diff --git a/.gitattributes b/.gitattributes
index 3f5ff7e7fb4ace46e422be832ca126013cbf936b..493f61803f01df5a08df2b4f526a99c022de0103 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3294,5 +3294,5 @@ dataset/desktop_supplies/office_stationery/f51a7c0b35515dca8e547665d3586545/mesh
 dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/f75ded4719895e249f873bc92917ba75.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/eraser_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/f8a91c3557275283bba85fed2dd92f05/mesh/eraser_010.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/f79266ffa2405f73ae3d920dd97023c5/ballpoint_pen_002.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/f79266ffa2405f73ae3d920dd97023c5/mesh/ballpoint_pen_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mesh/pen_holder_031.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/pen_holder_031.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c4931239457328cf964b16860c0184a20f4f4be
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pen_holder_031_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd pen_holder_031_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4fae64271d6b72dbcdbdf4125e902d3433f568e8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b09d2d3dd870d3568a80c679d29c51fdb8ea7b0e069561af36c6a6ad2c8c1778
+size 7907127
diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mesh/pen_holder_031.glb b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mesh/pen_holder_031.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9fa54f152a03cb0e2c7cd54c024e64bb5882f44e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mesh/pen_holder_031.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:058f016091955cb0315c1491ac6487d492c658917f94987d5c7926003360d916
+size 10813156
diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mesh/pen_holder_031.mtl b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mesh/pen_holder_031.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c18a5c98f3ab960f4124e28d65de7a57f1d665f0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mesh/pen_holder_031.mtl
@@ -0,0 +1,6 @@
+newmtl pen_holder_031_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mesh/pen_holder_031.obj b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mesh/pen_holder_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0a09323c551d3b73f4242835f90ba774d37cb0a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mesh/pen_holder_031.obj
@@ -0,0 +1,109248 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pen_holder_031_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mesh/pen_holder_031_collision.obj b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mesh/pen_holder_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..915477da27dc6a4e27f1023db31b77eeb9da1c3e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mesh/pen_holder_031_collision.obj
@@ -0,0 +1,7275 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mesh/pen_holder_031_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mesh/pen_holder_031_geometry_Looks_material_0.png
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..4fae64271d6b72dbcdbdf4125e902d3433f568e8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031.obj b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfdfa55f390f239f45cec761baee962abffcd1a8
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+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision.obj b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7956cbac95bd7a06fdf7a73b81835e01d76ad990
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision.obj
@@ -0,0 +1,7275 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_0.obj b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc9a44a07c3854caad765f4a81fd035c9299ce76
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_1.obj b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27652a852a400b2dbfbbc0aa777b47227ad30b81
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_10.obj b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c60a7acc72880d9aa8b794471ced81054c433ebe
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_10.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_11.obj b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e55243d255689fb39b1c1c89a6aa529c6a468c55
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_11.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_12.obj b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4dead8a7c5ea136078092224d59d570f49d33cb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_12.obj
@@ -0,0 +1,580 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_13.obj b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11d98ce8e5e0a4249c9ac4596f53176b09aeda5f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_13.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_14.obj b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47f96961b2174ca71f100fbc5d88f2157177e118
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_14.obj
@@ -0,0 +1,655 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_15.obj b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c2d7d01603e65870d9e384afb7da8587e488663
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_15.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_2.obj b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90e26f0f9e42a916f6279f7bb4968a0b37a87286
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_3.obj b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e8c5db2fbfd08167d2e91adb62613fd9952ea48
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_3.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_4.obj b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f4cb69af7699ec88ec752e581fe2e77efd39ca5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_4.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_5.obj b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ed78f4c90532c12e4cefd8da69eab6fd1cd47d8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_5.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_6.obj b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7df768245a9674db15cb5e950593681f463c3844
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_6.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_7.obj b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a14e61dba8a47acf6fc8bce135f98eecc0aa963
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_8.obj b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dc6a3e80c169226da4d14a49b20492c9d4d61a6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_8.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_9.obj b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95c1585d44e36b1f0295d2caf3217a3c379029ab
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/mesh/pen_holder_031_collision_9.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/pen_holder_031.xml b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/pen_holder_031.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fe22676b8ce7c1c79dccbd7fc35efa91817ef95d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/mjcf/pen_holder_031.xml
@@ -0,0 +1,46 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pen_holder_031">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/pen_holder_031.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pen_holder_031_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pen_holder_031_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pen_holder_031_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pen_holder_031_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pen_holder_031_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pen_holder_031_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pen_holder_031_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pen_holder_031_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pen_holder_031_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pen_holder_031_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pen_holder_031_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pen_holder_031_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pen_holder_031_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pen_holder_031_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pen_holder_031_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pen_holder_031_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pen_holder_031">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/pen_holder_031.urdf b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/pen_holder_031.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1d70d90cc593817bbe4508d415adffe0dc1eadbf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/pen_holder_031.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_031">
+   <link name="pen_holder_031">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_031.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_031_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1850" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>f940796a426a55878e4fd887863da506</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>pen_holder</category>
+         <name>gray pen holder</name>
+         <color>gray,black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular gray desktop pen holder with black base</description>
+         <min_height>0.1350</min_height>
+         <max_height>0.1350</max_height>
+         <real_height>0.1350</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611145322</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.045392 -0.046860 -0.053898</min>
+            <max>0.045330 0.046814 0.081102</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/pen_holder_031.usd b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/pen_holder_031.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/pen_holder_031.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ef50b4d658cccd154b6de9c65c9ff25d336a48496369bc6525b679bcce87cec
+size 4642673
diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/textures/material_0.png b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/textures/material_0.png
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/video.mp4 b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f940796a426a55878e4fd887863da506/video.mp4
@@ -0,0 +1,3 @@
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+size 212414