diff --git a/.gitattributes b/.gitattributes
index 6f856a6ac0cae424f9477d617f5ad24fa9209efc..da6f5605a29a5a18e0dddbd876d50b9010f7cdf4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3214,18 +3214,4 @@ dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/mesh
 dataset/desktop_supplies/office_stationery/9a37f9afb4585784a8475d77235e5f4f/notebook_037.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/9f8c55f225ab5838a82b30ebefcf5a2c/mesh/notebook_003.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/9f8c55f225ab5838a82b30ebefcf5a2c/notebook_003.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a31529328e585ae594523771b2e5a4d9/a31529328e585ae594523771b2e5a4d9.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a31529328e585ae594523771b2e5a4d9/mesh/book.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a31529328e585ae594523771b2e5a4d9/mesh/book_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a1df11275353567ab3807beabbdde088/mesh/sharpener_030.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a1df11275353567ab3807beabbdde088/sharpener_030.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/ballpoint_pen_031.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a36a52c920e95cd2a20859c04ec2e8f4/mesh/ballpoint_pen_031.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/mesh/pen_holder_038.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a040dec1c2fc58c18c0f5ab03ad755a5/pen_holder_038.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a1f28a9e92c1510280ae7e2f8b70220c/mesh/stapler_007.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a1f28a9e92c1510280ae7e2f8b70220c/stapler_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/marker_016.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a4c7e0eb2fd85789ac6f0df6ec12bdcf/mesh/marker_016.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/mesh/stapler_026.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/a45c0007cc315c60a2976b6a94366ef1/stapler_026.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/a32dcba8c28b5924b9eb671b31cff68b.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/a32dcba8c28b5924b9eb671b31cff68b.urdf b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/a32dcba8c28b5924b9eb671b31cff68b.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..96581a9f9a16014a20f7f0b4c1e4ae53cfc922f6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/a32dcba8c28b5924b9eb671b31cff68b.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_45">
+   <link name="pen_holder_45">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_45.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_45_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <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>0.225000</scale>
+         <version>v0.1.5</version>
+         <category>pen holder</category>
+         <description>colorful geometric pen holder with multiple pens inserted vertically</description>
+         <min_height>0.2</min_height>
+         <max_height>0.25</max_height>
+         <real_height>0.225</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20251014175058</generate_time>
+         <gs_model>mesh/pen_holder_45_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>5.168530702590942</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>10</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/a32dcba8c28b5924b9eb671b31cff68b.usd b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/a32dcba8c28b5924b9eb671b31cff68b.usd
new file mode 100644
index 0000000000000000000000000000000000000000..337c2b0e8aed6a56ccd9ed2371fd77bd5b560ae8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/a32dcba8c28b5924b9eb671b31cff68b.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0817436b1cac1c2f7014f44e349b2401c3f865d830fcaea9defa4ca0148a615c
+size 641533
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..790ac0fae37e300716524df0ed8a986fbf20d4fc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20cc8361ece3d2cfa056f11dcd174c3f254991a94c416424564abec61edf6fda
+size 2079338
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mesh/pen_holder_45.glb b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mesh/pen_holder_45.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e65778b503b541298630efff02c5a7f28ca6b6db
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mesh/pen_holder_45.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c851bda6fac9b298c25d42fe16186244c638a170f70e0bc018f463061cb068ec
+size 2553564
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mesh/pen_holder_45.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mesh/pen_holder_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1e0e548c247dfbada8c08dd670fe16591f94463
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mesh/pen_holder_45.obj
@@ -0,0 +1,43892 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mesh/pen_holder_45_collision.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mesh/pen_holder_45_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb58f411499e38f265d07d383705367bb5cd4fd9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mesh/pen_holder_45_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:20cc8361ece3d2cfa056f11dcd174c3f254991a94c416424564abec61edf6fda
+size 2079338
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f11b6491f46387ae09d063138cae7ad7045b0f30
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d20b64ac1aa77955106175ead8205aaa0e8a1c70
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision.obj
@@ -0,0 +1,17739 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_0.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3651dd5f92baecdaf4bb6d9fb9c83f4f5bbfffa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_1.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8897df2ed5508adf5c1cf46686a9da9bbc49c1cb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_1.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_10.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bec7e5c49a7ed4b9875db66300edc73dece05ba9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_10.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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+v -0.02045013 0.04325196 0.01573793
+v -0.01429440 0.04312752 0.02104272
+v -0.02045013 0.03217874 0.01333779
+v -0.01932169 0.03740253 0.02104270
+v -0.01910745 0.03992068 0.02104271
+v -0.02045013 0.03974020 0.01968200
+v -0.01491586 0.04272447 0.02104272
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 20
+f 1 20 28
+f 1 28 32
+f 1 32 31
+f 1 31 45
+f 1 45 40
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+f 1 21 15
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+f 43 49 44
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_11.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec95a108cd61deca07dd5a68dae71468fc1040ad
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_11.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.00094234 -0.06585068 -0.06947234
+v 0.00094234 -0.07390049 -0.06947237
+v 0.00094234 -0.06460604 -0.06717774
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+v 0.00374029 -0.06392174 -0.06947233
+v 0.00566576 -0.07095320 -0.06947236
+v 0.02722196 -0.02415791 0.01188883
+v 0.01243497 -0.03159888 0.01537728
+v 0.00771909 -0.03474013 0.01423420
+v 0.00094234 -0.03881892 0.01332820
+v 0.00094234 -0.06412112 -0.06623788
+v 0.06994326 -0.01885572 -0.06947217
+v 0.00707977 -0.06163719 -0.06947233
+v 0.00094234 -0.06348532 -0.06499320
+v 0.00094234 -0.06258552 -0.06313889
+v 0.00094234 -0.06193895 -0.06176721
+v 0.00094234 -0.06095294 -0.05962501
+v 0.00094234 -0.05919105 -0.05578092
+v 0.00094234 -0.02950288 0.00923859
+v 0.02533410 -0.01885598 -0.00131993
+v 0.01377378 -0.06583451 -0.06947234
+v 0.05293747 -0.02026759 -0.01831354
+v 0.03143392 -0.02087118 0.01255775
+v 0.02925272 -0.02198112 0.01333673
+v 0.02871871 -0.02234751 0.01333673
+v 0.02612384 -0.02347901 0.01437818
+v 0.01933206 -0.02758475 0.01501321
+v 0.01685753 -0.02834447 0.01565671
+v 0.01009583 -0.03222929 0.01595304
+v 0.00616216 -0.03303750 0.01701991
+v 0.00616216 -0.03301056 0.01702837
+v 0.00094234 -0.03142646 0.01333669
+v 0.07737436 -0.01885572 -0.06947217
+v 0.00094234 -0.02848455 0.01321817
+v 0.02176145 -0.01885600 0.00635979
+v 0.03162947 -0.05430938 -0.06947230
+v 0.06770942 -0.02389905 -0.05200442
+v 0.07162804 -0.02403372 -0.05908298
+v 0.07550154 -0.02416840 -0.06617847
+v 0.06055661 -0.02051539 -0.03283474
+v 0.05312551 -0.01885592 -0.01741602
+v 0.04905645 -0.01885594 -0.01070155
+v 0.04494227 -0.01885596 -0.00424110
+v 0.03465306 -0.01885602 0.01145703
+v 0.03336691 -0.01885603 0.01333674
+v 0.03229888 -0.01970196 0.01333674
+v 0.02920760 -0.02175482 0.01379396
+v 0.02744760 -0.02175483 0.01539425
+v 0.02558230 -0.02175483 0.01612243
+v 0.02492795 -0.02175483 0.01621556
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+v 0.07747966 -0.01948074 -0.06947217
+v 0.02070847 -0.01885603 0.01292185
+v 0.02070094 -0.01885603 0.01275251
+v 0.02064829 -0.01885602 0.01000914
+v 0.02064829 -0.01885602 0.00998374
+v 0.03311118 -0.05333413 -0.06947230
+v 0.07778051 -0.02206164 -0.06947218
+v 0.06795762 -0.02063387 -0.04778776
+v 0.06430976 -0.02061774 -0.04020118
+v 0.07644171 -0.02476646 -0.06947219
+v 0.06430976 -0.01944852 -0.04020117
+v 0.06378327 -0.01885583 -0.03958307
+v 0.02099428 -0.01885603 0.01333674
+v 0.02149821 -0.02175483 0.01602929
+v 0.06829609 -0.01885580 -0.04922717
+v 0.06795762 -0.01965863 -0.04778775
+v 0.07150770 -0.02006810 -0.05558602
+v 0.07150770 -0.02038061 -0.05558602
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+f 51 66 52
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+f 53 70 54
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+f 65 69 68
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_12.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03ed945d7ad22380551c03620846cf896e5f0ce8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_12.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.02737027 0.00386788 0.01333769
+v -0.02737027 0.00817874 0.01333771
+v -0.03650235 0.00386788 0.01333769
+v -0.02737027 0.00386803 -0.02782033
+v -0.02737027 0.01034158 0.01332940
+v -0.02772694 0.01094731 0.01333772
+v -0.03650235 0.01552169 0.01333774
+v -0.03650235 0.00386794 -0.00238097
+v -0.02767509 0.00386803 -0.02698011
+v -0.02741854 0.00394218 -0.02775794
+v -0.02737027 0.00393989 -0.02788688
+v -0.02949775 0.01552169 0.01333774
+v -0.02737027 0.01067240 0.01286353
+v -0.02928322 0.01552169 0.01296754
+v -0.02930199 0.01552169 0.01301746
+v -0.02936009 0.01552169 0.01316720
+v -0.03650235 0.01552178 -0.01097856
+v -0.03650235 0.01128505 -0.00903610
+v -0.02737027 0.00416690 -0.02798253
+v -0.03650235 0.01395440 -0.01029226
+v -0.02737027 0.01223636 0.00981880
+v -0.02872006 0.01552170 0.01032627
+v -0.03127572 0.01552175 -0.00193586
+v -0.02737027 0.01365440 -0.01590755
+v -0.02737027 0.01363843 -0.01606977
+v -0.02737027 0.01321409 -0.01869440
+v -0.02737027 0.01244068 -0.02134814
+v -0.02737027 0.01121553 -0.02481716
+v -0.02737027 0.00993221 -0.02664732
+v -0.02737027 0.00842644 -0.02863972
+v -0.02737027 0.00765644 -0.02915550
+v -0.02737027 0.01337939 0.00749782
+v -0.02737027 0.01375816 -0.00154488
+v -0.02737027 0.01388252 -0.00876157
+v -0.02737027 0.01385516 -0.01243023
+v -0.02873973 0.01552170 0.00996440
+v -0.03103169 0.01552174 -0.00118299
+v -0.03006270 0.01552173 0.00190334
+v -0.02935920 0.01552172 0.00516853
+v -0.02889080 0.01552171 0.00770996
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+f 22 35 36
+f 23 37 24
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+f 24 39 40
+f 24 40 35
+f 35 40 36
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_13.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7773c0f5f2f3b72941a161e08448e59576929fab
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_13.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.07617849 0.04008488 -0.10591855
+v -0.07729195 0.03544758 -0.10423733
+v -0.07587014 0.04008488 -0.10500992
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+v -0.07756603 0.03632726 -0.10841868
+v -0.07756603 0.03632725 -0.10672062
+v -0.08132895 0.02519710 -0.10600694
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+v -0.07488802 0.04008487 -0.10212419
+v -0.07729765 0.03176301 -0.11158486
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+v -0.08135750 0.02529005 -0.10851548
+v -0.07455683 0.04008490 -0.11120904
+v -0.08225398 0.02251165 -0.10600695
+v -0.08780984 0.00617659 -0.10600701
+v -0.08480065 0.01337981 -0.10402988
+v -0.08644515 0.00617658 -0.10223791
+v -0.08143744 0.02251164 -0.10320816
+v -0.07934756 0.02250498 -0.09831589
+v -0.07809135 0.02621946 -0.09831587
+v -0.07336914 0.04008485 -0.09831582
+v -0.08105486 0.02071916 -0.11161435
+v -0.07399725 0.04008490 -0.11185405
+v -0.08546302 0.01102965 -0.10977891
+v -0.08700473 0.00617660 -0.10976351
+v -0.08747295 0.00617660 -0.10763917
+v -0.08734162 0.00617658 -0.10470297
+v -0.08469216 0.00617656 -0.09831595
+v -0.06608884 0.04008485 -0.09831582
+v -0.08131752 0.01880052 -0.11179383
+v -0.08476639 0.00956246 -0.11160878
+v -0.07173607 0.04008490 -0.11236586
+v -0.07433414 0.03736626 -0.11202934
+v -0.08182572 0.01508604 -0.11205186
+v -0.08615393 0.00617661 -0.11090630
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+v -0.02948174 0.01251674 -0.10022993
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+v -0.02948174 0.03724672 -0.10039530
+v -0.02948174 0.03884006 -0.10042754
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+v -0.07917055 0.01508604 -0.11264078
+v -0.07917055 0.01880052 -0.11243744
+v -0.08289350 0.00765709 -0.11243468
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+v -0.02948174 0.03973303 -0.10829948
+v -0.02948174 0.03230739 -0.10864866
+v -0.02948174 0.02859292 -0.10879730
+v -0.02948174 0.02487844 -0.10889267
+v -0.02948174 0.00765708 -0.10929656
+v -0.02948174 0.00617660 -0.10932602
+v -0.07173607 0.03365178 -0.11246965
+v -0.07917055 0.01137156 -0.11257069
+v -0.07917055 0.00765709 -0.11240383
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_14.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b19e5082b14ff0d6f8dbc22ea0ce33e5a3db27fa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_14.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.03754801 0.04322181 -0.00879471
+v 0.03838931 0.04850766 -0.01374224
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diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_15.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67af3e8b466f4ef83f353df8ecbf731833042cfb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_15.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_16.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0943ace7f62bd92d97ead5c3c3911f9fd50417ef
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_16.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_17.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d33ec42f39e92312e316a8c04fe7c7ecc70c78b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_17.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_18.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df535940f9020fd2e5bf4962eebea295bf96b86e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_18.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_19.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..330f7c375f6f8c3fe0dd389696b58ea2f6defafc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_19.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.05345393 0.04008475 -0.06947195
+v -0.06609691 0.04008485 -0.09831348
+v -0.06134498 0.04008475 -0.06947195
+v -0.05542011 0.03364738 -0.06947198
+v -0.08364596 -0.01443999 -0.10040927
+v -0.07336766 0.04008485 -0.09831348
+v -0.07902937 0.00142315 -0.10040921
+v -0.07840154 0.00407950 -0.10040921
+v -0.07802936 0.00602356 -0.10040920
+v -0.07800680 0.00617352 -0.10040920
+v -0.06446532 0.04008477 -0.07624323
+v -0.07978878 -0.01462219 -0.06947215
+v -0.05650283 0.03013950 -0.06947199
+v -0.07119846 -0.01462219 -0.06947821
+v -0.08385272 -0.01462208 -0.10040927
+v -0.05795021 0.02551765 -0.06947201
+v -0.05854044 0.02365928 -0.06947201
+v -0.05901037 0.02220793 -0.06947202
+v -0.06042016 0.01790742 -0.06947203
+v -0.06158935 0.01436205 -0.06947205
+v -0.07808951 0.02621933 -0.09831353
+v -0.07301803 0.04008485 -0.09739894
+v -0.08561966 0.00617352 -0.10040920
+v -0.06581495 0.04008478 -0.07920491
+v -0.07989028 -0.01462219 -0.06969625
+v -0.07119846 -0.01462219 -0.06947215
+v -0.08977008 -0.01462208 -0.10040927
+v -0.07934892 0.02250258 -0.09831355
+v -0.07202554 0.04008484 -0.09484002
+v -0.08641290 0.00382779 -0.10040921
+v -0.06653300 0.04008479 -0.08087351
+v -0.08069480 -0.01462219 -0.07150717
+v -0.08008201 -0.01462219 -0.07012324
+v -0.09185657 -0.01462208 -0.10039715
+v -0.09178137 -0.01423648 -0.10040927
+v -0.08706705 0.00185159 -0.10040921
+v -0.08798059 -0.00094401 -0.10040922
+v -0.08930767 -0.00508920 -0.10040924
+v -0.08883774 -0.01462211 -0.09198453
+v -0.09157461 -0.01462208 -0.09957648
+v -0.08989790 -0.01462210 -0.09484022
+v -0.09151446 -0.01310646 -0.10040927
+v -0.08993926 -0.00721000 -0.10040925
+v -0.09048437 -0.00906302 -0.10040925
+v -0.09030016 -0.01091069 -0.09854988
+v -0.09096558 -0.01084642 -0.10040926
+f 1 2 6
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+f 1 24 11
+f 1 11 3
+f 1 3 12
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_2.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a4976e6a49d69057a1ccee793aa1b10be53896f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_2.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.03466346 0.01883112 0.01333882
+v 0.03459544 0.01883112 0.01351017
+v 0.02491058 0.01883112 0.01333882
+v 0.03423682 0.02056729 0.01333883
+v 0.02924084 0.02993843 0.02434748
+v 0.03317126 0.01883111 0.01615591
+v 0.02924290 0.02987918 0.02434748
+v 0.02491471 0.01883112 0.01340672
+v 0.01744547 0.02028136 0.01333882
+v 0.03376278 0.02245801 0.01333883
+v 0.03274668 0.02635795 0.01333885
+v 0.03245814 0.02745014 0.01333885
+v 0.03147089 0.03118521 0.01333886
+v 0.03095769 0.03310942 0.01333887
+v 0.03049396 0.03483271 0.01333888
+v 0.02990862 0.03695011 0.01333889
+v 0.02876474 0.04107930 0.01333890
+v 0.02872970 0.04118234 0.01333890
+v 0.02775689 0.03387185 0.02434749
+v 0.03282912 0.01883111 0.01670014
+v 0.02866169 0.02617244 0.02434747
+v 0.02515173 0.01883111 0.01694909
+v 0.01580900 0.02066518 0.01333883
+v 0.02754872 0.04355991 0.01333891
+v 0.02697575 0.04307563 0.01531324
+v 0.02736323 0.03430461 0.02434750
+v 0.03090411 0.01883110 0.01918961
+v 0.02740651 0.02377427 0.02434746
+v 0.02872558 0.01883110 0.01928337
+v 0.02125223 0.02103607 0.02434745
+v 0.02119658 0.02104637 0.02434745
+v 0.01918706 0.02059303 0.01937175
+v 0.01610167 0.02078367 0.01451459
+v 0.01753616 0.02223644 0.02434745
+v 0.01748669 0.02226993 0.02434745
+v 0.01519481 0.02385670 0.02434746
+v 0.01473314 0.02336471 0.02068115
+v 0.01432711 0.02291394 0.01695556
+v 0.01387368 0.02258681 0.01333883
+v 0.02496829 0.04461088 0.01333891
+v 0.02496829 0.04345686 0.01608918
+v 0.02511669 0.03618760 0.02434750
+v 0.02554539 0.03584500 0.02434750
+v 0.02496829 0.02206128 0.02434745
+v 0.01778142 0.02138383 0.02064127
+v 0.01516596 0.02390306 0.02434746
+v 0.01360987 0.02451357 0.01883291
+v 0.01360987 0.02359656 0.01596086
+v 0.01360987 0.02292940 0.01333883
+v 0.02125223 0.04378400 0.01672178
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+v 0.01386750 0.02623169 0.02434747
+v 0.01360987 0.02630896 0.02337000
+v 0.01360987 0.04514410 0.01333892
+v 0.02125223 0.04505652 0.01333892
+v 0.01360987 0.04510288 0.01345962
+v 0.01360987 0.04506424 0.01356200
+v 0.01360987 0.04385356 0.01667975
+v 0.01360987 0.04375052 0.01683279
+v 0.01719609 0.03618503 0.02434750
+v 0.01360987 0.04136263 0.01901510
+v 0.01384895 0.02628063 0.02434747
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+v 0.01701265 0.03606653 0.02434750
+v 0.01360987 0.03382291 0.02422355
+v 0.01360987 0.02708947 0.02434747
+v 0.01406742 0.03392080 0.02434749
+v 0.01360987 0.03266117 0.02434749
+v 0.01361399 0.03267405 0.02434749
+v 0.01400353 0.03384352 0.02434749
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+f 1 22 8
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+f 1 3 9
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+f 1 23 39
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+f 47 53 54
+f 47 54 64
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+f 47 69 66
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+f 47 60 59
+f 47 59 58
+f 47 58 57
+f 47 57 55
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+f 47 49 48
+f 50 51 56
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+f 50 58 59
+f 50 59 60
+f 50 60 52
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+f 53 64 54
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_20.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1f910b38d7538f3551cb94c1d6a54245c5df40e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_20.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.02772082 0.04322173 0.01333783
+v 0.02755025 0.04356174 0.01333783
+v 0.02464051 0.04322173 0.01333783
+v 0.03072912 0.04322175 0.00819869
+v 0.03074807 0.04329299 0.00811764
+v 0.02497153 0.04461418 0.01333783
+v 0.03063183 0.04672557 0.00406470
+v 0.03754801 0.05784911 -0.02430587
+v 0.03754801 0.05820856 -0.02502730
+v 0.02464051 0.04465951 0.01333783
+v 0.02464051 0.04322180 -0.00447892
+v 0.03075692 0.04322175 0.00814195
+v 0.03079735 0.04322175 0.00804468
+v 0.03444243 0.04693931 -0.00315765
+v 0.02485530 0.04463361 0.01333783
+v 0.03754801 0.06143390 -0.03197402
+v 0.03754801 0.05369762 -0.01726186
+v 0.03754801 0.05423195 -0.01802382
+v 0.03754801 0.06174478 -0.03274409
+v 0.03754801 0.07630092 -0.06947182
+v 0.03240826 0.07629120 -0.06947182
+v 0.03109805 0.07628796 -0.06947182
+v 0.02868990 0.07628149 -0.06947182
+v 0.02497153 0.07625558 -0.06947182
+v 0.02464051 0.07625234 -0.06947182
+v 0.03754801 0.04322188 -0.02792926
+v 0.02464051 0.06846431 -0.06947185
+v 0.03620875 0.04322180 -0.00540299
+v 0.03587646 0.04479559 -0.00540299
+v 0.03754801 0.04860057 -0.01198495
+v 0.03754801 0.05106167 -0.01405194
+v 0.03754801 0.06942284 -0.06947184
+v 0.03754801 0.04322181 -0.00879936
+v 0.03664843 0.04322180 -0.00650539
+v 0.03751769 0.04322181 -0.00871830
+v 0.03737997 0.04485713 -0.00926950
+v 0.03754801 0.04528459 -0.00994228
+v 0.03754801 0.04324124 -0.00880746
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+f 36 38 37
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_21.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..996218b4d6fc56842529bca033e3042aeae5b8f7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_21.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
+v -0.02710093 -0.05183291 0.10637517
+v -0.02455706 -0.05080862 0.10637517
+v -0.02459709 -0.05078493 0.11010557
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+v -0.02979493 -0.05092974 0.10637517
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+v -0.01661185 -0.04047864 0.06485810
+v -0.02710093 -0.05057956 0.11253691
+v -0.02927114 -0.05032414 0.11236137
+v -0.02960977 -0.05077440 0.11010557
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+v -0.01661185 -0.04098679 0.05049826
+v -0.01661185 -0.04193739 0.05863491
+v -0.02487567 -0.04946310 0.11233503
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+v -0.02927114 -0.04943150 0.11236137
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+v -0.02485732 -0.03486747 0.08254458
+v -0.02710093 -0.04791217 0.11010558
+v -0.01661185 -0.03845901 0.06327818
+v -0.02929616 -0.03857760 0.08994392
+v -0.03009519 -0.03802463 0.08774957
+v -0.03195513 -0.03945706 0.08774957
+v -0.03261904 -0.03885933 0.08541478
+v -0.03290262 -0.04207178 0.09021601
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+v -0.03286091 -0.03968344 0.06911513
+v -0.03326627 -0.04030756 0.08411572
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+v -0.03283923 -0.04296436 0.07373204
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diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_22.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99e91d7190b7d990b76efec320b614192be15986
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_22.obj
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diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_23.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..022b793c12863ec3c6e1f3d124b489f48934d301
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_23.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_24.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8c067dd397de9d141a62a8df910ebdf04a8d83c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_24.obj
@@ -0,0 +1,433 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_25.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb978c1d560eb0666d53f83cd582765fb8220010
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_25.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.01661018 -0.02493240 0.02286707
+v -0.00445252 -0.02493240 0.02286707
+v -0.01661018 -0.03356329 0.02286704
+v -0.01661018 -0.02493249 0.04555159
+v -0.00288307 -0.02758673 0.03013398
+v -0.00228853 -0.02661185 0.02286706
+v -0.01497520 -0.03643605 0.02286703
+v -0.01661018 -0.03783145 0.03903854
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+v -0.00036108 -0.03690963 0.03558727
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+v -0.00171797 -0.03783141 0.02813606
+v -0.00059282 -0.03783145 0.03931497
+v -0.00075105 -0.03783144 0.03565847
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_26.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8638543e12e7b127ee7cba92bc1071e55bfaa9c5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_26.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.07648688 0.04008980 -0.10600893
+v 0.07529177 0.04331062 -0.10389081
+v 0.07609459 0.04008979 -0.10392344
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+v 0.07571143 0.04108462 -0.10867559
+v 0.07533739 0.04346331 -0.10814394
+v 0.06402957 0.08379756 -0.10787918
+v 0.06402957 0.08379756 -0.10784172
+v 0.07287877 0.04690573 -0.10020677
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+v 0.06452221 0.07805520 -0.10236946
+v 0.06379237 0.07805519 -0.10020665
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+v 0.06487800 0.07821774 -0.10919017
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+v 0.07463493 0.04040005 -0.10020679
+v 0.07470791 0.04008978 -0.10020679
+v 0.06335447 0.08187686 -0.10236945
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+v 0.07227666 0.04008982 -0.11195847
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+v 0.05781688 0.08816092 -0.10020662
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+v 0.05956392 0.08706269 -0.10020662
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+v 0.02988715 0.04008978 -0.10052819
+v 0.02988715 0.08115782 -0.10020664
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+v 0.06960365 0.04108463 -0.11252031
+v 0.06216394 0.07078620 -0.11211786
+v 0.02988715 0.08440332 -0.11176498
+v 0.02988715 0.08625998 -0.11114755
+v 0.02988715 0.08797381 -0.10988490
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+v 0.04728907 0.08884550 -0.10935446
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_27.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95357a8500d96f0585a8fa67e9574df59bb6f5e6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_27.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.08575609 0.00617658 -0.10288685
+v 0.07326997 0.00617647 -0.07364238
+v 0.07775504 0.00617658 -0.10288685
+v 0.08254636 0.01864795 -0.10288680
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_28.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b44f1ba2c2c0f5e71339028ad7454321d2a765dc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_28.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.00121936 0.06957890 -0.06947184
+v 0.00121936 0.07831839 -0.09110245
+v 0.00121936 0.07627651 -0.06947182
+v -0.04646753 0.06274516 -0.06947187
+v 0.00121936 0.08128281 -0.09833902
+v 0.00121936 0.08549999 -0.09110243
+v -0.00106812 0.08551259 -0.09110243
+v -0.04197661 0.07651094 -0.06947182
+v -0.04646753 0.07588580 -0.06947182
+v -0.04646753 0.08106351 -0.09833902
+v -0.03081932 0.08111140 -0.09833902
+v -0.02338269 0.08114417 -0.09833902
+v 0.00121936 0.08847954 -0.09833899
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+v -0.00478877 0.08553024 -0.09110243
+v 0.00121936 0.08690154 -0.09441977
+v -0.04197661 0.08555545 -0.09110243
+v -0.04646753 0.08007783 -0.07805060
+v -0.04569726 0.07930143 -0.07618565
+v -0.04569726 0.07767050 -0.07247270
+v -0.04569726 0.07658405 -0.07010760
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diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_29.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a249907c4149f688b87547877868acec9de65cf6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_29.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_3.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41b1eec9f0d20c96e87ab9c64093eabdc13dc208
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_3.obj
@@ -0,0 +1,433 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_30.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d23949197695014bb40908f88650b1892fd2882a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_30.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_31.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75e949bca62ea78ad57c8a954fb7e72f20a138de
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_31.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_32.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a782d027025b713e9c44e0a7595cd14797b8821
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_32.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_33.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..556a1ee4319bf56a2fca6b75c8ced87e5f713fea
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_33.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_34.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f7ff70679f22803726272b43b475a846538b51c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_34.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_35.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbfd6feb2e15f97a559e35138be99abdb5a9982f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_35.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_36.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e56150171d8f44b075b3fe95a486a200134efac6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_36.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_37.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a94a937d0c86deb983833dc0a343fce524bd85f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_37.obj
@@ -0,0 +1,571 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_38.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfb2ecff670c10f90e034ce0b95edd1496758234
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_38.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.00174700 0.00386819 -0.06946831
+v 0.01468579 0.00386819 -0.06946831
+v 0.00174700 -0.01009100 -0.06946836
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+v 0.01365325 -0.00046523 -0.03083995
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+v 0.01271091 0.00386809 -0.04318786
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_39.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8deda23bca54b7e84d722f79b6bd87800eea8855
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_39.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.03295856 -0.01573850 0.01334141
+v -0.03295856 -0.01984896 0.01334140
+v -0.03295856 -0.01573851 0.01598684
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_4.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1018479f0ed37a64ddee69ebcb53c79a3e1c5d4a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_4.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
+v -0.00374263 0.03309645 0.02812256
+v -0.00374263 0.04618610 0.02812261
+v 0.00265362 0.03311712 0.02812256
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diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_40.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12b8605ac70380921dcae353d7ceaec9bdc3b7c6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_40.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.02988715 0.04008486 -0.10052830
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+v 0.02988715 0.04008489 -0.10843708
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_41.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fb3feabedc4da559efadd0c211d791848039bc4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_41.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.08008073 -0.01534793 -0.06947216
+v -0.07291644 0.00386819 -0.06947209
+v -0.07944200 -0.01776134 -0.06947217
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_42.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dd0ffae3ac0df4b742b71d1fce690f6d2ff67a9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_42.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.08675913 0.00617659 -0.10600862
+v 0.08674976 0.00617660 -0.10855310
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diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_43.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a83bf9e8910fa8b333a6d2df5054ecd14bce565
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_43.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_44.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..769161874607d2ea4d8f3aa258d6542cf0ae27e3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_44.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.01139395 -0.01885603 0.01333760
+v -0.01361582 -0.01561738 0.01333761
+v -0.01658788 -0.01885603 0.01333760
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_45.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc8c8d258da53055ba64f41672e095039f9dfa6a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_45.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.03889964 -0.01885593 -0.01419727
+v 0.05098102 -0.01885593 -0.01419727
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+v 0.05229577 -0.01706533 -0.01419726
+v 0.05313585 -0.01885592 -0.01740577
+v 0.04889023 0.00265794 -0.01419719
+v 0.07574654 -0.01091259 -0.06933687
+v 0.07531707 -0.00875497 -0.06947213
+v 0.07504207 -0.00763612 -0.06947213
+v 0.07199442 0.00386819 -0.06944504
+v 0.07200195 0.00386819 -0.06946668
+v 0.07286087 0.00036484 -0.06947210
+v 0.06994883 -0.01885572 -0.06947217
+v 0.05255571 -0.01593981 -0.01419726
+v 0.05290229 -0.01656485 -0.01465175
+v 0.06378194 -0.01885583 -0.03958931
+v 0.04938750 0.00022673 -0.01419720
+v 0.07729862 -0.01833967 -0.06947217
+v 0.07580305 -0.01091258 -0.06947214
+v 0.07568626 -0.01039209 -0.06947214
+v 0.07738150 -0.01885572 -0.06947217
+v 0.04939503 0.00018891 -0.01419720
+v 0.05290229 -0.01638468 -0.01465175
+v 0.06829880 -0.01885580 -0.04923645
+f 1 2 13
+f 1 13 19
+f 1 19 29
+f 1 29 37
+f 1 37 32
+f 1 32 21
+f 1 21 15
+f 1 15 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 18
+f 1 18 28
+f 1 28 36
+f 1 36 39
+f 1 39 31
+f 1 31 20
+f 1 20 14
+f 1 14 2
+f 2 14 13
+f 3 15 25
+f 3 25 26
+f 3 26 16
+f 3 16 11
+f 3 11 10
+f 3 10 9
+f 3 9 8
+f 3 8 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 11 16 27
+f 11 27 24
+f 11 24 23
+f 11 23 35
+f 11 35 34
+f 11 34 33
+f 11 33 36
+f 11 36 28
+f 11 28 17
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+f 11 18 12
+f 13 14 20
+f 13 20 19
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 16 26 27
+f 17 28 18
+f 19 20 30
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+f 20 31 30
+f 21 32 22
+f 22 33 34
+f 22 34 35
+f 22 35 23
+f 22 32 33
+f 24 27 26
+f 24 26 25
+f 29 30 38
+f 29 38 37
+f 30 31 39
+f 30 39 36
+f 30 36 38
+f 32 37 38
+f 32 38 33
+f 33 38 36
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_46.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2c76b7ac2a825198160545dd5c55c0c8856a38c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_46.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.09079999 -0.02454330 -0.10600802
+v -0.09003977 -0.02530515 -0.10600802
+v -0.08960169 -0.02454331 -0.10258395
+v -0.08951149 -0.02454329 -0.10973710
+v -0.08935687 -0.02476421 -0.10973312
+v -0.08939552 -0.02464035 -0.10228292
+v -0.08585214 -0.02847645 -0.10894673
+v -0.08788798 -0.02716334 -0.10600803
+v -0.08927955 -0.02454332 -0.10178032
+v -0.08912493 -0.02454329 -0.11021848
+v -0.08810702 -0.02454328 -0.11123297
+v -0.06557109 -0.04279688 -0.09989729
+v -0.08176758 -0.03190376 -0.10861390
+v -0.08438325 -0.02730991 -0.11143190
+v -0.06139635 -0.04563574 -0.11080869
+v -0.06265908 -0.04563575 -0.10975044
+v -0.06347083 -0.04563575 -0.10905422
+v -0.07767015 -0.03532902 -0.10827840
+v -0.07767015 -0.03532903 -0.10691646
+v -0.08603252 -0.02862098 -0.10600804
+v -0.06616381 -0.04249131 -0.10038265
+v -0.08833895 -0.02454332 -0.09989722
+v -0.08677986 -0.02454328 -0.11180320
+v -0.06193752 -0.04563578 -0.09989730
+v -0.07375309 -0.03517622 -0.11166798
+v -0.06153808 -0.04536733 -0.11096252
+v -0.05955379 -0.04563574 -0.11182318
+v -0.06415374 -0.04563576 -0.10600810
+v -0.06700134 -0.04313545 -0.10876114
+v -0.06384450 -0.04563576 -0.10502411
+v -0.06322602 -0.04563577 -0.10314366
+v -0.06262042 -0.04563578 -0.10155761
+v 0.00195936 -0.02454332 -0.09989722
+v -0.08661235 -0.02454328 -0.11183504
+v -0.08661235 -0.02460935 -0.11182443
+v -0.04982559 -0.04563578 -0.09989730
+v -0.07777322 -0.03168696 -0.11177406
+v -0.05888376 -0.04563574 -0.11194385
+v -0.08190931 -0.02819151 -0.11184697
+v -0.00045014 -0.02559629 -0.09989722
+v 0.00264227 -0.03690850 -0.10196072
+v 0.04080773 -0.04563576 -0.10652927
+v 0.01756313 -0.02454332 -0.10130822
+v -0.08433170 -0.02454328 -0.11211617
+v -0.00087535 -0.02577591 -0.09989722
+v -0.05554654 -0.04563574 -0.11238015
+v 0.04080773 -0.04563573 -0.11343442
+v 0.04080773 -0.02454330 -0.10536883
+v 0.03495793 -0.02454331 -0.10382389
+v 0.03218764 -0.02454331 -0.10324304
+v 0.02990699 -0.02454331 -0.10277624
+v 0.02619610 -0.02454331 -0.10220733
+v 0.02247233 -0.02454332 -0.10178165
+v 0.02124825 -0.02454332 -0.10166097
+v 0.01874856 -0.02454332 -0.10141696
+v -0.05183565 -0.04563574 -0.11254459
+v -0.05684793 -0.04433501 -0.11238678
+v 0.04080773 -0.02454328 -0.11286941
+v 0.04080773 -0.03319621 -0.11323811
+v 0.04080773 -0.03690845 -0.11337472
+v 0.04080773 -0.04062276 -0.11343308
+v 0.04080773 -0.04433500 -0.11344370
+v 0.03984136 -0.04563573 -0.11343576
+v 0.03611758 -0.04433500 -0.11340391
+v 0.03611758 -0.04563573 -0.11340657
+v 0.03984136 -0.04433500 -0.11343707
+f 1 2 3
+f 1 3 9
+f 1 9 22
+f 1 22 33
+f 1 33 43
+f 1 43 55
+f 1 55 54
+f 1 54 53
+f 1 53 52
+f 1 52 51
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+f 1 50 49
+f 1 49 48
+f 1 48 58
+f 1 58 44
+f 1 44 34
+f 1 34 23
+f 1 23 11
+f 1 11 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 6 9
+f 4 10 5
+f 5 10 11
+f 5 11 7
+f 6 8 12
+f 6 12 9
+f 7 13 8
+f 7 11 14
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 13
+f 8 13 18
+f 8 18 19
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+f 8 20 21
+f 8 21 12
+f 9 12 22
+f 11 23 14
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+f 12 40 33
+f 12 33 22
+f 13 17 18
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+f 14 26 15
+f 15 26 27
+f 15 27 38
+f 15 38 46
+f 15 46 56
+f 15 56 65
+f 15 65 63
+f 15 63 47
+f 15 47 42
+f 15 42 36
+f 15 36 24
+f 15 24 32
+f 15 32 31
+f 15 31 30
+f 15 30 28
+f 15 28 17
+f 15 17 16
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+f 17 29 18
+f 18 29 28
+f 18 28 19
+f 19 28 20
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+f 20 30 31
+f 20 31 32
+f 20 32 21
+f 21 32 24
+f 23 34 35
+f 23 35 25
+f 25 35 37
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+f 25 27 26
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+f 27 39 38
+f 33 40 41
+f 33 41 42
+f 33 42 43
+f 34 44 39
+f 34 39 35
+f 35 39 37
+f 36 42 41
+f 36 41 45
+f 38 39 46
+f 39 44 46
+f 40 45 41
+f 42 47 62
+f 42 62 61
+f 42 61 60
+f 42 60 59
+f 42 59 58
+f 42 58 48
+f 42 48 49
+f 42 49 50
+f 42 50 51
+f 42 51 52
+f 42 52 53
+f 42 53 54
+f 42 54 55
+f 42 55 43
+f 44 56 57
+f 44 57 46
+f 44 58 59
+f 44 59 60
+f 44 60 61
+f 44 61 56
+f 46 57 56
+f 47 63 62
+f 56 61 64
+f 56 64 65
+f 61 62 66
+f 61 66 64
+f 62 63 66
+f 63 65 66
+f 64 66 65
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_47.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ca7c84413069d1a1986bb474364ab041d9afb95
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_47.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.06721895 0.02110420 -0.06947202
+v -0.06186170 0.03843093 -0.06947196
+v -0.05937166 0.02110420 -0.06947202
+v -0.03424098 0.02110389 0.01318374
+v -0.06082696 0.04171631 -0.06947195
+v -0.05900784 0.02220696 -0.06947202
+v -0.05902452 0.02110419 -0.06871817
+v -0.03417088 0.02110389 0.01333775
+v -0.03357007 0.02263532 0.01333775
+v -0.05675144 0.05453383 -0.06947190
+v -0.05890770 0.02251128 -0.06947202
+v -0.05870743 0.02110419 -0.06802107
+v -0.03311946 0.02110389 0.01333775
+v -0.03356340 0.02265168 0.01333775
+v -0.04906438 0.05453383 -0.06947190
+v -0.03311946 0.02371190 0.01333776
+v -0.03621699 0.05359451 -0.02257122
+v -0.03683115 0.05453366 -0.02489761
+v -0.05853386 0.02366312 -0.06947201
+v -0.03312280 0.05453370 -0.03568655
+v -0.05845375 0.02110419 -0.06746176
+v -0.03311946 0.02110396 -0.00672433
+v -0.04881737 0.05453382 -0.06895312
+v -0.04996560 0.05142844 -0.06947191
+v -0.03311946 0.02909155 0.00810948
+v -0.03379705 0.05239683 -0.01638644
+v -0.03315951 0.05453363 -0.01749694
+v -0.05776615 0.02609443 -0.06947200
+v -0.04869054 0.05453382 -0.06868563
+v -0.03311946 0.05453369 -0.03314130
+v -0.03311946 0.05304809 -0.03434098
+v -0.03311946 0.05241980 -0.03384652
+v -0.03715158 0.02110400 -0.01671889
+v -0.04115367 0.02651313 -0.03117978
+v -0.04347682 0.02338812 -0.03417086
+v -0.05512591 0.02110416 -0.05993139
+v -0.05576010 0.02110417 -0.06139045
+v -0.05735893 0.02110418 -0.06500567
+v -0.05796309 0.02110418 -0.06636746
+v -0.05649777 0.03014552 -0.06947199
+v -0.05541631 0.03365340 -0.06947198
+v -0.05100700 0.04797291 -0.06947192
+v -0.05070994 0.04895787 -0.06947192
+v -0.03311946 0.03228858 0.00494009
+v -0.03311946 0.05133333 -0.01401952
+v -0.03311946 0.05298257 -0.01579471
+v -0.03311946 0.05453363 -0.01747262
+v -0.04378723 0.02110406 -0.03291446
+v -0.04399752 0.02110406 -0.03341702
+f 1 2 5
+f 1 5 10
+f 1 10 15
+f 1 15 24
+f 1 24 43
+f 1 43 42
+f 1 42 41
+f 1 41 40
+f 1 40 28
+f 1 28 19
+f 1 19 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 12
+f 1 12 21
+f 1 21 39
+f 1 39 38
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+f 1 48 33
+f 1 33 22
+f 1 22 13
+f 1 13 8
+f 1 8 4
+f 1 4 2
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+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 6 11 7
+f 7 11 12
+f 8 13 16
+f 8 16 14
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+f 9 14 10
+f 10 14 16
+f 10 16 17
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+f 10 29 23
+f 10 23 15
+f 11 19 20
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+f 13 30 47
+f 13 47 46
+f 13 46 45
+f 13 45 44
+f 13 44 25
+f 13 25 16
+f 15 23 24
+f 16 25 17
+f 17 25 26
+f 17 26 27
+f 17 27 18
+f 19 28 20
+f 20 30 31
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+f 20 32 22
+f 20 22 33
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 20 36 37
+f 20 37 38
+f 20 38 39
+f 20 39 21
+f 20 28 40
+f 20 40 41
+f 20 41 42
+f 20 42 43
+f 20 43 24
+f 20 24 29
+f 23 29 24
+f 25 44 26
+f 26 44 45
+f 26 45 27
+f 27 45 46
+f 27 46 47
+f 33 48 35
+f 33 35 34
+f 35 48 49
+f 35 49 36
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_48.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2614ffd46f58c466476218df1614ce1172f3cbf7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_48.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.01725103 0.04569513 0.01074826
+v -0.01725103 0.04682819 0.00807059
+v -0.01851386 0.04679513 0.00798421
+v -0.01970679 0.04569513 0.01012007
+v -0.01725103 0.04569521 -0.00981720
+v -0.01725103 0.07632078 -0.06947182
+v -0.03311946 0.07639591 -0.06947182
+v -0.03311946 0.06441614 -0.03893385
+v -0.03311946 0.06292544 -0.03520397
+v -0.03311946 0.06183145 -0.03254200
+v -0.02338343 0.04720087 0.00518875
+v -0.02338343 0.04632027 0.00705763
+v -0.02338343 0.04569514 0.00816482
+v -0.03311946 0.04569527 -0.02731236
+v -0.01725103 0.04737826 -0.01466998
+v -0.01725103 0.06950446 -0.06947184
+v -0.03311946 0.06938725 -0.06947185
+v -0.03311946 0.05834512 -0.02471317
+v -0.02567609 0.04694542 0.00463123
+v -0.02393485 0.04569514 0.00762300
+v -0.01725103 0.05099384 -0.02431272
+v -0.01725103 0.05025750 -0.02245171
+v -0.01725103 0.04942799 -0.02030800
+v -0.01725103 0.04804849 -0.01658596
+v -0.03311946 0.04569520 -0.00850584
+v -0.03082059 0.06939025 -0.06947185
+v -0.01725103 0.06866593 -0.06750875
+v -0.03311946 0.05454322 -0.01747326
+v -0.03222943 0.05375580 -0.01500761
+v -0.02943195 0.05078038 -0.00636212
+v -0.02895043 0.04663888 0.00017107
+v -0.02643565 0.04569515 0.00516520
+v -0.03299675 0.04569520 -0.00819960
+v -0.03311946 0.04731213 -0.01002921
+v -0.03311946 0.05298641 -0.01579286
+v -0.02912440 0.04569517 0.00083067
+v -0.02837882 0.04569516 0.00213417
+v -0.02821417 0.04569516 0.00241685
+v -0.03232107 0.04569519 -0.00662127
+v -0.03307908 0.04748645 -0.01010773
+v -0.03311946 0.04755858 -0.01027263
+v -0.03311946 0.05133642 -0.01401821
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 20
+f 1 20 32
+f 1 32 38
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+f 1 36 39
+f 1 39 33
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+f 1 14 5
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+f 18 28 29
+f 18 29 30
+f 18 30 19
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+f 19 31 32
+f 19 32 20
+f 25 33 34
+f 28 35 36
+f 28 36 31
+f 28 31 30
+f 28 30 29
+f 31 36 37
+f 31 37 38
+f 31 38 32
+f 33 39 34
+f 34 40 41
+f 34 39 36
+f 34 36 40
+f 35 42 36
+f 36 41 40
+f 36 42 41
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_49.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b280b0aea14fd371ea056924a223d269ef9838e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_49.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.00632911 0.00114032 -0.09740789
+v 0.00120716 0.00114032 -0.09740789
+v -0.00838846 0.00013872 -0.09740789
+v -0.00100736 0.00016968 -0.08971786
+v 0.00215159 0.00114029 -0.08971786
+v 0.00940817 0.00114029 -0.09062567
+v 0.00414773 -0.00118262 -0.09740789
+v -0.00841337 0.00007999 -0.09740789
+v -0.00267783 -0.00348601 -0.08971787
+v 0.00991583 0.00114029 -0.08971786
+v 0.00769364 -0.00675669 -0.09740791
+v 0.00640822 -0.00343704 -0.09740790
+v -0.00959726 -0.00348598 -0.09740790
+v -0.00268741 -0.00360672 -0.08971787
+v 0.00978365 -0.00721837 -0.08971789
+v 0.00768023 -0.00719876 -0.09740792
+v -0.00961258 -0.00379755 -0.09740790
+v -0.00279660 -0.00719879 -0.08971789
+v -0.00435788 -0.00719878 -0.09141533
+v 0.00885454 -0.00918732 -0.08971789
+v 0.00640439 -0.01090013 -0.09740793
+v -0.00965473 -0.00755438 -0.09740792
+v -0.00386938 -0.01018891 -0.09196334
+v -0.00272764 -0.00740433 -0.08971789
+v 0.00865914 -0.00947442 -0.08971789
+v 0.00637757 -0.01094743 -0.09740793
+v -0.00844210 -0.01089197 -0.09740793
+v -0.00099395 -0.01044340 -0.08971790
+v -0.00708197 -0.01316923 -0.09740794
+v 0.00755380 -0.01007147 -0.08971790
+v 0.00262093 -0.01440085 -0.09740794
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+v -0.00484829 -0.01465369 -0.09740794
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_5.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba0782041b9eb404d245ee959306fb2e9f585059
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_5.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.02045014 0.03185529 0.01390775
+v -0.02045014 0.03217537 0.01333779
+v -0.02045014 0.03195949 0.01610150
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+v -0.02844819 0.01883103 0.01342313
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_50.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9af4fbb11073dac89b8e5df9b55d3856dddcefef
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_50.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.00180471 0.03009647 -0.10018372
+v -0.00617411 0.02845241 -0.10018373
+v -0.00078334 0.03009647 -0.09963417
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_51.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0494c98bfc57ff000bd2d94da7cc221f59f59e59
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_51.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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+f 52 67 64
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+f 55 63 66
+f 55 66 68
+f 55 68 65
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+f 59 71 82
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+f 72 86 101
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+f 75 89 77
+f 75 81 76
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+f 79 92 93
+f 79 93 80
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+f 80 95 96
+f 80 96 85
+f 80 85 94
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+f 84 87 98
+f 84 98 97
+f 85 95 93
+f 85 93 92
+f 85 92 91
+f 85 91 90
+f 85 99 94
+f 85 96 95
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+f 89 91 92
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+f 97 98 103
+f 98 104 100
+f 98 100 103
+f 99 105 106
+f 99 106 107
+f 99 107 102
+f 100 104 101
+f 101 108 106
+f 101 106 109
+f 101 104 110
+f 101 110 111
+f 101 111 112
+f 101 112 113
+f 101 113 114
+f 101 114 108
+f 102 115 116
+f 102 107 115
+f 105 117 106
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+f 106 118 116
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+f 106 119 107
+f 106 117 109
+f 107 119 115
+f 108 114 118
+f 113 116 114
+f 114 116 118
+f 115 119 116
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_52.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a06079eb1984295bad82f0fc8317f3efd5822d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_52.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.03210362 -0.01885603 0.01333760
+v 0.02099196 -0.01885603 0.01333760
+v 0.03210362 -0.01885599 0.00206873
+v 0.03210362 0.00386565 0.01333768
+v 0.02070184 -0.01885603 0.01292612
+v 0.02012712 -0.01091289 0.01333763
+v 0.02412528 -0.01885599 0.00206873
+v 0.03210362 -0.00394843 0.00206879
+v 0.03210362 0.00386789 0.01145568
+v 0.02523603 0.00386788 0.01322847
+v 0.02524155 0.00386565 0.01333768
+v 0.02069770 -0.01885603 0.01275403
+v 0.01799128 -0.01091285 0.00206876
+v 0.02085243 -0.00730945 0.01333764
+v 0.01805897 -0.00720042 0.00206877
+v 0.01805759 -0.00721599 0.00206877
+v 0.02317202 -0.01885599 0.00370583
+v 0.02236659 -0.01722777 0.00206874
+v 0.02700024 -0.00153946 0.00206879
+v 0.03210362 0.00386790 0.00698453
+v 0.01890171 -0.00464910 0.00206878
+v 0.02615889 0.00386789 0.01065919
+v 0.02118400 -0.00250928 0.00206879
+v 0.01901499 -0.00453788 0.00206878
+v 0.01926643 -0.00515626 0.00433910
+v 0.02088835 -0.00719156 0.01333764
+v 0.02064658 -0.01885602 0.01002037
+v 0.01799542 -0.01092620 0.00206876
+v 0.02205712 -0.01885600 0.00573346
+v 0.02050566 -0.01540825 0.00206874
+v 0.02473453 -0.00138154 0.00206879
+v 0.02398574 -0.00140600 0.00206879
+v 0.02172141 -0.00216006 0.00206879
+v 0.02064658 -0.01885602 0.00999610
+v 0.01883678 -0.01353536 0.00206875
+v 0.02175871 -0.01885600 0.00636998
+f 1 2 5
+f 1 5 12
+f 1 12 27
+f 1 27 34
+f 1 34 36
+f 1 36 29
+f 1 29 17
+f 1 17 7
+f 1 7 3
+f 1 3 8
+f 1 8 20
+f 1 20 9
+f 1 9 4
+f 1 4 11
+f 1 11 26
+f 1 26 14
+f 1 14 6
+f 1 6 2
+f 2 6 5
+f 3 7 18
+f 3 18 30
+f 3 30 35
+f 3 35 28
+f 3 28 13
+f 3 13 16
+f 3 16 15
+f 3 15 21
+f 3 21 24
+f 3 24 23
+f 3 23 33
+f 3 33 32
+f 3 32 31
+f 3 31 19
+f 3 19 8
+f 4 9 10
+f 4 10 11
+f 5 6 13
+f 5 13 12
+f 6 14 15
+f 6 15 16
+f 6 16 13
+f 7 17 18
+f 8 19 20
+f 9 20 22
+f 9 22 10
+f 10 21 11
+f 10 22 23
+f 10 23 24
+f 10 24 21
+f 11 21 25
+f 11 25 26
+f 12 13 28
+f 12 28 27
+f 14 26 15
+f 15 26 25
+f 15 25 21
+f 17 29 18
+f 18 29 30
+f 19 31 20
+f 20 31 32
+f 20 32 22
+f 22 32 33
+f 22 33 23
+f 27 28 35
+f 27 35 34
+f 29 36 30
+f 30 36 35
+f 34 35 36
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_53.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f72af311ae049c0186230f551fac5169d52d38f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_53.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.01725103 0.07631705 -0.06947182
+v -0.01725103 0.06950599 -0.06947184
+v -0.01725103 0.07630428 -0.06943129
+v -0.01717722 0.07631705 -0.06947182
+v 0.02458310 0.06844856 -0.06947185
+v -0.01725103 0.06947723 -0.06940700
+v 0.02464051 0.07625316 -0.06947182
+v -0.01725103 0.04682986 0.00806902
+v -0.01594295 0.04495137 0.01333785
+v -0.01223192 0.04511430 0.01333785
+v 0.00265729 0.04525806 0.01333785
+v 0.00626170 0.04525486 0.01333785
+v -0.01725103 0.05099584 -0.02432210
+v -0.01725103 0.06866578 -0.06750212
+v -0.01725103 0.06899803 -0.06828839
+v 0.02463231 0.06844856 -0.06947185
+v -0.00106604 0.04368634 -0.00646485
+v 0.02464051 0.06846453 -0.06947185
+v 0.00998093 0.04521013 0.01333785
+v 0.02113041 0.04506318 0.01333785
+v 0.02124933 0.04505998 0.01333785
+v 0.02464051 0.04466065 0.01333784
+v -0.01725103 0.04481080 0.01322436
+v -0.01725103 0.04476607 0.01333784
+v -0.01725103 0.05025786 -0.02245776
+v 0.02464051 0.04805351 -0.01692143
+v 0.00265729 0.04368634 -0.00635137
+v -0.00117675 0.04368634 -0.00645675
+v -0.01725103 0.04943043 -0.02031780
+v 0.02464051 0.04368627 0.01333784
+v -0.01725103 0.04368627 0.01333784
+v 0.02464051 0.04369273 -0.00549215
+v 0.02464051 0.04368634 -0.00545972
+v -0.00845119 0.04368634 -0.00592176
+v -0.01201049 0.04368634 -0.00558131
+v -0.01725103 0.04804712 -0.01658909
+v -0.01725103 0.04368634 -0.00456808
+v -0.01543448 0.04368634 -0.00498148
+v -0.01725103 0.04390997 -0.00520034
+f 1 2 6
+f 1 6 15
+f 1 15 14
+f 1 14 13
+f 1 13 25
+f 1 25 29
+f 1 29 36
+f 1 36 39
+f 1 39 37
+f 1 37 31
+f 1 31 24
+f 1 24 23
+f 1 23 8
+f 1 8 3
+f 1 3 4
+f 1 4 7
+f 1 7 18
+f 1 18 16
+f 1 16 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 7
+f 5 13 14
+f 5 14 15
+f 5 15 6
+f 5 16 17
+f 5 17 13
+f 7 12 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 30
+f 7 30 33
+f 7 33 32
+f 7 32 26
+f 7 26 18
+f 8 23 9
+f 9 23 24
+f 9 24 31
+f 9 31 30
+f 9 30 22
+f 9 22 21
+f 9 21 20
+f 9 20 19
+f 9 19 12
+f 9 12 11
+f 9 11 10
+f 13 17 25
+f 16 18 26
+f 16 26 27
+f 16 27 17
+f 17 27 33
+f 17 33 30
+f 17 30 31
+f 17 31 37
+f 17 37 38
+f 17 38 35
+f 17 35 34
+f 17 34 28
+f 17 28 29
+f 17 29 25
+f 26 32 27
+f 27 32 33
+f 28 34 29
+f 29 34 35
+f 29 35 36
+f 35 38 36
+f 36 38 39
+f 37 39 38
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_54.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed2bd80969b929944d8fe457b20116c535f487c4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_54.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.01941257 -0.01573764 0.02502673
+v -0.01917464 -0.01573764 0.02489973
+v -0.01974725 -0.01047910 0.01333763
+v -0.01961913 -0.01573764 0.02502673
+v -0.01891447 -0.01573764 0.02460567
+v -0.01994205 -0.01048013 0.01333763
+v -0.01663185 -0.01573763 0.02195685
+v -0.01749208 -0.01257633 0.01551274
+v -0.01688547 -0.01204970 0.01333763
+v -0.02313458 -0.01573764 0.02407362
+v -0.02244692 -0.01102940 0.01333763
+v -0.02207433 -0.01217532 0.01623360
+v -0.02334637 -0.01573764 0.02397521
+v -0.01478849 -0.01573762 0.01810777
+v -0.01501728 -0.01376599 0.01333762
+v -0.02253190 -0.01110198 0.01333763
+v -0.02466679 -0.01573763 0.02213535
+v -0.01367725 -0.01573760 0.01403443
+v -0.01361711 -0.01561714 0.01333761
+v -0.02689189 -0.01573760 0.01333761
+v -0.02523810 -0.01573762 0.02017305
+v -0.01353606 -0.01573760 0.01333761
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 13
+f 1 13 17
+f 1 17 21
+f 1 21 20
+f 1 20 22
+f 1 22 18
+f 1 18 14
+f 1 14 7
+f 1 7 5
+f 1 5 2
+f 2 5 3
+f 3 6 4
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 3 9 15
+f 3 15 19
+f 3 19 22
+f 3 22 20
+f 3 20 16
+f 3 16 11
+f 3 11 6
+f 4 6 10
+f 6 11 12
+f 6 12 13
+f 6 13 10
+f 7 9 8
+f 7 14 9
+f 9 14 15
+f 11 16 17
+f 11 17 13
+f 11 13 12
+f 14 18 15
+f 15 18 19
+f 16 20 21
+f 16 21 17
+f 18 22 19
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_55.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a1d45a2ff23bca463b8a467d5c30cae1b6e9c92
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_55.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.02564205 -0.02760491 -0.10001032
+v -0.02564205 -0.02760491 -0.09901032
+v -0.02564205 -0.02454362 -0.10001032
+v -0.02564205 -0.02454362 -0.09901032
+v 0.00196277 -0.02760491 -0.10001032
+v 0.00196277 -0.02760491 -0.09901032
+v 0.00196277 -0.02454362 -0.10001032
+v 0.00196277 -0.02454362 -0.09901032
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_56.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8fa738202f7513647d4978696a1162bc037ec30
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_56.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.01030929 0.00386899 -0.02530307
+v -0.00599191 0.00386903 -0.03493586
+v -0.00127570 0.01378236 -0.02963952
+v -0.00138712 0.01378236 -0.02951846
+v -0.00210167 0.01378236 -0.02877482
+v -0.00478566 0.01378235 -0.02731347
+v -0.01030929 0.00394274 -0.02531604
+v -0.01030929 0.00386911 -0.05804505
+v -0.00424268 0.00386904 -0.03893944
+v -0.00319561 0.00386905 -0.04161137
+v -0.00248106 0.00386906 -0.04347480
+v -0.00153835 0.00386907 -0.04639318
+v -0.00127570 0.00386907 -0.04731841
+v -0.00127570 0.01378251 -0.06946774
+v -0.00831067 0.01378235 -0.02810899
+v -0.01030929 0.00578374 -0.02592997
+v -0.01030929 0.00472508 -0.06129200
+v -0.00860604 0.00386916 -0.06946778
+v -0.00127570 0.00386916 -0.06946778
+v -0.01030929 0.01378251 -0.06946774
+v -0.01030929 0.01129115 -0.02846785
+v -0.01030929 0.00894553 -0.02728322
+v -0.01030929 0.01378236 -0.02973464
+v -0.01030929 0.00545391 -0.06386881
+v -0.01030929 0.00623903 -0.06606948
+v -0.00862726 0.00391865 -0.06946778
+v -0.01030929 0.00829936 -0.06946776
+v -0.01030929 0.00787622 -0.06909593
+v -0.01004929 0.00750163 -0.06946776
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 16
+f 1 16 22
+f 1 22 21
+f 1 21 23
+f 1 23 20
+f 1 20 27
+f 1 27 28
+f 1 28 25
+f 1 25 24
+f 1 24 17
+f 1 17 8
+f 1 8 18
+f 1 18 19
+f 1 19 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 2
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 19
+f 3 19 14
+f 3 14 20
+f 3 20 23
+f 3 23 15
+f 3 15 6
+f 3 6 5
+f 3 5 4
+f 6 15 7
+f 7 15 16
+f 8 17 18
+f 14 19 18
+f 14 18 26
+f 14 26 29
+f 14 29 27
+f 14 27 20
+f 15 21 22
+f 15 22 16
+f 15 23 21
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 25 28 26
+f 26 28 29
+f 27 29 28
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_57.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90a0c7f1455c79346c8105e6591870eb0ec70c44
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_57.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.00902990 -0.07745924 -0.06947238
+v -0.00902990 -0.07724412 -0.06874285
+v -0.01050480 -0.07599127 -0.06664343
+v -0.01104960 -0.07637513 -0.06874285
+v -0.01128057 -0.07646371 -0.06947238
+v -0.00902990 -0.06865552 -0.06947235
+v -0.01015057 -0.06114698 -0.02938870
+v -0.01062805 -0.06114698 -0.02938870
+v -0.01062598 -0.06862607 -0.04786205
+v -0.00902990 -0.04318114 0.01333751
+v -0.01464570 -0.05783559 -0.02486560
+v -0.01290979 -0.07499573 -0.06874285
+v -0.01168969 -0.07616420 -0.06947238
+v -0.01961002 -0.06040862 -0.06947232
+v -0.00902990 -0.06862599 -0.06942372
+v -0.00936755 -0.04317270 0.01333751
+v -0.01144111 -0.04311786 0.01333751
+v -0.01201077 -0.06007553 -0.02799448
+v -0.00902990 -0.03437320 0.01333754
+v -0.01322052 -0.04200000 0.01333752
+v -0.01330649 -0.04193672 0.01333752
+v -0.01585752 -0.03978958 0.01333752
+v -0.01662915 -0.03911464 0.01333753
+v -0.01742150 -0.03838908 0.01333753
+v -0.01820141 -0.03759603 0.01333753
+v -0.01961002 -0.03630943 0.01297277
+v -0.01706520 -0.05645618 -0.02775940
+v -0.01961002 -0.06925032 -0.06892115
+v -0.01961002 -0.06935578 -0.06921297
+v -0.01716670 -0.07162103 -0.06947236
+v -0.01584199 -0.07279795 -0.06947237
+v -0.01528476 -0.07329150 -0.06947237
+v -0.01515943 -0.07313964 -0.06874284
+v -0.01454834 -0.07259971 -0.06579230
+v -0.01308587 -0.07512649 -0.06947238
+v -0.01961002 -0.04353111 -0.02772693
+v -0.00902990 -0.03437739 0.00451833
+v -0.01961002 -0.06944857 -0.06947236
+v -0.01961002 -0.03437320 0.01333754
+v -0.00902990 -0.03437318 0.00684472
+v -0.01961002 -0.03611117 0.01333754
+v -0.01961002 -0.05341474 -0.02775939
+v -0.01961002 -0.05403483 -0.02925088
+v -0.01961002 -0.05514425 -0.03212036
+v -0.01961002 -0.05553233 -0.03312549
+v -0.01961002 -0.06778234 -0.06501411
+v -0.01961002 -0.06846992 -0.06683794
+v -0.01961002 -0.03437313 -0.00490882
+v -0.01236396 -0.03437316 0.00274314
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 35
+f 1 35 32
+f 1 32 31
+f 1 31 30
+f 1 30 38
+f 1 38 14
+f 1 14 6
+f 1 6 15
+f 1 15 37
+f 1 37 40
+f 1 40 19
+f 1 19 10
+f 1 10 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 10 7
+f 3 9 11
+f 3 11 4
+f 4 12 13
+f 4 13 5
+f 4 11 12
+f 6 14 15
+f 7 10 8
+f 8 10 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 11
+f 10 19 39
+f 10 39 41
+f 10 41 25
+f 10 25 24
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+f 10 23 22
+f 10 22 21
+f 10 21 20
+f 10 20 17
+f 10 17 16
+f 11 18 17
+f 11 17 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 27
+f 11 27 28
+f 11 28 29
+f 11 29 30
+f 11 30 31
+f 11 31 32
+f 11 32 33
+f 11 33 34
+f 11 34 35
+f 11 35 12
+f 12 35 13
+f 14 36 37
+f 14 37 15
+f 14 38 29
+f 14 29 28
+f 14 28 47
+f 14 47 46
+f 14 46 45
+f 14 45 44
+f 14 44 43
+f 14 43 42
+f 14 42 26
+f 14 26 41
+f 14 41 39
+f 14 39 48
+f 14 48 36
+f 19 40 49
+f 19 49 48
+f 19 48 39
+f 25 41 26
+f 26 42 27
+f 27 42 43
+f 27 43 44
+f 27 44 45
+f 27 45 46
+f 27 46 47
+f 27 47 28
+f 29 38 30
+f 32 35 33
+f 33 35 34
+f 36 48 37
+f 37 48 49
+f 37 49 40
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_58.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f5214a082d896c9b07f0f6c56beda4eb8f94a9e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_58.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.00478412 -0.09147092 -0.09989317
+v -0.00238828 -0.09130325 -0.09989317
+v -0.00208548 -0.09116910 -0.09959390
+v -0.00478412 -0.09125294 -0.09931683
+v -0.00709432 -0.09100700 -0.09977124
+v -0.00712810 -0.09102376 -0.09989316
+v -0.00195157 -0.09123058 -0.09989317
+v -0.00013720 -0.09030831 -0.09989316
+v -0.00476362 -0.04181979 0.01333752
+v -0.00481911 -0.04184215 0.01333752
+v -0.00599049 -0.04279236 0.01225132
+v -0.00827897 -0.04317245 0.01333751
+v -0.00838754 -0.04320599 0.01333751
+v -0.00740435 -0.07993988 -0.07351405
+v -0.00902812 -0.04318363 0.01333751
+v -0.01035875 -0.08338857 -0.08480830
+v -0.01014884 -0.08693228 -0.09323188
+v -0.01035875 -0.08707201 -0.09396340
+v -0.01035875 -0.08758065 -0.09544861
+v -0.00840323 -0.08980526 -0.09854096
+v -0.00884838 -0.08998412 -0.09989316
+v 0.00138282 -0.08938046 -0.09989316
+v 0.00094129 -0.03881823 0.01332645
+v -0.00088394 -0.03982434 0.01331536
+v -0.00150281 -0.04013735 0.01333752
+v -0.00902812 -0.03437457 0.01333754
+v -0.01035875 -0.07686007 -0.06946851
+v -0.01035875 -0.08860353 -0.09854096
+v -0.01035875 -0.08895006 -0.09989316
+v 0.00196550 -0.08898360 -0.09989316
+v 0.00094129 -0.03437457 0.01332646
+v -0.00037847 -0.03437457 0.01333754
+v -0.00088394 -0.03981316 0.01333752
+v 0.00196550 -0.08869295 -0.09931682
+v 0.00196550 -0.07477518 -0.07235025
+v 0.00196550 -0.07326603 -0.06946850
+v -0.00902812 -0.03437455 0.00684253
+v -0.01035875 -0.06798394 -0.06946848
+v -0.01035875 -0.08029192 -0.09989312
+v 0.00196550 -0.08008511 -0.09989312
+v 0.00196550 -0.06520037 -0.06946847
+v 0.00094129 -0.03437453 0.00162213
+v -0.00853231 -0.03437454 0.00454822
+v -0.00902812 -0.03438013 0.00451497
+v -0.01035875 -0.07067807 -0.07618518
+v 0.00196550 -0.07906224 -0.09782048
+v -0.01035875 -0.07968268 -0.09840792
+v 0.00094129 -0.04924248 -0.03315839
+v 0.00094129 -0.05095844 -0.03707093
+v 0.00094129 -0.05834770 -0.05387375
+v 0.00094129 -0.05919730 -0.05578015
+v 0.00021265 -0.03437453 0.00158888
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 21
+f 1 21 29
+f 1 29 39
+f 1 39 40
+f 1 40 30
+f 1 30 22
+f 1 22 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 4
+f 4 14 5
+f 4 13 15
+f 4 15 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 21
+f 5 21 6
+f 8 22 23
+f 8 23 24
+f 8 24 25
+f 8 25 9
+f 9 25 33
+f 9 33 32
+f 9 32 26
+f 9 26 15
+f 9 15 13
+f 9 13 12
+f 9 12 10
+f 10 12 11
+f 15 26 38
+f 15 38 27
+f 15 27 16
+f 16 18 17
+f 16 27 38
+f 16 38 45
+f 16 45 47
+f 16 47 39
+f 16 39 29
+f 16 29 28
+f 16 28 19
+f 16 19 18
+f 19 28 21
+f 19 21 20
+f 21 28 29
+f 22 30 23
+f 23 31 32
+f 23 32 33
+f 23 33 24
+f 23 30 34
+f 23 34 35
+f 23 35 36
+f 23 36 41
+f 23 41 31
+f 24 33 25
+f 26 32 31
+f 26 31 42
+f 26 42 52
+f 26 52 43
+f 26 43 37
+f 26 37 38
+f 30 40 46
+f 30 46 41
+f 30 41 36
+f 30 36 35
+f 30 35 34
+f 31 41 42
+f 37 43 44
+f 37 44 38
+f 38 44 45
+f 39 46 40
+f 39 47 44
+f 39 44 48
+f 39 48 49
+f 39 49 50
+f 39 50 51
+f 39 51 41
+f 39 41 46
+f 41 49 48
+f 41 48 42
+f 41 51 50
+f 41 50 49
+f 42 48 52
+f 43 52 44
+f 44 52 48
+f 44 47 45
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_59.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4601332742de2c3bd62c5d4940b15abcd9dd2359
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_59.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.02175651 -0.00785349 0.01813268
+v 0.02201300 -0.00710502 0.01813268
+v 0.04033841 -0.00785349 0.01813268
+v 0.02215307 -0.00785350 0.02068324
+v 0.02220764 -0.00769272 0.02068324
+v 0.02283704 -0.00589291 0.01813269
+v 0.04033841 -0.00473208 0.01813269
+v 0.04033841 -0.00785362 0.05411519
+v 0.02218217 -0.00785350 0.02086995
+v 0.02324815 -0.00543828 0.01856601
+v 0.02230405 -0.00785350 0.02153577
+v 0.02837250 -0.00077349 0.01813271
+v 0.03702768 -0.00077349 0.01813271
+v 0.04033841 -0.00426707 0.02042255
+v 0.04033841 -0.00713217 0.05314288
+v 0.03318579 -0.00077356 0.03856883
+v 0.02640062 -0.00785353 0.03100522
+v 0.02286615 -0.00785351 0.02362130
+v 0.03202522 -0.00077355 0.03558849
+v 0.02898371 -0.00077351 0.02420613
+v 0.02855623 -0.00077350 0.02129977
+v 0.02850530 -0.00077350 0.02068327
+v 0.04033841 -0.00332803 0.02813411
+v 0.04033841 -0.00361840 0.02441044
+v 0.03724416 -0.00077354 0.03213609
+v 0.04033841 -0.00308342 0.03558848
+v 0.04033841 -0.00314232 0.03182959
+v 0.04033841 -0.00599559 0.05037392
+v 0.03589803 -0.00077357 0.04019639
+v 0.02378478 -0.00785352 0.02592525
+v 0.02475617 -0.00785352 0.02807068
+v 0.03691308 -0.00077355 0.03589146
+v 0.04033841 -0.00335164 0.03931214
+v 0.04033841 -0.00477099 0.04676299
+v 0.04033841 -0.00443279 0.04574136
+v 0.03623820 -0.00077356 0.03943545
+f 1 2 6
+f 1 6 12
+f 1 12 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 31
+f 1 31 30
+f 1 30 18
+f 1 18 11
+f 1 11 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 14
+f 3 14 24
+f 3 24 23
+f 3 23 27
+f 3 27 26
+f 3 26 33
+f 3 33 35
+f 3 35 34
+f 3 34 28
+f 3 28 15
+f 3 15 8
+f 4 9 5
+f 5 10 6
+f 5 9 11
+f 5 11 10
+f 6 10 12
+f 7 13 14
+f 8 15 16
+f 8 16 17
+f 10 11 18
+f 10 18 19
+f 10 19 20
+f 10 20 21
+f 10 21 22
+f 10 22 12
+f 12 22 21
+f 12 21 20
+f 12 20 19
+f 12 19 16
+f 12 16 29
+f 12 29 36
+f 12 36 32
+f 12 32 25
+f 12 25 13
+f 13 23 24
+f 13 24 14
+f 13 25 26
+f 13 26 27
+f 13 27 23
+f 15 28 29
+f 15 29 16
+f 16 19 18
+f 16 18 30
+f 16 30 31
+f 16 31 17
+f 25 32 26
+f 26 32 33
+f 28 34 29
+f 29 34 35
+f 29 35 36
+f 32 36 33
+f 33 36 35
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_6.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b57554755a17617dc8f6ea2230560b5a3c8b5093
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_6.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.01360781 0.02293118 0.01333920
+v 0.01360781 0.02359770 0.01596157
+v -0.00374263 0.02836313 0.01333922
+v 0.01360781 0.04514306 0.01333929
+v 0.01360781 0.02451477 0.01883284
+v -0.00374263 0.02972292 0.01790375
+v -0.00374263 0.02860396 0.01419019
+v -0.00374263 0.04498738 0.01333929
+v 0.00998351 0.04520874 0.01333929
+v 0.00265509 0.04777992 0.02812262
+v 0.00623013 0.04710854 0.02812261
+v 0.00675323 0.04687744 0.02812261
+v 0.00896959 0.04541789 0.02812261
+v 0.00962685 0.04490705 0.02812260
+v 0.01360781 0.04510414 0.01346086
+v 0.01360781 0.02631000 0.02336988
+v -0.00374263 0.03309688 0.02812256
+v -0.00374263 0.04611848 0.02702128
+v -0.00031874 0.04719124 0.02812261
+v 0.00265509 0.04525496 0.01333929
+v 0.00626410 0.04525010 0.01333929
+v 0.00976782 0.04465893 0.02812260
+v 0.01360781 0.04385378 0.01667946
+v 0.01360781 0.02665299 0.02393140
+v 0.01360781 0.02833877 0.02585041
+v 0.01360781 0.02995886 0.02746406
+v 0.00265509 0.03311634 0.02812256
+v -0.00374263 0.04618416 0.02812261
+v 0.01168187 0.04107817 0.02812259
+v 0.01360781 0.04374918 0.01683286
+v 0.01360781 0.04136281 0.01901670
+v 0.01168187 0.04106601 0.02812259
+v 0.01062888 0.03736363 0.02812258
+v 0.00890165 0.03496510 0.02812257
+v 0.00637110 0.03362232 0.02812256
+f 1 2 3
+f 1 3 8
+f 1 8 20
+f 1 20 21
+f 1 21 9
+f 1 9 4
+f 1 4 15
+f 1 15 23
+f 1 23 30
+f 1 30 31
+f 1 31 26
+f 1 26 25
+f 1 25 24
+f 1 24 16
+f 1 16 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 6
+f 3 6 17
+f 3 17 28
+f 3 28 18
+f 3 18 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 5 16 17
+f 5 17 6
+f 8 18 19
+f 8 19 10
+f 8 10 20
+f 9 21 10
+f 10 19 28
+f 10 28 17
+f 10 17 27
+f 10 27 35
+f 10 35 34
+f 10 34 33
+f 10 33 32
+f 10 32 29
+f 10 29 22
+f 10 22 14
+f 10 14 13
+f 10 13 12
+f 10 12 11
+f 10 21 20
+f 14 22 23
+f 14 23 15
+f 16 24 17
+f 17 24 25
+f 17 25 26
+f 17 26 27
+f 18 28 19
+f 22 29 23
+f 23 29 30
+f 26 31 29
+f 26 29 32
+f 26 32 33
+f 26 33 34
+f 26 34 35
+f 26 35 27
+f 29 31 30
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_60.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b579ef57db4f33f213932618ddc0e73a755f954
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_60.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.01961283 -0.02413231 0.01333758
+v -0.01961283 -0.02413228 0.00564757
+v -0.01961283 -0.01885603 0.01333760
+v -0.03102977 -0.02413231 0.01333758
+v -0.01961283 -0.01885599 0.00136731
+v -0.03234819 -0.02413223 -0.00906367
+v -0.03500185 -0.01885603 0.01333760
+v -0.03291202 -0.02190351 0.01333759
+v -0.03728524 -0.01885602 0.01214913
+v -0.03251089 -0.02413230 0.01159653
+v -0.02270690 -0.01885597 -0.00163896
+v -0.02347832 -0.01885597 -0.00217180
+v -0.04239902 -0.02413223 -0.00906367
+v -0.03455022 -0.02200054 -0.00906366
+v -0.03866257 -0.01885602 0.00954413
+v -0.03641845 -0.02021809 0.01138824
+v -0.03274932 -0.02397992 0.01146496
+v -0.03783786 -0.01885595 -0.00906365
+v -0.04818323 -0.01892981 -0.00906365
+v -0.04821409 -0.01885595 -0.00896498
+v -0.04826458 -0.01885595 -0.00906365
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 10
+f 1 10 13
+f 1 13 6
+f 1 6 2
+f 2 6 5
+f 3 5 11
+f 3 11 12
+f 3 12 18
+f 3 18 21
+f 3 21 20
+f 3 20 15
+f 3 15 9
+f 3 9 7
+f 4 8 9
+f 4 9 10
+f 5 6 11
+f 6 12 11
+f 6 13 19
+f 6 19 21
+f 6 21 18
+f 6 18 14
+f 6 14 12
+f 7 9 8
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 10 17 13
+f 12 14 18
+f 13 17 19
+f 15 20 16
+f 16 20 17
+f 17 20 21
+f 17 21 19
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_61.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7c8c007a94385df9e60414cb769585f40b524e1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_61.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.03335792 -0.01885603 0.01333760
+v 0.03210500 -0.01885603 0.01333760
+v 0.03465087 -0.01885602 0.01146439
+v 0.04147588 -0.01626242 0.00732716
+v 0.03807339 -0.01653380 0.01147249
+v 0.03949243 -0.01460753 0.01333762
+v 0.03210500 0.00386565 0.01333768
+v 0.03210500 -0.01885598 -0.00069667
+v 0.04218641 -0.01685854 0.00484212
+v 0.04494644 -0.01885596 -0.00423286
+v 0.04906146 -0.01885594 -0.01068534
+v 0.04545481 -0.01651597 0.00023591
+v 0.03976063 -0.01430057 0.01333762
+v 0.03565561 0.00386788 0.01333768
+v 0.03210500 0.00386789 0.01145639
+v 0.03210500 -0.01885151 -0.00578264
+v 0.03212301 -0.01885596 -0.00578264
+v 0.05097687 -0.01885593 -0.01419727
+v 0.05132312 -0.01854007 -0.01419727
+v 0.04919156 -0.01655598 -0.00717069
+v 0.04145587 -0.01099964 0.01333763
+v 0.03825952 0.00386788 0.01333768
+v 0.03210500 0.00386790 0.00697954
+v 0.03210500 -0.01789504 -0.00562362
+v 0.04064528 0.00386798 -0.01419719
+v 0.03889799 -0.01885593 -0.01419727
+v 0.05229383 -0.01706533 -0.01419726
+v 0.04146187 -0.01097295 0.01333763
+v 0.05255202 -0.01593981 -0.01419726
+v 0.04104557 -0.00737618 0.01333764
+v 0.04863715 0.00386798 -0.01419719
+v 0.04005484 0.00386798 -0.01277679
+v 0.03210500 -0.00720264 -0.00110092
+v 0.03210500 -0.01684070 -0.00543764
+v 0.04938369 0.00022450 -0.01419720
+v 0.04905746 0.00181713 -0.01419719
+f 1 2 8
+f 1 8 17
+f 1 17 26
+f 1 26 18
+f 1 18 11
+f 1 11 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 21
+f 1 21 28
+f 1 28 30
+f 1 30 22
+f 1 22 14
+f 1 14 7
+f 1 7 2
+f 2 7 15
+f 2 15 23
+f 2 23 33
+f 2 33 34
+f 2 34 24
+f 2 24 16
+f 2 16 8
+f 3 9 4
+f 3 10 9
+f 4 6 5
+f 4 9 11
+f 4 11 12
+f 4 12 6
+f 6 12 13
+f 7 14 15
+f 8 16 17
+f 9 10 11
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 14 22 31
+f 14 31 25
+f 14 25 32
+f 14 32 23
+f 14 23 15
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 18 26 25
+f 18 25 31
+f 18 31 36
+f 18 36 35
+f 18 35 29
+f 18 29 27
+f 18 27 19
+f 19 27 20
+f 20 27 21
+f 21 27 29
+f 21 29 28
+f 22 30 31
+f 23 32 33
+f 24 34 25
+f 25 34 33
+f 25 33 32
+f 28 29 30
+f 29 35 30
+f 30 35 36
+f 30 36 31
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_62.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1f999bedc35f66574a62220651e5956bbd71cb0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_62.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00593569 0.03835068 -0.06973649
+v 0.00593569 0.03835068 -0.06873649
+v 0.00593569 0.06940489 -0.06973649
+v 0.00593569 0.06940489 -0.06873649
+v 0.02500563 0.03835068 -0.06973649
+v 0.02500563 0.03835068 -0.06873649
+v 0.02500563 0.06940489 -0.06973649
+v 0.02500563 0.06940489 -0.06873649
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_63.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0c72c4ad02fa1d91f15682325b95eb4e9908615
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_63.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v -0.00836890 0.02202716 -0.00379583
+v -0.01037520 0.02202717 -0.00556850
+v -0.00500056 0.02202717 -0.00437574
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+v -0.01442376 0.02872565 -0.02030995
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_64.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19fe3d5d2d8d19ed00bb2407d2d49cdecc02f551
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_64.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v 0.09471544 -0.02454330 -0.10592550
+v 0.09456063 -0.02454330 -0.10491174
+v 0.09429339 -0.02454329 -0.10871902
+v 0.09428233 -0.02205373 -0.10871989
+v 0.09399666 -0.01905604 -0.10825065
+v 0.09440028 -0.02174706 -0.10573727
+v 0.09446848 -0.02415544 -0.10456507
+v 0.09450350 -0.02454331 -0.10456507
+v 0.09377365 -0.02454329 -0.10933271
+v 0.09270468 -0.02205372 -0.11058194
+v 0.09399666 -0.01905605 -0.10679829
+v 0.09260515 -0.01802774 -0.10958831
+v 0.08987191 -0.01335831 -0.11148012
+v 0.09137584 -0.01460611 -0.11003651
+v 0.09101828 -0.01091086 -0.10928363
+v 0.08674977 0.00617328 -0.10855346
+v 0.09013915 -0.00504476 -0.10804136
+v 0.09427312 -0.02225219 -0.10456506
+v 0.08294572 -0.02454331 -0.10456507
+v 0.09267334 -0.02454328 -0.11058195
+v 0.09084504 -0.02205372 -0.11201416
+v 0.09046721 -0.01833743 -0.11184782
+v 0.09020181 -0.01583283 -0.11169110
+v 0.09260515 -0.01462416 -0.10600863
+v 0.09350456 -0.01802775 -0.10573726
+v 0.09376812 -0.02018057 -0.10456505
+v 0.09013915 -0.00504477 -0.10750472
+v 0.08675899 0.00617327 -0.10600856
+v 0.08948487 -0.01091085 -0.11114656
+v 0.08638670 -0.00146075 -0.11162627
+v 0.08705020 0.00394230 -0.10898768
+v 0.08591856 0.00101377 -0.11131198
+v 0.08542647 0.00394231 -0.11085061
+v 0.08530114 0.00617328 -0.11020278
+v 0.07588868 -0.02454330 -0.10625554
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+v 0.09081371 -0.02454328 -0.11198616
+v 0.08994194 -0.02454328 -0.11226542
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+v 0.08076355 -0.02454327 -0.11340875
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_65.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7311082fcdbd438a14d7e2a93f60fa7169eb9be
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_65.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.01152724 0.00617317 -0.07992390
+v -0.01092356 0.00617318 -0.08220863
+v -0.01076531 0.00551605 -0.08206442
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+v -0.01141300 0.00617317 -0.07775454
+v -0.00923202 0.00617318 -0.08228136
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+v -0.00952023 0.00617314 -0.06947208
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+f 20 22 24
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_66.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1bcd9d02ac23ac74711726605534d0c4383a1b5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_66.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.01961002 -0.01885693 0.00136241
+v -0.01961002 -0.02844325 0.00374877
+v -0.01961002 -0.01885697 0.01333760
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+v -0.01961002 -0.02844329 0.01333757
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+v -0.01139429 -0.01885697 0.01333760
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+v -0.00483490 -0.02116557 0.01333759
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diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_67.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd0b4b34453fad84fdc1d60b53cbf1cebecd1ce0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_67.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.04797913 -0.04564023 -0.10588568
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+v 0.06884886 -0.04564023 -0.10588568
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_68.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84effbf0c1c93088aa99c1b24654fe2fc3603ef7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_68.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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+v -0.02947604 0.04008486 -0.10046660
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_69.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..989d8090659c18652b738c7603aece793c312bdd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_69.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.02464051 0.01899694 0.01303936
+v 0.02464051 0.01900540 0.01333774
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+f 3 18 26
+f 3 26 25
+f 3 25 24
+f 3 24 36
+f 3 36 40
+f 3 40 39
+f 3 39 33
+f 3 33 28
+f 3 28 31
+f 3 31 30
+f 3 30 29
+f 3 29 22
+f 3 22 15
+f 3 15 8
+f 3 8 7
+f 3 7 6
+f 3 6 5
+f 3 5 4
+f 8 15 16
+f 8 16 9
+f 10 17 11
+f 11 18 12
+f 11 17 18
+f 14 19 28
+f 14 28 33
+f 14 33 20
+f 15 21 16
+f 15 22 19
+f 15 19 21
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 17 26 18
+f 17 27 23
+f 19 22 29
+f 19 29 30
+f 19 30 31
+f 19 31 28
+f 20 33 39
+f 20 39 42
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+f 20 37 32
+f 23 34 24
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+f 32 34 38
+f 32 38 35
+f 34 35 38
+f 36 37 40
+f 37 41 40
+f 39 40 42
+f 40 41 42
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_7.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2238380b4d0c5799aeba30094600153181485c9b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_7.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.03046395 -0.02493415 0.01333758
+v -0.03008393 -0.02549574 0.01333758
+v -0.02607574 -0.02907814 0.02286611
+v -0.02671389 -0.02786554 0.02286612
+v -0.02768547 -0.02576941 0.02286613
+v -0.02780736 -0.02493418 0.02286613
+v -0.00120563 -0.02493415 0.01333758
+v -0.02950313 -0.02615391 0.01333757
+v -0.02451262 -0.03028717 0.02286611
+v -0.02859968 -0.02713937 0.01333757
+v -0.02672824 -0.02914607 0.01333756
+v -0.01742121 -0.03838546 0.01333753
+v -0.01662890 -0.03911160 0.01333753
+v -0.01585451 -0.03978586 0.01333752
+v -0.01330189 -0.04193385 0.01333752
+v -0.01321943 -0.04199823 0.01333752
+v -0.00445376 -0.02493418 0.02286613
+v -0.00202662 -0.02493416 0.01705852
+v 0.00616183 -0.02767414 0.01333757
+v -0.01343454 -0.03829249 0.02286608
+v -0.01144120 -0.04311426 0.01333751
+v -0.01076361 -0.04270649 0.01572735
+v -0.01157744 -0.03950867 0.02286607
+v -0.00228834 -0.02661180 0.02286612
+v 0.00616183 -0.02964686 0.01691019
+v -0.00324916 -0.02493418 0.02068058
+v -0.00222739 -0.02493417 0.01778797
+v 0.00616183 -0.03590124 0.01333754
+v -0.00839025 -0.04320369 0.01333751
+v -0.00954825 -0.04270649 0.01572735
+v -0.00850856 -0.04017042 0.02286607
+v -0.00979204 -0.03991287 0.02286607
+v -0.00156056 -0.02801040 0.02286612
+v 0.00616183 -0.02965938 0.01692511
+v 0.00258028 -0.03791151 0.01333753
+v 0.00616183 -0.03575995 0.01366589
+v -0.00360409 -0.03839086 0.02286608
+v -0.00513135 -0.03937632 0.02286608
+v -0.00828269 -0.04316792 0.01333751
+v -0.00645427 -0.03977874 0.02286607
+v -0.00081485 -0.02956103 0.02286611
+v 0.00452701 -0.03133343 0.01882148
+v 0.00616183 -0.03300745 0.01702958
+v -0.00088655 -0.03980911 0.01333752
+v 0.00616183 -0.03308615 0.01696241
+v 0.00523328 -0.03543445 0.01562011
+v -0.00159282 -0.03673292 0.02286609
+v -0.00706733 -0.04235593 0.01473671
+v -0.00482303 -0.04183727 0.01333752
+v -0.00476567 -0.04181044 0.01333752
+v -0.00474416 -0.04179971 0.01333752
+v -0.00150319 -0.04012925 0.01333752
+v -0.00028425 -0.03319705 0.02286610
+v 0.00452701 -0.03134953 0.01882148
+v 0.00616183 -0.03303607 0.01702118
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 17
+f 1 17 26
+f 1 26 27
+f 1 27 18
+f 1 18 7
+f 1 7 19
+f 1 19 28
+f 1 28 35
+f 1 35 44
+f 1 44 52
+f 1 52 51
+f 1 51 50
+f 1 50 49
+f 1 49 39
+f 1 39 29
+f 1 29 21
+f 1 21 16
+f 1 16 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 11
+f 1 11 10
+f 1 10 8
+f 1 8 2
+f 2 8 3
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+f 3 32 31
+f 3 31 40
+f 3 40 38
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+f 3 37 47
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+f 19 36 28
+f 19 27 26
+f 21 29 22
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+f 22 30 31
+f 22 31 32
+f 22 32 23
+f 24 33 34
+f 24 34 25
+f 28 36 37
+f 28 37 38
+f 28 38 35
+f 29 39 38
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+f 29 40 30
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+f 33 41 34
+f 34 42 43
+f 34 41 42
+f 35 38 44
+f 36 45 46
+f 36 46 37
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+f 38 39 48
+f 38 48 49
+f 38 49 50
+f 38 50 51
+f 38 51 52
+f 38 52 44
+f 39 49 48
+f 41 53 42
+f 42 54 43
+f 42 53 54
+f 43 54 53
+f 43 53 55
+f 45 55 46
+f 46 55 47
+f 47 55 53
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_70.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6106d1832cc69a977fc0d2f85305e742b6484aa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_70.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.02464051 0.03834744 0.01333781
+v 0.02464051 0.03834748 0.00370256
+v 0.02464051 0.04367941 0.01333783
+v -0.01725103 0.03834744 0.01333781
+v 0.02464051 0.04367948 -0.00545276
+v 0.00526936 0.03834754 -0.01225632
+v -0.01725103 0.04367941 0.01333783
+v -0.01725103 0.03834747 0.00533318
+v 0.00324367 0.03834754 -0.01344150
+v 0.00265729 0.03834754 -0.01374906
+v 0.00265729 0.04367948 -0.00634894
+v -0.01725103 0.04367948 -0.00455393
+v -0.01243695 0.03834749 0.00031935
+v -0.01543448 0.04367948 -0.00497551
+v -0.01201049 0.04367948 -0.00556942
+v -0.00845119 0.04367948 -0.00591676
+v -0.00117675 0.04367948 -0.00645234
+v -0.00106604 0.04367948 -0.00645765
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 10
+f 1 10 9
+f 1 9 6
+f 1 6 2
+f 2 6 5
+f 3 5 11
+f 3 11 18
+f 3 18 17
+f 3 17 16
+f 3 16 15
+f 3 15 14
+f 3 14 12
+f 3 12 7
+f 4 7 12
+f 4 12 8
+f 5 6 9
+f 5 9 10
+f 5 10 11
+f 8 12 13
+f 10 13 12
+f 10 12 14
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 11
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_71.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8abd80fb3eef371024618f52e2ae1870801d42f6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_71.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.01961002 -0.03436891 -0.00490314
+v -0.01961002 -0.02844383 0.00374685
+v -0.00937408 -0.02844380 -0.00627532
+v -0.00850700 -0.02844379 -0.00689618
+v -0.00478721 -0.02844379 -0.00816316
+v 0.00094234 -0.03436894 0.00163379
+v -0.01961002 -0.03436898 0.01333754
+v -0.01961002 -0.02844387 0.01333757
+v -0.00203509 -0.02844380 -0.00619955
+v -0.00176954 -0.02844380 -0.00539980
+v 0.00094234 -0.03356500 0.00229465
+v 0.00094234 -0.03436898 0.01333544
+v -0.00037940 -0.03436898 0.01333754
+v 0.00058223 -0.02844387 0.01333757
+v -0.00104127 -0.02844381 -0.00149785
+v -0.00047596 -0.02844383 0.00196003
+v 0.00094234 -0.02949662 0.00924619
+v 0.00094234 -0.03141774 0.01333755
+v 0.00094234 -0.02849201 0.01333757
+v 0.00094234 -0.02848795 0.01330390
+v 0.00094234 -0.02847983 0.01322813
+v 0.00067075 -0.02844387 0.01322813
+v 0.00008130 -0.02844384 0.00577570
+f 1 2 3
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+f 1 6 12
+f 1 12 13
+f 1 13 7
+f 1 7 8
+f 1 8 2
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+f 2 23 16
+f 2 16 15
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+f 2 10 9
+f 2 9 5
+f 2 5 4
+f 2 4 3
+f 5 9 6
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+f 6 10 11
+f 6 11 17
+f 6 17 21
+f 6 21 20
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+f 6 18 12
+f 7 13 18
+f 7 18 19
+f 7 19 14
+f 7 14 8
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 12 18 13
+f 14 19 20
+f 14 20 21
+f 14 21 22
+f 16 23 17
+f 17 23 21
+f 21 23 22
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_72.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d3fed8be9c2f7eed6d2ec6bf7c8a460e95faf9a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_72.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.01509884 0.00765692 -0.06947208
+v 0.01414489 0.01137055 -0.06947207
+v 0.01502946 0.00693309 -0.06947208
+v 0.01389050 0.00765697 -0.08365031
+v 0.01290475 0.01137200 -0.08737228
+v 0.01207222 0.01336427 -0.08737227
+v 0.01230926 0.01364905 -0.07992305
+v 0.01242489 0.01379492 -0.07619931
+v 0.01263881 0.01403108 -0.06947206
+v 0.01493985 0.00617314 -0.06947209
+v 0.01487914 0.00617314 -0.07023436
+v 0.01403793 0.00617317 -0.07992308
+v 0.01353783 0.00765976 -0.08737229
+v 0.01008916 0.01441320 -0.08737227
+v 0.00850502 0.01711537 -0.07542126
+v 0.00891840 0.01747796 -0.06947205
+v 0.00927975 0.01718760 -0.06947205
+v 0.01077716 0.01588859 -0.06947205
+v 0.01115585 0.01552598 -0.06947205
+v -0.00951884 0.00617314 -0.06947209
+v 0.01367659 0.00617319 -0.08365032
+v 0.01352338 0.00759030 -0.08737229
+v 0.00636876 0.01536349 -0.08737226
+v 0.00774186 0.01691115 -0.07790609
+v 0.00637165 0.01827126 -0.06947204
+v 0.00683128 0.01816984 -0.06947204
+v -0.01278251 0.01162896 -0.06947207
+v -0.01079367 0.00617315 -0.07467656
+v 0.01318805 0.00617320 -0.08730921
+v 0.01317649 0.00617320 -0.08737230
+v 0.00238818 0.01441598 -0.08737227
+v -0.01092664 0.01744465 -0.07863682
+v -0.00850419 0.01773363 -0.07895573
+v -0.00850419 0.01909097 -0.07619929
+v -0.00850419 0.01998151 -0.07247381
+v -0.00860247 0.02036634 -0.06947204
+v -0.01435797 0.01448400 -0.06947206
+v -0.01111454 0.00617316 -0.07619934
+v 0.00294610 0.00617320 -0.08737230
+v 0.00217716 0.01433540 -0.08737227
+v -0.01068960 0.01356153 -0.08199257
+v -0.01133713 0.01491333 -0.07989677
+v -0.01417585 0.01708340 -0.07097731
+v -0.01147299 0.01795035 -0.07619929
+v 0.00190543 0.01420342 -0.08737227
+v -0.01106540 0.01962306 -0.06947204
+v -0.01443313 0.01517449 -0.06947205
+v -0.01216388 0.00765695 -0.07992307
+v -0.01141229 0.00617317 -0.07775543
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+v -0.01092375 0.00617318 -0.08220813
+v -0.01127931 0.00765696 -0.08253582
+v -0.01122439 0.01137059 -0.08248324
+v -0.01224772 0.01137058 -0.07992306
+v -0.01417585 0.01603864 -0.07097731
+v -0.01443313 0.01541623 -0.06947205
+v -0.01435508 0.01731958 -0.06947205
+v -0.01240093 0.01822125 -0.07231960
+v -0.01201067 0.01918682 -0.06947204
+v 0.00102086 0.01162347 -0.08737228
+v -0.01152503 0.00617317 -0.07992308
+v -0.01402553 0.01759328 -0.06947205
+f 1 2 9
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+f 1 17 16
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+f 1 26 25
+f 1 25 36
+f 1 36 46
+f 1 46 59
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+f 1 47 37
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+f 32 34 33
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+f 39 51 52
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+f 43 47 56
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+f 44 58 59
+f 44 59 46
+f 45 60 53
+f 47 55 48
+f 48 55 54
+f 48 54 52
+f 48 52 51
+f 48 51 61
+f 48 61 49
+f 50 52 60
+f 52 54 53
+f 52 53 60
+f 57 62 58
+f 58 62 59
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_73.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3985e284f11481c9bf9eb56ac534433ec9b1d6ef
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_73.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.01961225 -0.03611018 0.01333754
+v -0.01961225 -0.03630569 0.01297135
+v -0.01961225 -0.02413282 0.01333758
+v -0.02673125 -0.02914505 0.01333756
+v -0.01961225 -0.03650742 0.01248894
+v -0.04240152 -0.02413274 -0.00906367
+v -0.01961225 -0.02413279 0.00564757
+v -0.03102585 -0.02413282 0.01333758
+v -0.02860525 -0.02714016 0.01333757
+v -0.03250944 -0.02413281 0.01159653
+v -0.02904029 -0.02770169 0.01152197
+v -0.01961225 -0.04282984 -0.00273543
+v -0.02212208 -0.04304820 -0.00906374
+v -0.02168035 -0.04262601 -0.00691045
+v -0.03234435 -0.02413274 -0.00906367
+v -0.01961225 -0.03633888 -0.00906371
+v -0.02705028 -0.02916993 -0.00906369
+v -0.03008661 -0.02549507 0.01333758
+v -0.02950656 -0.02615435 0.01333757
+v -0.01961225 -0.04410681 -0.00584477
+v -0.02208416 -0.04308356 -0.00906374
+v -0.02012761 -0.04490543 -0.00906374
+v -0.01961225 -0.04522363 -0.00866686
+v -0.01961225 -0.04432311 -0.00639077
+v -0.01961225 -0.04537962 -0.00906375
+f 1 2 5
+f 1 5 12
+f 1 12 20
+f 1 20 24
+f 1 24 23
+f 1 23 25
+f 1 25 16
+f 1 16 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 19
+f 1 19 9
+f 1 9 4
+f 1 4 2
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+f 3 6 10
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+f 12 14 20
+f 13 21 14
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+f 14 24 20
+f 22 25 23
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_74.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc3d7b59627d3ed7ab57f6be88b1c7c3f961157c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_74.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.02822507 -0.00707213 -0.09740792
+v 0.02771965 -0.00454415 -0.09740791
+v 0.02545859 -0.00720029 -0.08971789
+v 0.02779386 -0.01007952 -0.09740793
+v 0.02590801 -0.00280507 -0.09740790
+v 0.02376735 -0.00321972 -0.08971787
+v 0.02428536 -0.00390930 -0.08971787
+v 0.02512258 -0.00589023 -0.08971788
+v 0.02418316 -0.01076625 -0.08971790
+v 0.02470117 -0.01440129 -0.09740794
+v 0.02515058 -0.00257761 -0.09740790
+v 0.02045766 -0.00166348 -0.08971787
+v 0.02284892 -0.01225483 -0.08971791
+v 0.02099807 -0.01344684 -0.08971791
+v 0.02125008 -0.01606550 -0.09740795
+v 0.02266972 -0.01244198 -0.08971791
+v 0.01880841 -0.00166348 -0.08971787
+v 0.02134108 -0.00356952 -0.09740790
+v 0.01828760 -0.01350011 -0.08971791
+v 0.01754978 -0.01637070 -0.09740795
+v 0.02101207 -0.01610005 -0.09740795
+v 0.01830300 -0.00259636 -0.08971787
+v 0.02132708 -0.00358103 -0.09740790
+v 0.01754278 -0.00721610 -0.09740792
+v 0.01392368 -0.01097353 -0.09740793
+v 0.01752178 -0.01350011 -0.08971791
+v 0.01694076 -0.01635198 -0.09740795
+v 0.01541472 -0.00868167 -0.08971789
+v 0.01392368 -0.01105271 -0.09740793
+v 0.01529712 -0.01080512 -0.08971790
+v 0.01393768 -0.01464459 -0.09740794
+v 0.01578153 -0.01248229 -0.08971791
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 15
+f 1 15 21
+f 1 21 20
+f 1 20 27
+f 1 27 31
+f 1 31 29
+f 1 29 25
+f 1 25 24
+f 1 24 23
+f 1 23 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 7
+f 3 7 6
+f 3 6 12
+f 3 12 17
+f 3 17 22
+f 3 22 28
+f 3 28 30
+f 3 30 32
+f 3 32 26
+f 3 26 19
+f 3 19 14
+f 3 14 16
+f 3 16 13
+f 3 13 9
+f 3 9 4
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 9 13 10
+f 10 14 15
+f 10 13 16
+f 10 16 14
+f 11 17 12
+f 11 18 17
+f 14 19 20
+f 14 20 21
+f 14 21 15
+f 17 18 23
+f 17 23 24
+f 17 24 25
+f 17 25 22
+f 19 26 20
+f 20 26 27
+f 22 25 28
+f 25 29 30
+f 25 30 28
+f 26 31 27
+f 26 32 31
+f 29 31 30
+f 30 31 32
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_75.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d956e81a16e1f758c96db11f7e3022b1918edf2b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_75.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.03340052 0.00386724 -0.00562878
+v -0.03199014 0.00386727 -0.01284329
+v -0.03340052 0.00283236 -0.00518056
+v -0.03340052 0.00386717 0.01333768
+v -0.03104714 0.00386728 -0.01658255
+v -0.03340052 -0.00298528 -0.00117730
+v -0.03340052 -0.00085865 -0.00277369
+v -0.03340052 0.00087561 -0.00403853
+v -0.03340052 -0.00339259 0.01333766
+v -0.02571996 0.00386717 0.01333768
+v -0.03078712 0.00386728 -0.01746671
+v -0.02878264 -0.00339247 -0.01771233
+v -0.02881226 -0.00339248 -0.01760795
+v -0.03340052 -0.00339254 -0.00072294
+v -0.02881720 -0.00339259 0.01333766
+v -0.02571502 0.00375273 0.01333768
+v -0.02559817 0.00386717 0.01312278
+v -0.02961866 0.00386730 -0.02127965
+v -0.02975196 0.00360005 -0.02065337
+v -0.02894885 0.00213516 -0.02212697
+v -0.02787914 -0.00339247 -0.02039551
+v -0.02571502 0.00371293 0.01333768
+v -0.01915191 -0.00339253 -0.00177288
+v -0.01681334 -0.00339252 -0.00578844
+v -0.01658788 -0.00339252 -0.00635332
+v -0.01658788 0.00386726 -0.01140038
+v -0.02915950 0.00386730 -0.02276553
+v -0.02859832 0.00360006 -0.02418387
+v -0.02767342 0.00386732 -0.02697757
+v -0.02739201 0.00386732 -0.02775735
+v -0.02598657 0.00386734 -0.03160713
+v -0.02559982 -0.00339244 -0.02689777
+v -0.01658788 -0.00339240 -0.03852079
+v -0.01658788 0.00386740 -0.04938858
+v -0.02877112 0.00386731 -0.02387687
+v -0.02507978 0.00258512 -0.03292723
+v -0.02528384 0.00386734 -0.03340615
+v -0.02485431 -0.00339243 -0.02880731
+v -0.01962916 -0.00339240 -0.03732963
+v -0.01658788 -0.00298299 -0.03960143
+v -0.01658788 0.00329665 -0.04886054
+v -0.01714742 0.00269321 -0.04765096
+v -0.01759999 0.00386740 -0.04820970
+v -0.02336658 0.00022894 -0.03520518
+v -0.02449884 0.00386735 -0.03513763
+v -0.02165339 -0.00183298 -0.03731121
+v -0.02360028 -0.00339242 -0.03157645
+v -0.02205166 -0.00339241 -0.03477539
+v -0.01831094 -0.00198650 -0.04137590
+v -0.01658788 -0.00208814 -0.04143729
+v -0.01658788 0.00327959 -0.04884211
+v -0.01873060 0.00386739 -0.04636770
+v -0.02441655 0.00386735 -0.03530955
+v -0.02251904 0.00386736 -0.03925143
+v -0.02208786 -0.00323676 -0.03488591
+v -0.02304238 -0.00339242 -0.03274919
+v -0.02163365 0.00386737 -0.04102589
+v -0.02209445 -0.00339241 -0.03468943
+f 1 2 3
+f 1 3 8
+f 1 8 7
+f 1 7 6
+f 1 6 14
+f 1 14 9
+f 1 9 4
+f 1 4 10
+f 1 10 17
+f 1 17 26
+f 1 26 34
+f 1 34 43
+f 1 43 52
+f 1 52 57
+f 1 57 54
+f 1 54 53
+f 1 53 45
+f 1 45 37
+f 1 37 31
+f 1 31 30
+f 1 30 29
+f 1 29 35
+f 1 35 27
+f 1 27 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 4 9 15
+f 4 15 22
+f 4 22 16
+f 4 16 10
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 9 14 13
+f 9 13 12
+f 9 12 21
+f 9 21 32
+f 9 32 38
+f 9 38 47
+f 9 47 56
+f 9 56 58
+f 9 58 48
+f 9 48 39
+f 9 39 33
+f 9 33 25
+f 9 25 24
+f 9 24 23
+f 9 23 15
+f 10 16 17
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 15 23 22
+f 16 22 17
+f 17 24 25
+f 17 25 26
+f 17 22 24
+f 18 27 19
+f 19 27 20
+f 20 27 28
+f 20 28 29
+f 20 29 30
+f 20 30 31
+f 20 31 32
+f 20 32 21
+f 22 23 24
+f 25 33 40
+f 25 40 50
+f 25 50 51
+f 25 51 41
+f 25 41 34
+f 25 34 26
+f 27 35 28
+f 28 35 29
+f 31 36 32
+f 31 37 36
+f 32 36 38
+f 33 39 40
+f 34 41 42
+f 34 42 43
+f 36 37 44
+f 36 44 38
+f 37 45 44
+f 38 44 46
+f 38 46 47
+f 39 48 49
+f 39 49 40
+f 40 49 50
+f 41 51 42
+f 42 51 49
+f 42 49 46
+f 42 46 43
+f 43 46 52
+f 44 45 53
+f 44 53 54
+f 44 54 46
+f 46 48 55
+f 46 55 56
+f 46 56 47
+f 46 54 57
+f 46 57 52
+f 46 49 48
+f 48 58 55
+f 49 51 50
+f 55 58 56
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_76.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..007e6eead144662e78a3a8a643568e08e28a39cb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_76.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v -0.05098735 -0.00558284 -0.01039067
+v -0.05086511 -0.00518967 -0.01039067
+v -0.04373741 -0.00558284 -0.01039067
+v -0.04387514 -0.00558293 0.01333765
+v -0.04128403 0.00386788 0.01333768
+v -0.04784359 0.00386797 -0.01039064
+v -0.04049895 0.00386797 -0.01039064
+v -0.03340052 0.00386795 -0.00562453
+v -0.03340052 0.00283184 -0.00517394
+v -0.03340052 0.00280778 -0.00516000
+v -0.03340052 0.00087524 -0.00403584
+v -0.03340052 -0.00085839 -0.00276999
+v -0.03340052 -0.00558288 0.00076740
+v -0.03340052 -0.00558293 0.01333765
+v -0.03340052 0.00386788 0.01333768
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 13
+f 1 13 14
+f 1 14 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 4 14 15
+f 4 15 5
+f 5 15 8
+f 5 8 7
+f 5 7 6
+f 8 15 14
+f 8 14 13
+f 8 13 12
+f 8 12 11
+f 8 11 10
+f 8 10 9
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_77.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b173e5b2f386c1deead5b32e02993f8e701ea73b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_77.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v -0.06411653 -0.04563642 -0.10588568
+v -0.05586660 -0.05242137 -0.10588570
+v -0.05585213 -0.05242137 -0.10583527
+v -0.06384751 -0.04563642 -0.10502381
+v -0.03456488 -0.04563642 -0.10588568
+v -0.03555418 -0.05242137 -0.10588570
+v -0.05463431 -0.05242138 -0.10228226
+v -0.06323137 -0.04563643 -0.10314176
+v -0.06259498 -0.04632123 -0.10373511
+v -0.04982667 -0.04563644 -0.09989598
+v -0.04754145 -0.04731424 -0.09989598
+v -0.04602858 -0.04852577 -0.09989599
+v -0.04183708 -0.05227061 -0.09989600
+v -0.04173584 -0.05242139 -0.09989600
+v -0.05374337 -0.05242139 -0.10015514
+v -0.06194702 -0.04563644 -0.09989598
+v -0.06262101 -0.04563644 -0.10155698
+v -0.05363344 -0.05242139 -0.09989600
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 17
+f 1 17 16
+f 1 16 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 14
+f 2 14 18
+f 2 18 15
+f 2 15 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 8
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 10 16 18
+f 10 18 14
+f 10 14 13
+f 10 13 12
+f 10 12 11
+f 15 18 16
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_78.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c557afd1cf1f66168c37bcfe5791515eddf8cb6a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_78.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.05311841 -0.01071226 -0.01039069
+v -0.05190244 -0.00775128 -0.01039068
+v -0.05276906 -0.01466197 -0.01039070
+v -0.05173645 -0.01353295 -0.00620294
+v -0.05173645 -0.01156459 -0.00620293
+v -0.04430364 -0.00703679 0.01333764
+v -0.04387516 -0.00558293 0.01333765
+v -0.05098758 -0.00558284 -0.01039067
+v -0.05142185 -0.01662903 -0.01039071
+v -0.05085633 -0.01600930 -0.00808198
+v -0.05224214 -0.01471265 -0.00924562
+v -0.04278465 -0.01400334 0.01333762
+v -0.04424381 -0.01172317 0.01333763
+v -0.04441945 -0.01114890 0.01333763
+v -0.04430943 -0.00712124 0.01333764
+v -0.03340244 -0.00558293 0.01333765
+v -0.04373619 -0.00558284 -0.01039067
+v -0.05111110 -0.01691616 -0.01039071
+v -0.04196629 -0.01476080 0.01333762
+v -0.03340244 -0.00558288 0.00076740
+v -0.03340244 -0.01885603 0.01333760
+v -0.03340244 -0.00945072 -0.00322294
+v -0.03852300 -0.01885594 -0.01039072
+v -0.04945508 -0.01841549 -0.01039072
+v -0.03866389 -0.01885602 0.00954470
+v -0.03728773 -0.01885602 0.01214840
+v -0.03797871 -0.01768931 0.01333761
+v -0.04896676 -0.01885594 -0.01039072
+v -0.04872357 -0.01885594 -0.00991225
+v -0.03500249 -0.01885603 0.01333760
+v -0.03340244 -0.01885597 -0.00205468
+v -0.03340244 -0.01090718 -0.00342270
+v -0.03340244 -0.01341732 -0.00311844
+f 1 2 8
+f 1 8 17
+f 1 17 23
+f 1 23 28
+f 1 28 24
+f 1 24 18
+f 1 18 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 10
+f 4 10 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 5 15 6
+f 6 15 14
+f 6 14 13
+f 6 13 12
+f 6 12 19
+f 6 19 27
+f 6 27 30
+f 6 30 21
+f 6 21 16
+f 6 16 7
+f 7 16 20
+f 7 20 17
+f 7 17 8
+f 9 18 19
+f 9 19 12
+f 9 12 10
+f 16 21 31
+f 16 31 33
+f 16 33 32
+f 16 32 22
+f 16 22 20
+f 17 22 23
+f 17 20 22
+f 18 24 19
+f 19 25 26
+f 19 26 27
+f 19 24 28
+f 19 28 29
+f 19 29 25
+f 21 30 26
+f 21 26 25
+f 21 25 29
+f 21 29 28
+f 21 28 23
+f 21 23 31
+f 22 32 23
+f 23 32 33
+f 23 33 31
+f 26 30 27
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_79.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2244a49af4e52172713f3eca62445415a4f1bcb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_79.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.05675431 0.05453383 -0.06947190
+v -0.05630780 0.05596228 -0.06947189
+v -0.04906188 0.05453383 -0.06947190
+v -0.03683034 0.05453366 -0.02489426
+v -0.05551658 0.05849005 -0.06947189
+v -0.03311946 0.06938846 -0.06947185
+v -0.04881202 0.05453382 -0.06895267
+v -0.03315648 0.05453363 -0.01749265
+v -0.03315648 0.05453578 -0.01749265
+v -0.03675862 0.05490369 -0.02505716
+v -0.05097284 0.07171401 -0.06947184
+v -0.04738921 0.06474594 -0.05607872
+v -0.05263857 0.06713607 -0.06947185
+v -0.04781952 0.06226980 -0.05509626
+v -0.05398966 0.06324869 -0.06947187
+v -0.05418400 0.06266785 -0.06947187
+v -0.05515336 0.05964959 -0.06947188
+v -0.03311946 0.07639521 -0.06947182
+v -0.03311946 0.05548243 -0.03794125
+v -0.04868709 0.05453382 -0.06868796
+v -0.03311946 0.05453363 -0.01746720
+v -0.03311946 0.05454224 -0.01747229
+v -0.03660361 0.06165875 -0.03305942
+v -0.04744242 0.07253792 -0.06324613
+v -0.04747018 0.06871077 -0.05960644
+v -0.04817118 0.07328227 -0.06573031
+v -0.04904800 0.07451068 -0.06947183
+v -0.05148181 0.07031567 -0.06947184
+v -0.03826240 0.07646405 -0.06947182
+v -0.03311946 0.06442102 -0.03893895
+v -0.03311946 0.05453585 -0.03569634
+v -0.03312178 0.05453370 -0.03569634
+v -0.03311946 0.05453369 -0.03315108
+v -0.03311946 0.05834359 -0.02470590
+v -0.03361224 0.05830057 -0.02482299
+v -0.03454227 0.06180719 -0.03265218
+v -0.04080264 0.06913024 -0.05146161
+v -0.04569803 0.07627473 -0.06947182
+v -0.04496465 0.07307359 -0.06213640
+v -0.04841872 0.07511519 -0.06947182
+v -0.04878889 0.07479895 -0.06947183
+v -0.04198253 0.07651138 -0.06947182
+v -0.03454227 0.06442748 -0.03893895
+v -0.03311946 0.06292802 -0.03521271
+v -0.03311946 0.06183301 -0.03255037
+v -0.03454227 0.06290436 -0.03521271
+v -0.03826240 0.06848915 -0.04936941
+f 1 2 5
+f 1 5 17
+f 1 17 16
+f 1 16 15
+f 1 15 13
+f 1 13 28
+f 1 28 11
+f 1 11 27
+f 1 27 41
+f 1 41 40
+f 1 40 38
+f 1 38 42
+f 1 42 29
+f 1 29 18
+f 1 18 6
+f 1 6 3
+f 1 3 7
+f 1 7 20
+f 1 20 32
+f 1 32 33
+f 1 33 21
+f 1 21 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+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 15
+f 4 15 16
+f 4 16 17
+f 4 17 5
+f 6 18 30
+f 6 30 44
+f 6 44 45
+f 6 45 34
+f 6 34 22
+f 6 22 21
+f 6 21 33
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diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_8.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eefc529864ab48d0e0bef65e6b7586d7433ee0d2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_8.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_80.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71b7697a2cdefa7f31f2a49d11f98167d399d8ba
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_80.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.04742935 0.06799476 -0.06947479
+v 0.04742935 0.07632161 -0.06947476
+v 0.04614939 0.06799476 -0.06947479
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_81.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..902744e949504c8913caee56cbf857fbb911d837
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_81.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_82.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e149df67bbf5c91e3bdf70d3f1803f42bd455de
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_82.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.01629614 0.02142210 -0.03518344
+v -0.00124181 0.02142210 -0.03518344
+v 0.01694351 0.02142210 -0.03519576
+v 0.01669740 0.02189308 -0.03518344
+v -0.00127570 0.02972844 -0.03518341
+v -0.00127570 0.02142210 -0.03518960
+v 0.00996685 0.02142220 -0.06149641
+v 0.01186974 0.02445359 -0.06623409
+v 0.01313773 0.03429502 -0.09729703
+v 0.01338563 0.03493512 -0.09729703
+v 0.01406154 0.03736494 -0.09729702
+v 0.01391351 0.04008163 -0.09812256
+v 0.01376014 0.04102787 -0.09812256
+v 0.01004532 0.02993824 -0.03518341
+v 0.01225317 0.03962131 -0.08364457
+v -0.00127570 0.02986331 -0.03518341
+v -0.00127570 0.02142217 -0.05472564
+v 0.00652668 0.02142221 -0.06498961
+v 0.00640897 0.03022748 -0.09729705
+v 0.00214130 0.04008163 -0.09812256
+v 0.01100479 0.04274265 -0.09812255
+v 0.00853478 0.04307872 -0.08737188
+v 0.01039487 0.04189486 -0.08737189
+v 0.00839746 0.03190779 -0.03518340
+v -0.00127570 0.02751276 -0.05142340
+v 0.00166870 0.03141112 -0.03518340
+v 0.00428494 0.04307444 -0.08842538
+v 0.00072349 0.03931730 -0.08137123
+v 0.00061649 0.03947787 -0.08364457
+v 0.00005294 0.03736489 -0.08364458
+v -0.00046425 0.02142218 -0.05757195
+v -0.00127570 0.02548971 -0.05325319
+v -0.00021814 0.03364842 -0.07992345
+v 0.00077700 0.03545960 -0.09310149
+v 0.00164016 0.03367418 -0.09729704
+v 0.00309720 0.03040303 -0.09729705
+v 0.00273339 0.02142221 -0.06479862
+v 0.00270842 0.04096792 -0.09812256
+v 0.00152424 0.03736280 -0.09729702
+v 0.00078413 0.03924454 -0.08930024
+v 0.00066286 0.03942008 -0.08737190
+v 0.01008991 0.04296316 -0.09812255
+v 0.00881121 0.04317935 -0.09109919
+v 0.00637509 0.04329281 -0.09109919
+v 0.00673890 0.04313438 -0.08726098
+v 0.00823339 0.04293528 -0.08550514
+v 0.00838319 0.03191207 -0.03518340
+v -0.00127570 0.02616619 -0.05280343
+v -0.00034655 0.03364841 -0.07619614
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+v 0.00433488 0.04304448 -0.09109919
+v 0.00351808 0.03205336 -0.03518340
+v 0.00354305 0.03205978 -0.03518340
+v 0.00026873 0.03736490 -0.08737190
+v 0.00077700 0.03562444 -0.09310149
+v 0.00275300 0.04101288 -0.09812256
+v 0.00637509 0.04295888 -0.09812255
+v 0.00821555 0.04293528 -0.08550514
+v 0.00637330 0.03217111 -0.03518340
+v 0.00673890 0.04253709 -0.08401422
+v 0.00450608 0.04294173 -0.09297209
+v 0.00634298 0.03217111 -0.03518340
+f 1 2 6
+f 1 6 17
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+f 1 31 37
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+f 1 18 7
+f 1 7 3
+f 1 3 4
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+f 1 14 24
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+f 1 47 60
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+f 1 50 26
+f 1 26 16
+f 1 16 5
+f 1 5 2
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+f 27 45 44
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+f 27 52 41
+f 27 41 29
+f 27 29 28
+f 27 50 53
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+f 29 41 30
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+f 30 55 33
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+f 31 36 37
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+f 32 49 33
+f 33 55 34
+f 34 55 56
+f 34 56 39
+f 34 39 35
+f 38 41 52
+f 38 52 57
+f 39 56 55
+f 39 55 40
+f 40 55 41
+f 42 44 43
+f 42 58 44
+f 44 58 52
+f 45 51 59
+f 45 59 46
+f 46 60 47
+f 46 59 63
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+f 51 61 59
+f 51 54 61
+f 52 58 62
+f 52 62 57
+f 54 63 59
+f 54 59 61
+f 57 62 58
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_83.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db5ecae6db760c68acd5ccdf633224db1d355def
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_83.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.02736928 0.00765609 -0.02914527
+v -0.02736928 0.00416791 -0.02798614
+v -0.02736928 0.00842650 -0.02863460
+v -0.02550915 0.01013799 -0.03403311
+v -0.01440681 0.01378187 -0.06844260
+v -0.02662289 0.00765610 -0.03147977
+v -0.02736928 0.00394080 -0.02788888
+v -0.02547242 0.00506130 -0.03385480
+v -0.02736928 0.00993469 -0.02664865
+v -0.02592827 0.01090462 -0.03147976
+v -0.01806696 0.01383829 -0.05648642
+v -0.01725211 0.01497634 -0.05757259
+v -0.01725211 0.01503782 -0.05743479
+v -0.01725211 0.01548577 -0.05633239
+v -0.01725211 0.01637788 -0.05407896
+v -0.01397100 0.01378188 -0.06947205
+v -0.01431831 0.01282450 -0.06794814
+v -0.02736928 0.00386928 -0.02782403
+v -0.02598504 0.00386930 -0.03160138
+v -0.02528206 0.00386930 -0.03340088
+v -0.02736928 0.01121451 -0.02482482
+v -0.02633903 0.01173775 -0.02810771
+v -0.02523698 0.01322212 -0.02959918
+v -0.01725211 0.01668653 -0.05039888
+v -0.01031252 0.01378188 -0.06947205
+v -0.02736928 0.01321455 -0.01870486
+v -0.02736928 0.01363738 -0.01607855
+v -0.02736928 0.01365370 -0.01591644
+v -0.01278379 0.01162749 -0.06947206
+v -0.02251691 0.00386932 -0.03924523
+v -0.02449560 0.00386931 -0.03513554
+v -0.02736928 0.00386913 0.01333768
+v -0.02736928 0.01244038 -0.02135549
+v -0.01725211 0.01524476 -0.03016658
+v -0.01031252 0.01378173 -0.02972887
+v -0.02736928 0.01385445 -0.01243901
+v -0.02736928 0.01388328 -0.00877515
+v -0.02736928 0.01375654 -0.00154469
+v -0.02736928 0.01337756 0.00748527
+v -0.01031252 0.00829993 -0.06947207
+v -0.01031252 0.00791220 -0.06912352
+v -0.01031252 0.00787707 -0.06909110
+v -0.02163193 0.00386933 -0.04102042
+v -0.02571954 0.00386913 0.01333768
+v -0.02736928 0.00817916 0.01333770
+v -0.01725211 0.01496368 -0.02644599
+v -0.01201903 0.01378171 -0.02572456
+v -0.02586481 0.00776510 0.01333770
+v -0.02585146 0.00773624 0.01333770
+v -0.02497983 0.00655554 0.01209749
+v -0.01031252 0.01129106 -0.02846437
+v -0.02736928 0.01223700 0.00981165
+v -0.01259176 0.01378171 -0.02444383
+v -0.01031252 0.00623962 -0.06606761
+v -0.01873153 0.00386935 -0.04636220
+v -0.02559765 0.00386913 0.01311882
+v -0.02497983 0.00479514 0.01209749
+v -0.02736928 0.01034108 0.01332150
+v -0.02545071 0.00903114 0.01081677
+v -0.01031252 0.00386927 -0.02531120
+v -0.01031252 0.00394330 -0.02531931
+v -0.01031252 0.00529967 -0.02577323
+v -0.01031252 0.00578401 -0.02593535
+v -0.01031252 0.00894596 -0.02728902
+v -0.02736928 0.01067107 0.01285946
+v -0.01031252 0.00545415 -0.06386281
+v -0.01760109 0.00386936 -0.04820224
+v -0.01031252 0.00386939 -0.05804279
+v -0.01031252 0.00472514 -0.06128513
+f 1 2 7
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+f 34 46 35
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+f 54 66 67
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+f 56 60 57
+f 66 69 67
+f 67 69 68
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_84.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd07ca9386859187419483496468f88258913045
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_84.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.01278759 0.00617321 -0.08971784
+v 0.01243012 0.00472285 -0.08971784
+v 0.01430230 0.00617324 -0.09740787
+v 0.00299651 0.00617321 -0.08971784
+v 0.01354697 0.00420658 -0.09740787
+v 0.00991570 0.00114029 -0.08971786
+v -0.00001069 0.00617324 -0.09740787
+v -0.00633006 0.00114032 -0.09740789
+v 0.00215433 0.00114029 -0.08971786
+v 0.01009141 0.00282272 -0.09740788
+v 0.00940878 0.00114029 -0.09062567
+v 0.00120916 0.00114032 -0.09740789
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 10
+f 3 10 12
+f 3 12 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 5 6 10
+f 6 11 10
+f 6 9 8
+f 6 8 12
+f 6 12 11
+f 10 11 12
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_85.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d01b7d26762d5b11c2d65bbb47554f06716a4422
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_85.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.05586300 -0.05242137 -0.10588570
+v -0.05584960 -0.05242137 -0.10583527
+v -0.03554830 -0.05242137 -0.10588570
+v -0.03270496 -0.07220508 -0.10588578
+v -0.03262002 -0.07213448 -0.10461583
+v -0.05564841 -0.05242137 -0.10524721
+v -0.03228472 -0.07183342 -0.10228233
+v -0.04173123 -0.05242139 -0.09989600
+v -0.01019516 -0.08039287 -0.09989611
+v -0.01068693 -0.07623393 -0.10588579
+v -0.03119388 -0.07349104 -0.10588578
+v -0.02859195 -0.07569130 -0.10588579
+v -0.02458623 -0.07906229 -0.10588580
+v -0.02272644 -0.08062700 -0.10588581
+v -0.02050004 -0.08248533 -0.10588581
+v -0.01429029 -0.08720176 -0.10349429
+v -0.02637450 -0.07684718 -0.10228235
+v -0.02823429 -0.07528991 -0.10228235
+v -0.03042492 -0.07343530 -0.10228234
+v -0.05463357 -0.05242138 -0.10228226
+v -0.02634320 -0.07612988 -0.09989609
+v -0.03059480 -0.07243925 -0.09989608
+v -0.05363214 -0.05242139 -0.09989600
+v -0.01019516 -0.08905638 -0.09989614
+v -0.01019516 -0.07783580 -0.10588580
+v -0.01864025 -0.08400543 -0.10588582
+v -0.01619032 -0.08593809 -0.10588583
+v -0.01441994 -0.08729838 -0.10588583
+v -0.01223378 -0.08890398 -0.10588584
+v -0.01019516 -0.09038692 -0.10588584
+v -0.01019516 -0.08990005 -0.10227889
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+v -0.01389240 -0.08689329 -0.10101069
+v -0.01569408 -0.08573369 -0.10226479
+v -0.01820212 -0.08365980 -0.10228238
+v -0.02228831 -0.08025535 -0.10228236
+v -0.01787129 -0.08338478 -0.10027076
+v -0.02186807 -0.07990228 -0.09989610
+v -0.05374391 -0.05242139 -0.10015514
+v -0.01186719 -0.08802315 -0.09989613
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+v -0.01365993 -0.08670746 -0.09989613
+v -0.01738846 -0.08364866 -0.09989612
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+f 15 26 16
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+f 16 29 30
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+f 16 33 34
+f 16 34 35
+f 16 35 36
+f 16 36 17
+f 17 36 37
+f 17 37 18
+f 18 37 38
+f 18 38 21
+f 18 21 19
+f 20 22 39
+f 22 23 39
+f 24 40 31
+f 31 40 41
+f 31 41 33
+f 31 33 32
+f 33 41 42
+f 33 42 37
+f 33 37 35
+f 33 35 34
+f 35 37 36
+f 37 42 43
+f 37 43 38
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_86.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f72e3a9128f6412b5647d885bebc2f2944fd3e52
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_86.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.02693406 -0.01885603 0.01333760
+v -0.02655762 -0.01884543 0.01333760
+v -0.03339985 -0.01885603 0.01333760
+v -0.02655762 -0.01885603 0.01272246
+v -0.02655762 -0.01550496 0.01333761
+v -0.03339985 -0.00339330 0.01333766
+v -0.03339985 -0.01885597 -0.00205941
+v -0.02655762 -0.01885597 -0.00144060
+v -0.02795821 -0.00688816 0.01333764
+v -0.02655762 -0.00743455 0.00984448
+v -0.02881826 -0.00339330 0.01333766
+v -0.03339985 -0.00339325 -0.00071921
+v -0.03339985 -0.01341768 -0.00312125
+v -0.02655762 -0.00339316 -0.02406921
+v -0.02655762 -0.00348701 -0.02400696
+v -0.02655762 -0.00729670 -0.01992796
+v -0.02655762 -0.01353722 -0.01007096
+v -0.02714572 -0.01885597 -0.00162002
+v -0.02655762 -0.01785095 -0.00315423
+v -0.02655762 -0.00339328 0.00729603
+v -0.02849675 -0.00339330 0.01254310
+v -0.02881425 -0.00339319 -0.01759917
+v -0.03339985 -0.00945059 -0.00322376
+v -0.03339985 -0.01090816 -0.00342516
+v -0.02787985 -0.00339318 -0.02039663
+v -0.02878411 -0.00339318 -0.01770901
+v -0.02790865 -0.00339318 -0.02031241
+f 1 2 5
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+f 1 11 6
+f 1 6 3
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+f 1 18 8
+f 1 8 4
+f 1 4 2
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_87.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6611e80cc0adb9cf00ca3bd3c7c845f8269d0710
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_87.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.03650235 0.02110400 -0.01507722
+v -0.03299645 0.02110396 -0.00641867
+v -0.03127568 0.01552229 -0.00193504
+v -0.03650235 0.01552232 -0.01098021
+v -0.03650235 0.02110391 0.00698777
+v -0.03230457 0.02110396 -0.00467472
+v -0.03170386 0.02110395 -0.00296693
+v -0.03128462 0.02110395 -0.00171251
+v -0.03103165 0.01552228 -0.00117849
+v -0.03650235 0.01552223 0.01333773
+v -0.03650235 0.01598778 0.01333773
+v -0.03533669 0.02110390 0.01023091
+v -0.03054536 0.02110394 0.00063501
+v -0.03006265 0.01552227 0.00190332
+v -0.02949770 0.01552223 0.01333773
+v -0.03416747 0.02110389 0.01333775
+v -0.03423898 0.02110389 0.01319034
+v -0.02867352 0.02110392 0.00666513
+v -0.02825607 0.02110391 0.00807253
+v -0.02786096 0.02110390 0.00961621
+v -0.02935915 0.01552226 0.00517149
+v -0.02933144 0.01586811 0.01333773
+v -0.02936004 0.01552223 0.01316807
+v -0.02743457 0.02110389 0.01333775
+v -0.02889074 0.01552225 0.00771092
+v -0.02747390 0.02110390 0.01189142
+v -0.02930194 0.01552223 0.01301787
+v -0.02928317 0.01552223 0.01296781
+v -0.02737021 0.02110389 0.01313471
+v -0.02873967 0.01552224 0.00996387
+v -0.02872000 0.01552224 0.01032824
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+f 1 17 16
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+f 28 31 29
+f 29 31 30
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_88.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0da3a4d1891d0ff92ac02ba17b8582a57f4f6bef
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_88.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.01725103 0.01497852 -0.05757164
+v -0.01725103 0.01378246 -0.05741092
+v -0.01725103 0.01503986 -0.05744305
+v -0.01444096 0.01743363 -0.06874555
+v -0.01435496 0.01731985 -0.06946561
+v -0.01443158 0.01541680 -0.06946561
+v -0.01443158 0.01517469 -0.06946561
+v -0.01435808 0.01448465 -0.06946562
+v -0.01440500 0.01378250 -0.06844338
+v -0.01725103 0.01378232 -0.02041102
+v -0.01725103 0.01548777 -0.05633724
+v -0.01187953 0.01951019 -0.06851408
+v -0.01201088 0.01918657 -0.06946560
+v -0.01402657 0.01759425 -0.06946561
+v -0.01725103 0.01638037 -0.05408060
+v -0.01478812 0.01785168 -0.06501662
+v -0.01247845 0.01970791 -0.06501662
+v -0.01397027 0.01378251 -0.06946562
+v -0.00210292 0.01378236 -0.02877538
+v -0.00285040 0.01690321 -0.01832796
+v -0.00478633 0.01869567 -0.01285672
+v -0.00408733 0.02083516 -0.00769408
+v -0.00656745 0.02064308 -0.00724404
+v -0.00500056 0.02202717 -0.00437663
+v -0.00836890 0.02202716 -0.00379800
+v -0.01037520 0.02202717 -0.00557245
+v -0.01223294 0.02202718 -0.00730190
+v -0.01285688 0.02202718 -0.00892848
+v -0.01415167 0.02202720 -0.01285671
+v -0.01464581 0.02202721 -0.01661135
+v -0.01725103 0.01424316 -0.02271266
+v -0.01041116 0.02067397 -0.06711894
+v -0.01106638 0.01962399 -0.06946560
+v -0.01725103 0.01668704 -0.05040311
+v -0.01529634 0.01819142 -0.05756520
+v -0.01503832 0.01805505 -0.06128769
+v -0.01278807 0.01991128 -0.06128769
+v -0.00127570 0.01378251 -0.06946562
+v -0.00138829 0.01378236 -0.02952116
+v -0.00127570 0.01707834 -0.02030814
+v -0.00127570 0.01821144 -0.01726070
+v -0.00139298 0.01828892 -0.01688781
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+v -0.00127570 0.01378236 -0.02964331
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+v -0.01423298 0.02202723 -0.02271263
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+v -0.00127570 0.01836317 -0.01687495
+v -0.00127570 0.01998212 -0.01279242
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+v -0.00252357 0.02202717 -0.00654969
+v -0.00863630 0.02048834 -0.06851407
+v -0.00770743 0.02011549 -0.06946560
+v -0.01104292 0.02202730 -0.04141510
+v -0.00478633 0.01928745 -0.06946560
+f 1 2 10
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_89.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba6196f4b770a15bce876c19fe5bbd6897406b41
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_89.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.02743451 0.02110389 0.01333377
+v -0.02661500 0.02281033 0.01322635
+v -0.02661500 0.02282237 0.01324226
+v -0.02661500 0.02291142 0.01333377
+v -0.03311946 0.02110389 0.01333377
+v -0.02737083 0.02110389 0.01313483
+v -0.02747398 0.02110390 0.01189342
+v -0.02661500 0.02353961 0.01107378
+v -0.02661500 0.03842829 0.01333383
+v -0.03311946 0.02371290 0.01333378
+v -0.03311946 0.02110396 -0.00671981
+v -0.02786050 0.02110390 0.00961750
+v -0.02661500 0.02449754 0.00944641
+v -0.02730588 0.03711897 0.01333383
+v -0.02661500 0.03865213 0.01313091
+v -0.03204271 0.02629302 0.01333379
+v -0.02911236 0.03951379 0.00795041
+v -0.03304878 0.02894538 0.00843580
+v -0.03311946 0.02908979 0.00811351
+v -0.03311946 0.03121030 -0.01530223
+v -0.02661500 0.04569222 -0.01371062
+v -0.03299657 0.02110396 -0.00642139
+v -0.02825592 0.02110391 0.00807369
+v -0.02661500 0.02524126 0.00844373
+v -0.02786495 0.03596128 0.01333382
+v -0.02845841 0.03812504 0.01043323
+v -0.02756377 0.03707805 0.01292401
+v -0.02661500 0.03891447 0.01288820
+v -0.02890669 0.03365072 0.01333381
+v -0.02902130 0.03564840 0.01148364
+v -0.03082141 0.03736450 0.00577395
+v -0.02661500 0.04079422 0.01112556
+v -0.02758605 0.04088087 0.00931517
+v -0.02841192 0.04198803 0.00654587
+v -0.02903213 0.04306389 0.00406305
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+v -0.03232224 0.04569219 -0.00662024
+v -0.03299721 0.04569220 -0.00819588
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+v -0.02821517 0.04569216 0.00241580
+v -0.02661500 0.04539852 0.00528856
+v -0.02661500 0.04432987 0.00690000
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+f 56 58 57
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_9.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b03910356ec17daf227be378dd3870da61adb06
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_9.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.02464051 0.04321856 -0.00447892
+v 0.02464051 0.02489134 0.00070878
+v 0.02464051 0.04321849 0.01333783
+v 0.05420562 0.04321880 -0.06947194
+v 0.02616118 0.00387165 0.01065463
+v 0.02521540 0.00394482 0.01322420
+v 0.02476568 0.00765802 0.01322422
+v 0.02476105 0.00765802 0.01333770
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+v 0.05659327 0.03338883 -0.06947198
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+v 0.06137784 0.01496148 -0.06947205
+v 0.06245807 0.00387193 -0.06494090
+v 0.02464051 0.01900563 0.01333774
+v 0.02772359 0.04321849 0.01333783
+v 0.06168847 0.04321880 -0.06947194
+v 0.02524321 0.00386778 0.01333768
+v 0.02523858 0.00387164 0.01322420
+v 0.02521076 0.00394482 0.01333768
+v 0.02464051 0.01899793 0.01303782
+v 0.06465564 0.00387195 -0.06947209
+v 0.02873428 0.04118085 0.01333782
+v 0.03073249 0.04321851 0.00819869
+v 0.06229117 0.04111182 -0.06947195
+v 0.04920779 0.04321868 -0.03780223
+v 0.03826169 0.00387164 0.01333768
+v 0.07185104 0.00387195 -0.06947209
+v 0.07200403 0.00387195 -0.06946399
+v 0.02876673 0.04107685 0.01333782
+v 0.02883164 0.04107685 0.01322434
+v 0.03018078 0.04107686 0.01060613
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_90.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..246ad9c0b52a6d4ed895e40c62b9f52cfda1a79a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_90.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.00127570 0.02383179 -0.00322914
+v -0.00127570 0.03834749 -0.00322909
+v 0.00558788 0.02721524 -0.00322913
+v 0.00809339 0.02939505 0.00425972
+v 0.00809339 0.03017518 0.00824739
+v 0.00809339 0.03053042 0.00985932
+v 0.00607852 0.03112724 0.01333778
+v -0.00097764 0.02929697 0.01333778
+v -0.00127570 0.02925576 0.01333778
+v 0.00809339 0.03834749 -0.00322909
+v -0.00127570 0.03834743 0.01333781
+v 0.00809339 0.02870731 -0.00322912
+v 0.00809339 0.03193438 0.01333779
+v 0.00809339 0.03834743 0.01333781
+f 1 2 10
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+f 1 12 3
+f 1 3 4
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+f 4 13 6
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+f 7 11 9
+f 7 9 8
+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_91.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56789fb2b5a566fc7e0fb85638dde9edfa52e056
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_91.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v 0.01320510 0.00891770 -0.03518348
+v 0.01247808 0.00931815 -0.03275939
+v 0.01146820 0.00931815 -0.03275939
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_92.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f16b088c55318988870f5ea73a19fb51e94aacc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_92.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.05494658 0.06799477 -0.06947185
+v 0.05414271 0.07098681 -0.06947184
+v 0.04742936 0.06799477 -0.06947185
+v 0.06376280 0.06799485 -0.09172272
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_93.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..522d8e4a1c0a35db7c4bfa4b0b98ab327eb708e6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_93.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.02661436 0.02280885 0.01322918
+v -0.01725103 0.03279676 0.01322658
+v -0.01725103 0.03279676 0.01333779
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+v -0.02661436 0.02449779 0.00944518
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+v -0.02661436 0.03891405 0.01289030
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+v -0.01725103 0.04569213 0.01074808
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+v -0.02661436 0.04569222 -0.01371427
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+v -0.02661436 0.04569215 0.00477946
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+v -0.02643656 0.04569215 0.00516607
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+v -0.02575924 0.04361347 0.00950086
+v -0.02661436 0.04233446 0.00941612
+v -0.02661436 0.04539872 0.00528788
+v -0.02661436 0.04433025 0.00690051
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_94.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbcad383a7b1c63bb9aacc619f579665daf579e2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_94.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.02167064 -0.00719878 -0.06947213
+v 0.02308709 -0.00893224 -0.07816616
+v 0.02230918 -0.00719877 -0.07247254
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+v 0.02333343 -0.00936004 -0.08064932
+v 0.02545973 -0.00719871 -0.08971591
+v 0.02327509 -0.00645605 -0.07711383
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+v 0.01981985 -0.00137145 -0.07247252
+v 0.01939524 -0.00162399 -0.07059578
+v 0.02006295 -0.00300840 -0.06947211
+v 0.01952813 -0.01284930 -0.08120225
+v 0.02266896 -0.01244226 -0.08971593
+v 0.02284723 -0.01225510 -0.08971593
+v 0.02418266 -0.01076522 -0.08971592
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+v 0.02512264 -0.00589154 -0.08971590
+v 0.02380342 -0.00379563 -0.08364969
+v 0.02410486 -0.00367975 -0.08737542
+v 0.02277593 -0.00193885 -0.08364969
+v 0.02053294 -0.00097929 -0.07620021
+v 0.01486388 0.00167217 -0.06947209
+v 0.01915862 -0.00188245 -0.06947211
+v 0.02099644 -0.01344641 -0.08971593
+v 0.01381046 -0.01216604 -0.06947214
+v 0.01594972 -0.01279435 -0.07767272
+v 0.02428638 -0.00390998 -0.08971589
+v 0.02271434 -0.00182297 -0.08737542
+v 0.02085707 -0.00089461 -0.07992396
+v 0.01481202 0.00167217 -0.07187797
+v -0.00765351 0.00167217 -0.06947209
+v 0.01828347 -0.01349988 -0.08971593
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+v 0.01547973 -0.01279435 -0.07767272
+v 0.00265386 -0.01032709 -0.06947214
+v 0.02376777 -0.00321926 -0.08971589
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+v -0.00099261 -0.01044437 -0.08971592
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+v -0.00100882 0.00017048 -0.08971588
+v 0.00254042 0.00137070 -0.08971587
+v 0.00240428 0.00167223 -0.08804128
+v -0.00709600 0.00167217 -0.07171744
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_95.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..495bd7455e13e555a4be5fef461db6ed6f0dad84
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_95.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.01658788 -0.01885603 0.01333253
+v -0.01658788 -0.01232342 0.01333255
+v -0.02655762 -0.01884543 0.01333253
+v -0.02655762 -0.01885603 0.01272332
+v -0.01658788 -0.01885597 -0.00312101
+v -0.01658788 -0.01231434 0.01331732
+v -0.01688553 -0.01204795 0.01333256
+v -0.02655762 -0.01550496 0.01333254
+v -0.02655762 -0.01885597 -0.00144063
+v -0.02347574 -0.01885597 -0.00217675
+v -0.01658788 -0.01577731 -0.01285301
+v -0.01658788 -0.01226893 0.01322594
+v -0.01685527 -0.01202222 0.01322595
+v -0.01754426 -0.00883763 0.00805281
+v -0.01857382 -0.00949302 0.01053531
+v -0.02105357 -0.00881342 0.01173849
+v -0.01974685 -0.01047988 0.01333256
+v -0.02253303 -0.01110196 0.01333256
+v -0.02655762 -0.00743455 0.00984488
+v -0.02655762 -0.01785095 -0.00315655
+v -0.02544802 -0.00562114 -0.02637727
+v -0.02220220 -0.00593897 -0.03148441
+v -0.02158153 -0.00539257 -0.03342878
+v -0.02167424 -0.00914778 -0.02611329
+v -0.01658788 -0.01051606 -0.02773276
+v -0.01658788 -0.01056752 -0.02760584
+v -0.01658788 -0.01448470 -0.01672651
+v -0.01658788 -0.01449378 -0.01670113
+v -0.01658788 -0.00888605 0.00584953
+v -0.01704069 -0.00827759 0.00577338
+v -0.01764770 -0.00520501 0.00050887
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+v -0.02655762 -0.00339328 0.00729641
+v -0.01994203 -0.01047988 0.01333256
+v -0.02244715 -0.01102931 0.01333256
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_96.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7175845385681638fdbf2da4a667a84eeb9efed
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_96.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.00118618 -0.09142658 -0.10588585
+v 0.00118618 -0.09116772 -0.10350543
+v -0.00095618 -0.09237964 -0.10588585
+v 0.00118618 -0.07844548 -0.10588580
+v 0.00118618 -0.09112654 -0.10327912
+v -0.00093390 -0.09170309 -0.10217863
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+v -0.01019516 -0.07783658 -0.10588580
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+v -0.00478524 -0.09236494 -0.10228241
+v -0.00195104 -0.09123245 -0.09989615
+v -0.00478524 -0.09286205 -0.10588585
+v -0.01019516 -0.08039428 -0.09989611
+v -0.01019516 -0.09038968 -0.10588584
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+v -0.00478524 -0.09147072 -0.09989615
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+v -0.01019516 -0.08905570 -0.09989614
+v -0.01001802 -0.09051911 -0.10588584
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+v -0.00884825 -0.08998817 -0.09989614
+v -0.00963367 -0.09030144 -0.10228240
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_97.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd8f140283453c4943bcd6415bb3eddad50545a1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_97.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.00127570 0.01792723 -0.06946868
+v 0.00273210 0.02142221 -0.06479662
+v 0.00637291 0.01827088 -0.06946868
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+v 0.01575018 0.00560191 -0.06396430
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diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_98.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f008dc43e0b4a01673c180dee91f12c80f5c178
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_98.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01464966 -0.04647474 -0.10626652
+v -0.01464966 -0.04647474 -0.10526652
+v -0.01464966 -0.04547474 -0.10626652
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+v 0.00115174 -0.04647474 -0.10626652
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+v 0.00115174 -0.04547474 -0.10526652
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+
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_99.obj b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8cec370a852112615bab9e5673fe4d2f56437bd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/mjcf/mesh/pen_holder_45_collision_99.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/textures/material_0.png b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..790ac0fae37e300716524df0ed8a986fbf20d4fc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20cc8361ece3d2cfa056f11dcd174c3f254991a94c416424564abec61edf6fda
+size 2079338
diff --git a/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/video.mp4 b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/video.mp4
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/a32dcba8c28b5924b9eb671b31cff68b/video.mp4
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+version https://git-lfs.github.com/spec/v1
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