diff --git a/.gitattributes b/.gitattributes
index e4015aea526464530e5a69a4f8f799ccf3c619f0..2d8617b7a6c77b666bf2de6f90dbca244c47d96f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3291,6 +3291,4 @@ dataset/desktop_supplies/office_stationery/f2fd29c97f43540db1691502d4c89199/glue
 dataset/desktop_supplies/office_stationery/f2fd29c97f43540db1691502d4c89199/mesh/glue_stick_020.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/f51a7c0b35515dca8e547665d3586545/marker_011.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/f51a7c0b35515dca8e547665d3586545/mesh/marker_011.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/f77f018e923450cf86a96693cfa8fc52/f77f018e923450cf86a96693cfa8fc52.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/f77f018e923450cf86a96693cfa8fc52/mesh/book.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/f77f018e923450cf86a96693cfa8fc52/mesh/book_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/f75ded4719895e249f873bc92917ba75.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/f75ded4719895e249f873bc92917ba75.urdf b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/f75ded4719895e249f873bc92917ba75.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7b7e63e107e9750ca355ab0a4122ab3cb6de82ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/f75ded4719895e249f873bc92917ba75.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_39">
+   <link name="pen_holder_39">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_39.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_39_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>0.135000</scale>
+         <version>v0.1.5</version>
+         <category>pen holder</category>
+         <description>cylindrical pen holder with glossy finish containing pens</description>
+         <min_height>0.12</min_height>
+         <max_height>0.15</max_height>
+         <real_height>0.135</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <generate_time>20251014173301</generate_time>
+         <gs_model>mesh/pen_holder_39_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.879215240478516</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>8</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/f75ded4719895e249f873bc92917ba75.usd b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/f75ded4719895e249f873bc92917ba75.usd
new file mode 100644
index 0000000000000000000000000000000000000000..2b12f85568657ff783196a392f63800237688789
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/f75ded4719895e249f873bc92917ba75.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30d20a001defc49f953a16b161b5d103615e8b8879d8dd74e4827ddce4a617d7
+size 735516
diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..708c18b3b4428632abbc3cf260429ccc07595181
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5621496dc9fd9647ff1d93c3eb32232607a0457da9e2cec85aba1e3a5655b5ac
+size 1916004
diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mesh/pen_holder_39.glb b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mesh/pen_holder_39.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8bdfd9ee95a11c9a80e73fe21d710325e5f6f62d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mesh/pen_holder_39.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:549bd218f5c696091f158cfd7618d88966bd22c7fcaa33164e2a23efee684a4b
+size 2417724
diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mesh/pen_holder_39.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mesh/pen_holder_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3529bc23a2f993558fc66fec641bb5dffe17a7d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mesh/pen_holder_39.obj
@@ -0,0 +1,45852 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mesh/pen_holder_39_collision.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mesh/pen_holder_39_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38fd104e609b02f07a62d364abf3a01b9c3b6f92
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mesh/pen_holder_39_collision.obj
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" 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/f75ded4719895e249f873bc92917ba75/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..708c18b3b4428632abbc3cf260429ccc07595181
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5621496dc9fd9647ff1d93c3eb32232607a0457da9e2cec85aba1e3a5655b5ac
+size 1916004
diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdb7ddb645dd3aba1aa6ff7a340b5351536e5014
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39.obj
@@ -0,0 +1,45852 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1139a26f8e7aff035ceefb2bef99202e66f2e87
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision.obj
@@ -0,0 +1,14107 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_0.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15f397024fe690c96214000d6a739cc183d618b9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_1.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa32a3dbd0db04334e5fd6808fbcc4c49b60833e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_1.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_10.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d504bf226d40a53477942b3f83eda23af056d856
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_10.obj
@@ -0,0 +1,154 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_11.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..709165be3aa2ec7e278dc71f8d90e50650c92307
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_11.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_12.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65e7eb89e0755db4c63c83b3e66d94a457c6bd21
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_12.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_13.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b97fb1c789c1e2e45e0aa280ae56403d847f3e1f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_13.obj
@@ -0,0 +1,559 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_14.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eef5334726bfafc5f9768f1b17898a21582368b5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_14.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_15.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4781a63e906afb21c3b8881dc7c9060bfe1a423
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_15.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_16.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08524433456dad4d01e679abdf7d516c1a907a78
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_16.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_17.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5405295c186e3ac7798c9b38b8310b1213ac9a5f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_17.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_18.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddd8f098978078fbb5d83765227b4f84b8d45904
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_18.obj
@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_19.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79ab087820bed841099b65a06abaa3afb083835d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_19.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_2.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3202a1c44c1cf6140477e2287121a9abee3d201
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_2.obj
@@ -0,0 +1,460 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_20.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e887f5487fe5b1c59daf4c7cd0454e3c54ae11c0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_20.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_21.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dec968ed0c0c35e0e19a7c83c4b0a60ea165039
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_21.obj
@@ -0,0 +1,367 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_22.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f9602a119d52928fb7230b05a10f0a8b66040f4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_22.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_23.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de880eb428b65c0b184a5b43abeaa760e963fb5c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_23.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_24.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d2f50cd29f78a4f975cd400d7c525c4ea4026e3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_24.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v 0.01317015 -0.03015728 -0.05260931
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+
diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_25.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a40d2ae621f800dbfba7f62268bd4b7b8b885046
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_25.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.01640724 -0.02169989 0.01101187
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_26.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..140c8a22ecf7b475c78fdc3c29c64cfc075ff92d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_26.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_27.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b50e9579638017c4ca963ff251fb7b3f3cc7ebf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_27.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_28.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cec08ebb10d458173ca0c91853da9c10ef93cb6f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_28.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_29.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea3dec5c1ad30c8698aef31ad569f2588b9eaf75
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_29.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_3.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dac875959b26fc4a0efe7601ba6d3871643c046
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_3.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_30.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95b772af63d87b14bc010c986d3701308f5fe589
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_30.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_31.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a8f3fc47287460401982fb64bb021d919d31de7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_31.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_32.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9716b8c833a04a56418a66ecc7ba1e8fe47c7c8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_32.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_33.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef4b6f30d02578b50e6cc5246022822a9ea5d552
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_33.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_34.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f76f004fcb5018338421df943930439fa3ecf9e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_34.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_35.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f254e228ddd6a7c82e0ae82c4124da60a1ef0f36
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_35.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_36.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..642284b15891004b01808e7ac23762410c64a214
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_36.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_37.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9d4fade171c74cb51b446f9892cafc0f501e2cc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_37.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.02046703 -0.00160005 0.01014938
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+
diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_38.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..396fd4b2a403b0c6809c9647c8bea2a8cca2a168
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_38.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_39.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5488e91f9b72215372a8b1ed9b812061a7a34086
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_39.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_4.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..827b0ebfe0080e4aed4593dd0f10d8ac0e0c3c69
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_4.obj
@@ -0,0 +1,556 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_40.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..624e246d8b39a6700eeb120af88a7564abd87fa4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_40.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_41.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b38ea2795a6dd6a291860df29cb7e9bfb55990cf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_41.obj
@@ -0,0 +1,358 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_42.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea067eb3b78c15852ca8d5e596c164e9724e98ac
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_42.obj
@@ -0,0 +1,292 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_43.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e00af77317ab36eb2e746cfcd133fdc473ace35b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_43.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_44.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdc5e846363e0513b8bcc8615a2cff4698cf5afe
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_44.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_45.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e8593ece956adf8509e78fd2ecd968c17ecd2cf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_45.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_46.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2013f346c434749c38ef3a58f85712f7bab2754
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_46.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_5.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b26945fc73d957fe5594c32143a5ef8c14c2728
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_6.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7820d5c51785b3bf82ea3ddf0680f2cce89e5c17
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_6.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_7.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64620424008bfe87ae1208235555d97f30e0ef1a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_8.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..628f4290ed7ef6067b4b4c804314fcaaf3d0395a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_8.obj
@@ -0,0 +1,346 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_9.obj b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75f827a6737b71b5a91799ae55623d6640c2de53
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f75ded4719895e249f873bc92917ba75/mjcf/mesh/pen_holder_39_collision_9.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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