diff --git a/.gitattributes b/.gitattributes
index 083ba28081f033a042d20ddbd82e5a544786a4a2..fad7adb8395a3466d2c9a7ac5a6563291d8e1a38 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3240,3 +3240,5 @@ dataset/desktop_supplies/office_stationery/c203ad33d8915fe5baeb65e548c7685d/mark
 dataset/desktop_supplies/office_stationery/c203ad33d8915fe5baeb65e548c7685d/mesh/marker_018.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/c26cbc0bfccb5e6396abfd69125519a6/eraser_028.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/c26cbc0bfccb5e6396abfd69125519a6/mesh/eraser_028.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mesh/pen_holder_037.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/pen_holder_037.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3e0bed6456a125030db4cb18339bb3db36943e39
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pen_holder_037_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_037_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2ca8db56f747423347cef34b7b8a74fd849ef5b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd72a65e6d98c4dcb18568d12dbd1d9e6466d9d6f6177dd8a051ff845cb49919
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mesh/pen_holder_037.glb b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mesh/pen_holder_037.glb
new file mode 100644
index 0000000000000000000000000000000000000000..39c8536a1b468a2c5ab283b0d05163a57b8b2949
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mesh/pen_holder_037.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 11067452
diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mesh/pen_holder_037.mtl b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mesh/pen_holder_037.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee0ac95a2155cf0ef14863243d0fa5aa7ed41e27
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mesh/pen_holder_037.mtl
@@ -0,0 +1,6 @@
+newmtl pen_holder_037_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/c405b6b6542250f0b32024ffeb5d1b23/mesh/pen_holder_037.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mesh/pen_holder_037.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6be0c4a246761e6cd58e6308b7594f3c2f3e88dc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mesh/pen_holder_037.obj
@@ -0,0 +1,112620 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pen_holder_037_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mesh/pen_holder_037_collision.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mesh/pen_holder_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..181dbca5ae25f3af95f469cecf2e6d94c2dc8043
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mesh/pen_holder_037_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mesh/pen_holder_037_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mesh/pen_holder_037_geometry_Looks_material_0.png
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2ca8db56f747423347cef34b7b8a74fd849ef5b
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+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037.obj
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16985bb26d612571a2e601312134bd6b099b6969
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision.obj
@@ -0,0 +1,15848 @@
+# https://github.com/mikedh/trimesh
+
+o pen_holder_037_collision.obj
+v 0.01669654 -0.03339479 -0.04311690
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_0.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55e7a6abe3cab1f9dd7ff411f670eef03607d2fc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_1.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f13bbbf9a0e01d875c91264a1de79ced360552fb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_1.obj
@@ -0,0 +1,607 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_10.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7167bc741af4c29ef6f3551dda93d8ff7255b98f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_10.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_11.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bf46424d0fc29a889c4cdad201876863c263247
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_11.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_12.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f63cd13342ac0af5c01ea582b12610331270773
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_12.obj
@@ -0,0 +1,781 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_13.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..448d97adc68360b167378dac4ab227fa059c2145
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_13.obj
@@ -0,0 +1,472 @@
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_14.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..164ecbee6b24a0e6dc57ab5aa783f1160130c5cf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_14.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_15.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46f8f155cc2c6640c57faf3909df18fb9c790c8c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_15.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_16.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f02e4f81c4a21bd6c053aa3c7a3677f2fe8e0bc3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_16.obj
@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_17.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6f74ebee01904f0dfc999bbdc45bd4a4380a904
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_17.obj
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_18.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99aa4804659fec814900c7079e899b185047727f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_18.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_19.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44d9a8c6df14ab9787702be93da20f524a64f8d4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_19.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_2.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d805ef12f995ac4caa8dddc20225369d514512a2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_20.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecefa9a4a5d0cbd2bdc3bbc55407acccb0d9f646
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_20.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_21.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72d8519c83796b5633926f25aeb6148970cc9485
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_21.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_22.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..108275cbac68c0f9504d78e476966997f07f3f9e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_22.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_23.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..743f06870c8bdb9cfbfc718536ef4be33e69cdd3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_23.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_24.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..446856a8849babe6291a782f4d28ab56fb93baae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_24.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_25.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96a32e0a5651f1dabb99c89bda6dc687e0add0d0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_25.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_26.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..106b5b26fe2867a6a118e6136c88c02bd2da3c07
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_26.obj
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_27.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d504a21e6b4f8e8374d0cadfa9beedb9164260b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_27.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_28.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef29848e55aa5e9121ab9859701faec719755e06
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_28.obj
@@ -0,0 +1,613 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_29.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33fde1e37827304b1c26aafff5af33be7d9e035d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_29.obj
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_3.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..087bc7f66bafd458cadf67ab14b55d3b237aa013
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_3.obj
@@ -0,0 +1,655 @@
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_30.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b70bd17aaa3649630ba7f5e482be333ce9990506
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_30.obj
@@ -0,0 +1,532 @@
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_31.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b59ac62154b4de92aa961d9f58c86ee69dda777f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_31.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_32.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d96e9ef52032083eaf34db21538c71e54544471
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_32.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
+v 0.01669654 -0.03339479 -0.04311690
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_4.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29447cef391bf17c7b4e709dc818ab3fb38fd9dd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_5.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cda279e87935daa4089b8d630adc17fe0a52de51
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_5.obj
@@ -0,0 +1,883 @@
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_6.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c27b63a7c4fc4670ecbbe5ab740c390a4cfd19f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_7.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5616327e41874d4cb7bc4e9b1a5bca69ebd6de81
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_8.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..621e21074090915c1b49e62824fcfb32afaae4dd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_8.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_9.obj b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a142350b266d914e4e043cd770b2f2746d68917
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/mesh/pen_holder_037_collision_9.obj
@@ -0,0 +1,532 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/pen_holder_037.xml b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/pen_holder_037.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a7bbacaf0ccf11ec915a6c9c28df6baa043a4a36
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/mjcf/pen_holder_037.xml
@@ -0,0 +1,80 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pen_holder_037">
+  <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_037.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pen_holder_037_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pen_holder_037_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pen_holder_037_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pen_holder_037_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pen_holder_037_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pen_holder_037_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pen_holder_037_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pen_holder_037_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pen_holder_037_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pen_holder_037_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pen_holder_037_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pen_holder_037_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pen_holder_037_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pen_holder_037_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pen_holder_037_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pen_holder_037_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pen_holder_037_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pen_holder_037_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/pen_holder_037_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/pen_holder_037_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/pen_holder_037_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/pen_holder_037_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/pen_holder_037_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/pen_holder_037_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/pen_holder_037_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/pen_holder_037_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/pen_holder_037_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/pen_holder_037_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/pen_holder_037_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/pen_holder_037_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/pen_holder_037_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/pen_holder_037_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/pen_holder_037_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pen_holder_037">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" 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/c405b6b6542250f0b32024ffeb5d1b23/pen_holder_037.urdf b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/pen_holder_037.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..01b19dfd331ccb54eb725425dd5e4fa67dc7d4d4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/pen_holder_037.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_037">
+   <link name="pen_holder_037">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_037.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_037_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1850" />
+         <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>c405b6b6542250f0b32024ffeb5d1b23</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>pen_holder</category>
+         <name>black pen holder</name>
+         <color>black</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>black cylindrical pen holder with ribbed base and red logo</description>
+         <min_height>0.1350</min_height>
+         <max_height>0.1350</max_height>
+         <real_height>0.1350</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611145608</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.049371 -0.049610 -0.059743</min>
+            <max>0.049254 0.049597 0.075257</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/pen_holder_037.usd b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/pen_holder_037.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/pen_holder_037.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a42efde23692dd03f22e7b8f765110eada715a6405598a42f57e9073b69f79d8
+size 4654531
diff --git a/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/textures/material_0.png b/dataset/desktop_supplies/office_stationery/c405b6b6542250f0b32024ffeb5d1b23/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2ca8db56f747423347cef34b7b8a74fd849ef5b
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