diff --git a/.gitattributes b/.gitattributes
index 05996e8cb26516ef68eb59f09a5761a6567804fd..4e05f7a1a4754b89896dd073595a322d86f1c195 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3237,4 +3237,5 @@ dataset/desktop_supplies/office_stationery/ba53185544755f60afef8816707c2da2/note
 dataset/desktop_supplies/office_stationery/bfd58f9684d359e581e551a950d6b55e/bfd58f9684d359e581e551a950d6b55e.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/c07d0cf9565f5750b6ff5ce58cafa5d5/c07d0cf9565f5750b6ff5ce58cafa5d5.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/c01bedfcda055b8e9c64afb060b9f37a/c01bedfcda055b8e9c64afb060b9f37a.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/c1db3cfda88a55e6bf0ed3c83de999e2/c1db3cfda88a55e6bf0ed3c83de999e2.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mesh/pen_holder_034.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/pen_holder_034.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e3e2e95223483a07a2d76cf9b084fddb6b619e52
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pen_holder_034_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd pen_holder_034_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..09f4bca2cdeef5f0ef50ac4cbc64de2bbb9bbf79
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8ca6867796dceba5f0d283fdd66b86f1aedbceed5996aa378bbd901b5158338
+size 9392634
diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mesh/pen_holder_034.glb b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mesh/pen_holder_034.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3db396640f5968c2a9b3a2b7c7c9eea8c97481c3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mesh/pen_holder_034.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16ef335939833a8634178834597e350ee0ab522c046a594c79ca07a6cbebfda2
+size 12729788
diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mesh/pen_holder_034.mtl b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mesh/pen_holder_034.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..75a7477fe645317e755a293bdecf2afe8ea90406
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mesh/pen_holder_034.mtl
@@ -0,0 +1,6 @@
+newmtl pen_holder_034_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mesh/pen_holder_034.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mesh/pen_holder_034.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c5a3b92dad0bab11c64cc1d003dc48f12b0329d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mesh/pen_holder_034.obj
@@ -0,0 +1,119952 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pen_holder_034_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mesh/pen_holder_034_collision.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mesh/pen_holder_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57562877d3e6ecbcd6ba236929d8149ff142d949
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mesh/pen_holder_034_collision.obj
@@ -0,0 +1,14079 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mesh/pen_holder_034_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mesh/pen_holder_034_geometry_Looks_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/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/material_0.png
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index 0000000000000000000000000000000000000000..09f4bca2cdeef5f0ef50ac4cbc64de2bbb9bbf79
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034.obj
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..631099c341c2846b1686334ddf191d5ee7ecae90
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision.obj
@@ -0,0 +1,14079 @@
+# https://github.com/mikedh/trimesh
+
+o pen_holder_034_collision.obj
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+o pen_holder_034_collision.obj_27
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_0.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d56b636327de2948ab9aeca689deb59cfa0c9431
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_0.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_1.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53b9e240355e5cab159e2c58465c4a81dfd20ee7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_1.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_10.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1bc39267fd48efc0f3dcfe8845a71f6a05cdd13
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_10.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_11.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b99e9e901e6e411a659d6be40cda836895faead
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_11.obj
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_12.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f389a322f3444cf83c221b1d6b1e5d14afd7adba
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_12.obj
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_13.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13237ae4ac5205b488a217216d2d6a4703f644b9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_13.obj
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_14.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18e9cb55d357bae60ee1391dc668c7b02716b458
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_14.obj
@@ -0,0 +1,577 @@
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_15.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b491de3a5e126322c014adaa15c041c52583290b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_15.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_16.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78ca3860496f32cc8bc5c10420b1f489319c4496
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_16.obj
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_17.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9510ddcda7b8fab9d0d3b204e6aa34a23b61d227
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_17.obj
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_18.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c656215a4fff91580e8bedb68ad7e3f82282c668
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_18.obj
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_19.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d85f237f76b961adf2bfe3facb86a3e43d45617
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_19.obj
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_2.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d3a149a114839b06e464a06a746a3f75d6df2a6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_20.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8a4f2e235fdeeb8fba0182a715051688b7273e8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_20.obj
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_21.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd07011c3a8f745cdfae3797c63ef275df89bbeb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_21.obj
@@ -0,0 +1,601 @@
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_22.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41f5b310d1e6a410bb9f7aa662675eb4ec3550a5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_22.obj
@@ -0,0 +1,589 @@
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_23.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e556b0210184298deac43807a5e05d1e8fc897c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_23.obj
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_24.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5739c3436dc8b574545859fd66cc9088d02b631e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_24.obj
@@ -0,0 +1,538 @@
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_25.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8d62d3953e53f637c7530f394716be248a32ee9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_25.obj
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_26.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2863dc548ae12acd582d3432482adc78e6d66964
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_26.obj
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_27.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d061f88e65992e0ac799baf9c118f1f9f38dc989
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_27.obj
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_3.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6489f9b2cdb4c9b9b1e538928c2904affc3d8e81
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_3.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_4.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..959285bae0fc484e48e8892c5a0e3d9e6fff5fd1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_4.obj
@@ -0,0 +1,178 @@
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_5.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4c248284923c096418922f581a85662d01c6ebc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_5.obj
@@ -0,0 +1,562 @@
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_6.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15a38afc8a279489b9c5a1265274f4636a59adba
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_6.obj
@@ -0,0 +1,457 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_7.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..780b7c5cfc90be0830cac0fb193dbf8a2dcfacd5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_8.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d00c36535b6f7f60d1d2c7e55252a2543761d506
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_9.obj b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f5808029ade5c3d20d7a6ff0edd0e7a14af7af3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/mesh/pen_holder_034_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/pen_holder_034.xml b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/pen_holder_034.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9097a7a31aa1583d625733f270e6131bf6759e12
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/mjcf/pen_holder_034.xml
@@ -0,0 +1,70 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pen_holder_034">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/pen_holder_034.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pen_holder_034_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pen_holder_034_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pen_holder_034_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pen_holder_034_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pen_holder_034_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pen_holder_034_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pen_holder_034_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pen_holder_034_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pen_holder_034_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pen_holder_034_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pen_holder_034_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pen_holder_034_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pen_holder_034_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pen_holder_034_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pen_holder_034_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pen_holder_034_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pen_holder_034_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pen_holder_034_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/pen_holder_034_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/pen_holder_034_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/pen_holder_034_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/pen_holder_034_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/pen_holder_034_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/pen_holder_034_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/pen_holder_034_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/pen_holder_034_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/pen_holder_034_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/pen_holder_034_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pen_holder_034">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/pen_holder_034.urdf b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/pen_holder_034.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..96f26e5ac13e6774ad9ac88273cfa1ca1977984a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/pen_holder_034.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_034">
+   <link name="pen_holder_034">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_034.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_034_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>bd1d0e367efb5c6a9a9f9d9c7262dacc</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>pen_holder</category>
+         <name>black pen holder</name>
+         <color>black,white</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>black cylindrical pen holder with white diamond pattern</description>
+         <min_height>0.1350</min_height>
+         <max_height>0.1350</max_height>
+         <real_height>0.1350</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611145436</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059837 -0.059916 -0.066917</min>
+            <max>0.059942 0.059767 0.068083</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</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/bd1d0e367efb5c6a9a9f9d9c7262dacc/pen_holder_034.usd b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/pen_holder_034.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/pen_holder_034.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6622479295340b164c90817b9cb6f8605b511cb2aa94ec9eae45f88a6a1923a3
+size 4908693
diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/textures/material_0.png b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8ca6867796dceba5f0d283fdd66b86f1aedbceed5996aa378bbd901b5158338
+size 9392634
diff --git a/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/video.mp4 b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..66d511c09be8c2da869260b4bd97339b461984d1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/bd1d0e367efb5c6a9a9f9d9c7262dacc/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17819dcb9fa7d2ae25b14fb27ae0465e077398be27f62e8d0a33cfa898429961
+size 685182