diff --git a/.gitattributes b/.gitattributes
index 65ade7f35d1ebf44b3d29d542ad65223eb5ea3c6..40edb747502f03dea8fc94ea974bf4b5e03fb041 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3262,3 +3262,5 @@ dataset/desktop_supplies/office_stationery/d3ef0c336d9e50eb9d8954e48b0cf6a0/d3ef
 dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/d3d50a08f19551bea9ce7665ff96f971.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/mesh/notebook_011.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/d6c931a81cfe56228199ed630bda9389/notebook_011.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mesh/pen_holder_027.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/pen_holder_027.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3504fa2c80afe444976ea56e999e51d0a04aaee2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pen_holder_027_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd pen_holder_027_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7bdb5dadedd204bd40e5f08ae06496dbd00a29b4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1820a6cb8f9867f6b0fa93f230f2912b84a22fa3e4cfc4f1c29937b090fbcac6
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mesh/pen_holder_027.glb b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mesh/pen_holder_027.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8ad712d94b5ebb0bb9c78f09fd5bdcfd110e7f9d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mesh/pen_holder_027.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 14518828
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mesh/pen_holder_027.mtl b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mesh/pen_holder_027.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9c4caab721adfd5f65b04cec3c9a784d6ff0f6b6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mesh/pen_holder_027.mtl
@@ -0,0 +1,6 @@
+newmtl pen_holder_027_geometry_Looks_material_0
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+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/d71d160a66fd5af5a3384c4907b942a6/mesh/pen_holder_027.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mesh/pen_holder_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38f46720be9a1b4adbc7db53e602f36512a0edb8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mesh/pen_holder_027.obj
@@ -0,0 +1,113914 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pen_holder_027_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mesh/pen_holder_027_collision.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mesh/pen_holder_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05b30e0545b46cd1d14fd8bf93bc927c64b97cc3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mesh/pen_holder_027_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f08e364dbde4e6307786cf7fc4154c797ba3f22c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027.obj
@@ -0,0 +1,113914 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6c03b6591ae9e8a85dfd0acb31bba03fa83083a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision.obj
@@ -0,0 +1,30037 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_0.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c71f373f46c2cceb5ec10f9f6cd5b7cdccfcf1f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_0.obj
@@ -0,0 +1,562 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_1.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..390ed88542ad65208234e347f6f42ed460c08093
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_1.obj
@@ -0,0 +1,760 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_10.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf361eac5ffb11c07a2379ac21cdedadbb386f51
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_11.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cdb43864517acc294a72be89db7a1b1bd74eb74
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_11.obj
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_12.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6f246d39b93158f30efe5a48420471afc2ec76b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_12.obj
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_13.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40dd81dd851fab0ad7bee4529372dc92fbecb226
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_13.obj
@@ -0,0 +1,634 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_14.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e8f43c5f7c47d1d578eb23021d52e3d7344ab8d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_14.obj
@@ -0,0 +1,625 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_15.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64e428b92341109888acd79462cc08041a3bac9a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_15.obj
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_16.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8de1e902eb540c7fcf1b5696373d9c42bafe2730
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_16.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_17.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9719b4292ec3b462d3edc4294fd981593ccaa7fd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_17.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+v 0.02921879 -0.05298999 -0.01537704
+v 0.02921879 -0.03808106 -0.02416793
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_18.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca5ed43080b645ed73999bae47ec58d8c61cf7e4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_18.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_19.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02b52ad8453ea5b1942eb4538c5bb76e101fd518
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_19.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_2.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..629cbf87114c545f11d7be4c5e267faa93328100
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_2.obj
@@ -0,0 +1,1144 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_20.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e77215a655b935b8359a0ca0b1de502a639ea2f4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_20.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_21.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cbc9546a320c57a74b6991b5502572cbb3b80d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_21.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_22.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..658defb3ff049b7e950e230a9b76968d05cffc76
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_22.obj
@@ -0,0 +1,232 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_23.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fd870ed872625aa36ba2c137a651165ac660f3e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_23.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_24.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..292b25f25b586deee65b3a97cbeae8940eb01bcd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_24.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_25.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..368bbb687ebe37f1c57a237ea895bb233e9d0784
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_25.obj
@@ -0,0 +1,349 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_26.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..067215bad00111915ccf09121555da06b45720ed
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_26.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_27.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10d8ec2a25b777c0988064752d02b64702566e8f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_27.obj
@@ -0,0 +1,9943 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_28.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..868d2f17138780d272e4b684e2fb41eebe398705
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_28.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_29.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50b545dfa46885e4dd6fddab175c511eaebc5a4d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_29.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_3.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b8e3037ad921da23bc9553c0675c47323bc0d1f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_30.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee8ab862358974bebafcb6e5795772b8ad00c7f4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_30.obj
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_31.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23ee5198a29076acc2cb8656a59d5aef294a5ee6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_31.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_32.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7135249be50e94126957e833fba0e4d5a482fb0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_32.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_33.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..131c37693c66425aba9550b331ed9c1efed3b45c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_33.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+f 40 47 41
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+f 43 49 44
+f 44 49 50
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+f 59 64 60
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+f 64 67 65
+f 64 65 66
+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_34.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6c22699ca9ebd33db6f4de6b30f510475dfd927
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_34.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.01831897 0.04434158 -0.02602653
+v 0.03387416 0.03398134 -0.02602657
+v 0.03387416 0.03397666 -0.01537673
+v 0.01831897 0.04434157 -0.02416763
+v 0.01831897 0.05768411 -0.02602648
+v 0.03387416 0.05011816 -0.02602651
+v 0.03387416 0.05011580 -0.01537667
+v 0.01831897 0.04434386 -0.01537669
+v 0.01831897 0.05768642 -0.02416758
+v 0.01875596 0.05754254 -0.02602648
+v 0.03282354 0.05082137 -0.02602650
+v 0.03282811 0.05082133 -0.01749725
+v 0.03290424 0.05077028 -0.01537666
+v 0.01831897 0.05768407 -0.01537664
+v 0.01894781 0.05748219 -0.02416758
+v 0.01894781 0.05747987 -0.02602648
+v 0.03171050 0.05151995 -0.02602650
+v 0.03171507 0.05152455 -0.01537666
+v 0.03282811 0.05082133 -0.01537666
+v 0.01894781 0.05747983 -0.01537664
+v 0.02117390 0.05670238 -0.02416758
+v 0.01904983 0.05744502 -0.01537664
+v 0.02117390 0.05670235 -0.01537664
+v 0.02117390 0.05670007 -0.02602648
+v 0.03144251 0.05167777 -0.02602650
+v 0.03014980 0.05244593 -0.01537666
+v 0.02305130 0.05596665 -0.01537664
+v 0.02304521 0.05596668 -0.02416758
+v 0.02304521 0.05596437 -0.02602648
+v 0.03007367 0.05248310 -0.02602650
+v 0.03007367 0.05249002 -0.01537666
+v 0.02416282 0.05550015 -0.01537665
+v 0.02415825 0.05549787 -0.02602649
+v 0.02322945 0.05588778 -0.02602648
+v 0.02868199 0.05327219 -0.02602649
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+v 0.02562454 0.05482943 -0.01537665
+v 0.02538245 0.05493855 -0.02602649
+v 0.02756895 0.05386400 -0.02602649
+v 0.02868656 0.05327447 -0.01749724
+v 0.02863631 0.05330232 -0.01537665
+v 0.02571438 0.05478533 -0.01537665
+v 0.02562454 0.05482715 -0.02602649
+v 0.02757504 0.05386396 -0.01537665
+f 1 2 3
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+f 1 4 8
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+f 1 10 16
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+f 1 39 35
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+f 1 17 11
+f 1 11 6
+f 1 6 2
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+f 3 31 36
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+f 3 41 44
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+f 3 20 14
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+f 3 8 4
+f 5 9 10
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 9 15 10
+f 9 14 20
+f 9 20 15
+f 10 15 16
+f 11 17 18
+f 11 18 12
+f 12 19 13
+f 12 18 19
+f 15 21 24
+f 15 24 16
+f 15 20 22
+f 15 22 23
+f 15 23 21
+f 17 25 18
+f 18 25 26
+f 21 23 27
+f 21 27 28
+f 21 28 29
+f 21 29 24
+f 25 30 26
+f 26 30 31
+f 27 32 28
+f 28 32 33
+f 28 33 34
+f 28 34 29
+f 30 35 31
+f 31 35 36
+f 32 37 38
+f 32 38 33
+f 35 39 40
+f 35 40 36
+f 36 40 41
+f 37 42 43
+f 37 43 38
+f 39 44 41
+f 39 41 40
+f 39 43 44
+f 42 44 43
+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_35.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5eba8b815250dfa5fe6a37b7dd2c5b30fc5c6a4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_35.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.04407409 0.01914141 -0.01537678
+v 0.05744449 0.01914141 -0.01537678
+v 0.04407731 0.01914145 -0.02602662
+v 0.04811563 0.00001200 -0.02602669
+v 0.04811402 0.00001196 -0.01749744
+v 0.04811402 0.00001196 -0.01537685
+v 0.05744449 0.01914145 -0.02602662
+v 0.05752013 0.01892046 -0.01537678
+v 0.05758612 0.01873325 -0.02602662
+v 0.06051548 0.00001200 -0.02602669
+v 0.06051548 0.00001196 -0.01537685
+v 0.05789033 0.01780445 -0.01537678
+v 0.05772293 0.01831942 -0.02602662
+v 0.06051548 0.00111490 -0.02602669
+v 0.06051387 0.00111486 -0.01537685
+v 0.05820740 0.01669031 -0.01537679
+v 0.05810761 0.01704613 -0.02602663
+v 0.05789033 0.01780636 -0.02602662
+v 0.06044465 0.00297429 -0.02602668
+v 0.06043017 0.00334126 -0.01537684
+v 0.06051065 0.00121785 -0.01537685
+v 0.05879327 0.01446765 -0.01749739
+v 0.05879167 0.01446769 -0.02602664
+v 0.05820740 0.01668844 -0.01749738
+v 0.05815429 0.01688135 -0.02602663
+v 0.05879327 0.01446765 -0.01537680
+v 0.06043017 0.00334130 -0.02602668
+v 0.06042373 0.00344238 -0.01537684
+v 0.05926970 0.01234424 -0.01537680
+v 0.05929223 0.01224312 -0.01749740
+v 0.05887375 0.01410256 -0.02602664
+v 0.06029336 0.00520069 -0.02602667
+v 0.06026600 0.00556579 -0.01537683
+v 0.05929223 0.01224312 -0.01537681
+v 0.05928901 0.01224316 -0.02602665
+v 0.05970105 0.01001672 -0.01749740
+v 0.05969944 0.01001676 -0.02602665
+v 0.06026600 0.00556583 -0.02602667
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+v 0.05970105 0.01001672 -0.01537681
+v 0.05998594 0.00807494 -0.01537682
+v 0.05974934 0.00967971 -0.02602665
+v 0.06014046 0.00686160 -0.02602666
+v 0.06014046 0.00686906 -0.01972121
+v 0.06014046 0.00687092 -0.01749741
+v 0.06014046 0.00686718 -0.01537682
+v 0.05999881 0.00798132 -0.01537682
+v 0.05999881 0.00798319 -0.01749741
+v 0.05999881 0.00797574 -0.02602666
+f 1 2 7
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+f 1 5 6
+f 1 6 11
+f 1 11 15
+f 1 15 21
+f 1 21 20
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+f 1 33 39
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+f 1 16 12
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+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_36.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a401fb59dc7238d339460ab1f17acc5c9deb5c8f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_36.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.03605118 -0.03170653 -0.01538010
+v -0.03600697 -0.03175757 -0.01537697
+v -0.02655650 -0.03996263 -0.01537700
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+v -0.03618626 -0.03170653 -0.01537697
+v -0.02655650 -0.05436476 -0.01537705
+v -0.02655650 -0.03996703 -0.02602684
+v -0.05164152 -0.03170649 -0.02602681
+v -0.05164152 -0.03170653 -0.01537697
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+v -0.02655650 -0.05437360 -0.02602689
+v -0.05157030 -0.03182853 -0.02602681
+v -0.05164397 -0.03170650 -0.02416791
+v -0.05157030 -0.03182857 -0.01537697
+v -0.02866615 -0.05329753 -0.01537705
+v -0.02774518 -0.05378562 -0.02602689
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+v -0.05086053 -0.03294014 -0.02602681
+v -0.05086053 -0.03294240 -0.01537697
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+v -0.02867352 -0.05329971 -0.02602689
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+v -0.03168697 -0.05154025 -0.01537704
+v -0.03169433 -0.05154687 -0.02602688
+v -0.04909716 -0.03547177 -0.02602682
+v -0.04896454 -0.03566484 -0.01972137
+v -0.04896454 -0.03566485 -0.01537698
+v -0.03279951 -0.05084355 -0.01537704
+v -0.03280688 -0.05084351 -0.02602688
+v -0.04896208 -0.03566259 -0.02602682
+v -0.04809267 -0.03677642 -0.02602683
+v -0.04804601 -0.03684302 -0.01537699
+v -0.03287564 -0.05079252 -0.01537704
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+v -0.04716433 -0.03795015 -0.02602683
+v -0.04698259 -0.03818316 -0.01749758
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+v -0.03445727 -0.04972972 -0.01537703
+v -0.03556981 -0.04896202 -0.01537703
+v -0.03556981 -0.04896201 -0.01972142
+v -0.03556736 -0.04896198 -0.02602687
+v -0.04698013 -0.03818091 -0.02602683
+v -0.04682541 -0.03836507 -0.02602683
+v -0.04604196 -0.03929474 -0.02602683
+v -0.04608617 -0.03924596 -0.01537699
+v -0.03562139 -0.04892430 -0.01537703
+v -0.03668973 -0.04810775 -0.02602687
+v -0.04604196 -0.03929699 -0.01537699
+v -0.04511362 -0.04035753 -0.02602684
+v -0.03668973 -0.04810557 -0.01537703
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+v -0.04475996 -0.04075026 -0.02602684
+v -0.04388810 -0.04167993 -0.02602684
+v -0.04393476 -0.04162672 -0.01537700
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+v -0.03922917 -0.04605981 -0.02602686
+v -0.04277556 -0.04281151 -0.02602685
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+v -0.04277310 -0.04281155 -0.01537701
+v -0.04161635 -0.04392312 -0.02602685
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+f 72 76 73
+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_37.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c535a41b2c8cbbc05e1eab85b9383962bc1f56e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_37.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.00002922 0.06055298 -0.02194377
+v -0.00002922 0.06055300 -0.02602647
+v -0.00002922 0.06055137 -0.01537663
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+v -0.00002922 0.04784176 -0.02602651
+v -0.00002922 0.04784489 -0.01537667
+v 0.00114538 0.06054661 -0.01537663
+v 0.00337065 0.06045932 -0.01537663
+v 0.00337065 0.06046092 -0.01972102
+v 0.00337065 0.06046253 -0.02602647
+v 0.01831897 0.04434057 -0.02602653
+v 0.01831897 0.04434212 -0.01537669
+v -0.00002922 0.04784330 -0.01749726
+v 0.00559593 0.06028949 -0.01537663
+v 0.00522954 0.06031810 -0.02602647
+v 0.01831897 0.05768507 -0.02602648
+v 0.01831897 0.05768503 -0.01537664
+v 0.00566058 0.06028315 -0.01537663
+v 0.00559593 0.06028953 -0.02602647
+v 0.01778195 0.05785966 -0.02602648
+v 0.01778375 0.05785965 -0.02416758
+v 0.01778016 0.05785803 -0.01537664
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+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_38.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f0d42224d9c333e4afd4a889958850c7caa1cff
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_38.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+v -0.02242617 0.04243390 -0.01537669
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+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_39.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbf87f89f45412967ea6e0527a77cd2c06bf68de
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_39.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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+v -0.00331165 0.06048579 -0.02991346
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+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_4.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8e75dddca157be45c56283dbbc3db277ddbd8fd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_4.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.06055600 0.00001107 -0.01537581
+v -0.06055420 0.00111524 -0.01537581
+v -0.04813571 0.00001107 -0.01537581
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+v -0.04813390 0.00001105 -0.01194795
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+v -0.04214194 0.02312616 -0.00310900
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+v -0.06055600 0.00001096 0.01475593
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_40.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c70aa3b74f79d1150cfc107be6ea825e1920d09
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_40.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_41.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaf6b3540b922ad8649d92136030279766fc49a4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_41.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_42.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0798f1706587dc0a410113922d6c678e4001bea
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_42.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.04653824 0.01221414 -0.02991364
+v 0.04653961 0.01221413 -0.02602704
+v 0.05930171 0.01221414 -0.02991364
+v 0.04735744 -0.00854901 -0.02991371
+v 0.04735744 -0.00854902 -0.02602711
+v 0.05929487 0.01221413 -0.02602704
+v 0.05946747 0.01131564 -0.02991364
+v 0.05935788 0.01187669 -0.02602704
+v 0.05993462 -0.00854901 -0.02991371
+v 0.05993187 -0.00854902 -0.02602711
+v 0.05970036 0.01001666 -0.02602704
+v 0.05970584 0.01001667 -0.02991364
+v 0.06000722 -0.00805707 -0.02991371
+v 0.05993462 -0.00854901 -0.02940153
+v 0.05993325 -0.00854902 -0.02629917
+v 0.05995927 -0.00837013 -0.02602711
+v 0.05999900 0.00797368 -0.02602705
+v 0.06000311 0.00800419 -0.02991365
+v 0.05983050 0.00917305 -0.02991365
+v 0.06015243 -0.00694512 -0.02991371
+v 0.06000722 -0.00804692 -0.02639278
+v 0.06000722 -0.00804488 -0.02602711
+v 0.06014010 0.00685970 -0.02602705
+v 0.06014558 0.00689224 -0.02991365
+v 0.06008668 0.00735572 -0.02991365
+v 0.06023600 -0.00613606 -0.02991370
+v 0.06014969 -0.00693090 -0.02602711
+v 0.06026613 0.00556480 -0.02602706
+v 0.06027709 0.00556481 -0.02991366
+v 0.06029216 -0.00556281 -0.02991370
+v 0.06028120 -0.00556282 -0.02602710
+v 0.06029353 0.00519889 -0.02602706
+v 0.06044422 0.00333888 -0.02991367
+v 0.06038806 -0.00426384 -0.02991370
+v 0.06045518 -0.00333688 -0.02991369
+v 0.06041409 -0.00370280 -0.02602709
+v 0.06043052 0.00333887 -0.02602707
+v 0.06043189 0.00333887 -0.02639274
+v 0.06052916 0.00111498 -0.02991368
+v 0.06043874 -0.00333689 -0.02602709
+v 0.06053327 -0.00111095 -0.02991368
+v 0.06051820 -0.00111096 -0.02602708
+v 0.06051546 0.00111497 -0.02602708
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 12
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+f 1 19 18
+f 1 18 25
+f 1 25 24
+f 1 24 29
+f 1 29 33
+f 1 33 39
+f 1 39 41
+f 1 41 35
+f 1 35 34
+f 1 34 30
+f 1 30 26
+f 1 26 20
+f 1 20 13
+f 1 13 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
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+f 2 16 22
+f 2 22 27
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+f 2 31 36
+f 2 36 40
+f 2 40 42
+f 2 42 43
+f 2 43 37
+f 2 37 32
+f 2 32 28
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+f 2 23 17
+f 2 17 11
+f 2 11 8
+f 2 8 6
+f 3 6 8
+f 3 8 7
+f 4 9 14
+f 4 14 15
+f 4 15 10
+f 4 10 5
+f 7 8 11
+f 7 11 12
+f 9 13 14
+f 10 15 16
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 13 20 21
+f 13 21 14
+f 14 21 15
+f 15 21 22
+f 15 22 16
+f 17 23 24
+f 17 24 25
+f 17 25 18
+f 20 26 27
+f 20 27 22
+f 20 22 21
+f 23 28 29
+f 23 29 24
+f 26 30 27
+f 27 30 31
+f 28 32 33
+f 28 33 29
+f 30 34 31
+f 31 34 35
+f 31 35 36
+f 32 37 38
+f 32 38 33
+f 33 38 39
+f 35 40 36
+f 35 41 42
+f 35 42 40
+f 37 43 38
+f 38 43 39
+f 39 43 41
+f 41 43 42
+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_43.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6143daca6f1df914f905752ba35b87cc92f2d0fd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_43.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.00002497 0.06056642 -0.02991346
+v -0.00002497 0.04783816 -0.02991350
+v -0.00002497 0.06055400 -0.02602686
+v 0.00077836 0.06055222 -0.02602686
+v 0.00114491 0.06056287 -0.02991346
+v -0.00002497 0.04783816 -0.02978603
+v 0.02239365 0.04244350 -0.02991352
+v -0.00002497 0.04784169 -0.02602690
+v 0.00114491 0.06055045 -0.02602686
+v 0.00337053 0.06047418 -0.02991346
+v 0.02239365 0.04244526 -0.02602692
+v 0.02239365 0.05622373 -0.02991347
+v 0.00337053 0.06046175 -0.02602686
+v 0.00522960 0.06031806 -0.02602686
+v 0.00559615 0.06028967 -0.02602686
+v 0.00559615 0.06029678 -0.02991346
+v 0.02239365 0.05622017 -0.02602687
+v 0.02226854 0.05627340 -0.02991347
+v 0.00702502 0.06014244 -0.02602686
+v 0.00702941 0.06014422 -0.02991346
+v 0.02117110 0.05669915 -0.02602687
+v 0.02117110 0.05670271 -0.02991347
+v 0.00813783 0.05999519 -0.02602686
+v 0.00814222 0.05999698 -0.02991346
+v 0.02080455 0.05682865 -0.02602687
+v 0.02024485 0.05702734 -0.02991347
+v 0.00925284 0.05982845 -0.02991346
+v 0.01004739 0.05970249 -0.02602686
+v 0.01004739 0.05970605 -0.02861589
+v 0.01894548 0.05747970 -0.02602687
+v 0.01894548 0.05747971 -0.02991347
+v 0.01004739 0.05970605 -0.02991346
+v 0.01227081 0.05928206 -0.02602686
+v 0.01227081 0.05928383 -0.02639253
+v 0.01227081 0.05928916 -0.02991346
+v 0.01778218 0.05785933 -0.02602687
+v 0.01778218 0.05785934 -0.02991347
+v 0.01412989 0.05885276 -0.02602686
+v 0.01449424 0.05876938 -0.02639253
+v 0.01449424 0.05877826 -0.02991346
+v 0.01356799 0.05899114 -0.02991346
+v 0.01713250 0.05805270 -0.02991347
+v 0.01666937 0.05818042 -0.02602687
+v 0.01449424 0.05876760 -0.02602686
+v 0.01576508 0.05843233 -0.02991347
+v 0.01666937 0.05818575 -0.02991347
+f 1 2 6
+f 1 6 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 16
+f 1 16 20
+f 1 20 24
+f 1 24 27
+f 1 27 32
+f 1 32 35
+f 1 35 41
+f 1 41 40
+f 1 40 45
+f 1 45 46
+f 1 46 42
+f 1 42 37
+f 1 37 31
+f 1 31 26
+f 1 26 22
+f 1 22 18
+f 1 18 12
+f 1 12 7
+f 1 7 2
+f 2 7 6
+f 3 8 11
+f 3 11 17
+f 3 17 21
+f 3 21 25
+f 3 25 30
+f 3 30 36
+f 3 36 43
+f 3 43 44
+f 3 44 38
+f 3 38 33
+f 3 33 28
+f 3 28 23
+f 3 23 19
+f 3 19 15
+f 3 15 14
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+f 3 13 9
+f 3 9 4
+f 4 9 5
+f 5 9 13
+f 5 13 10
+f 6 7 11
+f 6 11 8
+f 7 12 17
+f 7 17 11
+f 10 14 15
+f 10 15 16
+f 10 13 14
+f 12 18 17
+f 15 19 16
+f 16 19 20
+f 17 18 21
+f 18 22 21
+f 19 23 24
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+f 21 22 25
+f 22 26 25
+f 23 27 24
+f 23 28 29
+f 23 29 27
+f 25 26 30
+f 26 31 30
+f 27 29 32
+f 28 33 34
+f 28 34 35
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+f 30 31 37
+f 30 37 36
+f 33 38 34
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+f 34 40 41
+f 34 41 35
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+f 36 42 43
+f 38 44 39
+f 39 44 43
+f 39 43 40
+f 40 43 45
+f 42 46 43
+f 43 46 45
+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_44.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97422a12f3e0535da389a8efc549fa7a16de50c8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_44.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.01787213 -0.04441875 -0.03309897
+v 0.01787213 -0.04452553 -0.02991422
+v 0.01787213 -0.05837231 -0.03309902
+v -0.00010755 -0.04776465 -0.03309899
+v -0.00010755 -0.04780901 -0.02991424
+v 0.01787213 -0.05784835 -0.02991427
+v 0.01690240 -0.05877638 -0.03309903
+v -0.00010755 -0.06119752 -0.03309903
+v -0.00010755 -0.06056350 -0.02991428
+v 0.01781581 -0.05786641 -0.02991427
+v 0.01670352 -0.05819657 -0.02991427
+v 0.01541347 -0.05854643 -0.02991428
+v 0.01449478 -0.05879282 -0.02991428
+v 0.01227020 -0.05929873 -0.02991428
+v 0.00776296 -0.06080987 -0.03309903
+v 0.00114553 -0.06119752 -0.03309903
+v 0.00114553 -0.06056186 -0.02991428
+v 0.01004386 -0.05972251 -0.02991428
+v 0.00820119 -0.06000503 -0.02991428
+v 0.00708890 -0.06014793 -0.02991428
+v 0.00621420 -0.06024156 -0.02991428
+v 0.00559470 -0.06030562 -0.02991428
+v 0.00559470 -0.06101027 -0.03309903
+v 0.00337011 -0.06113839 -0.03309903
+v 0.00207127 -0.06052572 -0.02991428
+v 0.00337011 -0.06047480 -0.02991428
+f 1 2 6
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+f 1 23 24
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+f 1 16 8
+f 1 8 4
+f 1 4 5
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+f 8 16 9
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+f 14 18 15
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+f 15 21 22
+f 15 22 23
+f 16 24 17
+f 17 24 25
+f 22 26 23
+f 23 26 24
+f 24 26 25
+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_45.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df33758bea69160aa4d103b16231dc24e61ca0ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_45.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.01787109 0.04454522 -0.02861595
+v -0.01787426 0.04454522 -0.02991352
+v -0.01787742 0.04454521 -0.02602692
+v -0.03392480 0.03397929 -0.02602696
+v -0.03392480 0.03397930 -0.02991356
+v -0.04096668 0.04454522 -0.02991352
+v -0.04096035 0.04454521 -0.02602692
+v -0.05017139 0.03397929 -0.02602696
+v -0.05017139 0.03397930 -0.02991356
+v -0.04116588 0.04436112 -0.02991352
+v -0.04096668 0.04454522 -0.02914069
+v -0.04096351 0.04454521 -0.02621603
+v -0.04162438 0.04393190 -0.02602692
+v -0.04981092 0.03450366 -0.02602695
+v -0.04981092 0.03450367 -0.02991355
+v -0.04162755 0.04393398 -0.02991352
+v -0.04162755 0.04393398 -0.02861595
+v -0.04162755 0.04393190 -0.02639259
+v -0.04277853 0.04281904 -0.02602692
+v -0.04967495 0.03469706 -0.02602695
+v -0.04897614 0.03568272 -0.02991355
+v -0.04210817 0.04347063 -0.02991352
+v -0.04342991 0.04215299 -0.02991353
+v -0.04389157 0.04167412 -0.02602693
+v -0.04277853 0.04282112 -0.02861595
+v -0.04897614 0.03568374 -0.02602695
+v -0.04897614 0.03568374 -0.02639262
+v -0.04847021 0.03633222 -0.02991355
+v -0.04277853 0.04282112 -0.02991352
+v -0.04389157 0.04167517 -0.02991353
+v -0.04406232 0.04149106 -0.02602693
+v -0.04810658 0.03679660 -0.02602694
+v -0.04810658 0.03679660 -0.02639261
+v -0.04810658 0.03679557 -0.02991354
+v -0.04492556 0.04056232 -0.02991353
+v -0.04492556 0.04056127 -0.02602693
+v -0.04699353 0.03819283 -0.02602694
+v -0.04699353 0.03819283 -0.02639261
+v -0.04699353 0.03819181 -0.02991354
+v -0.04557694 0.03982800 -0.02991353
+v -0.04603860 0.03930466 -0.02602694
+v -0.04643702 0.03884132 -0.02991354
+v -0.04603860 0.03930363 -0.02991354
+v -0.04603860 0.03930466 -0.02639261
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+f 1 7 3
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+f 30 35 31
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+f 40 43 44
+f 40 44 41
+f 41 44 42
+f 42 44 43
+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_46.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39309304b53664526750ebb3edffac1afe75c809
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_46.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.06056763 0.00000665 -0.02991368
+v -0.06055667 0.00000664 -0.02602708
+v -0.06056606 0.00111490 -0.02991368
+v -0.04813041 0.00000665 -0.02991368
+v -0.04813353 0.00000664 -0.02602708
+v -0.06055510 0.00111489 -0.02602708
+v -0.06054258 0.00148134 -0.02602707
+v -0.06047370 0.00334027 -0.02602707
+v -0.06053162 0.00204170 -0.02991367
+v -0.04813041 0.00000665 -0.02973407
+v -0.04457691 0.01817973 -0.02991361
+v -0.04457535 0.01817972 -0.02602701
+v -0.04813197 0.00000664 -0.02751071
+v -0.06048309 0.00334028 -0.02991367
+v -0.06030933 0.00556566 -0.02602706
+v -0.05783128 0.01817973 -0.02991361
+v -0.05782502 0.01817972 -0.02602701
+v -0.06041421 0.00426708 -0.02991366
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+v -0.06024202 0.00628256 -0.02991366
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+v -0.05789233 0.01799651 -0.02991361
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+v -0.05999155 0.00840298 -0.02602705
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+v -0.05826021 0.01669435 -0.02602702
+v -0.05999155 0.00840298 -0.02639272
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+v -0.05974422 0.01001642 -0.02602704
+v -0.05826960 0.01669436 -0.02991362
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+v -0.05998999 0.00839943 -0.02991365
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+v -0.05988824 0.00907363 -0.02991365
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+v -0.05974265 0.01001643 -0.02991364
+v -0.05933564 0.01224182 -0.02991364
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+f 19 24 20
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+f 22 26 23
+f 23 26 27
+f 24 25 28
+f 24 28 29
+f 25 30 34
+f 25 34 28
+f 26 31 27
+f 27 31 32
+f 28 33 29
+f 28 34 35
+f 28 35 33
+f 30 36 41
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+f 31 37 32
+f 31 38 37
+f 34 39 40
+f 34 40 35
+f 34 41 39
+f 36 37 38
+f 36 38 41
+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_47.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..922692edea248df67e38b95b07cae586080afb41
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_47.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.02072969 0.06043983 -0.03541085
+v -0.02093858 0.05679409 -0.02991439
+v -0.02072969 0.05731086 -0.03308690
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+v -0.02250698 0.05980666 -0.03541085
+v -0.02111323 0.05673447 -0.02991439
+v -0.02093858 0.04317944 -0.02991444
+v -0.02072969 0.04321068 -0.03308695
+v -0.02111665 0.04043949 -0.03541092
+v -0.02333913 0.05948581 -0.03541085
+v -0.02302750 0.05598488 -0.02991439
+v -0.03628014 0.03143591 -0.02991448
+v -0.03347893 0.03143877 -0.03541095
+v -0.02434934 0.05905423 -0.03541085
+v -0.02414045 0.05551355 -0.02991440
+v -0.03626986 0.03143592 -0.03306385
+v -0.05182716 0.03143591 -0.02991448
+v -0.03627329 0.03143592 -0.03308699
+v -0.05571049 0.03143877 -0.03541095
+v -0.02565748 0.05846649 -0.03541086
+v -0.02556502 0.05485766 -0.02991440
+v -0.05158060 0.03185045 -0.02991448
+v -0.05522079 0.03227921 -0.03541095
+v -0.05234425 0.03143592 -0.03308699
+v -0.02779092 0.05742729 -0.03541086
+v -0.02755463 0.05387809 -0.02991440
+v -0.05087173 0.03296632 -0.02991448
+v -0.05382704 0.03452513 -0.03541094
+v -0.05453933 0.03338940 -0.03541095
+v -0.02893468 0.05683102 -0.03541086
+v -0.02866758 0.05329602 -0.02991440
+v -0.05247095 0.03653539 -0.03541094
+v -0.04981016 0.03450524 -0.02991447
+v -0.03009900 0.05622057 -0.03541086
+v -0.03001339 0.05253224 -0.02991441
+v -0.05233397 0.03673131 -0.03541094
+v -0.04897801 0.03568640 -0.02991447
+v -0.03224271 0.05497409 -0.03541087
+v -0.03071540 0.05212337 -0.02991441
+v -0.05225522 0.03683920 -0.03541093
+v -0.05002932 0.03969842 -0.03541092
+v -0.05064914 0.03890340 -0.03541093
+v -0.04847119 0.03633378 -0.02991447
+v -0.03294814 0.05454819 -0.03541087
+v -0.03169822 0.05154698 -0.02991441
+v -0.04879652 0.04115501 -0.03541092
+v -0.04810478 0.03679659 -0.02991446
+v -0.04699525 0.03819639 -0.02991446
+v -0.03281117 0.05085135 -0.02991441
+v -0.03436244 0.05361973 -0.03541087
+v -0.04782055 0.04226519 -0.03541091
+v -0.04603641 0.03930657 -0.02991446
+v -0.03619110 0.05239881 -0.03541088
+v -0.03446860 0.04974400 -0.02991442
+v -0.04492346 0.04056440 -0.02991445
+v -0.04389270 0.04167742 -0.02991445
+v -0.04675212 0.04341228 -0.03541091
+v -0.03685545 0.05195019 -0.03541088
+v -0.03558497 0.04897454 -0.02991442
+v -0.04277975 0.04282452 -0.02991444
+v -0.04560150 0.04459345 -0.03541091
+v -0.03808482 0.05107283 -0.03541088
+v -0.03891012 0.05046521 -0.03541088
+v -0.03623562 0.04848049 -0.02991442
+v -0.04162913 0.04393754 -0.02991444
+v -0.04451937 0.04564969 -0.03541090
+v -0.03942379 0.05006771 -0.03541089
+v -0.03729378 0.04766560 -0.02991442
+v -0.03669792 0.04812557 -0.02991442
+v -0.04051619 0.04495971 -0.02991443
+v -0.04335506 0.04672864 -0.03541090
+v -0.04109492 0.04868778 -0.03541089
+v -0.03812934 0.04701539 -0.02991443
+v -0.03976966 0.04560992 -0.02991443
+v -0.04209144 0.04785870 -0.03541089
+v -0.03923887 0.04606989 -0.02991443
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+f 38 44 45
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+f 41 43 47
+f 41 47 48
+f 41 48 46
+f 44 49 45
+f 44 50 49
+f 46 48 52
+f 46 52 51
+f 49 50 53
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+f 51 52 55
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+f 51 56 57
+f 53 58 54
+f 54 58 59
+f 56 60 57
+f 57 60 61
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+f 60 65 66
+f 60 66 61
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+f 65 70 71
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+f 67 72 73
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+f 70 74 75
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+f 72 75 73
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+f 74 76 75
+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_48.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..071b61e84004310ff2b719ce75fb4101c50d3582
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_48.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.03392522 0.03397929 -0.02602696
+v -0.04457625 0.01817972 -0.02602701
+v -0.03392522 0.03397930 -0.02991356
+v -0.05017442 0.03397929 -0.02602696
+v -0.05782509 0.01817972 -0.02602701
+v -0.04457625 0.01817973 -0.02991361
+v -0.05017208 0.03397930 -0.02991356
+v -0.05017442 0.03397929 -0.02639263
+v -0.05087419 0.03296321 -0.02602696
+v -0.05752319 0.01910301 -0.02602701
+v -0.05783212 0.01817973 -0.02991361
+v -0.05043186 0.03360349 -0.02991356
+v -0.05087419 0.03296167 -0.02991356
+v -0.05087419 0.03296321 -0.02639263
+v -0.05099121 0.03278072 -0.02602696
+v -0.05752319 0.01910456 -0.02639268
+v -0.05680469 0.02114756 -0.02602700
+v -0.05752319 0.01911076 -0.02991361
+v -0.05158332 0.03184815 -0.02991356
+v -0.05158566 0.03185124 -0.02639263
+v -0.05158566 0.03185124 -0.02602696
+v -0.05680937 0.02114757 -0.02991360
+v -0.05667363 0.02148780 -0.02602700
+v -0.05220820 0.03079959 -0.02991357
+v -0.05265287 0.03004952 -0.02991357
+v -0.05247734 0.03034644 -0.02602697
+v -0.05647470 0.02200899 -0.02991360
+v -0.05599727 0.02321839 -0.02602699
+v -0.05599960 0.02321839 -0.02639266
+v -0.05305074 0.02935202 -0.02991357
+v -0.05265287 0.03004951 -0.02602697
+v -0.05600194 0.02321840 -0.02991359
+v -0.05553855 0.02433036 -0.02602699
+v -0.05333392 0.02885403 -0.02991357
+v -0.05333392 0.02885247 -0.02639264
+v -0.05322158 0.02904889 -0.02602697
+v -0.05573046 0.02386795 -0.02991359
+v -0.05553855 0.02433036 -0.02639266
+v -0.05495580 0.02560008 -0.02602699
+v -0.05495814 0.02560009 -0.02991359
+v -0.05391199 0.02774051 -0.02991358
+v -0.05390965 0.02773896 -0.02602698
+v -0.05342754 0.02866844 -0.02602697
+v -0.05333158 0.02885247 -0.02602697
+v -0.05553621 0.02433037 -0.02991359
+v -0.05452283 0.02649090 -0.02991358
+f 1 2 6
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+f 1 3 7
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+f 1 4 9
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+f 13 19 20
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+f 35 43 44
+f 35 44 36
+f 37 38 45
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+f 39 46 40
+f 39 42 41
+f 39 41 46
+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_49.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6f278a5fd6616457ecc688d8c63baf6e8349540
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_49.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.03608083 -0.03167143 -0.02861623
+v -0.02240863 -0.04240711 -0.02991384
+v -0.03608083 -0.03167143 -0.02991380
+v -0.03608369 -0.03167144 -0.02602720
+v -0.02241435 -0.04240712 -0.02603066
+v -0.04317181 -0.04240711 -0.02991384
+v -0.05166611 -0.03167143 -0.02991380
+v -0.05166325 -0.03167144 -0.02602720
+v -0.02242867 -0.04240187 -0.02602724
+v -0.02243154 -0.04240712 -0.02602724
+v -0.04317181 -0.04240712 -0.02611057
+v -0.04388779 -0.04168089 -0.02991383
+v -0.05157160 -0.03182802 -0.02991380
+v -0.05157160 -0.03182698 -0.02602720
+v -0.04316895 -0.04240712 -0.02602724
+v -0.04388779 -0.04167880 -0.02602723
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+v -0.05127662 -0.03229150 -0.02991380
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+v -0.04493024 -0.04056582 -0.02602723
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+v -0.05086136 -0.03294100 -0.02991380
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+v -0.04604716 -0.03929939 -0.02991382
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+v -0.04698078 -0.03818011 -0.02602722
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+v -0.04930626 -0.03518063 -0.02991381
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+v -0.04716407 -0.03794890 -0.02602722
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+v -0.04809484 -0.03677496 -0.02639289
+v -0.04809197 -0.03677496 -0.02602722
+f 1 2 3
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+f 33 36 37
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+f 35 39 38
+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_5.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3206ed9935d6f64a848ef06196448363b7d75708
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_5.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.02243474 -0.04238770 0.01878894
+v -0.00002865 -0.04781582 0.01878892
+v 0.02243474 -0.05621216 0.01878889
+v 0.02243474 -0.04238768 0.01363544
+v -0.00002865 -0.04781392 -0.01410183
+v -0.00002865 -0.06054008 0.01878888
+v 0.02117260 -0.05670628 0.01878889
+v 0.02243474 -0.05621215 0.01734751
+v 0.02243474 -0.04240001 -0.01537263
+v -0.00002865 -0.04781391 -0.01537599
+v 0.00114553 -0.06053831 0.01878888
+v -0.00002865 -0.06054351 -0.01537603
+v 0.00114553 -0.06054173 -0.01527236
+v 0.01894517 -0.05748832 0.01878889
+v 0.02117260 -0.05670628 0.01808325
+v 0.02243474 -0.05620670 -0.01537602
+v 0.02243474 -0.04509452 -0.01537598
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+v 0.00185136 -0.06051342 0.01878888
+v 0.00114553 -0.06054173 -0.01537603
+v 0.00337076 -0.06045997 -0.01527236
+v 0.00337076 -0.06045833 0.01878888
+v 0.01779957 -0.05786335 0.01878889
+v 0.01894517 -0.05748832 0.01808325
+v 0.01894517 -0.05748464 -0.01537602
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+v 0.00337076 -0.06045997 -0.01537603
+v 0.00559599 -0.06029481 0.01878888
+v 0.00407659 -0.06040678 0.01878888
+v 0.01668696 -0.05818506 0.01878889
+v 0.01779957 -0.05786326 -0.00637663
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+v 0.02106925 -0.05673636 -0.01537602
+v 0.00559599 -0.06029290 -0.01537603
+v 0.00559599 -0.06029481 0.01808324
+v 0.00706262 -0.06014551 0.01878888
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+v 0.01668696 -0.05818504 0.01363539
+v 0.01668696 -0.05818319 -0.00637663
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+v 0.00697906 -0.06014893 -0.01537603
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+v 0.00706262 -0.06014551 0.01808324
+v 0.00817523 -0.05999798 0.01878888
+v 0.01226948 -0.05929236 0.01878888
+v 0.01226948 -0.05929236 0.01808324
+v 0.01226948 -0.05928868 -0.01537603
+v 0.01439356 -0.05879634 -0.01537603
+v 0.01449471 -0.05877146 -0.01537603
+v 0.01668476 -0.05818137 -0.01537602
+v 0.00704723 -0.06014182 -0.01537603
+v 0.00815984 -0.05999785 -0.01537603
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_50.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..843711b7ad11a486ae36f10bdb51109281a462db
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_50.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_51.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a794a310a34b7640eafbf7ec3c8f32441dc5731
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_51.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.05219145 0.03075916 -0.02953267
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+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_52.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18070ffef29c23360f2f417fed3f034929240f10
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_52.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+v 0.05534837 0.03218138 -0.03541034
+v 0.05192309 0.03218137 -0.03308712
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+v 0.01004887 0.06337134 -0.03541023
+v 0.00996744 0.06338385 -0.03541023
+v 0.01721428 0.05871051 -0.03308702
+v 0.05529409 0.03227835 -0.03541034
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+v 0.01379443 0.06252050 -0.03541023
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+v 0.02340259 0.05949254 -0.03541024
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+v 0.02813610 0.05421235 -0.03308704
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+v 0.04936634 0.03603515 -0.03308711
+v 0.02784840 0.05744678 -0.03541025
+v 0.02919463 0.05363991 -0.03308704
+v 0.03015544 0.05623309 -0.03541025
+v 0.05231936 0.03683907 -0.03541032
+v 0.05008831 0.03966684 -0.03541031
+v 0.04844352 0.03712997 -0.03308710
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+v 0.03013373 0.05305183 -0.03308705
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+v 0.03229964 0.05499125 -0.03541026
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+v 0.04414428 0.04192530 -0.03308709
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+v 0.03959533 0.04628270 -0.03308707
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+v 0.04455683 0.04564458 -0.03541029
+v 0.04305318 0.04302638 -0.03308708
+v 0.04189151 0.04415874 -0.03308708
+f 1 2 3
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+f 1 12 16
+f 1 16 21
+f 1 21 20
+f 1 20 19
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+f 22 29 30
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+f 23 33 24
+f 26 34 35
+f 26 35 36
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+f 31 38 32
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+f 34 40 35
+f 34 41 40
+f 38 42 39
+f 39 42 43
+f 40 41 44
+f 41 45 46
+f 41 46 44
+f 42 47 43
+f 43 48 49
+f 43 47 50
+f 43 50 48
+f 45 51 52
+f 45 52 53
+f 45 53 46
+f 48 54 55
+f 48 55 49
+f 51 56 52
+f 52 56 57
+f 54 58 55
+f 55 58 59
+f 56 60 61
+f 56 61 62
+f 56 62 63
+f 56 63 57
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+f 60 67 68
+f 60 68 69
+f 60 69 61
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+f 67 74 75
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+f 73 78 76
+f 76 78 77
+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_53.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8e7d975ebda021a2f081c44dc847c1fbe5e3938
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_53.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.06237205 0.01502965 -0.03541062
+v 0.05865609 0.01502963 -0.02991400
+v 0.06252223 0.01446764 -0.03541063
+v 0.04347972 0.01502965 -0.03541062
+v 0.05880424 0.01446762 -0.02991401
+v 0.04566952 0.01502963 -0.02991400
+v 0.06313513 0.01177445 -0.03541064
+v 0.04580549 -0.00554898 -0.03541070
+v 0.04781264 -0.00554900 -0.02991408
+v 0.05901125 0.01354102 -0.02991401
+v 0.06347608 0.01025966 -0.03541064
+v 0.06400780 -0.00554898 -0.03541070
+v 0.06029387 -0.00554900 -0.02991408
+v 0.05929537 0.01224176 -0.02991402
+v 0.06352073 0.01001592 -0.03541064
+v 0.05970533 0.01001590 -0.02991402
+v 0.06406057 -0.00477547 -0.03541070
+v 0.06045420 -0.00333724 -0.02991407
+v 0.06038926 -0.00426385 -0.02991408
+v 0.06379268 0.00779006 -0.03541065
+v 0.06000366 0.00800558 -0.02991403
+v 0.06008687 0.00735494 -0.02991403
+v 0.06014369 0.00689164 -0.02991403
+v 0.06414378 -0.00333722 -0.03541069
+v 0.06050088 -0.00203799 -0.02991407
+v 0.06399968 0.00556420 -0.03541066
+v 0.06027764 0.00556418 -0.02991404
+v 0.06417625 -0.00241666 -0.03541069
+v 0.06053132 -0.00111138 -0.02991406
+v 0.06414175 0.00334036 -0.03541067
+v 0.06044405 0.00334034 -0.02991405
+v 0.06421278 -0.00111136 -0.03541068
+v 0.06052929 0.00111448 -0.02991406
+v 0.06420669 0.00111450 -0.03541068
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 15
+f 1 15 20
+f 1 20 26
+f 1 26 30
+f 1 30 34
+f 1 34 32
+f 1 32 28
+f 1 28 24
+f 1 24 17
+f 1 17 12
+f 1 12 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
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+f 2 27 23
+f 2 23 22
+f 2 22 21
+f 2 21 16
+f 2 16 14
+f 2 14 10
+f 2 10 5
+f 3 5 7
+f 4 8 9
+f 4 9 6
+f 5 10 11
+f 5 11 7
+f 8 12 13
+f 8 13 9
+f 10 14 11
+f 11 14 16
+f 11 16 15
+f 12 17 18
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+f 12 19 13
+f 15 16 21
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+f 15 23 20
+f 17 24 18
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+f 24 28 25
+f 25 28 29
+f 26 27 31
+f 26 31 30
+f 28 32 29
+f 29 32 33
+f 30 31 33
+f 30 33 34
+f 32 34 33
+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_54.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b451e6d04c1e53260ed033727b2b1806bb7f9c9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_54.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.06379248 -0.03666961 -0.03544989
+v -0.06379248 -0.03666961 -0.03444989
+v -0.06379248 -0.00731868 -0.03544989
+v -0.06379248 -0.00731868 -0.03444989
+v -0.02763950 -0.03666961 -0.03544989
+v -0.02763950 -0.03666961 -0.03444989
+v -0.02763950 -0.00731868 -0.03544989
+v -0.02763950 -0.00731868 -0.03444989
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_55.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..070ecd5f2f906eff51bb9e35a5e52c194f6d5dae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_55.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.06417704 -0.00111051 -0.03541107
+v -0.06056713 -0.00111053 -0.02991460
+v -0.06056713 -0.00018427 -0.02991460
+v -0.06056515 0.00111493 -0.02991460
+v -0.06417111 0.00111495 -0.03541107
+v -0.06411170 -0.00333799 -0.03541108
+v -0.06048792 -0.00333801 -0.02991461
+v -0.06053149 0.00204119 -0.02991459
+v -0.06409982 0.00333838 -0.03541106
+v -0.06413348 0.00239590 -0.03541106
+v -0.06396715 -0.00556345 -0.03541109
+v -0.06031961 -0.00556347 -0.02991462
+v -0.06048396 0.00333836 -0.02991459
+v -0.06402061 0.00474500 -0.03541105
+v -0.06379091 -0.00731666 -0.03541110
+v -0.06013544 -0.00728627 -0.02991463
+v -0.06041466 0.00426664 -0.02991458
+v -0.06396120 0.00556383 -0.03541105
+v -0.06013149 -0.00731668 -0.02991463
+v -0.04559875 -0.00731666 -0.03541110
+v -0.06031565 0.00556381 -0.02991458
+v -0.06381071 0.00722178 -0.03541104
+v -0.04760668 -0.00731668 -0.02991463
+v -0.04395122 0.01338536 -0.03541102
+v -0.06024238 0.00627928 -0.02991458
+v -0.06013347 0.00728459 -0.02991457
+v -0.06374338 0.00779132 -0.03541104
+v -0.04626806 0.01338534 -0.02991455
+v -0.06269387 0.01338536 -0.03541102
+v -0.05999089 0.00839732 -0.02991457
+v -0.06347605 0.00989314 -0.03541103
+v -0.05908396 0.01338534 -0.02991455
+v -0.06341269 0.01025797 -0.03541103
+v -0.05988792 0.00907225 -0.02991457
+v -0.06345823 0.01001677 -0.03541103
+v -0.05933544 0.01224221 -0.02991456
+v -0.05974337 0.01001675 -0.02991456
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 9
+f 1 9 14
+f 1 14 18
+f 1 18 22
+f 1 22 27
+f 1 27 31
+f 1 31 35
+f 1 35 33
+f 1 33 29
+f 1 29 24
+f 1 24 20
+f 1 20 15
+f 1 15 11
+f 1 11 6
+f 1 6 2
+f 2 7 12
+f 2 12 16
+f 2 16 19
+f 2 19 23
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+f 2 21 17
+f 2 17 13
+f 2 13 8
+f 2 8 4
+f 2 4 3
+f 2 6 7
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 6 11 7
+f 7 11 12
+f 8 13 9
+f 9 13 14
+f 11 15 12
+f 12 15 16
+f 13 17 18
+f 13 18 14
+f 15 19 16
+f 15 20 23
+f 15 23 19
+f 17 21 18
+f 18 21 22
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+f 21 25 22
+f 22 25 26
+f 22 26 27
+f 23 24 28
+f 24 29 32
+f 24 32 28
+f 26 30 31
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+f 29 33 32
+f 30 34 35
+f 30 35 31
+f 32 33 36
+f 33 35 36
+f 34 37 35
+f 35 37 36
+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_56.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b3159d4bb4079f6af9bfad4282d70bf7ad129f9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_56.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.05534674 0.03218138 -0.03541056
+v 0.05133167 0.03218136 -0.02991394
+v 0.05159624 0.03176835 -0.02991394
+v 0.05261091 0.03004914 -0.02991395
+v 0.05646608 0.03023720 -0.03541057
+v 0.03267222 0.03218138 -0.03541056
+v 0.03558539 0.03218136 -0.02991394
+v 0.05291618 0.02950686 -0.02991395
+v 0.05691671 0.02938264 -0.03541057
+v 0.05334066 0.02874799 -0.02991395
+v 0.03302982 0.03077277 -0.03541057
+v 0.04567103 0.01503131 -0.02991400
+v 0.05886174 0.02560509 -0.03541059
+v 0.05367210 0.02809825 -0.02991396
+v 0.04219383 0.01545609 -0.03541062
+v 0.05865532 0.01503131 -0.02991400
+v 0.04348179 0.01503133 -0.03541062
+v 0.05900420 0.02528274 -0.03541059
+v 0.05390760 0.02763487 -0.02991396
+v 0.05431753 0.02678702 -0.02991396
+v 0.05489028 0.02559836 -0.02991397
+v 0.05553281 0.02417632 -0.02991397
+v 0.06237093 0.01503133 -0.03541062
+v 0.06199879 0.01669680 -0.03541062
+v 0.05846343 0.01576835 -0.02991400
+v 0.05600671 0.02306488 -0.02991398
+v 0.05976593 0.02337382 -0.03541059
+v 0.06140859 0.01892136 -0.03541061
+v 0.05821921 0.01669678 -0.02991400
+v 0.05675681 0.02114757 -0.02991398
+v 0.06125741 0.01938138 -0.03541061
+v 0.05789650 0.01782333 -0.02991399
+v 0.05707953 0.02022585 -0.02991399
+v 0.05752726 0.01893645 -0.02991399
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 13
+f 1 13 18
+f 1 18 27
+f 1 27 31
+f 1 31 28
+f 1 28 24
+f 1 24 23
+f 1 23 17
+f 1 17 15
+f 1 15 11
+f 1 11 6
+f 1 6 7
+f 1 7 2
+f 2 7 12
+f 2 12 16
+f 2 16 25
+f 2 25 29
+f 2 29 32
+f 2 32 34
+f 2 34 33
+f 2 33 30
+f 2 30 26
+f 2 26 22
+f 2 22 21
+f 2 21 20
+f 2 20 19
+f 2 19 14
+f 2 14 10
+f 2 10 8
+f 2 8 4
+f 2 4 3
+f 4 8 5
+f 5 8 10
+f 5 10 9
+f 6 11 7
+f 7 11 12
+f 9 10 13
+f 10 14 13
+f 11 15 12
+f 12 15 17
+f 12 17 23
+f 12 23 16
+f 13 14 19
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 18
+f 16 23 24
+f 16 24 25
+f 18 26 27
+f 18 22 26
+f 24 28 29
+f 24 29 25
+f 26 30 27
+f 27 30 31
+f 28 31 32
+f 28 32 29
+f 30 33 31
+f 31 33 34
+f 31 34 32
+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_57.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b047cb81390dc4809a50c67c909ab85b2d8d04f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_57.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.03347611 0.03143416 -0.03541095
+v -0.03627901 0.03143414 -0.02991448
+v -0.04626936 0.01338737 -0.02991455
+v -0.04394981 0.01338739 -0.03541102
+v -0.05570771 0.03143416 -0.03541095
+v -0.05182941 0.03143414 -0.02991448
+v -0.05908263 0.01338737 -0.02991455
+v -0.06269209 0.01338739 -0.03541102
+v -0.05589648 0.03110732 -0.03541096
+v -0.05265312 0.03004905 -0.02991449
+v -0.05884810 0.01447035 -0.02991455
+v -0.06247472 0.01447037 -0.03541102
+v -0.05305067 0.02935297 -0.02991449
+v -0.05639413 0.03023104 -0.03541096
+v -0.05826750 0.01669639 -0.02991454
+v -0.06194274 0.01669641 -0.03541101
+v -0.06224305 0.01553039 -0.03541101
+v -0.05333382 0.02885300 -0.02991449
+v -0.05685175 0.02937949 -0.03541096
+v -0.05811306 0.01723699 -0.02991454
+v -0.06145652 0.01855673 -0.03541100
+v -0.05391156 0.02773998 -0.02991450
+v -0.05863074 0.02590794 -0.03541097
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+f 34 37 35
+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_58.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..893b6031b1e7d2c84bd41367bb5ed95882ee3793
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_58.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.03243676 -0.03249533 -0.03541080
+v 0.03243676 -0.03534895 -0.03309894
+v 0.03243676 -0.05484452 -0.03541088
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+v -0.00010755 -0.06119552 -0.03309903
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+v 0.02888480 -0.05682224 -0.03541089
+v 0.00026198 -0.06411103 -0.03541092
+v 0.00114440 -0.06411413 -0.03541092
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+v 0.02347879 -0.05641371 -0.03309902
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+f 31 43 32
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+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_59.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2f6107fe56082bacde2155ee06dc27c6e9a77bb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_59.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.02763789 -0.03667248 -0.03541097
+v -0.05229719 -0.03667248 -0.03541097
+v -0.03091252 -0.03667249 -0.03308040
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+v -0.01666458 -0.05880874 -0.03308049
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+v -0.01835043 -0.05822324 -0.03308048
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+v -0.01666458 -0.06176847 -0.03541107
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+v -0.03673634 -0.04869407 -0.03308045
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+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_6.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50707ff13c30288b3b0aa6e3e334c8f6fb3865bc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_6.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v 0.02921167 0.05298141 0.01878929
+v 0.02869075 0.05327656 0.01878930
+v 0.02921167 0.03982764 0.01878925
+v 0.02921167 0.05298151 -0.00943623
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+v -0.00002865 0.04784060 0.01878928
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_60.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f79430e47481039347e9d86b3e1ce26a73da0af0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_60.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_61.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de2fc0fd9f6bd421645d78cad894cb16274aebff
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_61.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_62.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d288781102adbd3e86597a1e809448a46c7157c9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_62.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+v 0.05334206 -0.02874694 -0.02991417
+v 0.05416407 -0.02833822 -0.03307156
+v 0.04518628 -0.04077482 -0.03307161
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+v 0.04519467 -0.04076585 -0.03307161
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+v 0.04630466 -0.03953970 -0.03307161
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+v 0.04811085 -0.03672362 -0.02991419
+v 0.04765231 -0.03731199 -0.02991420
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+f 76 84 80
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+f 80 86 87
+f 80 87 85
+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_63.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30d0086f94f0d797a0d79980bd09bce7179c44a7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_63.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.02093353 0.04311943 -0.03308210
+v -0.02072154 0.04075514 -0.03541092
+v -0.02093353 0.04317664 -0.02991444
+v -0.02093353 0.04751614 -0.03308694
+v -0.00010957 0.04582476 -0.03541090
+v -0.00011161 0.04783885 -0.02991442
+v -0.02072154 0.06043851 -0.03541085
+v -0.02093353 0.05679707 -0.02991439
+v -0.02093353 0.05725026 -0.03308690
+v -0.00010957 0.04780224 -0.03308693
+v -0.00010957 0.06413258 -0.03541083
+v -0.00011161 0.06056438 -0.02991438
+v -0.02093353 0.05725026 -0.03307129
+v -0.01888293 0.06115948 -0.03541085
+v -0.01879528 0.05754092 -0.02991439
+v -0.00010957 0.06120524 -0.03308689
+v -0.00016461 0.06413258 -0.03541083
+v -0.00108391 0.06056667 -0.02991438
+v -0.01870967 0.06120983 -0.03541085
+v -0.01777406 0.05787508 -0.02991439
+v -0.00108391 0.06412800 -0.03541083
+v -0.00330981 0.06048427 -0.02991438
+v -0.00245573 0.06408223 -0.03541083
+v -0.01571735 0.06204294 -0.03541084
+v -0.01674672 0.05817262 -0.02991439
+v -0.00330981 0.06404561 -0.03541083
+v -0.00484674 0.06394490 -0.03541084
+v -0.00423726 0.06041561 -0.02991438
+v -0.01443114 0.06235192 -0.03541084
+v -0.01443114 0.05879287 -0.02991438
+v -0.00553570 0.06388768 -0.03541084
+v -0.00553570 0.06031261 -0.02991438
+v -0.00998342 0.06335669 -0.03541084
+v -0.01220728 0.05930327 -0.02991438
+v -0.00736616 0.06371374 -0.03541084
+v -0.00616556 0.06024853 -0.02991438
+v -0.00944325 0.06343680 -0.03541084
+v -0.00998546 0.05972669 -0.02991438
+v -0.00816724 0.06000592 -0.02991438
+v -0.00776160 0.06366796 -0.03541084
+v -0.00705429 0.06015469 -0.02991438
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 9
+f 1 9 4
+f 1 4 2
+f 2 5 6
+f 2 6 3
+f 2 4 9
+f 2 9 7
+f 2 7 14
+f 2 14 19
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+f 2 24 29
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+f 2 35 31
+f 2 31 27
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+f 2 23 21
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+f 2 17 11
+f 2 11 5
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+f 3 15 8
+f 5 10 6
+f 5 11 16
+f 5 16 10
+f 6 10 16
+f 6 16 12
+f 7 9 13
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+f 7 8 14
+f 8 15 14
+f 11 17 18
+f 11 18 12
+f 11 12 16
+f 14 15 20
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+f 17 21 18
+f 18 21 23
+f 18 23 22
+f 19 20 25
+f 19 25 24
+f 22 23 26
+f 22 26 27
+f 22 27 28
+f 24 25 30
+f 24 30 29
+f 27 31 32
+f 27 32 28
+f 29 30 34
+f 29 34 33
+f 31 35 32
+f 32 35 36
+f 33 34 38
+f 33 38 39
+f 33 39 37
+f 35 40 41
+f 35 41 36
+f 37 39 40
+f 39 41 40
+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_64.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a262c93893147b268b1c77d64d5ed47d6f3443a1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_64.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.01787213 -0.05837321 -0.03309902
+v 0.02348071 -0.05641471 -0.03309902
+v 0.01894851 -0.05749651 -0.02991427
+v 0.01828843 -0.05771287 -0.02991427
+v 0.01787213 -0.05784810 -0.02991427
+v 0.01787213 -0.04442028 -0.03309897
+v 0.02196237 -0.05641021 -0.02991427
+v 0.02117398 -0.05671897 -0.02991427
+v 0.02796301 -0.05426689 -0.03309901
+v 0.02562207 -0.05484611 -0.02991426
+v 0.02478235 -0.05522925 -0.02991426
+v 0.02417929 -0.05550420 -0.02991426
+v 0.02306727 -0.05597749 -0.02991427
+v 0.01787213 -0.04452621 -0.02991422
+v 0.03243676 -0.03536699 -0.02991419
+v 0.03243676 -0.03535120 -0.03309894
+v 0.02829947 -0.05407983 -0.03309901
+v 0.02872004 -0.05329103 -0.02991426
+v 0.02760660 -0.05387700 -0.02991426
+v 0.02644895 -0.05444269 -0.02991426
+v 0.03243676 -0.05105982 -0.02991425
+v 0.03243676 -0.05144295 -0.03309900
+v 0.02995752 -0.05311973 -0.03309901
+v 0.03007301 -0.05251123 -0.02991425
+v 0.03171110 -0.05152859 -0.02991425
+v 0.03199338 -0.05176072 -0.03309900
+v 0.03075447 -0.05210330 -0.02991425
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 6
+f 1 6 16
+f 1 16 22
+f 1 22 26
+f 1 26 23
+f 1 23 17
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+f 1 9 2
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+f 17 23 24
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+f 21 25 23
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+f 21 26 22
+f 23 25 27
+f 23 27 24
+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_65.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6784bc72e754691430c495bcd771012cf72ec372
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_65.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.04717843 -0.00731868 -0.03448814
+v -0.04760644 -0.00731870 -0.02991409
+v -0.04612515 -0.01023318 -0.03448815
+v -0.06199919 -0.00731868 -0.03448814
+v -0.04234008 -0.02279404 -0.02991414
+v -0.06013131 -0.00731870 -0.02991409
+v -0.04185092 -0.02279402 -0.03448819
+v -0.06196960 -0.00779131 -0.03448814
+v -0.05616280 -0.02279404 -0.02991414
+v -0.06171122 -0.01001657 -0.03448815
+v -0.06007608 -0.00775194 -0.02991409
+v -0.05772693 -0.02279402 -0.03448819
+v -0.05633637 -0.02235020 -0.02991414
+v -0.05873681 -0.02082779 -0.03448819
+v -0.05865791 -0.02102775 -0.03448819
+v -0.05937982 -0.01891913 -0.03448818
+v -0.05826342 -0.01669237 -0.02991412
+v -0.05850603 -0.01576531 -0.02991412
+v -0.05884332 -0.01446862 -0.02991411
+v -0.05905042 -0.01354156 -0.02991411
+v -0.05933642 -0.01224185 -0.02991410
+v -0.05974471 -0.01001659 -0.02991410
+v -0.05984728 -0.00934401 -0.02991409
+v -0.05998929 -0.00840180 -0.02991409
+v -0.05680581 -0.02114441 -0.02991414
+v -0.05710562 -0.02029308 -0.02991413
+v -0.05752377 -0.01910244 -0.02991413
+v -0.05773876 -0.01845258 -0.02991413
+v -0.05789064 -0.01798905 -0.02991413
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+f 1 7 12
+f 1 12 15
+f 1 15 14
+f 1 14 16
+f 1 16 10
+f 1 10 8
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+f 13 25 14
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+f 16 28 29
+f 16 29 17
+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_66.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..feca2a3110e3ba5bca1aee66e3150eee133dde9a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_66.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.04185073 -0.02279402 -0.03448819
+v -0.04234108 -0.02279404 -0.02991414
+v -0.04137664 -0.02314859 -0.03448820
+v -0.05772883 -0.02279402 -0.03448819
+v -0.03094656 -0.03667250 -0.02991419
+v -0.03005526 -0.03667248 -0.03448824
+v -0.05616296 -0.02279404 -0.02991414
+v -0.05756357 -0.02337274 -0.03448820
+v -0.04817921 -0.03667250 -0.02991419
+v -0.05009184 -0.03667248 -0.03448824
+v -0.05673188 -0.02560612 -0.03448820
+v -0.05600042 -0.02321110 -0.02991415
+v -0.04896485 -0.03566178 -0.02991419
+v -0.05193133 -0.03439699 -0.03448824
+v -0.05451311 -0.03002533 -0.03448822
+v -0.05389544 -0.02771454 -0.02991416
+v -0.05494115 -0.02559799 -0.02991415
+v -0.05553445 -0.02432372 -0.02991415
+v -0.04930620 -0.03517951 -0.02991419
+v -0.04978300 -0.03450026 -0.02991419
+v -0.05086123 -0.03294069 -0.02991418
+v -0.05157102 -0.03182672 -0.02991418
+v -0.05209659 -0.03413751 -0.03448824
+v -0.05445080 -0.03013265 -0.03448822
+v -0.05262757 -0.03004844 -0.02991417
+v -0.05291744 -0.02954036 -0.02991417
+v -0.05332110 -0.02882715 -0.02991417
+v -0.05365703 -0.02817779 -0.02991416
+f 1 2 3
+f 1 3 6
+f 1 6 10
+f 1 10 14
+f 1 14 23
+f 1 23 24
+f 1 24 15
+f 1 15 11
+f 1 11 8
+f 1 8 4
+f 1 4 7
+f 1 7 2
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+f 2 6 3
+f 2 7 12
+f 2 12 18
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+f 2 17 16
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+f 9 13 14
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+f 22 25 23
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+
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_67.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..843de0fa4efaf655452465eebcbb6c0e93c2eff3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_67.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_7.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a3de50c35cf3bf7479747d8ffe567aad606c286
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_8.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..851ba11bee1fa944a26a02d1d2b47fdcf736f9c7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_8.obj
@@ -0,0 +1,424 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_9.obj b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..427e52041f6fb3e3e75ded2b1dd06b877ae47fa8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/mesh/pen_holder_027_collision_9.obj
@@ -0,0 +1,535 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/pen_holder_027.xml b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/pen_holder_027.xml
new file mode 100644
index 0000000000000000000000000000000000000000..eee722aaf222a2963a773fd2d1ad72b61314a55e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/mjcf/pen_holder_027.xml
@@ -0,0 +1,150 @@
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+      <geom type="mesh" mesh="collision_mesh_0_67" 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/d71d160a66fd5af5a3384c4907b942a6/pen_holder_027.urdf b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/pen_holder_027.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1d7aa88f8eb7e2f60056ddc72402b4cfe13ea202
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/pen_holder_027.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_027">
+   <link name="pen_holder_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_027.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_027_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>d71d160a66fd5af5a3384c4907b942a6</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>pen_holder</category>
+         <name>wooden pen holder</name>
+         <color>beige,blue</color>
+         <shape>cylinder</shape>
+         <material>wood</material>
+         <description>cylindrical wooden pen holder with blue lettering and rounded base</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>20260611145053</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.067552 -0.067474 -0.052560</min>
+            <max>0.067615 0.067475 0.082440</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/pen_holder_027.usd b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/pen_holder_027.usd
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+++ b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/pen_holder_027.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24c5172a7dc862b9fd1cbb86f625c067a7c960c913f53af2aed8af18938585ea
+size 4592357
diff --git a/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/textures/material_0.png b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/textures/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/d71d160a66fd5af5a3384c4907b942a6/video.mp4 b/dataset/desktop_supplies/office_stationery/d71d160a66fd5af5a3384c4907b942a6/video.mp4
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5e8b1ecf5c78088ea4531c5b32457e0f6fa88c610b454128c0029495ba2ec58
+size 220344