diff --git a/.gitattributes b/.gitattributes
index cdc5fa27ac249823dda9874ed15649173e2c8191..b14ff68f626a108a6989c3a9b6b9fb463a392282 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3281,3 +3281,4 @@ dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/glue
 dataset/desktop_supplies/office_stationery/e56d283bb651513ca4b50e3ddfed25aa/mesh/glue_stick_021.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/ballpoint_pen_023.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/e9de36f3814459028bd570b7c0e59c74/mesh/ballpoint_pen_023.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/e9a3e4aec3435828ba5799c2dca74621.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/e9a3e4aec3435828ba5799c2dca74621.urdf b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/e9a3e4aec3435828ba5799c2dca74621.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bd0eb65117b4ab43e894a3d2f8b7784849a442f8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/e9a3e4aec3435828ba5799c2dca74621.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_37">
+   <link name="pen_holder_37">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_37.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_37_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5500" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.125000</scale>
+         <version>v0.1.5</version>
+         <category>pen holder</category>
+         <description>wooden cylindrical pen holder with smooth texture</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.7</max_mass>
+         <generate_time>20251014172628</generate_time>
+         <gs_model>mesh/pen_holder_37_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.947268962860107</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/e9a3e4aec3435828ba5799c2dca74621.usd b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/e9a3e4aec3435828ba5799c2dca74621.usd
new file mode 100644
index 0000000000000000000000000000000000000000..afe2a554fb5842f794d084c8028fbfbae605df56
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/e9a3e4aec3435828ba5799c2dca74621.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed2e7c34c5197aa1bbedd3edcfe590f7812063c7e0f7215ca13632f40c078b1d
+size 426499
diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..616b3409c204ac8c5a00ee056230925fee50f273
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4aa926eaaf25d230e80a545a691c368592da22f5d4d95aba97768e2e2799bc7
+size 1365501
diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mesh/pen_holder_37.glb b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mesh/pen_holder_37.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a58864626e3b67dd23da65cbf306554227eaa86f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mesh/pen_holder_37.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac844b6586a94a7c45db25f4e03230f44f4a2f43db850339336ee4839fd85809
+size 1650892
diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mesh/pen_holder_37.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mesh/pen_holder_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17ebd677016d3d5c5dee3ae9f854d19c5c2d194b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mesh/pen_holder_37.obj
@@ -0,0 +1,25952 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mesh/pen_holder_37_collision.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mesh/pen_holder_37_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..757b6b4696b11f2c3a746bcc11d88c05787d9e92
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mesh/pen_holder_37_collision.obj
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+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" 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/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/material_0.png
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4aa926eaaf25d230e80a545a691c368592da22f5d4d95aba97768e2e2799bc7
+size 1365501
diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e88860b25df9dc160ebca1b7f622e3152c938900
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37.obj
@@ -0,0 +1,25952 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63642de9f1f68a8a2cfe69bee3d238df9328034c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision.obj
@@ -0,0 +1,12967 @@
+# https://github.com/mikedh/trimesh
+
+o pen_holder_37_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_0.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e25ac78b4cd9df0b52f8efd224cb7884af26acf9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_1.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aac2c2963b9d16c3401717a32c535f212a7d4fd9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_10.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..012ae8593ff2f77c0c59a573ad500298e79ced62
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_10.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_11.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..704724b272b5d70a599555549043034d2df62344
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_11.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_12.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49594d28e4cf80d98b76d8a97ce9319adf1c5b67
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_12.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+v 0.00702763 0.05443199 -0.04457709
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diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_13.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52faf0b4b7bc3475f29701c565479e1dc8bc84d8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_13.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_14.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b53986035727851b5924e8b7dfe380716c3f91a5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_14.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_15.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad4f374a8205ef7ec01259d5529091a200449449
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_15.obj
@@ -0,0 +1,703 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_16.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa98c204ffe46dd174bfc7227dcbe255fa79a6fd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_16.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_17.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cfbc916e66c20afb36eb84c9bfc060e9fbad6a1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_17.obj
@@ -0,0 +1,646 @@
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diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_18.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc093ca4fa5f88c57e20d6e9b8457203607a9349
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_18.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_19.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b04ee8aa78acc731582d972db9795e92f65ed2b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_19.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_2.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06ba4d69200dfa9276afdc3bebb9a7b22e09e0f6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_2.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_20.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e428b4998209b3d4b33ff80916fc8c3ce7c0805
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_20.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
+v 0.01715230 -0.03888440 -0.06237483
+v 0.01921290 -0.03888440 -0.06237923
+v 0.01715230 -0.04004264 -0.06232207
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+v 0.02124390 -0.04004264 -0.06230009
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+v 0.01718189 -0.04209986 -0.06219894
+v 0.01715230 -0.04209986 -0.06219894
+v 0.01715230 -0.04369941 -0.04291135
+v 0.01742606 -0.04369941 -0.04231769
+v 0.02302520 -0.03888448 -0.03991661
+v 0.02327491 -0.03888440 -0.06230447
+v 0.02530592 -0.04004264 -0.06202963
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+v 0.02124390 -0.04209986 -0.06215496
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+v 0.01718189 -0.04369934 -0.06202744
+v 0.01715230 -0.04369934 -0.06202744
+v 0.01874307 -0.04369942 -0.03991663
+v 0.03604732 -0.03888448 -0.03991661
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+v 0.02530592 -0.03888440 -0.06207580
+v 0.02675426 -0.04004264 -0.06175259
+v 0.02656928 -0.04157330 -0.06170641
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+v 0.03591228 -0.04004271 -0.04413826
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+v 0.03480800 -0.03888444 -0.05294211
+v 0.03423088 -0.04369938 -0.05265190
+f 1 2 3
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+f 1 16 8
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+f 1 18 27
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+
diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_21.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80d760b91d8b9f94397f24cef34a18f9a0da8f74
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_21.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.01718251 0.04165352 -0.04706090
+v 0.01718251 0.04165356 -0.05736941
+v 0.01718083 0.04165352 -0.04706090
+v 0.01718083 0.03785323 -0.05237365
+v 0.01718251 0.03785361 -0.05237365
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+v 0.00702633 0.04165352 -0.04755987
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+v 0.01718251 0.03785327 -0.06252595
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+
diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_22.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74ad826de43ccd2edf21eb5a55ddfbb5de478a63
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_22.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v -0.00312955 -0.05451600 -0.04370974
+v -0.00516139 -0.05451276 -0.04370974
+v -0.00312955 -0.05450466 -0.04413661
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diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_23.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..279b88285c39ac2925e0a71213f136149baa5205
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_23.obj
@@ -0,0 +1,25 @@
+# https://github.com/mikedh/trimesh
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+v -0.02037868 -0.00071283 -0.05224490
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+
diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_24.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..498eba4bd6dfd7d8b3a41725fbc1f31b555e7b0b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_24.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_25.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e05fab505715014b45547c9fcad6fcd8f94311f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_25.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_26.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8981745436668ddbe508cf2386688b7190da7630
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_26.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_27.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c4b259d75b2215ab0c8d58493998b295c5854a2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_27.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_28.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42f26438aa22971e01d7e0778e93a3e5c66ed0a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_28.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_3.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca5e178dc52e1bbca032bd6c42d6c4607d86c538
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_3.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_4.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..140a9a804e1835a3d4f2925757fef4cb2c4ed183
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_4.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_5.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43622d4523ae6ea98c96cbf9fb5fe99fc38a3886
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_5.obj
@@ -0,0 +1,937 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_6.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa880ecdfb48d55ef18e3f352a3601be320b9596
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_7.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3130a2268bc0b95a72d2ee3346e49b61c7e749b6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_8.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfa46665b2d45f9c93589798ba17bf9848e1cbb1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_8.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_9.obj b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37f0766382ce7ed32384bda50d33070f798d6823
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/e9a3e4aec3435828ba5799c2dca74621/mjcf/mesh/pen_holder_37_collision_9.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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