diff --git a/.gitattributes b/.gitattributes
index bf408ad9b0c440aaa2ebb0c9fd6934b048ebe661..9af76214c98ad6cd1da0b4d53ac7e1e10246b6fc 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3192,3 +3192,5 @@ dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/86a4
 dataset/desktop_supplies/office_stationery/86c8b37f313c509f9b24374b4686a528/86c8b37f313c509f9b24374b4686a528.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/mesh/stapler_035.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/87cc03e6881d55979958232f9e577e71/stapler_035.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mesh/pen_holder_024.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/pen_holder_024.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ae68e93701cc6e1a05da5cf67ead415080411977
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pen_holder_024_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd pen_holder_024_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1ece3dc157b6149fb9548b07b9b2ac92bac4a16
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f609894ceb84f13bd617907ed67e83c234f97280b9c2c4e28f0a3e58c7f7c33
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mesh/pen_holder_024.glb b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mesh/pen_holder_024.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2b4d08a6e4ce00d946bad0c2fd0fa54133ce323a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mesh/pen_holder_024.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c5ba9b144abc5af2d8a0ad7a5149fd7aae19d214f9248fe31de09e7f63fc14c
+size 13905052
diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mesh/pen_holder_024.mtl b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mesh/pen_holder_024.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..03149fbb0e77ebbc780f450c07757ecb03c13cb1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mesh/pen_holder_024.mtl
@@ -0,0 +1,6 @@
+newmtl pen_holder_024_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mesh/pen_holder_024.obj b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mesh/pen_holder_024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..751d5642a5680878da98c3dc0e2da2d30901c5d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mesh/pen_holder_024.obj
@@ -0,0 +1,107844 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mesh/pen_holder_024_collision.obj b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mesh/pen_holder_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84c91ada7ea98b6950ff7add251956c829087273
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mesh/pen_holder_024_collision.obj
@@ -0,0 +1,17330 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mesh/pen_holder_024_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mesh/pen_holder_024_geometry_Looks_material_0.png
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/material_0.png
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+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024.obj b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024.obj
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index 0000000000000000000000000000000000000000..eb491d0f597375147597eb50380691dfb82909eb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024.obj
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision.obj b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e366bce24f54476e830d703fa4a42c29edee14b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision.obj
@@ -0,0 +1,17330 @@
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_0.obj b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..226c1c2757a4a4b9cc49cc2db35d99e53c2aa057
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_1.obj b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e9d8bf935767002570df5fc72ac1665c577f22d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_10.obj b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8f02a8a03307a8b40b48f18ed1eba0f9367e835
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_11.obj b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..592d6b1e4b93539d5f3d3c9173811237279d1a84
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_11.obj
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_12.obj b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21ac4bd40e19edd5b91e17f297835e70e63ac427
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_12.obj
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_13.obj b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a1ebcf93d89a94389c3e3fe63ea38cdd385041a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_13.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_14.obj b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daf52114cd49edad085a795b18112f109f8e38f6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_14.obj
@@ -0,0 +1,604 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_15.obj b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24e83c7e53528552633bdb93763314ca0a9d910f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_15.obj
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_16.obj b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7721d7cce1b257abb57220f2d9fe19d3d148cf9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_16.obj
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_17.obj b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81542d451395bdeb52cd9be85214e334d5922577
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_17.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_18.obj b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d01bd5d0898691cd4081b97929ebfa45311140e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_18.obj
@@ -0,0 +1,748 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_19.obj b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd019abd9b4684764fc7b6465e27d9486838b5e4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_19.obj
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_2.obj b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ebe5a3f6937ceb9f7fb0e282ee62b428c7e1739
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_20.obj b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..682ee7914bf3cb769fc2e82888e190f8e1015727
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_20.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_21.obj b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1206bc746b1d4f6148422b951b343840098787ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_21.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_22.obj b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..457eac4c66c21376557b28bd701e52ea2432c362
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_22.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_23.obj b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c54fb2d6d00b2dfda2e273c9912775a1fc9e6eb3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_23.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_3.obj b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afbc5529357abfc182b6b52c378148d054b104cc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_4.obj b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5355b2bacb788c4be7d692426a1ada6765fde40
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_5.obj b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00f7891d2b5d2521e616ad3dc80e23876ee0312c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_6.obj b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18079b3c9a5f11f872700d8543d4c07df776b2d7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_7.obj b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd67ce2feec918e48b96c0c732f2538beab12992
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_8.obj b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e1eadfb0b35f8b08e4d553d75c5301598d42c3b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_9.obj b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/mesh/pen_holder_024_collision_9.obj
new file mode 100644
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--- /dev/null
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diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/pen_holder_024.xml b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/pen_holder_024.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6e5920feed44c6a950765f2aeeb0ba66e610aeb6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/mjcf/pen_holder_024.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_3" file="mesh/pen_holder_024_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pen_holder_024_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pen_holder_024_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pen_holder_024_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pen_holder_024_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pen_holder_024_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pen_holder_024_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pen_holder_024_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pen_holder_024_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pen_holder_024_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pen_holder_024_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pen_holder_024_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pen_holder_024_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pen_holder_024_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pen_holder_024_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/pen_holder_024_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/pen_holder_024_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/pen_holder_024_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/pen_holder_024_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/pen_holder_024_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/pen_holder_024_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pen_holder_024">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/pen_holder_024.urdf b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/pen_holder_024.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8d58e973b95aec6b317a0b36ab9c1e21e63b0129
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/pen_holder_024.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_024">
+   <link name="pen_holder_024">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_024.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_024_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>86e2167fb29553908221b85c99fd3ef0</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>pen_holder</category>
+         <name>wooden pen holder</name>
+         <color>brown,beige</color>
+         <shape>cylinder</shape>
+         <material>wood</material>
+         <description>cylindrical dark wooden pen holder with beige base ring</description>
+         <min_height>0.1350</min_height>
+         <max_height>0.1350</max_height>
+         <real_height>0.1350</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611144931</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.058506 -0.059164 -0.063194</min>
+            <max>0.058467 0.058470 0.071806</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/pen_holder_024.usd b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/pen_holder_024.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/pen_holder_024.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73529f1024839cf3ae95050ee9449e38d3248120120792b3a7c750877c634594
+size 4686776
diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/textures/material_0.png b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f609894ceb84f13bd617907ed67e83c234f97280b9c2c4e28f0a3e58c7f7c33
+size 10908518
diff --git a/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/video.mp4 b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..de4d55a67bbdc545bafa1c6e3b981c0a906d0bab
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/86e2167fb29553908221b85c99fd3ef0/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f79748c3ce20e603bd9bc112d206897712887ef69b074e00890aec57e71d707e
+size 270013