diff --git a/.gitattributes b/.gitattributes
index 6a5c2a25e1d161fae456f4f60767715fad5a830e..6f00ec01cb69359d401c4f9ee73ae71f1c183700 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3316,3 +3316,6 @@ dataset/desktop_supplies/office_tools/0f6727591e0c5a07b2f810375a966b12/cutter_kn
 dataset/desktop_supplies/office_tools/0f6727591e0c5a07b2f810375a966b12/mesh/cutter_knife_027.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/0ccb6cdcdb775437bc9943a66169b739/magnifier_002.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/0ccb6cdcdb775437bc9943a66169b739/mesh/magnifier_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/11fac9ad03bf52e5aced2632cc87bf7f.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mesh/pen_holder.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mesh/pen_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/11fac9ad03bf52e5aced2632cc87bf7f.urdf b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/11fac9ad03bf52e5aced2632cc87bf7f.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..205bce0949db1e9ebfccc002546d7221f1022dd6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/11fac9ad03bf52e5aced2632cc87bf7f.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder">
+   <link name="pen_holder">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pen_holder.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4500" />
+         <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>0.125000</scale>
+         <version>v0.1.7</version>
+         <category>pen holder</category>
+         <description>rectangular, smooth, golden pen holder with rounded edges</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.6</max_mass>
+         <generate_time>20260120011135</generate_time>
+         <gs_model>mesh/pen_holder_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.167347431182861</ImageAestheticChecker>
+         <overall>NO</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_tools/11fac9ad03bf52e5aced2632cc87bf7f/11fac9ad03bf52e5aced2632cc87bf7f.usd b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/11fac9ad03bf52e5aced2632cc87bf7f.usd
new file mode 100644
index 0000000000000000000000000000000000000000..836bfec8e8b4a53ae8899c088ee8b08fa420396b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/11fac9ad03bf52e5aced2632cc87bf7f.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55a2e7e978b00faa8b57397b28c938608b3f0cf8a7bc74c632c0ee8588098c1d
+size 831602
diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mesh/material.mtl b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mesh/material_0.png b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2fefe60ade7a11b032aaaa8c85b3abe1ee363c4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e59a534c679affde2733ec5fe13d816d30e324f1b56ceff791644a0f2b1570f
+size 1440193
diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mesh/pen_holder.glb b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mesh/pen_holder.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d465e6ea5700f57d55227f8c054e538e56b54b24
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mesh/pen_holder.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cba732ea75f7126aeaa2dab156c9c9b5bace2ab12a0f8bd9666ed54aa7c10b73
+size 1993264
diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mesh/pen_holder.obj b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mesh/pen_holder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aeb8b63c72c0cec87af11c24b485f12216ca7e8a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mesh/pen_holder.obj
@@ -0,0 +1,50358 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mesh/pen_holder_collision.obj b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mesh/pen_holder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e8566f2dea56c134dc062f5b39546d2d77c6752
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mesh/pen_holder_collision.obj
@@ -0,0 +1,14091 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mesh/pen_holder_gs.ply b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mesh/pen_holder_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4761218f3e495a8c2df2ff7cc1f047f8eb8f5ad2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mesh/pen_holder_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb1e5fb86f62a8b29f1a9e2714b0fbe0e128bd49f7e80fa50e4df23fe380bc8d
+size 2079081
diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/11fac9ad03bf52e5aced2632cc87bf7f.xml b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/11fac9ad03bf52e5aced2632cc87bf7f.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7e8fa3aa7418d2993ea3a7c08a2b590cc82ecf02
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/11fac9ad03bf52e5aced2632cc87bf7f.xml
@@ -0,0 +1,52 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pen_holder">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/pen_holder.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pen_holder_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pen_holder_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pen_holder_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pen_holder_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pen_holder_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pen_holder_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pen_holder_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pen_holder_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pen_holder_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pen_holder_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pen_holder_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pen_holder_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pen_holder_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pen_holder_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pen_holder_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pen_holder_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pen_holder_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pen_holder_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/pen_holder_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pen_holder">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2fefe60ade7a11b032aaaa8c85b3abe1ee363c4
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e59a534c679affde2733ec5fe13d816d30e324f1b56ceff791644a0f2b1570f
+size 1440193
diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder.obj b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e7f4b41909633d8feefa2c622aaed7f5b675b33
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder.obj
@@ -0,0 +1,50358 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision.obj b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5f4c4ef7e65027b1ff897f715de122b1fddfdaf
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision.obj
@@ -0,0 +1,14091 @@
+# https://github.com/mikedh/trimesh
+
+o pen_holder_collision.obj
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diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_0.obj b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42fb0830e24ed78ba7391c2fb298010f4e0481c0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_1.obj b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82ffe1e6c9e4b9001d7e23cf6818c912a8936205
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_10.obj b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23370f123c813aa8e2133ea6bce91523ae222ac6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_11.obj b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6897b14e8d17d198e0bd8406c183b0308d4400c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_11.obj
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diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_12.obj b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf9a4b9e586695dcae0d777c50f79fb4823eeb8a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_12.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_13.obj b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b21794909c20f64065befc9944d3193520c8027d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_13.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_14.obj b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d203158dc561cc9d8dfa180d550a8be1fc09d61b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_14.obj
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diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_15.obj b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec14e436c331c6cf332a9e1c505c9a6c244db87a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_15.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_16.obj b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61e227a9c8c712b2577fd89291a69bc59fb72360
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_16.obj
@@ -0,0 +1,442 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_17.obj b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acff515e16ecc0d0c47240841ec4e4d199fa33b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_17.obj
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diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_18.obj b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bfab1f8b479027457eac6b491ffd146169c85c6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_18.obj
@@ -0,0 +1,484 @@
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diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_2.obj b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a84a485bb5ced6448a2b8e9787436fed3fef123
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_2.obj
@@ -0,0 +1,1228 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_3.obj b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41fde5cb8214f2dce8bc086270185319e81f16c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_4.obj b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..701fd7146b3fcec604d2e2acb82270bb8967e0c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_5.obj b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8e077d4a22ed3c517d9f6dd5ef7abcb6b88d768
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_6.obj b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18c9d62aa9850895ebb1b1484c047e3ae1bd6a56
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_7.obj b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b19bd0ae7c6d1e0ce3e2ce318c02f3d8f2a2fab0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_7.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_8.obj b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..589bcc310cccfc20a17768dc5075525837fc3168
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_8.obj
@@ -0,0 +1,556 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_9.obj b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8963fdb2d5c2c2951e72933746f101aad88f8dce
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/11fac9ad03bf52e5aced2632cc87bf7f/mjcf/mesh/pen_holder_collision_9.obj
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