02810274
+v 0.05744055 0.01169291 0.00641500
+v 0.05892574 0.01224399 0.02810274
+v 0.05890487 0.01002488 0.03032439
+v 0.05809098 0.00011663 0.03032435
+v 0.05808924 0.00011663 0.02914035
+v 0.04129308 0.01857422 0.02810277
+v 0.04129308 0.01857430 0.00641503
+v 0.04129308 0.00011663 0.02928669
+v 0.04129308 0.00337119 0.03032436
+v 0.04129481 0.00780758 0.03254936
+v 0.04129481 0.01224397 0.03254937
+v 0.04129308 0.01446309 0.03032440
+v 0.05741273 0.01214830 0.00641500
+v 0.05829271 0.01446310 0.02810275
+v 0.05877096 0.01224398 0.03032439
+v 0.05719360 0.01857427 0.01477284
+v 0.05704752 0.01224394 0.04038835
+v 0.05710839 0.01107114 0.04038835
+v 0.05715882 0.01002484 0.04038835
+v 0.05689796 0.00011659 0.04038831
+v 0.04129481 0.01857421 0.03032442
+v 0.05583885 0.01857430 0.00641503
+v 0.04129655 0.00011662 0.03151167
+v 0.04129655 0.00337118 0.03254934
+v 0.04130177 0.00780756 0.03699267
+v 0.04130177 0.01224395 0.03699268
+v 0.04130873 0.01785495 0.04038838
+v 0.04130003 0.01668036 0.03477105
+v 0.05703360 0.01857422 0.02810277
+v 0.05703013 0.01857422 0.02831562
+v 0.05695187 0.01857421 0.03027121
+v 0.05634145 0.01446305 0.04038836
+v 0.04131220 0.00011659 0.04038831
+v 0.04130699 0.01857418 0.03888844
+v 0.04130003 0.00011662 0.03373332
+v 0.04130177 0.00011661 0.03477099
+v 0.04130873 0.00115206 0.03921430
+v 0.04130873 0.00559025 0.04038833
+v 0.04131046 0.01857417 0.04038838
+v 0.05443888 0.01857417 0.04038838
+v 0.04131046 0.00232485 0.04038832
+f 1 2 5
+f 1 5 11
+f 1 11 21
+f 1 21 36
+f 1 36 27
+f 1 27 15
+f 1 15 6
+f 1 6 3
+f 1 3 8
+f 1 8 19
+f 1 19 18
+f 1 18 34
+f 1 34 47
+f 1 47 50
+f 1 50 49
+f 1 49 37
+f 1 37 22
+f 1 22 12
+f 1 12 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 3 7 8
+f 4 9 10
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+f 4 14 9
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+f 7 15 16
+f 9 14 20
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+f 9 30 36
+f 9 36 21
+f 9 21 10
+f 10 21 11
+f 12 22 23
+f 12 23 13
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+f 13 24 25
+f 13 25 26
+f 13 26 20
+f 13 20 14
+f 15 27 16
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+f 17 33 34
+f 17 34 18
+f 20 26 35
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+f 22 38 23
+f 23 38 24
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+f 24 39 40
+f 24 40 25
+f 25 35 26
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+f 27 36 30
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+f 31 34 33
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+f 31 45 46
+f 35 42 48
+f 37 49 38
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+f 39 51 52
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+f 39 41 40
+f 41 53 48
+f 41 48 42
+f 45 54 46
+f 47 55 51
+f 47 51 50
+f 51 55 52
+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_38.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70993b5fd37c6dc6d49d7b14ca838fa07e505665
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_38.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.04064046 -0.05584733 -0.00578988
+v -0.03889832 -0.05776077 0.00877135
+v -0.04038426 -0.05768958 0.00905932
+v -0.04064046 -0.05761145 0.00877135
+v -0.04064046 -0.04007494 -0.00578982
+v -0.02559122 -0.05527610 -0.00578987
+v -0.02439753 -0.05767222 0.00694012
+v -0.02559122 -0.05770347 0.00687920
+v -0.02693294 -0.05769479 0.00689397
+v -0.03882430 -0.05775557 0.01029429
+v -0.04038426 -0.05768959 0.00953190
+v -0.02559122 -0.05781112 0.00810494
+v -0.03667983 -0.05776945 0.00875289
+v -0.04064046 -0.05763749 0.00948759
+v -0.04064046 -0.04007494 -0.00522679
+v -0.02125484 -0.04117055 -0.00078163
+v -0.02125484 -0.04117227 -0.00578982
+v -0.02393447 -0.05481772 -0.00578987
+v -0.02337274 -0.05465798 -0.00578987
+v -0.02125484 -0.05495143 -0.00096444
+v -0.02320953 -0.05723467 0.00810494
+v -0.02431782 -0.05770000 0.00810494
+v -0.04064046 -0.05754895 0.01050843
+v -0.04064046 -0.05763750 0.00979588
+v -0.03678611 -0.05776251 0.01027953
+v -0.03803673 -0.05767396 0.01150342
+v -0.02434629 -0.05768958 0.00931407
+v -0.02559122 -0.05775035 0.00943406
+v -0.04064046 -0.04008022 0.01306889
+v -0.02125484 -0.04117056 0.00375952
+v -0.02125484 -0.05382109 -0.00578987
+v -0.02137819 -0.05388186 -0.00578987
+v -0.02125484 -0.05600191 0.00810494
+v -0.02140286 -0.05612692 0.00810494
+v -0.04064046 -0.05719476 0.01251134
+v -0.03759646 -0.05767396 0.01150342
+v -0.04064046 -0.05699856 0.01306883
+v -0.02170650 -0.05586128 0.01032752
+v -0.02341069 -0.05582830 0.01306883
+v -0.02517371 -0.05627800 0.01306883
+v -0.02559122 -0.05636482 0.01306883
+v -0.02125484 -0.04117408 0.01306889
+v -0.02125484 -0.05565293 0.00961498
+v -0.03675575 -0.05685098 0.01306883
+v -0.02220561 -0.05505566 0.01306884
+v -0.02268765 -0.05542201 0.01306884
+v -0.02125484 -0.05545499 0.01032753
+v -0.02125484 -0.05415800 0.01306884
+v -0.02130797 -0.05422051 0.01306884
+f 1 2 3
+f 1 3 4
+f 1 4 14
+f 1 14 24
+f 1 24 23
+f 1 23 35
+f 1 35 37
+f 1 37 29
+f 1 29 15
+f 1 15 5
+f 1 5 17
+f 1 17 31
+f 1 31 32
+f 1 32 19
+f 1 19 18
+f 1 18 6
+f 1 6 7
+f 1 7 8
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+f 1 9 2
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+f 2 11 3
+f 2 9 12
+f 2 12 13
+f 2 13 10
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+f 3 14 4
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+f 10 23 24
+f 10 24 11
+f 10 13 12
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+f 16 20 31
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+f 20 34 21
+f 20 32 31
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+f 26 37 35
+f 27 34 38
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+f 27 40 41
+f 27 41 28
+f 28 41 36
+f 29 37 44
+f 29 44 41
+f 29 41 40
+f 29 40 39
+f 29 39 46
+f 29 46 45
+f 29 45 49
+f 29 49 48
+f 29 48 42
+f 29 42 30
+f 33 43 34
+f 34 43 38
+f 36 44 37
+f 36 41 44
+f 38 45 46
+f 38 46 39
+f 38 43 47
+f 38 47 45
+f 45 47 49
+f 47 48 49
+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_39.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bad417548799011636cce4ba051691e710f0bf01
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_39.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.04045262 0.03730154 -0.03134294
+v 0.04118720 0.03730151 -0.02457839
+v 0.05857576 0.03730154 -0.03134294
+v 0.04051472 0.00011505 -0.03134308
+v 0.05814637 0.03730151 -0.02457839
+v 0.04129366 0.00011502 -0.02457853
+v 0.05854915 0.03730153 -0.03032710
+v 0.05853318 0.03664989 -0.02967151
+v 0.05857576 0.03610021 -0.03134295
+v 0.05840898 0.00011505 -0.03134308
+v 0.05853140 0.03730153 -0.02967150
+v 0.05816412 0.03442924 -0.02457840
+v 0.05699482 0.00011502 -0.02457853
+v 0.05816412 0.02555400 -0.02457844
+v 0.05853140 0.03442926 -0.02967151
+v 0.05857399 0.03387958 -0.03134296
+v 0.05854382 0.02111640 -0.03134300
+v 0.05852253 0.02555402 -0.02967155
+v 0.05852785 0.02999164 -0.02967153
+v 0.05856689 0.02944195 -0.03134297
+v 0.05855979 0.02555403 -0.03134299
+v 0.05856334 0.02722496 -0.03134298
+f 1 2 5
+f 1 5 11
+f 1 11 7
+f 1 7 3
+f 1 3 9
+f 1 9 16
+f 1 16 20
+f 1 20 22
+f 1 22 21
+f 1 21 17
+f 1 17 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 13
+f 2 13 14
+f 2 14 12
+f 2 12 5
+f 3 7 8
+f 3 8 9
+f 4 10 13
+f 4 13 6
+f 5 12 11
+f 7 11 8
+f 8 11 12
+f 8 12 14
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 10 17 18
+f 10 18 14
+f 10 14 13
+f 14 18 19
+f 14 19 15
+f 15 19 16
+f 16 19 18
+f 16 18 20
+f 17 21 18
+f 18 21 22
+f 18 22 20
+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_4.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe2fc042ec76f058405c1fd67052a13051ed5800
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_4.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.03687115 0.00011246 -0.04789300
+v -0.00784759 0.00011246 -0.04790789
+v -0.03687115 0.00011240 -0.03225060
+v -0.03687115 0.03353442 -0.04816087
+v -0.00024755 0.00011246 -0.04790789
+v -0.00223001 0.00011240 -0.03225887
+v -0.00024755 0.04055723 -0.03126287
+v -0.00107208 0.04055147 -0.03126287
+v -0.03686040 0.04051117 -0.03126287
+v -0.03687115 0.04051117 -0.03126287
+v -0.03687115 0.05525927 -0.04816079
+v -0.03618285 0.03357472 -0.04816087
+v -0.00024755 0.00011240 -0.03226052
+v -0.03461982 0.03458786 -0.04816086
+v -0.03361963 0.03615937 -0.04816086
+v -0.03220000 0.03881885 -0.04816085
+v -0.03130376 0.04062637 -0.04816084
+v -0.03115678 0.04280231 -0.04816083
+v -0.03114961 0.04330312 -0.04816083
+v -0.03113527 0.04500128 -0.04816082
+v -0.00024755 0.00464855 -0.04790787
+v -0.00024755 0.05804533 -0.03126281
+v -0.03687115 0.05815470 -0.03126281
+v -0.03687115 0.05765394 -0.04393587
+v -0.03668116 0.05765394 -0.04393753
+v -0.03446209 0.05765969 -0.04394580
+v -0.03224302 0.05766545 -0.04395241
+v -0.02337032 0.05767696 -0.04398384
+v -0.01893577 0.05768272 -0.04399708
+v -0.01672028 0.05768272 -0.04399873
+v -0.01228215 0.05768272 -0.04399873
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_40.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b573e661f6fc58522be8f1afa30d145b9b35e3c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_40.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.04152589 0.01890139 0.03254898
+v -0.04152754 0.03088078 0.03388337
+v -0.04152754 0.03088076 0.03873089
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+v -0.04152754 0.01747058 0.03477167
+v -0.04152754 0.01747060 0.02953664
+v -0.04153415 0.03088089 0.00366497
+v -0.05827614 0.03088076 0.03873089
+v -0.04152919 0.01890137 0.03873085
+v -0.04152919 0.01747057 0.03699071
+v -0.04153911 0.01747070 0.00287163
+v -0.04153581 0.03088089 0.00138379
+v -0.05832408 0.03088076 0.03787910
+v -0.05827945 0.03068648 0.03873089
+v -0.04153085 0.01747057 0.03873084
+v -0.04154077 0.01747070 0.00138374
+v -0.05676346 0.03088089 0.00138379
+v -0.05828771 0.02999339 0.03873089
+v -0.05836707 0.03088076 0.03699076
+v -0.05838194 0.02999339 0.03699076
+v -0.05359592 0.01747057 0.03873084
+v -0.05597984 0.01747070 0.00138374
+v -0.05742805 0.02555672 0.00138377
+v -0.05841501 0.03088077 0.03477172
+v -0.05827118 0.02773824 0.03873088
+v -0.05823481 0.02333827 0.01477477
+v -0.05675519 0.02302314 0.03873086
+v -0.05654689 0.01747060 0.03058218
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+v -0.05654193 0.01747066 0.01479301
+v -0.05783474 0.01985970 0.01561557
+v -0.05759667 0.02333831 0.00138377
+v -0.05806122 0.02559343 0.01466144
+v -0.05800501 0.02589263 0.03873088
+v -0.05820836 0.02333826 0.01699746
+v -0.05783474 0.01985970 0.01613468
+v -0.05759006 0.02328055 0.00138377
+v -0.05797691 0.02123670 0.01483690
+v -0.05732885 0.02418748 0.03873087
+v -0.05679983 0.01747061 0.02810359
+v -0.05781490 0.02530193 0.03873087
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
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+f 28 34 40
+f 29 31 37
+f 30 40 31
+f 31 40 36
+f 31 38 37
+f 34 36 40
+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_41.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b711978873251af1b7eb5c93b985e7060927767
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_41.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.04129375 0.01857794 0.00641503
+v 0.04119691 0.03730503 0.00641510
+v 0.05583925 0.01857794 0.00641503
+v 0.04129205 0.01857792 0.01222525
+v 0.05679241 0.03730503 0.00641510
+v 0.04119521 0.03730500 0.01255125
+v 0.05603804 0.01888593 0.00641503
+v 0.05719339 0.01857791 0.01477284
+v 0.04129205 0.01857786 0.02588111
+v 0.04119011 0.03730493 0.03254947
+v 0.04119181 0.03730495 0.02588118
+v 0.05681450 0.03714737 0.00641510
+v 0.05814315 0.03730495 0.02810284
+v 0.05710504 0.02112071 0.00641504
+v 0.05770480 0.01981171 0.01331280
+v 0.05781014 0.01961739 0.01477284
+v 0.05703368 0.01857786 0.02810277
+v 0.04129545 0.01857785 0.03032442
+v 0.04119181 0.03730490 0.04038845
+v 0.05688416 0.03664871 0.00641509
+v 0.05821621 0.03730492 0.03477113
+v 0.05854583 0.02333897 0.01477286
+v 0.05843709 0.02555726 0.01477286
+v 0.05739557 0.02280918 0.00641504
+v 0.05827907 0.02112068 0.01477285
+v 0.05764873 0.01989782 0.02942977
+v 0.05703028 0.01857786 0.02831562
+v 0.04130734 0.01857782 0.03888844
+v 0.04131074 0.01857781 0.04038838
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+v 0.05748222 0.02331517 0.00641505
+v 0.05822810 0.03730491 0.03699278
+v 0.05816524 0.02777544 0.04038841
+v 0.05816184 0.02660213 0.04038841
+v 0.05818903 0.02333892 0.02810279
+v 0.05793247 0.02112063 0.02810278
+v 0.05782543 0.02381369 0.04038840
+v 0.05695212 0.01857785 0.03027121
+v 0.05443754 0.01857781 0.04038838
+v 0.05815165 0.03547528 0.04038844
+v 0.05805141 0.02562132 0.04038840
+v 0.05724266 0.02274488 0.04038839
+v 0.05625891 0.02128008 0.04038839
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_42.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09ed3dfd31452cfee56d5e951c4f4229be999841
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_42.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.04152778 0.01747058 0.03477167
+v -0.04152951 0.01747057 0.03842376
+v -0.04152951 0.00011214 0.03873078
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+v -0.04152778 0.01747060 0.02953664
+v -0.04153123 0.01747057 0.03873084
+v -0.04152778 0.01446311 0.03254896
+v -0.05698471 0.00011214 0.03873078
+v -0.04152951 0.00011217 0.02914541
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+v -0.05359569 0.01747057 0.03873084
+v -0.05733864 0.01002493 0.03873082
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+v -0.05826574 0.00011217 0.03032622
+v -0.04152951 0.00115206 0.02810353
+v -0.04153814 0.00011227 0.00138368
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+v -0.05597992 0.01747070 0.00138374
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+v -0.05679999 0.01747061 0.02810359
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+v -0.05650131 0.01446309 0.03873083
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+v -0.05791527 0.01239197 0.00138373
+v -0.05793945 0.01229172 0.00138373
+v -0.05808619 0.01002506 0.00138372
+v -0.05826574 0.00011218 0.02810353
+v -0.05735072 0.01423554 0.00138373
+v -0.05786003 0.01571370 0.02810359
+v -0.05590913 0.01549787 0.03873084
+f 1 2 3
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+f 1 20 32
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+f 31 44 40
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_43.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f97a293394cee318e845e3092ae26f6fb442a42
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_43.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.03131142 0.04118338 0.00955556
+v 0.03131142 0.04118500 0.01648074
+v 0.01983371 0.04119975 0.01648074
+v 0.01983371 0.04119978 0.00810544
+v 0.01983371 0.04120150 -0.01305237
+v 0.03131142 0.04118674 -0.00966876
+v 0.03131142 0.05468208 0.01648079
+v 0.01983371 0.05440348 0.01648079
+v 0.01983371 0.04120315 -0.01579464
+v 0.03131142 0.04118838 -0.01189291
+v 0.02906981 0.05568666 0.01648079
+v 0.03131142 0.05628975 0.01044970
+v 0.02375512 0.05577679 0.01648079
+v 0.02422367 0.05776467 0.00929972
+v 0.01983371 0.05614557 0.00142991
+v 0.01983371 0.05494604 -0.01579459
+v 0.03131142 0.04119168 -0.01579464
+v 0.03131142 0.04119003 -0.01411390
+v 0.02764507 0.05608816 0.01648080
+v 0.02875969 0.05772862 0.00922074
+v 0.03131142 0.05672076 0.00816553
+v 0.02415850 0.05587512 0.01648080
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+v 0.02538998 0.05642259 -0.01579458
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_44.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8050d3c8fdcdc6a0497fd25f6bd66cece5acaf44
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_44.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.02030432 -0.04117630 0.01853058
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_45.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12c50715e369e4a19910fe18d3123a7d4526d807
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_45.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.05667994 0.00011491 0.00611385
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_46.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16ecba86516d9acfd63c846c1ca6ee3f87ce7c16
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_46.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_47.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bbc5b4eda5fd3bacbcb618bbb2eff6bd114c249
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_47.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_48.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d29fc6ae3b64bd48292565bc37cdce0db71b0088
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_48.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_49.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0e4696b9c63aa24d6e1e2a906aa54e10ac640ca
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_49.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+v -0.05886717 -0.02325430 -0.00522720
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+v -0.04151857 -0.03640042 -0.01169893
+v -0.05746447 -0.03640049 0.00807814
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_5.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc40b3193af1913a52ec1d99d55d455aa118a23d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_50.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05099f028d1229f571ba4436426b4f55467e4a6c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_50.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.00734218 0.04119579 -0.01138821
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_51.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d2a1fc7cb4b4a2d9af0083354b1b5393279f722
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_51.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.00780284 -0.05891942 0.05699305
+v -0.00024755 -0.05891769 0.05699305
+v -0.00024755 -0.05882912 0.05793697
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+v -0.00024755 -0.04141492 0.05921583
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+v -0.00119048 -0.04186470 0.06310073
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_52.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adaa34753bddb637784e26b83fc79d92d132c4b8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_52.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.05859502 -0.02325520 0.02810498
+v 0.05830872 -0.02103595 0.02810499
+v 0.05790724 -0.02430341 0.04026216
+v 0.05804784 -0.02553532 0.04026216
+v 0.05817151 -0.02769116 0.04026215
+v 0.05806309 -0.03022228 0.04026214
+v 0.05811561 -0.03022227 0.03699304
+v 0.05813255 -0.03022226 0.03477018
+v 0.05842392 -0.02547186 0.02810498
+v 0.05744816 -0.02325512 0.00611376
+v 0.05722793 -0.01700248 0.02810501
+v 0.05722285 -0.01700248 0.02828885
+v 0.05716017 -0.01700249 0.03037132
+v 0.05783101 -0.02373792 0.04026216
+v 0.05709580 -0.02103587 0.00611377
+v 0.04131589 -0.03022228 0.04026214
+v 0.05639108 -0.03022218 0.01477452
+v 0.05724318 -0.02547178 0.00611376
+v 0.05556609 -0.01700240 0.00611379
+v 0.05470722 -0.01700253 0.04026219
+v 0.05761417 -0.02321643 0.04026216
+v 0.04131081 -0.02442893 0.04026216
+v 0.04130403 -0.03022225 0.03223646
+v 0.05620135 -0.03022218 0.01293272
+v 0.05635550 -0.02794078 0.00611375
+v 0.04129217 -0.01700240 0.00611379
+v 0.04130912 -0.01700253 0.04026219
+v 0.04130912 -0.01999172 0.04026218
+v 0.04129895 -0.01700251 0.03477023
+v 0.04129217 -0.01700249 0.03032452
+v 0.04130234 -0.02325523 0.03477020
+v 0.04130234 -0.03022224 0.03032447
+v 0.05546106 -0.03022215 0.00611374
+v 0.04129048 -0.01858758 0.00611378
+v 0.04130742 -0.01700253 0.03957360
+v 0.04130573 -0.01700252 0.03881148
+v 0.04129217 -0.01881800 0.02810500
+v 0.04130065 -0.03022223 0.02810496
+v 0.04129048 -0.01881793 0.00810599
+v 0.04128879 -0.02746070 0.00611375
+v 0.04129048 -0.03022217 0.01032881
+v 0.04129048 -0.03022215 0.00611374
+v 0.04129387 -0.03022219 0.01668316
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+f 30 34 39
+f 30 39 40
+f 30 40 41
+f 30 41 37
+f 34 40 39
+f 37 41 43
+f 37 43 38
+f 40 42 41
+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_53.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..720ce994119eba3719be19d52cb8670b00244b75
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_53.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.02986683 -0.05803755 0.03686971
+v 0.03132390 -0.05794997 0.03476400
+v 0.03132390 -0.05800781 0.03686971
+v 0.02975531 -0.05802598 0.03686971
+v 0.02596672 -0.05768726 0.02955809
+v 0.02596672 -0.05768726 0.02896389
+v 0.02687765 -0.05768726 0.02896389
+v 0.03132390 -0.05773684 0.03322736
+v 0.03132390 -0.04116251 0.03686977
+v 0.02819923 -0.05784920 0.03686971
+v 0.02530802 -0.05752039 0.03031025
+v 0.02530802 -0.05746916 0.02817583
+v 0.02542788 -0.05604003 0.01853052
+v 0.02320996 -0.05695206 0.03032641
+v 0.02320996 -0.05690578 0.02810402
+v 0.02696103 -0.05596734 0.01853052
+v 0.02764579 -0.05593099 0.01853052
+v 0.02900280 -0.05556421 0.01853053
+v 0.03132390 -0.05444405 0.01853053
+v 0.03132390 -0.04116084 0.03330820
+v 0.02067625 -0.04117573 0.03686977
+v 0.02533407 -0.05651261 0.03686971
+v 0.02067625 -0.05595251 0.03033000
+v 0.02377695 -0.05567325 0.01853053
+v 0.02492343 -0.05593099 0.01853052
+v 0.02067625 -0.05598555 0.03008586
+v 0.02067625 -0.05615241 0.02810402
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+v 0.02067625 -0.04117566 0.01853058
+v 0.02394788 -0.05576584 0.03686972
+v 0.02067625 -0.05572450 0.02602526
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+v 0.02083571 -0.05391702 0.01853053
+v 0.02266799 -0.05509500 0.01853053
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+f 21 23 29
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+f 23 31 29
+f 24 32 33
+f 24 27 32
+f 32 35 36
+f 32 36 37
+f 32 37 33
+f 34 36 35
+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_54.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f7a929571458fc71dce013ab7209633d9a97e1e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_54.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.03687115 0.05735880 0.01198905
+v -0.03687115 0.04111889 0.01198899
+v -0.03687115 0.05571458 0.02143883
+v -0.02559272 0.05617890 0.02143884
+v -0.02559104 0.05617890 0.02143884
+v -0.02559104 0.05674184 0.01198905
+v -0.03687115 0.04111727 0.01902615
+v -0.01975835 0.04118726 0.01198899
+v -0.03687115 0.04111726 0.02143878
+v -0.02376853 0.05581794 0.02143884
+v -0.02511364 0.05664325 0.01198905
+v -0.01975835 0.05425807 0.01198904
+v -0.01975835 0.04118725 0.01477259
+v -0.01975835 0.04118882 0.02061453
+v -0.01975835 0.04119041 0.02143878
+v -0.02265962 0.05527252 0.02143883
+v -0.02333803 0.05616462 0.01198905
+v -0.01975835 0.05320378 0.02143883
+f 1 2 7
+f 1 7 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 17
+f 1 17 12
+f 1 12 8
+f 1 8 2
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+f 3 9 15
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+f 3 10 5
+f 3 5 4
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+f 8 15 14
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+f 9 13 14
+f 9 14 15
+f 10 16 17
+f 10 17 11
+f 12 17 16
+f 12 16 18
+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_55.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bcdc922938771ba632c25a327cdf8e7926c68c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_55.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.05701817 0.00011502 -0.02521408
+v 0.05808924 0.00011504 -0.02991268
+v 0.04129198 0.00011502 -0.02521408
+v 0.05766935 -0.00994289 -0.02521412
+v 0.05832409 0.00011504 -0.03095978
+v 0.04107492 0.00011504 -0.02997729
+v 0.04128664 -0.00327325 -0.02521409
+v 0.05853048 0.00011505 -0.03189549
+v 0.05806967 -0.02326732 -0.02521417
+v 0.04128308 -0.00771275 -0.02521411
+v 0.04128486 -0.00549152 -0.02521410
+v 0.04107492 0.00011511 -0.04789167
+v 0.04107492 -0.02990724 -0.02996403
+v 0.05924927 0.00011506 -0.03634012
+v 0.05811059 -0.02547073 -0.02521417
+v 0.04128308 -0.03021907 -0.02521419
+v 0.04199298 0.00011511 -0.04789390
+v 0.04363516 -0.03022194 -0.04797199
+v 0.04139873 -0.03022194 -0.04796531
+v 0.04107492 -0.00106975 -0.04789390
+v 0.04107492 -0.03022201 -0.02996403
+v 0.05922970 0.00011507 -0.03752089
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_56.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..476f23ab8d7902209e7cf40b95fdad49c8757a63
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_56.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.02780546 -0.05818342 -0.02961872
+v -0.03002637 -0.05818175 -0.02961872
+v -0.02553747 -0.05816501 -0.02961872
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+v -0.02614554 -0.05778182 -0.02159725
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_57.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..042e3f6befb051c0713f605cce7918d1430debf1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_57.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_58.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d43d30360211499d019023c811b9a9bb852143e0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_58.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v -0.01835794 0.04120072 0.04021997
+v -0.01571859 0.04120072 0.04021997
+v -0.01835794 0.04120072 0.04053752
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_59.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bde6e348cd8a79381250768e4bc0f1c5e6539f3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_59.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.03136411 0.04117363 -0.00912924
+v -0.03136411 0.05315677 -0.00912919
+v -0.02061300 0.04118994 -0.00912924
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_6.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1f91757aefbaaeb723d14add3bd25cc9f3a5bf2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_6.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.05924212 0.03730155 -0.03633966
+v 0.05925377 0.02555135 -0.03633971
+v 0.05919552 0.03664634 -0.03856069
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_60.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01604aa55140e825cc6ac0bb8781355eef1480d2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_60.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.04128544 0.01002544 -0.02457848
+v 0.04129016 0.01224439 -0.01409178
+v 0.04129016 0.01448810 -0.01409177
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+v 0.04128701 0.00780822 -0.02457849
+v 0.04129487 0.00011498 -0.01409182
+v 0.04129173 0.01670708 -0.01409176
+v 0.04128859 0.01814938 -0.02353748
+v 0.04128859 0.01814938 -0.02457845
+v 0.04129330 0.00011502 -0.02457852
+v 0.04129330 0.00011502 -0.02404264
+v 0.05671155 0.00011498 -0.01409182
+v 0.04129330 0.01814934 -0.01409175
+v 0.04129173 0.01814935 -0.01709147
+v 0.05579406 0.01814938 -0.02457845
+v 0.05699433 0.00011502 -0.02457852
+v 0.05733525 0.01002540 -0.01409178
+v 0.05434869 0.01814934 -0.01409175
+v 0.05642247 0.01607162 -0.02457846
+v 0.05647432 0.01446338 -0.01409177
+v 0.05721428 0.01224439 -0.01409178
+v 0.05731483 0.01002544 -0.02457848
+v 0.05732425 0.01002543 -0.02078212
+v 0.05732897 0.01002542 -0.01856159
+v 0.05723942 0.01224442 -0.02078212
+v 0.05723942 0.01224441 -0.01856159
+v 0.05720643 0.01224443 -0.02457848
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 19
+f 1 19 27
+f 1 27 22
+f 1 22 16
+f 1 16 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 12
+f 2 12 17
+f 2 17 21
+f 2 21 20
+f 2 20 18
+f 2 18 13
+f 2 13 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 6 11 10
+f 6 10 16
+f 6 16 12
+f 7 13 14
+f 7 14 8
+f 8 14 13
+f 8 13 18
+f 8 18 15
+f 8 15 9
+f 12 16 17
+f 15 18 20
+f 15 20 21
+f 15 21 19
+f 16 22 23
+f 16 23 24
+f 16 24 17
+f 17 24 25
+f 17 25 26
+f 17 26 21
+f 19 25 27
+f 19 21 26
+f 19 26 25
+f 22 27 25
+f 22 25 23
+f 23 25 24
+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_61.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94c3a8aa3e98cf91191ee29bca48ffde610dd354
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_61.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.04144798 0.01651563 -0.02920945
+v -0.04153909 0.01651557 -0.01306250
+v -0.04153743 0.00231870 -0.01306255
+v -0.04153743 0.00011394 -0.01306256
+v -0.04144963 0.00011400 -0.02920951
+v -0.05795911 0.01651563 -0.02920945
+v -0.05503525 0.01651557 -0.01306250
+v -0.05684423 0.00011394 -0.01306256
+v -0.05774376 0.00011400 -0.02920951
+v -0.05793592 0.01002499 -0.02920947
+v -0.05837160 0.00011397 -0.02078433
+v -0.05836663 0.00115292 -0.02078433
+v -0.05735115 0.01217831 -0.01306252
+v -0.05700161 0.01329594 -0.01306251
+v -0.05661397 0.01446336 -0.01306251
+v -0.05579727 0.01585880 -0.01306250
+v -0.05743895 0.01001690 -0.01306252
+v -0.05803366 0.00011396 -0.01889064
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 10
+f 1 10 6
+f 1 6 7
+f 1 7 2
+f 2 7 16
+f 2 16 15
+f 2 15 14
+f 2 14 13
+f 2 13 17
+f 2 17 8
+f 2 8 4
+f 2 4 3
+f 4 8 18
+f 4 18 11
+f 4 11 9
+f 4 9 5
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 8 17 18
+f 9 11 10
+f 11 18 17
+f 11 17 12
+f 12 17 13
+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_62.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bc48d12505e565675103179703eb99770cca02d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_62.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.05868728 0.02999382 -0.02920940
+v -0.05868728 0.03087960 -0.02920940
+v -0.05868559 0.02823490 -0.02920941
+v -0.05847967 0.02999378 -0.01856174
+v -0.05846953 0.03087956 -0.01856174
+v -0.04144469 0.03087960 -0.02920940
+v -0.05866703 0.02333918 -0.02920942
+v -0.05865521 0.02112051 -0.02920943
+v -0.05858601 0.01936159 -0.02920944
+v -0.05852355 0.01885965 -0.02920944
+v -0.05800028 0.02833608 -0.01681507
+v -0.05809987 0.02992487 -0.01617961
+v -0.05809312 0.03087955 -0.01537819
+v -0.05842903 0.03087955 -0.01767338
+v -0.04153753 0.03087954 -0.01306245
+v -0.04153922 0.01651718 -0.01306250
+v -0.04144807 0.01651724 -0.02920945
+v -0.05825685 0.01707542 -0.02920945
+v -0.05503452 0.01651718 -0.01306250
+v -0.05614183 0.02238163 -0.01306248
+v -0.05630556 0.02333912 -0.01306247
+v -0.05787875 0.03087954 -0.01493085
+v -0.05565401 0.03087954 -0.01306245
+v -0.05795977 0.01651724 -0.02920945
+v -0.05819271 0.01691514 -0.02920945
+v -0.05810662 0.01673517 -0.02920945
+v -0.05626843 0.02555640 -0.01306247
+v -0.05657395 0.03087954 -0.01337385
+v -0.05590214 0.03016669 -0.01306245
+f 1 2 6
+f 1 6 17
+f 1 17 24
+f 1 24 26
+f 1 26 25
+f 1 25 18
+f 1 18 10
+f 1 10 9
+f 1 9 8
+f 1 8 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 14
+f 2 14 13
+f 2 13 22
+f 2 22 28
+f 2 28 23
+f 2 23 15
+f 2 15 6
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 6 15 16
+f 6 16 17
+f 10 18 11
+f 11 13 12
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 13
+f 13 21 22
+f 15 23 29
+f 15 29 27
+f 15 27 21
+f 15 21 20
+f 15 20 19
+f 15 19 16
+f 16 19 24
+f 16 24 17
+f 18 25 19
+f 19 25 26
+f 19 26 24
+f 21 27 28
+f 21 28 22
+f 23 28 29
+f 27 29 28
+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_63.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75bd056827f0b74d54a8f8c33f8e85f953b7e7d3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_63.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.00024824 -0.05866731 -0.00522384
+v -0.00119128 -0.05862963 -0.00522384
+v -0.00114676 -0.05806276 -0.00758859
+v -0.00024824 -0.05833164 -0.00661007
+v -0.00024755 -0.05652152 0.01307249
+v -0.00024755 -0.05815023 0.02810197
+v -0.00119128 -0.05812626 0.02810197
+v -0.00340952 -0.05813470 -0.00522383
+v -0.00459020 -0.05768772 -0.00643169
+v -0.00340952 -0.05788465 -0.00685980
+v -0.00280137 -0.05782827 0.02810197
+v -0.00117279 -0.05697184 -0.01089110
+v -0.00024824 -0.05700095 -0.01089110
+v -0.00024824 -0.05807989 -0.00761917
+v -0.00024755 -0.04117683 0.01307255
+v -0.00024755 -0.05797042 0.03032403
+v -0.00119128 -0.05796015 0.03032403
+v -0.00265344 -0.05777005 0.03032403
+v -0.00461006 -0.05769970 -0.00522383
+v -0.00724400 -0.05522845 -0.00734905
+v -0.00724400 -0.05400223 -0.01089109
+v -0.00471347 -0.05559150 -0.01089109
+v -0.00351087 -0.05625598 -0.01089110
+v -0.00724400 -0.05586555 -0.00301706
+v -0.00724400 -0.05571483 -0.00521363
+v -0.00724400 -0.05549904 -0.00632466
+v -0.00390877 -0.05736758 0.02810197
+v -0.00024824 -0.04117674 -0.01089104
+v -0.00024755 -0.04117512 0.01477477
+v -0.00024755 -0.05631269 0.04117440
+v -0.00099678 -0.05629727 0.04117440
+v -0.00119128 -0.05629214 0.04117440
+v -0.00236786 -0.05766902 0.03148602
+v -0.00300819 -0.05577151 0.04117441
+v -0.00376153 -0.05728368 0.03032403
+v -0.00694404 -0.05548032 0.02810198
+v -0.00724400 -0.04117332 -0.01089104
+v -0.00724400 -0.05300046 0.01307251
+v -0.00694404 -0.05545463 0.02836190
+v -0.00694404 -0.05523886 0.03032404
+v -0.00024755 -0.04117343 0.01827094
+v -0.00024755 -0.04118036 0.04117446
+v -0.00411628 -0.05516012 0.04117441
+v -0.00724400 -0.04117512 0.01307255
+v -0.00694404 -0.04117175 0.02719995
+v -0.00694404 -0.05266832 0.04117442
+v -0.00024755 -0.04117344 0.02143585
+v -0.00694404 -0.04118036 0.04117446
+v -0.00024755 -0.04117863 0.03826438
+v -0.00694404 -0.04117348 0.03164407
+v -0.00694404 -0.04117863 0.03921233
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 7 11
+f 2 11 8
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 3 10 12
+f 4 14 5
+f 5 14 13
+f 5 13 28
+f 5 28 15
+f 5 15 29
+f 5 29 41
+f 5 41 47
+f 5 47 49
+f 5 49 42
+f 5 42 30
+f 5 30 16
+f 5 16 6
+f 6 16 17
+f 6 17 7
+f 7 17 18
+f 7 18 11
+f 8 19 9
+f 8 11 19
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 10
+f 9 19 24
+f 9 24 25
+f 9 25 26
+f 9 26 20
+f 10 23 12
+f 11 18 27
+f 11 27 19
+f 12 23 22
+f 12 22 21
+f 12 21 37
+f 12 37 28
+f 12 28 13
+f 15 28 29
+f 16 30 17
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 18
+f 18 33 34
+f 18 34 35
+f 18 35 27
+f 19 27 36
+f 19 36 24
+f 20 26 25
+f 20 25 24
+f 20 24 38
+f 20 38 44
+f 20 44 37
+f 20 37 21
+f 24 36 39
+f 24 39 40
+f 24 40 38
+f 27 35 36
+f 28 37 41
+f 28 41 29
+f 30 42 48
+f 30 48 46
+f 30 46 43
+f 30 43 34
+f 30 34 32
+f 30 32 31
+f 32 34 33
+f 34 43 35
+f 35 40 39
+f 35 39 36
+f 35 43 40
+f 37 44 45
+f 37 45 41
+f 38 40 46
+f 38 46 48
+f 38 48 44
+f 40 43 46
+f 41 45 47
+f 42 49 50
+f 42 50 51
+f 42 51 48
+f 44 48 51
+f 44 51 50
+f 44 50 45
+f 45 50 49
+f 45 49 47
+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_64.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28739a5e9c035ee657f75593456969e6dfad4d06
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_64.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.03148694 -0.05817918 -0.02961872
+v -0.03224585 -0.05817740 -0.02961872
+v -0.03148694 -0.04108863 -0.02961866
+v -0.03148694 -0.05797418 -0.02077388
+v -0.03224585 -0.05800094 -0.01856033
+v -0.04063957 -0.05795996 -0.01189638
+v -0.03441058 -0.05817205 -0.02961872
+v -0.04063957 -0.03996542 -0.02961866
+v -0.03148694 -0.04116895 -0.00578983
+v -0.03148694 -0.05791001 -0.01856033
+v -0.03148694 -0.05784583 -0.01776962
+v -0.03676616 -0.05781020 -0.01195236
+v -0.03889954 -0.05794392 -0.01189638
+v -0.04063957 -0.05781912 -0.01021697
+v -0.04063957 -0.05812748 -0.02961872
+v -0.03889954 -0.05815601 -0.02961872
+v -0.04063957 -0.04007427 -0.00578983
+v -0.03148694 -0.05306245 -0.00578987
+v -0.03148694 -0.05776561 -0.01703254
+v -0.03535945 -0.05772639 -0.01273374
+v -0.03756271 -0.05770858 -0.01067415
+v -0.03889954 -0.05778346 -0.01047122
+v -0.04063957 -0.05735201 -0.00910670
+v -0.04063957 -0.05584729 -0.00578989
+v -0.03446345 -0.05450479 -0.00578988
+v -0.03489711 -0.05470447 -0.00578988
+v -0.03633340 -0.05529281 -0.00578988
+v -0.03744265 -0.05550676 -0.00578988
+v -0.03785032 -0.05558164 -0.00578988
+f 1 2 7
+f 1 7 16
+f 1 16 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 18
+f 1 18 19
+f 1 19 11
+f 1 11 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 6 14 23
+f 6 23 24
+f 6 24 17
+f 6 17 8
+f 6 8 15
+f 6 15 16
+f 6 16 7
+f 8 17 9
+f 9 17 24
+f 9 24 29
+f 9 29 28
+f 9 28 27
+f 9 27 26
+f 9 26 25
+f 9 25 18
+f 11 19 12
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 12 19 20
+f 13 22 14
+f 14 22 23
+f 18 25 19
+f 19 25 26
+f 19 26 20
+f 20 26 27
+f 20 27 21
+f 21 27 28
+f 21 28 29
+f 21 29 22
+f 22 29 23
+f 23 29 24
+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_65.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbfcbdaf406577d8143e578f3f6c8476121c1930
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_65.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.05497702 -0.01759603 -0.01218826
+v -0.05644263 -0.01437885 -0.01218825
+v -0.04153770 -0.01759603 -0.01218826
+v -0.05588400 -0.01759603 -0.00957362
+v -0.05720835 -0.01214104 -0.01218824
+v -0.05659353 -0.01759604 -0.00745294
+v -0.04153610 -0.00994136 -0.01218824
+v -0.04153770 -0.01759610 0.00807821
+v -0.05732714 -0.01019790 -0.01218824
+v -0.05713129 -0.01759605 -0.00522712
+v -0.04153610 -0.00299392 -0.01218821
+v -0.04153450 -0.00106819 0.00807827
+v -0.04153610 -0.00994136 -0.01189266
+v -0.05537834 -0.01759610 0.00807821
+v -0.05733998 -0.00994830 -0.01218824
+v -0.05711203 -0.01759605 -0.00441376
+v -0.05744753 -0.01216018 0.00807823
+v -0.05759201 -0.00996917 0.00807823
+v -0.05759361 -0.00994143 0.00807823
+v -0.05793393 -0.00072320 -0.00300521
+v -0.04153770 0.00011059 -0.01218820
+v -0.04153610 0.00011054 0.00366035
+v -0.04153610 0.00011052 0.00807827
+v -0.05672997 -0.01437892 0.00807822
+v -0.05681345 -0.01759606 -0.00196973
+v -0.05681666 0.00011059 -0.01218820
+v -0.05787614 -0.00047012 -0.00476285
+v -0.05787614 0.00011057 -0.00476285
+v -0.05694348 -0.01759606 -0.00300527
+v -0.05743951 -0.01218791 0.00807823
+v -0.05667058 0.00011052 0.00807827
+v -0.05786972 0.00011056 -0.00150744
+v -0.05789059 0.00011056 -0.00197760
+v -0.05793393 0.00011056 -0.00300521
+f 1 2 5
+f 1 5 9
+f 1 9 15
+f 1 15 26
+f 1 26 21
+f 1 21 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 25
+f 1 25 29
+f 1 29 16
+f 1 16 10
+f 1 10 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 13
+f 3 13 8
+f 5 6 10
+f 5 10 9
+f 7 11 12
+f 7 12 13
+f 8 12 23
+f 8 23 31
+f 8 31 19
+f 8 19 18
+f 8 18 17
+f 8 17 30
+f 8 30 24
+f 8 24 14
+f 8 13 12
+f 9 10 15
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 20
+f 10 20 15
+f 11 21 12
+f 12 22 23
+f 12 21 22
+f 14 24 25
+f 15 20 27
+f 15 27 28
+f 15 28 26
+f 16 29 24
+f 16 24 30
+f 16 30 17
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 20 34 28
+f 20 28 27
+f 21 26 28
+f 21 28 34
+f 21 34 33
+f 21 33 32
+f 21 32 31
+f 21 31 23
+f 21 23 22
+f 24 29 25
+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_66.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45064791f7f36ca0a50c37ca83c8e8fc388bb504
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_66.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.00024551 -0.05661467 0.01853052
+v -0.00024551 -0.05790206 0.02632863
+v -0.00024551 -0.04117466 0.01853058
+v 0.00102844 -0.05666297 0.01853052
+v -0.00024551 -0.05801198 0.02710951
+v 0.00102844 -0.05792704 0.02626759
+v -0.00024551 -0.04117299 0.01921812
+v 0.00102844 -0.04117299 0.01853058
+v 0.01433520 -0.05640650 0.01853052
+v 0.01433520 -0.05777882 0.02663200
+v -0.00024551 -0.05815188 0.02810402
+v 0.00102844 -0.05818352 0.02810402
+v -0.00024551 -0.04117806 0.03686977
+v 0.00102844 -0.04117639 0.03477124
+v 0.00768285 -0.04117305 0.03477124
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+v -0.00024551 -0.05772222 0.03161532
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+v 0.01509711 -0.05761396 0.03127065
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+v 0.02067420 -0.04117640 0.03686977
+v 0.02067420 -0.04117633 0.01853058
+v 0.01764295 -0.05541558 0.01853053
+v 0.02067420 -0.05392504 0.01899727
+v 0.02067420 -0.05598519 0.03008586
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+v 0.02067420 -0.05385349 0.03686972
+v 0.02067420 -0.05380346 0.01853053
+v 0.01767982 -0.05543730 0.03686972
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+f 1 5 11
+f 1 11 21
+f 1 21 36
+f 1 36 24
+f 1 24 13
+f 1 13 7
+f 1 7 3
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+f 1 18 9
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+f 28 42 29
+f 29 42 30
+f 31 43 32
+f 32 44 51
+f 32 51 42
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+f 32 41 50
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+f 33 35 34
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+f 35 47 46
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+f 39 46 49
+f 39 49 48
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+f 47 50 52
+f 47 52 49
+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_67.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..967a4c6281b11e752569debec68d4dc696ea9a83
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_67.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.00684640 0.04119672 0.01198899
+v -0.00684640 0.05240900 0.01198903
+v -0.00024755 0.04119672 0.01198899
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+v -0.00418709 0.05524940 0.01198904
+v -0.00684640 0.05536007 0.02792972
+v -0.00024755 0.05665199 0.01198905
+v -0.00024755 0.04119670 0.01571926
+v -0.00024755 0.04119834 0.02588493
+v -0.00684640 0.04119834 0.02810375
+v -0.00307867 0.05593224 0.01198905
+v -0.00684640 0.05539195 0.02810380
+v -0.00550092 0.05631470 0.02810381
+v -0.00387446 0.05742369 0.02810381
+v -0.00095291 0.05660333 0.01198905
+v -0.00119061 0.05828604 0.02810381
+v -0.00024755 0.05833301 0.02810381
+v -0.00024755 0.04120000 0.02904875
+v -0.00684640 0.04119999 0.03132560
+v -0.00259422 0.05610337 0.01198905
+v -0.00276604 0.05791694 0.02810381
+v -0.00684640 0.05531476 0.02926709
+v -0.00684640 0.05524430 0.03032538
+v -0.00374463 0.05735489 0.03032539
+v -0.00263621 0.05786156 0.03032539
+v -0.00119061 0.05658655 0.01198905
+v -0.00119061 0.05813167 0.03032539
+v -0.00024755 0.05818033 0.03032539
+v -0.00024755 0.05824576 0.02938315
+v -0.00024755 0.04120335 0.03349192
+v -0.00024755 0.04120836 0.03921442
+v -0.00684575 0.04120835 0.04021469
+v -0.00684640 0.04120835 0.04021469
+v -0.00684640 0.05248271 0.04021473
+v -0.00402884 0.05517379 0.04021474
+v -0.00352953 0.05546572 0.04021474
+v -0.00292042 0.05581972 0.04021475
+v -0.00233779 0.05774243 0.03146658
+v -0.00119061 0.05632807 0.04021475
+v -0.00024755 0.05638008 0.04021475
+v -0.00024755 0.04121003 0.04021469
+v -0.00197413 0.05609823 0.04021475
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+f 25 38 27
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+f 27 40 28
+f 31 41 32
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+f 32 40 39
+f 32 39 42
+f 32 42 37
+f 32 37 36
+f 32 36 35
+f 32 35 34
+f 32 34 33
+f 37 42 38
+f 38 42 39
+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_68.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b60afce03dc3273e1701b4c6456d150d21e5b88
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_68.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v -0.00024755 -0.05742180 -0.02961689
+v -0.00064484 -0.05742020 -0.02961689
+v -0.00024755 -0.04110081 -0.02961683
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+v -0.00769479 -0.04117280 -0.01089287
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+v -0.00769479 -0.05701429 -0.02961689
+v -0.00769479 -0.05386458 -0.01089292
+v -0.00351046 -0.05625688 -0.01089293
+v -0.00471400 -0.05559369 -0.01089292
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+f 1 7 4
+f 1 4 2
+f 2 4 5
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+f 4 11 14
+f 4 14 16
+f 4 16 15
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+f 4 12 8
+f 4 8 9
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+f 6 11 7
+f 8 12 9
+f 9 12 13
+f 10 13 14
+f 10 14 11
+f 12 15 13
+f 13 15 16
+f 13 16 14
+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_69.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da839cb613f9e08ba6a837deaa6f651e2e7b915d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_69.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.04153827 -0.01759603 -0.01170061
+v -0.04142819 -0.01759596 -0.02961857
+v -0.05503386 -0.01759603 -0.01170061
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+v -0.05679343 -0.02309414 -0.01170063
+v -0.05868169 -0.02103619 -0.02961859
+f 1 2 6
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+f 1 7 3
+f 1 3 8
+f 1 8 13
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+f 1 15 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 17
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+f 2 19 11
+f 2 11 6
+f 3 7 8
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+f 4 14 10
+f 4 10 5
+f 6 11 12
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+f 6 13 7
+f 7 13 8
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+f 10 14 16
+f 10 16 17
+f 11 15 18
+f 11 18 12
+f 11 19 16
+f 11 16 15
+f 12 18 13
+f 14 15 16
+f 16 19 17
+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_7.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b448bd24ee8d5e828dffda7276c379c1d5f0352
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_7.obj
@@ -0,0 +1,1321 @@
+# https://github.com/mikedh/trimesh
+v -0.04999167 -0.05894639 -0.00744736
+v -0.05220707 -0.05872570 -0.00077724
+v -0.05220707 -0.05872348 -0.00522087
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+v -0.05220707 -0.05872572 0.00588352
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+v -0.05220707 -0.05871905 -0.00744736
+v -0.04999167 -0.05893531 -0.01855176
+v -0.04064046 -0.05884068 0.05746703
+v -0.04111891 -0.05888703 0.05698993
+v -0.04555530 -0.05889806 0.05476344
+v -0.04999167 -0.05894210 0.02587517
+v -0.04999167 -0.05894430 0.02365804
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+v -0.05220707 -0.05871916 0.02143155
+v -0.05220707 -0.05872135 0.01699727
+v -0.05442619 -0.05818055 0.00366639
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_70.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9ab46c8f7c0ce89857bd807401bd31d1b22fd34
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_70.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.04142964 0.00011066 -0.02961851
+v -0.04153759 0.00011059 -0.01218991
+v -0.04153586 -0.00521266 -0.01218993
+v -0.04142790 -0.01759596 -0.02961857
+v -0.05803351 0.00011066 -0.02961851
+v -0.05681642 0.00011059 -0.01218991
+v -0.04153586 -0.00964842 -0.01218995
+v -0.04153759 -0.01746256 -0.01218997
+v -0.04153934 -0.01759603 -0.01218997
+v -0.05844443 -0.01759596 -0.02961857
+v -0.05921577 -0.00994132 -0.02078397
+v -0.05837129 0.00011063 -0.02078393
+v -0.05803351 0.00011062 -0.01889007
+v -0.05884316 -0.00994133 -0.01856082
+v -0.05733878 -0.00994830 -0.01218995
+v -0.05497774 -0.01759603 -0.01218997
+v -0.05784198 -0.01759597 -0.02619257
+v -0.05787332 -0.01565460 -0.01940028
+v -0.05852452 -0.01437881 -0.02078398
+v -0.05910433 -0.01216007 -0.02078397
+v -0.05873868 -0.01216008 -0.01856082
+v -0.05732659 -0.01019790 -0.01218995
+v -0.05644207 -0.01437885 -0.01218996
+v -0.05815365 -0.01432509 -0.01862054
+v -0.05720819 -0.01214104 -0.01218995
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_71.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd0e72f21301b262a7804144a3ec3bd9500a7333
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_71.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.03131254 0.04118429 0.01648074
+v 0.01880371 0.04120075 0.01648074
+v 0.03131254 0.05468187 0.01648079
+v 0.03131254 0.04118590 0.02588225
+v 0.01880371 0.04120072 0.02369182
+v 0.01880371 0.05459628 0.01648079
+v 0.02906915 0.05568597 0.01648079
+v 0.03131254 0.05787350 0.03354353
+v 0.03131254 0.04118752 0.03254926
+v 0.01880371 0.04120236 0.02813472
+v 0.02415869 0.05587526 0.01648080
+v 0.01880371 0.05665051 0.02810465
+v 0.02764499 0.05608760 0.01648080
+v 0.02723110 0.05783565 0.02872846
+v 0.03131254 0.05800024 0.03458558
+v 0.03131254 0.04118916 0.03458552
+v 0.01880371 0.04120563 0.03257762
+v 0.01880371 0.04120399 0.03035705
+v 0.02542733 0.05617813 0.01648080
+v 0.01880371 0.05639536 0.03049180
+v 0.02418563 0.05777969 0.02947101
+v 0.02418563 0.05777969 0.02899784
+v 0.02542733 0.05784717 0.02868593
+v 0.02542733 0.05784717 0.02988217
+v 0.03010268 0.05791464 0.03458558
+v 0.01880371 0.04120726 0.03458552
+v 0.01880371 0.05622253 0.03099156
+v 0.02895527 0.05771382 0.03458558
+v 0.02978062 0.05786032 0.03458558
+v 0.03002675 0.05790312 0.03458558
+v 0.03006716 0.05790971 0.03458558
+v 0.01880371 0.05469662 0.03458557
+f 1 2 6
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_72.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1f7a0b193eec67302977781b167506971b77e1c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_72.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v -0.01982513 0.05813577 -0.03100288
+v -0.01956642 0.05813232 -0.03126116
+v -0.01982513 0.05813232 -0.03126116
+v -0.01982513 0.05798604 -0.02891747
+v -0.00024755 0.05804628 -0.03126116
+v -0.01982513 0.04055621 -0.03126122
+v -0.01982513 0.05782254 -0.02770007
+v -0.00024755 0.05795507 -0.03039314
+v -0.00024755 0.04055793 -0.03126122
+v -0.01893402 0.04055448 -0.03126122
+v -0.01982513 0.04119295 -0.02597342
+v -0.01982513 0.05735616 -0.02601011
+v -0.00024755 0.05662304 -0.02597336
+v -0.00024755 0.04120844 -0.02597342
+v -0.01228040 0.04119467 -0.02597342
+v -0.01449764 0.04119295 -0.02597342
+v -0.01982513 0.05732346 -0.02597336
+f 1 2 3
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+f 12 17 13
+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_73.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5e664e8e3a26438e9caaf6011595a8bdc92d825
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_73.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.03132140 -0.04116325 0.03997637
+v 0.03132140 -0.04116492 0.04515839
+v 0.03132140 -0.04116324 0.03686977
+v 0.00579213 -0.04117481 0.03699471
+v 0.00990081 -0.04117318 0.04366066
+v 0.03132140 -0.05791974 0.04515833
+v 0.00990081 -0.04117484 0.04515839
+v 0.03132140 -0.05800732 0.03686971
+v 0.00579213 -0.04117481 0.03686977
+v 0.00579213 -0.04117649 0.04366066
+v 0.00768402 -0.04117483 0.04366066
+v 0.02764509 -0.05800402 0.04143835
+v 0.02986187 -0.05804864 0.03699465
+v 0.03132140 -0.05801889 0.03699465
+v 0.02101722 -0.05794949 0.04515833
+v 0.00768402 -0.04117650 0.04515839
+v 0.02986687 -0.05803707 0.03686971
+v 0.00579213 -0.05424674 0.03686972
+v 0.00579213 -0.04117815 0.04515839
+v 0.02033494 -0.05790321 0.04515833
+v 0.01961518 -0.05777591 0.04436484
+v 0.01212009 -0.05634605 0.03686971
+v 0.00579213 -0.05448646 0.04515834
+v 0.01951021 -0.05781725 0.04515833
+v 0.01212009 -0.05602870 0.04515833
+f 1 2 6
+f 1 6 14
+f 1 14 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 16
+f 2 16 19
+f 2 19 23
+f 2 23 25
+f 2 25 24
+f 2 24 20
+f 2 20 15
+f 2 15 6
+f 3 8 17
+f 3 17 22
+f 3 22 18
+f 3 18 9
+f 4 9 18
+f 4 18 23
+f 4 23 19
+f 4 19 10
+f 4 10 11
+f 4 11 5
+f 5 11 16
+f 5 16 7
+f 6 12 13
+f 6 13 14
+f 6 15 12
+f 8 14 17
+f 10 19 16
+f 10 16 11
+f 12 15 13
+f 13 17 14
+f 13 15 20
+f 13 20 21
+f 13 21 22
+f 13 22 17
+f 18 22 23
+f 20 24 21
+f 21 24 22
+f 22 24 25
+f 22 25 23
+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_74.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7de1e993b6776e0a6c7e43b671df55934c7e725
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_74.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.03687062 0.04111098 -0.00912924
+v -0.03687062 0.05628266 -0.00912918
+v -0.03136521 0.04117494 -0.00912924
+v -0.03136521 0.04117492 -0.00212360
+v -0.03136521 0.04117652 0.00898539
+v -0.03687062 0.04111422 0.00143814
+v -0.03680810 0.05626298 -0.00912918
+v -0.03687062 0.05786520 0.00876013
+v -0.03668091 0.05786356 0.00876426
+v -0.03544509 0.05777828 0.00906607
+v -0.03136521 0.05647120 0.00810483
+v -0.03136521 0.05315681 -0.00912919
+v -0.03136521 0.04117816 0.01198899
+v -0.03687062 0.04111747 0.01198899
+v -0.03663294 0.05620722 -0.00912918
+v -0.03687062 0.05785863 0.01026916
+v -0.03677630 0.05785863 0.01026296
+v -0.03544509 0.05777828 0.00947950
+v -0.03136521 0.05634328 0.00943816
+v -0.03136521 0.05509194 0.01198904
+v -0.03687062 0.05736007 0.01198905
+v -0.03687062 0.05785207 0.01034978
+v -0.03687062 0.05784715 0.01040973
+v -0.03609991 0.05762247 0.01096167
+v -0.03136521 0.05611367 0.01031051
+v -0.03443077 0.05649907 0.01198905
+v -0.03659198 0.05731907 0.01198905
+f 1 2 7
+f 1 7 15
+f 1 15 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 21
+f 1 21 23
+f 1 23 22
+f 1 22 16
+f 1 16 8
+f 1 8 2
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 7
+f 3 12 11
+f 3 11 19
+f 3 19 25
+f 3 25 20
+f 3 20 13
+f 3 13 5
+f 3 5 4
+f 5 13 14
+f 5 14 6
+f 7 11 15
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 10
+f 10 18 11
+f 11 18 19
+f 11 12 15
+f 13 20 26
+f 13 26 27
+f 13 27 21
+f 13 21 14
+f 16 22 17
+f 17 22 23
+f 17 23 24
+f 17 24 18
+f 18 24 19
+f 19 24 25
+f 20 25 26
+f 21 27 24
+f 21 24 23
+f 24 27 26
+f 24 26 25
+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_75.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e1a96dfb939dec3a54862da29ca72bb263404cd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_75.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.04118703 0.03730514 -0.02457838
+v 0.04119540 0.03730510 -0.01409168
+v 0.05814698 0.03730514 -0.02457838
+v 0.04128741 0.01815125 -0.02457845
+v 0.04129243 0.01815121 -0.01486991
+v 0.05798972 0.03730510 -0.01409168
+v 0.04129411 0.01815121 -0.01409175
+v 0.05820219 0.03730513 -0.02143802
+v 0.05816372 0.03443065 -0.02457839
+v 0.05579464 0.01815125 -0.02457845
+v 0.05815368 0.03730512 -0.01856149
+v 0.05822060 0.03443249 -0.01409169
+v 0.05822562 0.03443061 -0.01411633
+v 0.05434911 0.01815121 -0.01409175
+v 0.05820722 0.03730513 -0.02078202
+v 0.05826410 0.03221242 -0.01856151
+v 0.05827748 0.02999421 -0.01856152
+v 0.05821558 0.02777413 -0.02300465
+v 0.05816372 0.02555780 -0.02457843
+v 0.05689050 0.01965881 -0.02457845
+v 0.05821725 0.03440624 -0.01409169
+v 0.05783579 0.02832538 -0.01686662
+v 0.05749616 0.02073323 -0.02457844
+v 0.05520906 0.02038255 -0.01409175
+v 0.05821056 0.02555779 -0.02300466
+v 0.05799139 0.02334709 -0.02457843
+v 0.05787093 0.03233803 -0.01409170
+v 0.05560558 0.02149260 -0.01409174
+v 0.05777891 0.02412148 -0.02157255
+v 0.05775214 0.02158077 -0.02457844
+f 1 2 6
+f 1 6 11
+f 1 11 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 19
+f 1 19 26
+f 1 26 30
+f 1 30 23
+f 1 23 20
+f 1 20 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 14
+f 2 14 24
+f 2 24 28
+f 2 28 27
+f 2 27 21
+f 2 21 12
+f 2 12 6
+f 3 8 9
+f 4 10 14
+f 4 14 7
+f 4 7 5
+f 6 12 13
+f 6 13 11
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 10 20 14
+f 11 13 15
+f 12 21 13
+f 13 21 22
+f 13 22 17
+f 13 17 16
+f 13 16 15
+f 14 20 23
+f 14 23 24
+f 17 25 18
+f 17 22 25
+f 18 25 19
+f 19 25 26
+f 21 27 22
+f 22 27 28
+f 22 28 29
+f 22 29 25
+f 23 30 28
+f 23 28 24
+f 25 29 30
+f 25 30 26
+f 28 30 29
+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_76.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ddf1900ce1ff7bbcb44f333c01322a0fe351e25
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_76.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.01975835 0.04118802 0.01198899
+v -0.01975835 0.05425833 0.01198904
+v -0.01671742 0.04118802 0.01198899
+v -0.01975835 0.04118800 0.01699584
+v -0.01608420 0.05570403 0.01198904
+v -0.01975835 0.05607236 0.02824749
+v -0.01687540 0.05737235 0.02810381
+v -0.01567091 0.05774728 0.02694881
+v -0.01449928 0.04118966 0.01198899
+v -0.01671742 0.04118801 0.01255268
+v -0.01893555 0.04118800 0.01699584
+v -0.01975835 0.04118961 0.02366335
+v -0.01565322 0.05579245 0.01198904
+v -0.01975835 0.05608217 0.02889131
+v -0.01975835 0.05604615 0.03015131
+v -0.01575686 0.05777183 0.02956000
+v -0.01576697 0.05777675 0.02810381
+v -0.01449928 0.05791265 0.02810381
+v -0.01449928 0.05780950 0.02680513
+v -0.01449928 0.05600529 0.01198905
+v -0.01006427 0.04119293 0.01198899
+v -0.01449928 0.04118965 0.01255268
+v -0.01671742 0.04119124 0.02588493
+v -0.00684766 0.04119618 0.01799610
+v -0.00684766 0.04119779 0.02688243
+v -0.01975835 0.04119123 0.02950191
+v -0.01658471 0.05735760 0.03031158
+v -0.01975835 0.05313341 0.04021474
+v -0.01932610 0.05377031 0.04021474
+v -0.01871311 0.05433844 0.04021474
+v -0.01802428 0.05495242 0.04021474
+v -0.01626621 0.05577269 0.04021474
+v -0.01532587 0.05596752 0.04021475
+v -0.01449928 0.05613289 0.04021475
+v -0.01449928 0.05767196 0.03105763
+v -0.01449928 0.05782913 0.02994684
+v -0.01275131 0.05781605 0.02678578
+v -0.01228241 0.05782586 0.02985566
+v -0.01212063 0.05786026 0.02799052
+v -0.01228241 0.05584484 0.01198905
+v -0.01228241 0.04119129 0.01255268
+v -0.00840604 0.04119457 0.01198899
+v -0.01228241 0.04119613 0.03254968
+v -0.01671742 0.04119448 0.03477126
+v -0.01975835 0.04119284 0.03477126
+v -0.00684766 0.04119621 0.01198899
+v -0.00684766 0.04119941 0.03032533
+v -0.01975835 0.04119937 0.04021469
+v -0.01228241 0.05604120 0.04021475
+v -0.01127256 0.05771126 0.02717263
+v -0.01105896 0.05776856 0.02943842
+v -0.01105896 0.05776856 0.02865368
+v -0.01110067 0.05554358 0.01198904
+v -0.00684766 0.04120104 0.03254968
+v -0.01228241 0.04119938 0.03699284
+v -0.01449928 0.04119612 0.03477126
+v -0.01893555 0.04119447 0.03699284
+v -0.01975835 0.04119611 0.03921442
+v -0.00684766 0.05240821 0.01198903
+v -0.01975835 0.04119774 0.03984443
+v -0.01793581 0.04119937 0.04021469
+v -0.01083019 0.05568100 0.04021474
+v -0.01021720 0.05733306 0.02799052
+v -0.01021720 0.05720534 0.03023974
+v -0.00817096 0.05604943 0.03032539
+v -0.00800791 0.05613621 0.02810381
+v -0.00999223 0.05483628 0.01198904
+v -0.00684766 0.04120757 0.03921442
+v -0.01006427 0.04120430 0.03921442
+v -0.01128267 0.04120429 0.04021469
+v -0.01449928 0.04119775 0.03699284
+v -0.01349954 0.04120265 0.04021469
+v -0.00848819 0.05372622 0.01198904
+v -0.00684766 0.05539289 0.02810380
+v -0.01032969 0.05536010 0.04021474
+v -0.00684766 0.05524389 0.03032538
+v -0.00684766 0.04120920 0.04021469
+v -0.00972049 0.05496879 0.04021474
+v -0.00901145 0.05435809 0.04021474
+v -0.00684766 0.05248342 0.04021473
+f 1 2 5
+f 1 5 13
+f 1 13 20
+f 1 20 40
+f 1 40 53
+f 1 53 67
+f 1 67 73
+f 1 73 59
+f 1 59 46
+f 1 46 42
+f 1 42 21
+f 1 21 9
+f 1 9 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 12
+f 1 12 26
+f 1 26 45
+f 1 45 58
+f 1 58 60
+f 1 60 48
+f 1 48 28
+f 1 28 15
+f 1 15 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 22
+f 3 22 10
+f 4 11 12
+f 5 8 13
+f 6 14 7
+f 7 14 15
+f 7 15 16
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+f 9 21 22
+f 10 23 11
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+f 11 23 26
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+f 15 32 27
+f 16 18 17
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+f 16 36 18
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+f 21 41 22
+f 21 42 24
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+f 23 25 43
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+f 23 45 26
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+f 24 47 25
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+f 28 48 61
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+f 28 78 75
+f 28 75 62
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+f 28 31 30
+f 28 30 29
+f 34 49 38
+f 34 38 35
+f 35 38 36
+f 37 39 50
+f 37 50 40
+f 38 51 39
+f 38 49 51
+f 39 51 52
+f 39 52 50
+f 40 50 53
+f 43 47 54
+f 43 54 55
+f 43 55 71
+f 43 71 56
+f 43 56 44
+f 44 56 71
+f 44 71 57
+f 44 57 45
+f 45 57 58
+f 48 60 61
+f 49 62 51
+f 50 52 63
+f 50 63 53
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+f 51 65 66
+f 51 66 63
+f 51 63 52
+f 51 62 64
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+f 53 66 67
+f 54 68 55
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+f 55 69 70
+f 55 70 58
+f 55 58 71
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+f 58 70 72
+f 58 72 61
+f 58 61 60
+f 59 73 74
+f 62 75 76
+f 62 76 65
+f 62 65 64
+f 65 76 66
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+f 66 74 67
+f 67 74 73
+f 68 77 70
+f 68 70 69
+f 75 78 76
+f 76 78 79
+f 76 79 80
+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_77.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5a458f042f7201daa4e275ff8e352473a21ef9d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_77.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.03872080 0.04043114 -0.03125229
+v 0.03131326 0.04055987 -0.03125229
+v 0.03872080 0.05815408 -0.03125223
+v 0.03872080 0.04098250 -0.00410728
+v 0.03131326 0.05815756 -0.03125223
+v 0.03131326 0.04118777 -0.00410728
+v 0.03809643 0.05815583 -0.03125223
+v 0.03872080 0.05819409 -0.02967125
+v 0.03872080 0.05548024 -0.00410723
+v 0.03587816 0.05815756 -0.03125223
+v 0.03131326 0.05820105 -0.02967125
+v 0.03131326 0.05394941 -0.00410723
+v 0.03430093 0.05820105 -0.02967125
+v 0.03651848 0.05819757 -0.02967125
+v 0.03651848 0.05806009 -0.01411654
+v 0.03872080 0.05803398 -0.01189520
+v 0.03862798 0.05549242 -0.00410723
+v 0.03872080 0.05787046 -0.01047365
+v 0.03131326 0.05806882 -0.02077791
+v 0.03208266 0.05811926 -0.02078057
+v 0.03622551 0.05533760 -0.00410723
+v 0.03513704 0.05784612 -0.01266310
+v 0.03131326 0.05786178 -0.01706327
+v 0.03208266 0.05808446 -0.01855922
+v 0.03658592 0.05792613 -0.01191114
+v 0.03806888 0.05556375 -0.00410723
+v 0.03736982 0.05780088 -0.01065964
+v 0.03733501 0.05556375 -0.00410723
+v 0.03131326 0.05799400 -0.01855922
+v 0.03131326 0.05793312 -0.01775678
+f 1 2 5
+f 1 5 10
+f 1 10 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 18
+f 1 18 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 12
+f 2 12 23
+f 2 23 30
+f 2 30 29
+f 2 29 19
+f 2 19 11
+f 2 11 5
+f 3 7 8
+f 4 9 17
+f 4 17 26
+f 4 26 28
+f 4 28 21
+f 4 21 12
+f 4 12 6
+f 5 11 13
+f 5 13 10
+f 7 10 13
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 9 18 17
+f 11 19 20
+f 11 20 15
+f 11 15 13
+f 12 21 22
+f 12 22 23
+f 13 15 14
+f 15 20 24
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+f 15 25 16
+f 16 25 18
+f 17 18 26
+f 18 25 27
+f 18 27 28
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+f 19 29 24
+f 19 24 20
+f 21 28 27
+f 21 27 22
+f 22 27 25
+f 22 25 30
+f 22 30 23
+f 24 29 30
+f 24 30 25
+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_78.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5de0f3f310f806370ca84546b492287c5899f1a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_78.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
+v -0.01671772 -0.05891974 0.05699239
+v -0.01925330 -0.05870957 0.05921501
+v -0.01925330 -0.05891800 0.05699239
+v -0.01925330 -0.05884851 0.05476976
+v -0.01228214 -0.05885025 0.05476976
+v -0.00780284 -0.05885025 0.05476976
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_79.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3607d7ddeb3aa54b7eb14e864a86082f13ba6ad2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_79.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_8.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aeabc551575715342cb105dc5f1ab89e0eef1ef8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_8.obj
@@ -0,0 +1,1207 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_80.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29c43187c2a955d63df0842725b47d331dae91ab
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_80.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_81.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed4ea8cf05c3ee0039339b07600396e2e7e7d9d4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_81.obj
@@ -0,0 +1,196 @@
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_82.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31074c3e3bbf2a061e8829072e37202dd615d508
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_82.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_83.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9d4c3f0d605aa63c53773ab787400e15a75fb2f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_83.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_84.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52005d5cb5e6d4ab0ca421e71fa998f633580966
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_84.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_85.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbc1ad9c4098c83274426c10fa569d44960e0701
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_85.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_86.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e437df58fd6ea13e8dea2a8ce3a66f6854e00b9b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_86.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_87.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a415cf7d041e2417553898a2f137de0d4687bbf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_87.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_88.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3289e0ead365dc63029fca6c8f7f56be23f35b2e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_88.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_89.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6c58409c11bbd0136968d57e03d01cbd0d54b3c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_89.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_9.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5d56fe732f2997c4a37c1840a6087f045aa40bc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_9.obj
@@ -0,0 +1,1141 @@
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diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_90.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23485fd3759c49194c3447198d6e6ff00f6981d6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_90.obj
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+v -0.04152919 -0.01884995 0.03924264
+v -0.05523062 -0.01884996 0.04110818
+v -0.05692190 -0.01437858 0.04110820
+v -0.05701182 0.00011028 0.04110825
+v -0.04152919 0.00011032 0.03032565
+v -0.04152919 0.00011030 0.03581233
+v -0.04152919 -0.00073797 0.04110825
+v -0.04152919 -0.01404819 0.04110820
+v -0.04153092 -0.01884996 0.04110818
+v -0.04153092 0.00011028 0.04110825
+f 1 2 3
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+f 1 11 10
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+f 1 21 12
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+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_91.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df0010863a368bb08cdd4163ad56b2025bf58e25
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_91.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.00579213 -0.04117898 0.04515839
+v 0.00579213 -0.04117748 0.04366066
+v 0.00546401 -0.04117898 0.04515839
+v 0.00579213 -0.05448604 0.04515834
+v 0.00546401 -0.04117748 0.04366066
+v 0.00579213 -0.04117597 0.04143841
+v -0.00024755 -0.04118196 0.04493771
+v 0.00102825 -0.04118196 0.04515839
+v 0.00443237 -0.05547335 0.04515834
+v 0.00430704 -0.05540014 0.03754475
+v 0.00579213 -0.05424703 0.03686972
+v 0.00546401 -0.04117597 0.04143841
+v 0.00579213 -0.04117447 0.03686977
+v -0.00024755 -0.04117895 0.03921696
+v -0.00024755 -0.04118346 0.04515839
+v 0.00415155 -0.05560779 0.04515834
+v 0.00343798 -0.05578251 0.03686972
+v 0.00345039 -0.05577654 0.03686972
+v 0.00324584 -0.04117596 0.03699471
+v 0.00086035 -0.04117746 0.03686977
+v 0.00324584 -0.04117596 0.03686977
+v -0.00024755 -0.04117895 0.03686977
+v -0.00024755 -0.05640540 0.04515833
+v 0.00331383 -0.05591399 0.04515833
+v 0.00102825 -0.05643375 0.03686971
+v -0.00024755 -0.05638297 0.03686971
+v 0.00030463 -0.05641735 0.04515833
+v 0.00252280 -0.05611862 0.04515833
+v 0.00102825 -0.05643079 0.04515833
+v 0.00061205 -0.05642333 0.04515833
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+f 19 21 20
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+f 25 30 27
+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_92.obj b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c379e61641ec82b243047adf003072d5f15c3583
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/mesh/pen_holder_035_collision_92.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.05701868 0.00011502 -0.02521408
+v 0.05673390 0.00011498 -0.01305532
+v 0.05871347 -0.00772442 -0.02078267
+v 0.05902257 -0.00994055 -0.02078268
+v 0.05845995 -0.00994055 -0.02300495
+v 0.05766812 -0.00994054 -0.02521412
+v 0.04129146 0.00011502 -0.02521408
+v 0.05754483 -0.00986452 -0.01305536
+v 0.05869263 -0.00994056 -0.01856161
+v 0.04129493 0.00011498 -0.01305532
+v 0.05888018 -0.01216013 -0.02078268
+v 0.05815954 -0.01235373 -0.02321445
+v 0.05763165 -0.01098291 -0.02521412
+v 0.04128624 -0.00327314 -0.02521409
+v 0.05749621 -0.01073403 -0.01305536
+v 0.05742154 -0.01206855 -0.01305536
+v 0.05854504 -0.01216014 -0.01856161
+v 0.04129319 -0.00106742 -0.01411705
+v 0.04129319 -0.00328700 -0.01305533
+v 0.05797026 -0.01431059 -0.01864375
+v 0.05826547 -0.01437799 -0.02078269
+v 0.05661582 -0.01754487 -0.02521414
+v 0.05749621 -0.01235373 -0.02521413
+v 0.04128451 -0.00549272 -0.02521410
+v 0.05704993 -0.01314377 -0.01305537
+v 0.04128277 -0.00772441 -0.02521411
+v 0.04129146 -0.01553622 -0.01305538
+v 0.05769069 -0.01562263 -0.01943887
+v 0.05661234 -0.01437802 -0.01305537
+v 0.05769937 -0.01563472 -0.02078270
+v 0.05572848 -0.01754489 -0.01867709
+v 0.04128798 -0.01754487 -0.02521414
+v 0.04128624 -0.01437798 -0.02521413
+v 0.04128798 -0.01754487 -0.02394767
+v 0.04129146 -0.01754491 -0.01305538
+v 0.05617302 -0.01515592 -0.01305538
+v 0.05479773 -0.01754491 -0.01305538
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+f 26 33 34
+f 26 34 35
+f 26 35 27
+f 28 29 36
+f 28 36 37
+f 28 37 31
+f 32 34 33
+
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/pen_holder_035.xml b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/pen_holder_035.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7c5d0eaee53f8b9048583c85926b1242a230f061
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/mjcf/pen_holder_035.xml
@@ -0,0 +1,200 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pen_holder_035">
+  <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_035.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pen_holder_035_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pen_holder_035_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pen_holder_035_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pen_holder_035_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pen_holder_035_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pen_holder_035_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pen_holder_035_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pen_holder_035_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pen_holder_035_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pen_holder_035_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pen_holder_035_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pen_holder_035_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pen_holder_035_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pen_holder_035_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pen_holder_035_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pen_holder_035_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pen_holder_035_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pen_holder_035_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/pen_holder_035_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/pen_holder_035_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/pen_holder_035_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/pen_holder_035_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/pen_holder_035_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/pen_holder_035_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/pen_holder_035_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/pen_holder_035_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/pen_holder_035_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/pen_holder_035_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/pen_holder_035_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/pen_holder_035_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/pen_holder_035_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/pen_holder_035_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/pen_holder_035_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/pen_holder_035_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/pen_holder_035_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/pen_holder_035_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/pen_holder_035_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/pen_holder_035_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/pen_holder_035_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/pen_holder_035_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/pen_holder_035_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/pen_holder_035_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/pen_holder_035_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/pen_holder_035_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/pen_holder_035_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/pen_holder_035_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/pen_holder_035_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/pen_holder_035_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/pen_holder_035_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/pen_holder_035_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/pen_holder_035_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/pen_holder_035_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/pen_holder_035_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/pen_holder_035_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/pen_holder_035_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/pen_holder_035_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/pen_holder_035_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/pen_holder_035_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/pen_holder_035_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/pen_holder_035_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/pen_holder_035_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/pen_holder_035_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/pen_holder_035_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/pen_holder_035_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/pen_holder_035_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/pen_holder_035_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/pen_holder_035_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/pen_holder_035_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/pen_holder_035_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_69" file="mesh/pen_holder_035_collision_69.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_70" file="mesh/pen_holder_035_collision_70.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_71" file="mesh/pen_holder_035_collision_71.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_72" file="mesh/pen_holder_035_collision_72.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_73" file="mesh/pen_holder_035_collision_73.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_74" file="mesh/pen_holder_035_collision_74.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_75" file="mesh/pen_holder_035_collision_75.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_76" file="mesh/pen_holder_035_collision_76.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_77" file="mesh/pen_holder_035_collision_77.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_78" file="mesh/pen_holder_035_collision_78.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_79" file="mesh/pen_holder_035_collision_79.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_80" file="mesh/pen_holder_035_collision_80.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_81" file="mesh/pen_holder_035_collision_81.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_82" file="mesh/pen_holder_035_collision_82.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_85" file="mesh/pen_holder_035_collision_85.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_86" file="mesh/pen_holder_035_collision_86.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_87" file="mesh/pen_holder_035_collision_87.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_92" file="mesh/pen_holder_035_collision_92.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pen_holder_035">
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/pen_holder_035.urdf b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/pen_holder_035.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d648a195aebd77ecc1a34bd17eb72636378d90ee
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/pen_holder_035.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_035">
+   <link name="pen_holder_035">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_035.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_035_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7500" />
+         <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>cbbd04da68d15aa988350a61b88dcf5e</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>pen_holder</category>
+         <name>bamboo pen holder</name>
+         <color>black,green</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>square black pen holder with bamboo-pattern sides and elephant feet</description>
+         <min_height>0.1350</min_height>
+         <max_height>0.1350</max_height>
+         <real_height>0.1350</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611145504</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059360 -0.058610 -0.069418</min>
+            <max>0.059195 0.058695 0.065582</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/pen_holder_035.usd b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/pen_holder_035.usd
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d6d34243e3795d9f58238338f8ccc5e0a0959c8b93f6224737376a911d7542b
+size 5016477
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/textures/material_0.png b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/textures/material_0.png
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+size 10417788
diff --git a/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/video.mp4 b/dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/video.mp4
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+size 550875