diff --git a/.gitattributes b/.gitattributes
index 58e8055943b1b885c8e29238d6b3c8fc32f8b997..72f7d6e64eea0fa01a5a32e1f251ee91c1086a3d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3259,11 +3259,4 @@ dataset/desktop_supplies/office_stationery/cbbd04da68d15aa988350a61b88dcf5e/pen_
 dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/marker_008.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mesh/marker_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/d3ef0c336d9e50eb9d8954e48b0cf6a0/d3ef0c336d9e50eb9d8954e48b0cf6a0.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/d59a58393ab35897b6b52dd120259968/d59a58393ab35897b6b52dd120259968.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/d59a58393ab35897b6b52dd120259968/mesh/marker.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/d59a58393ab35897b6b52dd120259968/mesh/marker_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/d311bbd5dfa35189bb311ce1de491cde/marker_022.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/d311bbd5dfa35189bb311ce1de491cde/mesh/marker_022.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/d66e6c5d76c15b1283ad8bde9092f625/d66e6c5d76c15b1283ad8bde9092f625.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/d66e6c5d76c15b1283ad8bde9092f625/mesh/book.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/d66e6c5d76c15b1283ad8bde9092f625/mesh/book_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/d3d50a08f19551bea9ce7665ff96f971.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/d3d50a08f19551bea9ce7665ff96f971.urdf b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/d3d50a08f19551bea9ce7665ff96f971.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2f698b584430d5e60109c57a14856a7677cc34ed
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/d3d50a08f19551bea9ce7665ff96f971.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_40">
+   <link name="pen_holder_40">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_40.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_40_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>0.215000</scale>
+         <version>v0.1.5</version>
+         <category>pen holder</category>
+         <description>rectangular pen holder with multiple pens and pencils inside</description>
+         <min_height>0.18</min_height>
+         <max_height>0.25</max_height>
+         <real_height>0.215</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20251014173551</generate_time>
+         <gs_model>mesh/pen_holder_40_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.967479348182678</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</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/d3d50a08f19551bea9ce7665ff96f971/d3d50a08f19551bea9ce7665ff96f971.usd b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/d3d50a08f19551bea9ce7665ff96f971.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a4c2f2634d696ea5feba8729c6e8b021df9ee7c6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/d3d50a08f19551bea9ce7665ff96f971.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e20e190b0b7831b75816e8cd4e545112e66b36d8a31022ebb03002db7d38bce
+size 391900
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/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/d3d50a08f19551bea9ce7665ff96f971/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c1f66f9105b0fbe44fc3f6642fd047eb8acf106
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20aa7da43965776d20aea9b58810e5db9c79107e29d01add82a6220bb1c6c54d
+size 1170328
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mesh/pen_holder_40.glb b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mesh/pen_holder_40.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d0cd0ca02b77495ab0218a5f169a9570900e0d52
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mesh/pen_holder_40.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e0528530c58fd8168dd4e7f790b5cef62b2033b8164ce112fab0ffc848340e3
+size 1464296
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mesh/pen_holder_40.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mesh/pen_holder_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e281cead40a619c883e201a099bfc1560872d137
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mesh/pen_holder_40.obj
@@ -0,0 +1,27203 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mesh/pen_holder_40_collision.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mesh/pen_holder_40_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1e7e622e1a3a99f373fb141547ca7bdcf1194f5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mesh/pen_holder_40_collision.obj
@@ -0,0 +1,18428 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/d3d50a08f19551bea9ce7665ff96f971.xml b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/d3d50a08f19551bea9ce7665ff96f971.xml
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+  </worldbody>
+</mujoco>
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/material_0.png
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
+oid sha256:20aa7da43965776d20aea9b58810e5db9c79107e29d01add82a6220bb1c6c54d
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f62cdfe68d865983eac5f966162a52cfebaf42d4
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+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c965d65aaa8b52916d27fe92d10f5f7ff80e69a5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision.obj
@@ -0,0 +1,18428 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_0.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b33b47f1d386789536fb120a094d53b615b5dbb8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_0.obj
@@ -0,0 +1,544 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_1.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72bc3f6452ca7a4e0c77d19f7b3fbb0847510a24
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_1.obj
@@ -0,0 +1,676 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_10.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6bed8a3c389b9cbc330faef29bf6055eabfcaab
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_10.obj
@@ -0,0 +1,211 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_11.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30975baee2e2bad513896e13f045c02b382a613d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_11.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_12.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81041fc800abc76680c1055376bd591327dc7e1c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_12.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_13.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c19b8dc6ed1e9290057a49b827ce06b6f1cefa1f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_13.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+v 0.00847681 0.03684109 -0.04979866
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_14.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a89285131c8cb50164ee4182cc883cfd8304e3f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_14.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_15.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acb9eb465736100cca62cadc8a21b358da21ea5f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_15.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_16.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a899b22dfb44c40b7f825a62b64264a16e107c5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_16.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_17.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f649c171968fbd0b36e1c7b98ea32d9e1ee5d1a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_17.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_18.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c73336ed5bd77dd9605258312de9984498f1d974
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_18.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_19.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d71376b39d2ced44da9561d6f7c30d9f945703a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_19.obj
@@ -0,0 +1,574 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_2.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..591463636bb8fce24e350f8f41a7b26e88b2ea34
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_2.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_20.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ad79b366600c8e795bfe696bd6f8d799a4dea8c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_20.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_21.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5891e9abdec30bc1c7a2560c38613f067cc65bc3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_21.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_22.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5086e7a7439ce7033058ebc2292e18ef214b498
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_22.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_23.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f798e6fe99364a09ab186fd8150af765a5a0dc12
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_23.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.04400821 0.01667376 -0.06550321
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_24.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9cff3df5b0c242ebe95365bd04a7839df9096ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_24.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_25.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..916204a61af0443b74d33f3061f3c4e5b02a56a9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_25.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.00526591 0.00535802 -0.03583446
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+v -0.00239329 0.00701296 -0.03475644
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_26.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b6d2a104d334d7aa9e4749dffd594d1191a58a3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_26.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_27.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..052636203aa1f3ebd52cd2c824aaef425845883e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_27.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_28.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..946a370e5e0ffcca33e8cea35a5fe970540557ea
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_28.obj
@@ -0,0 +1,580 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_29.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bae83e49b6a5922fc4b2079c7ed68d839989dcb0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_29.obj
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_3.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b38ccba6fc88caa1a54956947ff9bcf6da089e0b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_30.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b346af34fae5447a09d72d8626eb380ca04e1e50
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_30.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_31.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7284ea7ce9bf6c32766ec5c644d682a36cba18b8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_31.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_32.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdc0e2718b6759cea7f94f03081e76020c696b11
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_32.obj
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+f 162 193 194
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+f 162 163 164
+f 162 164 195
+f 162 195 193
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+f 166 198 180
+f 166 180 197
+f 167 197 180
+f 167 180 168
+f 168 177 169
+f 168 180 179
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+f 169 177 199
+f 169 199 200
+f 169 200 173
+f 170 174 201
+f 170 201 181
+f 170 181 180
+f 170 180 171
+f 171 180 172
+f 172 180 198
+f 174 194 202
+f 174 202 201
+f 175 203 176
+f 176 203 177
+f 177 203 199
+f 181 201 202
+f 181 202 185
+f 182 189 204
+f 182 204 190
+f 182 190 183
+f 183 190 184
+f 185 193 186
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+f 186 192 187
+f 187 192 191
+f 187 191 190
+f 187 190 188
+f 188 190 204
+f 188 204 189
+f 193 202 194
+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_33.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9e280948a85e4e699da5c50b4fd22caa851a747
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_33.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.00499222 0.00562726 -0.03583297
+v 0.01142129 0.00562726 -0.03583297
+v 0.00499222 0.00281241 -0.03583298
+v 0.00499222 0.00562722 -0.02361066
+v 0.01142129 0.00562724 -0.03057854
+v 0.01142129 -0.01303187 -0.03583304
+v 0.00499222 0.00280510 -0.03562399
+v 0.00901456 -0.01113582 -0.03583303
+v 0.01042562 0.00562723 -0.02792538
+v 0.00499222 0.00274299 -0.03378012
+v 0.00921092 -0.01088193 -0.03377869
+v 0.00965337 -0.01029741 -0.03021990
+v 0.00990764 -0.00994123 -0.02827820
+v 0.01142129 -0.00813287 -0.02143779
+v 0.01142129 -0.00463303 -0.02069222
+v 0.01142129 -0.00113501 -0.02304003
+v 0.01142129 -0.01288940 -0.03511566
+v 0.01121486 -0.01294785 -0.03583304
+v 0.01142129 -0.01094771 -0.02709540
+v 0.01142129 -0.01092031 -0.02700350
+v 0.01142129 -0.00865894 -0.02231229
+f 1 2 6
+f 1 6 18
+f 1 18 8
+f 1 8 3
+f 1 3 7
+f 1 7 10
+f 1 10 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
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+f 2 16 15
+f 2 15 14
+f 2 14 21
+f 2 21 20
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+f 2 19 17
+f 2 17 6
+f 3 8 7
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+f 4 14 15
+f 4 15 16
+f 4 16 9
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+f 7 8 10
+f 8 18 11
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 12 20 13
+f 13 20 21
+f 13 21 14
+f 17 19 18
+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_34.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a4acb41524e659e90c106440b2de562144893bc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_34.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v 0.00912627 -0.01179957 -0.06550331
+v 0.00789106 -0.01259474 -0.06550332
+v 0.00027620 -0.01406707 -0.09075424
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+v 0.00368976 -0.01080416 -0.09075423
+v 0.00912627 -0.01070827 -0.06876133
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+v 0.00646562 0.00075035 -0.08198373
+v 0.00286182 0.01110664 -0.07826588
+v 0.00504822 0.01196756 -0.06550323
+v 0.00587079 -0.01331587 -0.06550332
+v -0.00247823 -0.01507884 -0.09075425
+v 0.00478831 -0.00816093 -0.09075422
+v 0.00646830 -0.00663643 -0.08554582
+v 0.00912627 -0.00818842 -0.07021730
+v 0.00912627 -0.00125406 -0.06938422
+v 0.00667997 -0.00113611 -0.08255474
+v 0.00127830 0.00602313 -0.09075417
+v 0.00478028 -0.00462931 -0.09075421
+v 0.00378890 -0.00121560 -0.09075419
+v -0.00185393 0.00916539 -0.09075416
+v -0.00195574 0.00920652 -0.09075416
+v -0.00235230 0.00935458 -0.09075416
+v 0.00030835 0.01149052 -0.08005557
+v 0.00247867 0.01127664 -0.07788026
+v 0.00109610 0.01283951 -0.06937923
+v 0.00472937 0.01213208 -0.06550323
+v 0.00085495 0.00681555 -0.09075416
+v -0.00003997 0.00828797 -0.09075416
+v 0.00445875 -0.01340635 -0.06550332
+v -0.00597485 -0.01512546 -0.09075425
+v 0.00479635 -0.00813077 -0.09075422
+v 0.00646830 -0.00601675 -0.08554582
+v 0.00685681 -0.00476094 -0.08374624
+v 0.00912627 -0.00813084 -0.07023707
+v 0.00912627 -0.00462938 -0.07001212
+v -0.00586499 0.00967813 -0.09075415
+v -0.00054102 0.01120811 -0.08203807
+v -0.00137163 0.01189632 -0.07788026
+v -0.00244072 0.01262840 -0.07293636
+v 0.00109610 0.01235969 -0.07293636
+v 0.00144978 0.01173180 -0.07684698
+v 0.00109610 0.01288611 -0.06581963
+v 0.00109610 0.01285047 -0.06550322
+v 0.00435961 -0.01340635 -0.06550332
+v -0.00600700 -0.01511449 -0.09075425
+v 0.00295560 -0.01340087 -0.06550332
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+v 0.00093265 -0.01308554 -0.06550332
+v -0.00593198 0.00968362 -0.09075415
+v -0.00271134 0.01153988 -0.08037198
+v -0.00253985 0.01193471 -0.07788026
+v -0.00244072 0.01215131 -0.07649597
+v -0.00597485 0.01203066 -0.07293637
+v -0.00244072 0.01257354 -0.06937923
+v -0.00951166 0.00948346 -0.09075416
+v -0.00803531 0.01120535 -0.07881465
+v -0.00819607 0.01144113 -0.07053858
+v -0.00211383 0.01169885 -0.06550323
+v -0.00780756 -0.01343918 -0.08527393
+v -0.00860066 -0.01411094 -0.09075424
+v -0.00263631 -0.01108393 -0.06550331
+v -0.00597485 0.00968362 -0.09075415
+v -0.00824966 0.01142743 -0.07293637
+v -0.01270015 0.00866636 -0.09075416
+v -0.00680814 0.01069257 -0.06816551
+v -0.01327354 0.00859228 -0.08029289
+v -0.01485707 0.00765181 -0.08163762
+v -0.01187757 0.00833178 -0.07293638
+v -0.01149710 0.00793419 -0.07063747
+v -0.01193384 0.00503594 -0.06550325
+v -0.00969654 0.00685110 -0.06550324
+v -0.00963491 0.00689223 -0.06550324
+v -0.00272741 -0.01100989 -0.06550331
+v -0.01059146 -0.00251811 -0.06550328
+v -0.01203030 -0.00092504 -0.06550327
+v -0.01714796 -0.00145963 -0.09075420
+v -0.01276982 0.00861426 -0.09075416
+v -0.01485707 0.00765181 -0.08196887
+v -0.01643524 0.00559264 -0.09075417
+v -0.01824652 0.00235989 -0.09075418
+v -0.01532061 0.00594631 -0.08029290
+v -0.01460253 0.00717470 -0.07926456
+v -0.01509822 0.00484130 -0.07739083
+v -0.01201154 0.00481658 -0.06550325
+v -0.01212676 -0.00076875 -0.06550327
+v -0.01272427 0.00207190 -0.06550326
+v -0.01278053 0.00236255 -0.06550326
+v -0.01513573 0.00502776 -0.07788028
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+f 1 11 6
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+f 88 92 89
+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_35.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10d1721d896b77c66a7ba1e72b253d6ff9b6a8e6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_35.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.00912964 0.03690155 -0.07787938
+v 0.00912964 0.02807750 -0.07787942
+v 0.00912964 0.03686142 -0.06558672
+v 0.01140484 0.03679946 -0.06550313
+v 0.01171831 0.03679096 -0.06550313
+v 0.01171831 0.03681287 -0.07787938
+v 0.00912964 0.02807627 -0.07750746
+v 0.03274453 0.02449272 -0.07787943
+v 0.03161873 0.02449270 -0.07277748
+v 0.03087044 0.02449267 -0.06581819
+v 0.03085695 0.02449267 -0.06550318
+v 0.00912964 0.03686020 -0.06550313
+v 0.01494404 0.03665126 -0.06550314
+v 0.01525751 0.03663790 -0.06581815
+v 0.01525751 0.03664277 -0.06937775
+v 0.01525751 0.03664522 -0.07293616
+v 0.01525751 0.03664524 -0.07787939
+v 0.00912964 0.02807384 -0.07649580
+v 0.04352729 0.02449272 -0.07787943
+v 0.00912964 0.02804951 -0.06581818
+v 0.04355762 0.02449267 -0.06550318
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+v 0.01525751 0.03663668 -0.06550314
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+v 0.01879334 0.03642899 -0.07293616
+v 0.01879334 0.03642415 -0.07787939
+v 0.04300821 0.02686273 -0.07787942
+v 0.04353066 0.02449271 -0.07743235
+v 0.04356100 0.02449267 -0.06581819
+v 0.04299472 0.02686268 -0.06550317
+v 0.02233254 0.03613377 -0.06550314
+v 0.02233254 0.03613742 -0.06937775
+v 0.02233254 0.03613866 -0.07293616
+v 0.02233254 0.03613868 -0.07787939
+v 0.02016857 0.03631361 -0.07787939
+v 0.04353403 0.02449271 -0.07649581
+v 0.04208801 0.02900922 -0.07787941
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+v 0.04205431 0.02895086 -0.06550316
+v 0.02576388 0.03578149 -0.06550314
+v 0.02577062 0.03578149 -0.06581815
+v 0.02579421 0.03578393 -0.06937775
+v 0.02584477 0.03578883 -0.07787939
+v 0.02370440 0.03600263 -0.07787939
+v 0.04030830 0.03075727 -0.07787941
+v 0.04020718 0.03070013 -0.06550316
+v 0.02737506 0.03561507 -0.06550314
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+v 0.03294677 0.03454612 -0.07787939
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+v 0.03294677 0.03443188 -0.06581815
+v 0.03294677 0.03442702 -0.06550314
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_36.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96650200f5f679ccd6b096a4a5a4c6d9d4423508
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_36.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v -0.03032432 -0.03003033 -0.07787963
+v -0.03030869 -0.03003033 -0.08005739
+v -0.03026177 -0.03127041 -0.07787963
+v -0.01847367 -0.03003033 -0.07787963
+v -0.03028914 -0.03003032 -0.08270233
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_37.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da002513835663713463c17d5d0d780d47ddd343
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_37.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.02632412 0.03565738 -0.04979635
+v 0.02632412 0.03563422 -0.04331199
+v 0.02720721 0.03556317 -0.04979635
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+v 0.03294900 0.03428564 -0.04979635
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_38.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19be9fd71c2462670fae0e7736c5265d55b04e4a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_38.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.03167720 0.02410160 -0.09156032
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_39.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24907b4aff8169dfcad6acc5d1a8025c9ed48b3c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_39.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.04395056 -0.00142221 -0.08005730
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_4.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2b651cac7d7b821df5d367ee018609305ebddea
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_4.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_40.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb4de6121e43a77aef3fd074a013d37161e8b881
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_40.obj
@@ -0,0 +1,379 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_41.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e4520cacfb520108a4134de57fa6c4589ff7c9f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_41.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.02708596 0.03564355 -0.06550193
+v 0.02708596 0.03564355 -0.06493313
+v 0.02737637 0.03561532 -0.06550193
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+v 0.02923934 0.03527090 -0.06550193
+v 0.02708596 0.02615046 -0.06406768
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_42.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02f0e46d4cced6be33362ce54f1bcfb9b2226498
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_42.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.03142312 -0.02755544 -0.06550337
+v 0.03142312 -0.03985665 -0.06550342
+v 0.03142312 -0.02755993 -0.06578688
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+v 0.00912627 -0.03161740 -0.06581840
+v 0.00912627 -0.03161740 -0.06550339
+v 0.03142312 -0.04005584 -0.06937803
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+v 0.00912627 -0.04285369 -0.06550343
+v 0.03142312 -0.04023555 -0.07293644
+v 0.02940863 -0.04043029 -0.06550342
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_43.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0689b95da26030cc1d9da43611491502afb3cb60
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_43.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.03505520 -0.03852692 -0.04180733
+v 0.03294780 -0.03918084 -0.04180733
+v 0.03294780 -0.03920190 -0.04801870
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+v 0.02850852 -0.04033127 -0.04180734
+v 0.02616706 -0.04083265 -0.04416173
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_44.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4148bd2fcb0187d0306d0d76e0a2c5d30cd27867
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_44.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.01904343 0.02567474 0.00277555
+v 0.01976460 0.02567476 -0.00174217
+v 0.01904343 0.02441664 0.00897884
+v 0.01904343 0.02567467 0.02137236
+v 0.02011522 0.02567476 -0.00326114
+v 0.01904343 0.02414770 0.01249371
+v 0.02287016 0.02459004 -0.00174217
+v 0.01904343 0.02567361 0.02148342
+v 0.01904472 0.02567467 0.02148015
+v 0.02154406 0.02567477 -0.00611943
+v 0.01904343 0.02414027 0.01274524
+v 0.02560326 0.02296261 0.01897792
+v 0.02346160 0.02482393 -0.00422153
+v 0.02560326 0.02450057 -0.00201656
+v 0.02560326 0.02447190 -0.00174217
+v 0.02560326 0.02423375 0.00150157
+v 0.01904343 0.02452545 0.01976192
+v 0.02560326 0.02363106 0.02216614
+v 0.02560326 0.02384264 0.02232294
+v 0.01997972 0.02567467 0.02160755
+v 0.02231724 0.02567478 -0.00707001
+v 0.01904343 0.02422760 0.01605432
+v 0.02560326 0.02301862 0.01939932
+v 0.02560326 0.02567479 -0.01104874
+v 0.02560326 0.02567467 0.02201261
+f 1 2 3
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_45.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93ab820c7d66798d27973f559a8d34f1c720a348
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_45.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
+v 0.00463606 0.01342229 -0.04979875
+v 0.00463606 0.01334431 -0.05157914
+v 0.00109894 0.01285224 -0.06550016
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+v -0.01079564 0.00555373 -0.04979878
+v 0.01120674 0.01166625 -0.04979876
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+v 0.01375796 0.00519341 -0.05733041
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+v 0.00912572 -0.00463012 -0.07000720
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+v -0.01193625 0.00503747 -0.06550019
+v -0.01271588 0.00359332 -0.04979879
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+v -0.00467392 -0.01366585 -0.05090909
+v -0.00662753 -0.01226480 -0.04979885
+v -0.00424922 -0.00993590 -0.06421396
+v -0.01123854 -0.00631363 -0.04979882
+v -0.01127494 -0.00625985 -0.04979882
+v -0.00818678 -0.01046035 -0.04979884
+v -0.00981580 -0.00826867 -0.04979883
+v -0.01214557 -0.00453608 -0.04979882
+v -0.01269768 -0.00323183 -0.04979881
+v -0.01339539 -0.00113158 -0.04979880
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_46.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0faddcdbbfec5d2eeb298dc4667f8c97f8197296
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_46.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.03493596 -0.02423924 -0.03583457
+v 0.02619723 -0.02893901 -0.04180593
+v 0.02619723 -0.02895198 -0.04122721
+v 0.02619723 -0.02904119 -0.03766837
+v 0.02619723 -0.02908823 -0.03583459
+v 0.04360653 -0.02423924 -0.03583457
+v 0.03507400 -0.02423922 -0.04180591
+v 0.02619723 -0.04080523 -0.04180597
+v 0.02619723 -0.04076633 -0.03583463
+v 0.04349917 -0.02913039 -0.03583459
+v 0.04358778 -0.02423923 -0.03733983
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+v 0.02736796 -0.04053442 -0.03583463
+v 0.02941120 -0.04014519 -0.04180597
+v 0.02941120 -0.04011926 -0.03583463
+v 0.04318731 -0.03262847 -0.03583460
+v 0.04341737 -0.02913037 -0.04089927
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_47.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..263123f1c7f8718b511ad874a1e315d744a4f9b2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_47.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v 0.02748494 -0.02405808 -0.09341601
+v 0.03506460 -0.02405813 -0.07788112
+v 0.04359546 -0.02405808 -0.09341601
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_48.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4506ce6ce8ac386932f197a10c63f875fa769177
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_48.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_49.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9172717c0f9f0a387cc6b2010911bb4e6f948c3c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_49.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_5.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..983811d81fe2eeaca97366719a0f6c4bd043262a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_5.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.00499159 0.02073403 -0.01034517
+v 0.00499159 0.02567427 -0.00127180
+v 0.01535166 0.02567427 0.00116483
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_50.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a00bdd885984ec2f1d459546206831bab571014
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_50.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.03020152 -0.00282579 -0.04979649
+v -0.02348724 -0.00282579 -0.04979649
+v -0.03020239 -0.00288721 -0.04979649
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_51.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72ea1fbd0f1dfcfece82b14e2044da9d4e3de440
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_51.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.01974963 0.03492231 -0.03583435
+v -0.01865739 0.03518747 -0.03583435
+v -0.01974963 0.02240598 -0.03583440
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_52.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31a5f12dc442374f6db933c67a3669d779fa2edc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_52.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_53.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d25441710154201a93ca69975a257a72fd1b2177
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_53.obj
@@ -0,0 +1,391 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_54.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31dfff1cb647aa5bd61619c765293700cff8cbce
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_54.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.00109701 0.03714243 -0.08361506
+v 0.00463639 0.03709149 -0.08361506
+v 0.00109701 0.03713394 -0.08566722
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+v 0.00961836 0.03688348 -0.07787938
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+v 0.00667726 0.03701508 -0.08566722
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+v -0.00951554 0.03708017 -0.08566722
+v -0.00597616 0.03709432 -0.08361506
+v -0.00460346 0.03706317 -0.07787938
+v -0.00243957 0.03709430 -0.08005656
+v 0.00109701 0.03710279 -0.07787938
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+v -0.00951554 0.03706744 -0.08361506
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+v -0.00951554 0.03701365 -0.07787938
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+v -0.01305492 0.03680849 -0.07787938
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+v -0.01820183 0.03607131 -0.07787939
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+v -0.01894270 0.03607133 -0.08361507
+v -0.01659430 0.03637411 -0.07787939
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_55.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89bba4c369156e72b088573d06f43f41ebdfb655
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_55.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.02708515 0.02585920 -0.04979871
+v 0.02708515 0.02587647 -0.05157886
+v 0.02708515 0.03557573 -0.04979867
+v 0.00847786 0.02807692 -0.04979870
+v 0.00847786 0.02806507 -0.05513919
+v 0.00847786 0.02806400 -0.05839360
+v 0.00847786 0.02806401 -0.05869644
+v 0.00847786 0.02807373 -0.06195393
+v 0.00847786 0.02807481 -0.06225677
+v 0.00847786 0.02808776 -0.06550196
+v 0.02708515 0.02593365 -0.05513919
+v 0.02708515 0.03561567 -0.05808304
+v 0.02233133 0.03609456 -0.04979867
+v 0.00847786 0.03684315 -0.04979866
+v 0.02708515 0.02622169 -0.06550196
+v 0.02708515 0.02615913 -0.06424293
+v 0.02708515 0.02615158 -0.06406768
+v 0.02708515 0.02607930 -0.06225677
+v 0.02708515 0.02600270 -0.05869644
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+v 0.02708515 0.03563187 -0.06148656
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+v 0.02708515 0.03563510 -0.06225674
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+v 0.01171629 0.03676549 -0.04979866
+v 0.02708515 0.03564482 -0.06550193
+v 0.01171629 0.03678063 -0.05869640
+v 0.01171629 0.03679144 -0.06550192
+v 0.01171629 0.03676873 -0.05157882
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+v 0.01879238 0.03640737 -0.04979867
+v 0.01525524 0.03661663 -0.04979867
+v 0.01525524 0.03662420 -0.05513916
+v 0.01494196 0.03665121 -0.06550193
+v 0.01879238 0.03642685 -0.06550193
+v 0.01525524 0.03663719 -0.06550193
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_56.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4864262b805f18432c6fe49de7e4e033c7334d02
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_56.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.02080837 0.00995632 -0.10861573
+v -0.02080837 0.00995625 -0.09099371
+v -0.02073391 0.00995632 -0.10862627
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+v -0.00597623 0.00995632 -0.10860343
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_57.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..460a48db89e851aa4907ba00adb1422ad08b44eb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_57.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.01612890 0.02389377 -0.04979639
+v -0.02965007 0.02389377 -0.04979639
+v -0.01614410 0.02389377 -0.04801847
+v -0.02349341 -0.00282321 -0.04801857
+v -0.02348926 -0.00282321 -0.04887663
+v -0.02348650 -0.00282321 -0.04973626
+v -0.02348650 -0.00282321 -0.04979649
+v -0.02971365 0.02336023 -0.04180710
+v -0.02964869 0.02389374 -0.04180710
+v -0.02971088 0.02336026 -0.04979639
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+v -0.02353072 -0.00282323 -0.04445960
+v -0.03020148 -0.00282321 -0.04979649
+v -0.02977860 0.02075287 -0.04180711
+v -0.01620905 0.02389374 -0.04180710
+v -0.03013238 0.00236536 -0.04979647
+v -0.03013238 0.00586710 -0.04180717
+v -0.03011165 0.00675888 -0.04180717
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_58.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12ab2e506a76193f4a77e873257a37b33b5c51b1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_58.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.03498420 0.01872429 -0.03583441
+v 0.02632851 0.02588566 -0.03583438
+v 0.03498420 0.01872597 -0.04091780
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+v 0.02632851 0.03561341 -0.03583435
+v 0.02632851 0.02589559 -0.03660308
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_59.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c5c4b9cdebff9ae1dc369a56f85c150efb260c3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_59.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_6.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b9894d382d4d29ad94a5a73f51a79ed86089751
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_6.obj
@@ -0,0 +1,469 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_60.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a8242c6ef31e21dfd5f21c571b0d6bc09d4c75b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_60.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.01847688 -0.03002907 -0.07787963
+v -0.01565791 -0.03002903 -0.09060604
+v -0.02342127 -0.02003408 -0.07787959
+v -0.03032380 -0.03002907 -0.07787963
+v -0.02214227 -0.02003404 -0.09060600
+v -0.03022575 -0.03002903 -0.09060604
+v -0.03038868 -0.02003408 -0.07787959
+v -0.03036850 -0.02912986 -0.07787963
+v -0.03031515 -0.03002907 -0.07914292
+v -0.03029063 -0.02003404 -0.09060600
+v -0.03023440 -0.03002903 -0.08972521
+v -0.03027333 -0.02912982 -0.09060604
+v -0.03037282 -0.02003408 -0.08005735
+v -0.03034399 -0.02213188 -0.08361676
+v -0.03033677 -0.02562988 -0.08361677
+v -0.03036129 -0.02562990 -0.08005737
+v -0.03030361 -0.02912983 -0.08717495
+v -0.03026468 -0.03002904 -0.08626049
+v -0.03028054 -0.02575608 -0.09060602
+v -0.03031082 -0.02562987 -0.08717493
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+v -0.03025747 -0.03002904 -0.08717495
+v -0.03034687 -0.02003406 -0.08361675
+f 1 2 3
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+f 1 23 11
+f 1 11 6
+f 1 6 2
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_61.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf9d50fda573e19a085c520ad789cb252f393742
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_61.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.02560390 0.00562889 0.01800291
+v 0.02560390 0.01074890 0.02539262
+v 0.02408313 0.01108275 0.02497458
+v 0.02477103 0.00562890 0.01605419
+v 0.02560390 0.00562902 -0.01524750
+v 0.02560390 0.01464430 0.02986890
+v 0.02457584 0.01649673 0.02986891
+v 0.02043993 0.01088928 0.01476150
+v 0.02182520 0.00958045 0.01598990
+v 0.02325690 0.00562892 0.01222750
+v 0.02437781 0.00562904 -0.02300379
+v 0.02560390 0.00936489 -0.01443713
+v 0.02560390 0.02014545 0.02986892
+v 0.02451141 0.01682615 0.02986891
+v 0.02083599 0.01286430 0.01690317
+v 0.02037455 0.01286430 0.01512166
+v 0.01592407 0.01624277 -0.00169004
+v 0.01592407 0.01442431 -0.00244253
+v 0.01592407 0.01335776 -0.00325288
+v 0.01592407 0.01200464 -0.00428835
+v 0.01592407 0.01087753 -0.00623707
+v 0.01890116 0.00562897 -0.00173510
+v 0.01990648 0.00562895 0.00175073
+v 0.02121405 0.00562894 0.00591828
+v 0.02223168 0.00562893 0.00914042
+v 0.02436739 0.00562904 -0.02306810
+v 0.02560390 0.01311405 -0.01225043
+v 0.02513772 0.01959297 0.02986892
+v 0.02560390 0.02054726 0.02617086
+v 0.01592407 0.01991069 -0.00202446
+v 0.02493021 0.01931969 0.02986892
+v 0.02406608 0.01818519 0.02877558
+v 0.02406608 0.01792076 0.02877558
+v 0.01817916 0.00562898 -0.00529810
+v 0.01592407 0.00562902 -0.01643731
+v 0.02398175 0.00562905 -0.02459878
+v 0.02424895 0.00807235 -0.02174965
+v 0.02560390 0.01610984 -0.00929840
+v 0.02560390 0.02072012 0.02241492
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+v 0.01592407 0.00562909 -0.03583446
+v 0.02339524 0.00562906 -0.02642530
+v 0.02337155 0.00566747 -0.02646389
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+v 0.02560390 0.01665198 -0.00845589
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+v 0.01592407 0.01980582 -0.00529805
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+v 0.01959096 0.00562909 -0.03583446
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+v 0.02099328 0.00586543 -0.03281812
+v 0.01955400 0.00586544 -0.03583446
+v 0.01682042 0.01093968 -0.03583444
+v 0.02560390 0.01849996 -0.00529805
+v 0.02560390 0.01960194 0.00181509
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+v 0.02233117 0.01972310 -0.00529805
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+v 0.02452183 0.01833157 -0.00756834
+v 0.02100939 0.00562908 -0.03286315
+v 0.02526753 0.01876734 -0.00529805
+v 0.02560390 0.01885893 -0.00409538
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_62.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa7887b53d5e27f8480545b85a8089246987bdd5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_62.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.04407413 0.01876781 -0.04180712
+v 0.04404648 0.01811159 -0.04979641
+v 0.04405005 0.01876784 -0.04979641
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+v 0.03498438 0.01876784 -0.04979641
+v 0.03505663 -0.03852219 -0.04180733
+v 0.03496565 0.01876782 -0.04445979
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+v 0.03505663 -0.03852219 -0.04190977
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+v 0.04387432 -0.00813841 -0.04180722
+v 0.04390732 -0.00113839 -0.04979648
+v 0.03497814 0.01876784 -0.04801806
+v 0.03514048 -0.03849976 -0.04180733
+v 0.03580772 -0.03826415 -0.04979662
+v 0.03719928 -0.03782668 -0.04180733
+v 0.03588086 -0.03826418 -0.04180733
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+v 0.04384220 -0.00813838 -0.04979651
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+v 0.03669261 -0.03795566 -0.04979662
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+v 0.04285116 -0.03262714 -0.04979660
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+v 0.04216965 -0.03484268 -0.04801826
+v 0.04213932 -0.03480902 -0.04979661
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+f 41 46 42
+f 42 45 43
+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_63.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e30c028868cd5f88dca6e839764427617086a76b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_63.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.01804937 0.02312070 -0.03583440
+v -0.01805177 0.02312071 -0.03733966
+v -0.02982178 0.02312070 -0.03583440
+v -0.02366272 -0.00258017 -0.03583449
+v -0.02365310 -0.00258017 -0.03645647
+v -0.02358459 -0.00258015 -0.04089917
+v -0.02357978 -0.00258015 -0.04127388
+v -0.02357377 -0.00258015 -0.04180583
+v -0.01809024 0.02312072 -0.04180574
+v -0.02990712 0.01986030 -0.03583441
+v -0.02971960 0.02312072 -0.04180574
+v -0.03032902 -0.00258017 -0.03583449
+v -0.03024368 -0.00258015 -0.04180583
+v -0.02994438 0.01838104 -0.03583441
+v -0.02977850 0.02075341 -0.04180574
+v -0.03029897 0.00088653 -0.03583448
+v -0.03028575 0.00236579 -0.03583447
+v -0.03026171 0.00236580 -0.03733973
+v -0.03018959 0.00236581 -0.04180581
+v -0.03016434 0.00936460 -0.03583445
+v -0.03003092 0.01025771 -0.04180578
+v -0.03023887 0.00586520 -0.03583446
+v -0.03021243 0.00586521 -0.03733972
+v -0.03013309 0.00586522 -0.04180580
+f 1 2 9
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+f 1 14 20
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+f 1 22 17
+f 1 17 16
+f 1 16 12
+f 1 12 4
+f 1 4 5
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+f 1 7 8
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+f 4 12 13
+f 4 13 8
+f 4 8 7
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+f 4 6 5
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+f 12 16 13
+f 13 16 17
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+f 14 15 20
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+f 17 22 18
+f 18 22 19
+f 19 22 23
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+f 20 21 24
+f 20 24 23
+f 20 23 22
+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_64.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..306bc7163fd20dca1130bded1d3e72d47ff96cd8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_64.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.01592407 0.00562902 -0.01643405
+v 0.00499159 0.00809230 -0.01388186
+v 0.00499159 0.00758960 -0.01562809
+v 0.00499159 0.00735598 -0.01650440
+v 0.00499159 0.00667585 -0.01915894
+v 0.00499159 0.00586117 -0.02258103
+v 0.00499159 0.00562905 -0.02360446
+v 0.01592407 0.00562909 -0.03583446
+v 0.01592407 0.01087789 -0.00623811
+v 0.01337073 0.02073390 0.02570576
+v 0.01255743 0.02073389 0.02821316
+v 0.01171523 0.02073388 0.02945407
+v 0.01128397 0.02073388 0.02948606
+v 0.01093618 0.02073388 0.02951164
+v 0.00816560 0.02073388 0.02884641
+v 0.00499159 0.00981629 -0.00848965
+v 0.00499159 0.00562909 -0.03583446
+v 0.01592407 0.01129495 -0.03583444
+v 0.01592407 0.01200603 -0.00428719
+v 0.01428783 0.02073391 0.02073572
+v 0.01394432 0.02073391 0.02280817
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_65.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57450ad4e7d8245cd47c735e0f09dfc9e7974dde
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_65.obj
@@ -0,0 +1,211 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_66.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0faac09bdfccec6d7a9d5b192af8442504f47566
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_66.obj
@@ -0,0 +1,343 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_67.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4734501ade84ed8d4a76917fc632465ded5a5af7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_67.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_68.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e567305c4e1f240a28429e3edd9d33c3bd0d18b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_68.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_7.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..067b1addccb9e428250236dcedc0e013f4c9f6ed
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_7.obj
@@ -0,0 +1,532 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_8.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d809d05189ca469ba6cff22101629fc17a96c472
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_8.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_9.obj b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57906fe4d72b13bd68b9e8befa7177778c3caece
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/mjcf/mesh/pen_holder_40_collision_9.obj
@@ -0,0 +1,709 @@
+# https://github.com/mikedh/trimesh
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