diff --git a/.gitattributes b/.gitattributes
index 56a1b82c9729c4dbd36b8319f8c90282c663fc16..5928b0687297470e57102c5962cd23261361eeef 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3466,9 +3466,6 @@ dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/mesh/stap
 dataset/desktop_supplies/office_tools/edb7cbdd129359e194ef456421b34698/staples_box_020.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/magnifier_030.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_tools/f343a208d00d54edbf57dc1af1864135/mesh/magnifier_030.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/magnifier_022.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/f4ad684b217152bd83dd515aa1f10d3e/mesh/magnifier_022.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/mesh/stamp_008.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/f4984c87dffb54dbb77efad5baf886aa/stamp_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/magnifier_024.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/mesh/magnifier_024.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/f922f67ffa6c585991bdfe92ef33b82a.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mesh/pen_holder.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mesh/pen_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/f922f67ffa6c585991bdfe92ef33b82a.urdf b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/f922f67ffa6c585991bdfe92ef33b82a.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a58f811a0a365e7eba4fc3b84459f175eb3c3056
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/f922f67ffa6c585991bdfe92ef33b82a.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder">
+   <link name="pen_holder">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pen_holder.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.125000</scale>
+         <version>v0.1.7</version>
+         <category>pen holder</category>
+         <description>cylindrical wooden pen holder with vertical grooves and smooth texture</description>
+         <min_height>0.1</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.125</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260120011536</generate_time>
+         <gs_model>mesh/pen_holder_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.990985870361328</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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/f922f67ffa6c585991bdfe92ef33b82a.usd b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/f922f67ffa6c585991bdfe92ef33b82a.usd
new file mode 100644
index 0000000000000000000000000000000000000000..df079cd01751f69fc25f6945f395d2d59781a6f6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/f922f67ffa6c585991bdfe92ef33b82a.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12ffd20d6c37be4da2f1b9a26907f8d4dc7895ba5c465123ad206405d9180f84
+size 1028587
diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mesh/material.mtl b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mesh/material_0.png b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..16136b9b2418f4feb012b9de4254e59ae1f07030
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e39364b1f555f8a70d8975be20fd7f34b55295a4867592d33c02544727f7a9c
+size 2179580
diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mesh/pen_holder.glb b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mesh/pen_holder.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5c91676f7b4a71f95b9b134ba3b480f4e85f7814
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mesh/pen_holder.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed40b82cd243090a7198fb3205ca8ee4936571fd9af785be35cd0d300c53e7d9
+size 2886024
diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mesh/pen_holder.obj b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mesh/pen_holder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b46444fc5dfabc93090eeb42f546ff5abe4860ce
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mesh/pen_holder.obj
@@ -0,0 +1,64616 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mesh/pen_holder_collision.obj b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mesh/pen_holder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4de277032256c0180cf78da4bad68767cfcfeff7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mesh/pen_holder_collision.obj
@@ -0,0 +1,9348 @@
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diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/f922f67ffa6c585991bdfe92ef33b82a.xml b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/f922f67ffa6c585991bdfe92ef33b82a.xml
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+    <mesh name="collision_mesh_0_21" file="mesh/pen_holder_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pen_holder">
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+      <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_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" />
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+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..16136b9b2418f4feb012b9de4254e59ae1f07030
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e39364b1f555f8a70d8975be20fd7f34b55295a4867592d33c02544727f7a9c
+size 2179580
diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder.obj b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e471d80c6e2a0cffc47907c270003a39df6168ef
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder.obj
@@ -0,0 +1,64616 @@
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diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision.obj b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b56f9742502cf2c11a309557e9835277d5179617
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision.obj
@@ -0,0 +1,9348 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_0.obj b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59fca5976825b2baef2ac2aca50467f06ebf4620
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_1.obj b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6a0beabb71c6a7fbe94cd1126869975863ffe3d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_10.obj b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25fd5216c37e1ce0d13311c9e4f44266201da02d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_11.obj b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82cafc53b90b9ffe37f0967772a1bc784236da81
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_11.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_12.obj b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea2758ab10d6887ac8efc5819bf0a53179dd8ea7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_12.obj
@@ -0,0 +1,544 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_13.obj b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bdd93518b64c17531d7248fdbdc7d837100438d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_13.obj
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diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_14.obj b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c045b73225ba7e994a2aabce679c21dc037070d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_14.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_15.obj b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..474559177d337e514e2051462c23a8d479c2a6ac
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_15.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_16.obj b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d04318e959118b0149c63078b5cde8c7b29b9fee
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_16.obj
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diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_17.obj b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bed60e582fed53288218d5065942efd2e732b0c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_17.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_18.obj b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..911562a29d7b75e1637d93f7e29d4c4c209a7e3d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_18.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.03616172 0.01469600 -0.05632796
+v 0.03358048 0.01556063 -0.05632795
+v 0.03616172 0.02511137 -0.05632792
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+
diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_19.obj b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3b32583bafbf906f593362949330a653051f955
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_19.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
+v 0.01938865 0.04147662 -0.05632786
+v 0.01938865 0.02976270 -0.05632790
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diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_2.obj b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a71787513ace581fb1d5aadbd6bdb9f9b5e0d1c5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_20.obj b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92e1d022571064149dae871ff979395944a1179d
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_20.obj
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diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_21.obj b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bdaa46d89e862b24bee1a894542301093c9710e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_21.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_3.obj b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b1e71459cefd50f88c1656d40489f72ca37c4df
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_3.obj
@@ -0,0 +1,799 @@
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diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_4.obj b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f80c6a2b563bb1d2bee73d90be22dcd589c6bb37
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_5.obj b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4b8c815bd081ea2d22e52c979d4d9acba30c199
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_6.obj b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66ece9720b16a99dfa49f80408f6716f7245f7c6
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_6.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_7.obj b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..288393286bc46c73f91bd2dd6dc0d0f2308bf5a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_7.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_8.obj b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e67f5ddd81b76c418f256b6d195a3c4244028a65
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/f922f67ffa6c585991bdfe92ef33b82a/mjcf/mesh/pen_holder_collision_8.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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