diff --git a/.gitattributes b/.gitattributes
index b2b26fe8f2fe09c8f55889dd55449744172fb834..6851af6006e3724a93ee195c1bd98952571f2569 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3403,3 +3403,6 @@ dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/mesh/scot
 dataset/desktop_supplies/office_tools/954d4c8c86f0504a8b9aa50613aed723/scotch_tape_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/a07deb7936125cab9533c221c948a123/mesh/staples_box_001.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/a07deb7936125cab9533c221c948a123/staples_box_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/a44f88a6de025498b5c6c0040e2780ff.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mesh/pen_holder.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mesh/pen_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/a44f88a6de025498b5c6c0040e2780ff.urdf b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/a44f88a6de025498b5c6c0040e2780ff.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1006ac526f9a22ae9ac1f90ed2c3fa728d0cc9d8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/a44f88a6de025498b5c6c0040e2780ff.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder">
+   <link name="pen_holder">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pen_holder.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_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.150108</scale>
+         <version>v0.1.7</version>
+         <category>pen holder</category>
+         <description>trapezoidal pen holder with smooth surface and solid structure</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.0</max_mass>
+         <generate_time>20260120005712</generate_time>
+         <gs_model>mesh/pen_holder_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.2246012687683105</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>1</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_tools/a44f88a6de025498b5c6c0040e2780ff/a44f88a6de025498b5c6c0040e2780ff.usd b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/a44f88a6de025498b5c6c0040e2780ff.usd
new file mode 100644
index 0000000000000000000000000000000000000000..fa386fe30fc4cbc49bde67019a457085b12c47de
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/a44f88a6de025498b5c6c0040e2780ff.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1a759854ceabe5327c6b87c054ad5bb4d68a2306baed7bde712cf3068e06bce
+size 590758
diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mesh/material.mtl b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/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_tools/a44f88a6de025498b5c6c0040e2780ff/mesh/material_0.png b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a05491e2bd30b40897edc4a0302437cde16b41c5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76aaf78731d19ff0716ba48add81f66b29771eee6f268d0799e493af542426b8
+size 590455
diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mesh/pen_holder.glb b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mesh/pen_holder.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b76b812a5024e31bf72d0cadea0a1bf78d0580ea
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mesh/pen_holder.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6c1d222a7af2dcb90aa5182cc07f253301be13bbfeb0672faadcbc047853714
+size 978056
diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mesh/pen_holder.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mesh/pen_holder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a092ddec4bc6f918bb252694e1601b517e93b45
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mesh/pen_holder.obj
@@ -0,0 +1,35248 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v 0.06520682 -0.00409986 0.01136598
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diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mesh/pen_holder_collision.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mesh/pen_holder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..231c8e54d7649321a72f4454c8cbf4e6512c122d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mesh/pen_holder_collision.obj
@@ -0,0 +1,13848 @@
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diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mesh/pen_holder_gs.ply b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mesh/pen_holder_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0ec1654f354b0a1dc79bbbe34f3e700d77aa52d2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mesh/pen_holder_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26be862f1d6bffc6d8514ee0b2d75395544be1a9c5022a4a486f87732d7fcdcf
+size 1986569
diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/a44f88a6de025498b5c6c0040e2780ff.xml b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/a44f88a6de025498b5c6c0040e2780ff.xml
new file mode 100644
index 0000000000000000000000000000000000000000..324765389a98dd735dad996deeccca3b4a71baad
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/a44f88a6de025498b5c6c0040e2780ff.xml
@@ -0,0 +1,76 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pen_holder">
+  <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.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pen_holder_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pen_holder_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pen_holder_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_5" file="mesh/pen_holder_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_15" file="mesh/pen_holder_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pen_holder_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pen_holder_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_24" file="mesh/pen_holder_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/pen_holder_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/pen_holder_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/pen_holder_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/pen_holder_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/pen_holder_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/pen_holder_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pen_holder">
+      <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" />
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+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" 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_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a05491e2bd30b40897edc4a0302437cde16b41c5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76aaf78731d19ff0716ba48add81f66b29771eee6f268d0799e493af542426b8
+size 590455
diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85d4011670b644197cbcadb221e333c85633f959
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder.obj
@@ -0,0 +1,35248 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..531e5c54bc2ad8b6cb94d6e6f931535540f795ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision.obj
@@ -0,0 +1,13848 @@
+# https://github.com/mikedh/trimesh
+
+o pen_holder_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_0.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69077ff19d341a7b83a38af389b04d022c855c95
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_0.obj
@@ -0,0 +1,574 @@
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diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_1.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d4b2e78f05910ab906ccfbf2ad274a2ebdcd98c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_10.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d316a0475be618baf7b84917e9c85491dbaa536
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_10.obj
@@ -0,0 +1,520 @@
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diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_11.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75c8f96f5c2cbf562f814111b817eeb5ecbd3add
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_11.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_12.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2a1beb41d864e450ac1f6a7995385881fdd9195
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_12.obj
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diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_13.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4388200ec04fe87ee607d4fdd8eb166adbf9b4b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_13.obj
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diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_14.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3492d8597923c9dcd99a9d015625ceafb33cd90
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_14.obj
@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_15.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d4503303183e290000cf8b333761a30359e5643
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_15.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_16.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..380363b20bcfc316200b87ca5fedd30d20b3880e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_16.obj
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+f 282 298 299
+f 282 299 283
+f 283 299 300
+f 283 300 301
+f 284 301 302
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+f 287 289 288
+f 292 294 293
+f 299 303 300
+f 300 303 304
+f 300 304 305
+f 300 305 301
+f 301 305 302
+
diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_17.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50166adb87534a7cbab8d44b0ae9679357566899
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_17.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.03545815 0.04952007 -0.02220776
+v 0.04503524 0.04952008 -0.02324953
+v 0.04503524 0.04022474 0.00402989
+v 0.03545815 0.04580647 -0.00420349
+v 0.03545815 0.04951976 0.06204183
+v 0.04503524 0.04951976 0.06202502
+v 0.03545815 0.04438235 0.00328217
+v 0.03545815 0.04461166 0.00200516
+v 0.03545815 0.04488102 0.00054331
+v 0.03545815 0.04523954 -0.00134701
+v 0.03545815 0.04531599 -0.00174187
+v 0.03545815 0.04572638 -0.00380863
+v 0.04503524 0.04022452 0.06257108
+v 0.03545815 0.04022465 0.02680618
+v 0.03545815 0.04832407 0.06236948
+v 0.03832584 0.04951976 0.06204183
+v 0.04503524 0.04917762 0.06212583
+v 0.04503524 0.04090790 0.06257948
+v 0.04454589 0.04022452 0.06257108
+v 0.03545815 0.04022452 0.06238625
+v 0.03545815 0.04792824 0.06239468
+v 0.04503524 0.04585171 0.06253749
+v 0.04503524 0.04832407 0.06236948
+v 0.04079698 0.04090790 0.06254588
+v 0.04326907 0.04022452 0.06256268
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+v 0.03545815 0.04585171 0.06250389
+v 0.03545815 0.04338026 0.06251228
+v 0.03585469 0.04022452 0.06240306
+v 0.03545815 0.04090790 0.06248707
+v 0.04503524 0.04514559 0.06254590
+v 0.04079698 0.04022452 0.06253747
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+f 24 32 25
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+f 24 30 32
+f 26 31 27
+f 29 32 30
+
diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_18.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf1ba6e634048b280b9c01f7b2daf3cb286274b6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_18.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.04256930 -0.04612416 0.00207479
+v -0.04256930 -0.03957572 0.01912799
+v -0.03336856 -0.04612417 0.00486952
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+v -0.03336856 -0.04067776 0.06249077
+v -0.03829904 -0.03957588 0.06250264
+f 1 2 3
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+f 1 12 7
+f 1 7 2
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+f 14 19 15
+f 15 19 20
+f 16 20 19
+
diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_19.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67127527912926d178c59ed7439d4fd7f0976a36
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_19.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.03354238 -0.03944418 0.04080236
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+
diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_2.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20cfd7c033c8ae779a828970f858d33f950a6025
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_2.obj
@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
+v -0.02593992 -0.07528639 -0.05794223
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+
diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_20.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02a07c5057ac381c5f71dbc1f9ad78bb083b96cf
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_20.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.03354238 -0.04588408 0.00591047
+v 0.04308945 -0.03944410 0.01823730
+v 0.04308945 -0.04588407 0.00281705
+v 0.03354238 -0.04588429 0.06264655
+v 0.03354238 -0.03944418 0.04080518
+v 0.04308945 -0.03944426 0.06262901
+v 0.04308945 -0.04588429 0.06266413
+v 0.04300626 -0.04588429 0.06266413
+v 0.04308945 -0.04562202 0.06266999
+v 0.03354238 -0.04546252 0.06264655
+v 0.03354238 -0.03944426 0.06217203
+v 0.04194081 -0.03944426 0.06261729
+v 0.03354238 -0.04314941 0.06261141
+v 0.04308945 -0.04085836 0.06264657
+v 0.04308945 -0.04332971 0.06266414
+v 0.03354238 -0.04051540 0.06246495
+v 0.03955848 -0.03944426 0.06255870
+v 0.03354238 -0.04067805 0.06250596
+v 0.03354238 -0.04299053 0.06260555
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+f 12 19 13
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+
diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_21.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bc3e3894033ccde2f674a8a88ed8f8acf6f43b4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_21.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.04256930 -0.03957572 0.01912233
+v -0.04256930 -0.03325977 0.01943339
+v -0.03336856 -0.03957580 0.04100102
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+v -0.04077148 -0.03325869 0.06255165
+v -0.03829904 -0.03957588 0.06250475
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+v -0.03641115 -0.03325868 0.06039148
+v -0.03650122 -0.03325868 0.06050226
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+
diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_22.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3e75ddc4390d96a560077b66741adfb6cd3e627
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_22.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.03545815 0.04022308 0.02681606
+v 0.04503524 0.04022317 0.00402997
+v 0.04503524 0.03345466 0.00517641
+v 0.03616405 0.03345448 0.05524276
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+v 0.03591469 0.03345447 0.05770767
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+
diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_23.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..586f948ff5b3960a5cd3eb7b588954631183ac3a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_23.obj
@@ -0,0 +1,937 @@
+# https://github.com/mikedh/trimesh
+v -0.07528828 -0.06045639 -0.05794150
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diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_24.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d01825a1fce5dbc5656c30ae9029a3f50a2c45e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_24.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_25.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..586704b46f0b3a3b90e0d4b448a3b677ebb322dc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_25.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_26.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaa022ec106a7112c9c7759f57fce6311767b9d1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_26.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.04296106 0.03739466 0.06252870
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+
diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_27.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e06c6ac346cc288d381f9c13f6be3e46edb498d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_27.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.04571534 0.03739466 0.06255561
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+
diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_28.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0be95bf127fdd48473f17f2102204bc9d6ac6524
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_28.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
+v 0.04503524 0.04303816 0.00039247
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diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_29.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1353852089515887d0042725dd1ec6a9d8e6becb
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_29.obj
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diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_3.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7443522e9f59047547af513ef2e71b78189d6985
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_3.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_30.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba880d5f4e19a7a4726a0600d2d2ba0c5cc544b7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_30.obj
@@ -0,0 +1,925 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_4.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7598865120dc6038cd36e1a9f6132fb8d9056e9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_5.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3105b5d9dcc8fe6738b1a49cbafdfb9217f10a5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_5.obj
@@ -0,0 +1,643 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_6.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e9f58415ef22272ab44b921855eff47c80aba8c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_6.obj
@@ -0,0 +1,466 @@
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diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_7.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa4b9a88959427d144c4f54e8b8e0092eaa7edba
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_8.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbb690219289b1c45fc9f6095b820f80aec6cddc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_9.obj b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef526f27e80397e34386f384c4da3e5cd7310c0e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a44f88a6de025498b5c6c0040e2780ff/mjcf/mesh/pen_holder_collision_9.obj
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