diff --git a/.gitattributes b/.gitattributes
index d79a1bcad60b41736f7a3d9e698c3b335ffeb0d8..d1d6a729470d68856c2fa6c0f93e980a17e1573e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3194,3 +3194,5 @@ dataset/desktop_supplies/office_stationery/86b7d9fd65b25edcbb9090daa12257e0/mesh
 dataset/desktop_supplies/office_stationery/8ea5a2833892579bae1d08dc199791c2/8ea5a2833892579bae1d08dc199791c2.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/mesh/sharpener_014.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/8bd96215a928539eafd42e472ad1292c/sharpener_014.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mesh/pen_holder_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/pen_holder_010.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..21649b0c6964f3bbd25bb7cd41d9cd36f62a3236
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pen_holder_010_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd pen_holder_010_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..52e880f4297d96bad482fe394fec3544efd2d26b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8120204290afdda2fa47b3d737b93b6e8dff09b51d273ab0b0a09f821a4e9ae1
+size 15269047
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mesh/pen_holder_010.glb b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mesh/pen_holder_010.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ee7214cf91e6a0706ee1fa3f3932bd64d5e93c3a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mesh/pen_holder_010.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f61f911e790152cb700493ceb487aa6e1a48dd7ffe6da83ace5ecb2c4d9edf51
+size 18756140
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mesh/pen_holder_010.mtl b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mesh/pen_holder_010.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3a25594cc77dcbbaef7c4663dee723b91e5c31ab
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mesh/pen_holder_010.mtl
@@ -0,0 +1,6 @@
+newmtl pen_holder_010_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mesh/pen_holder_010.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mesh/pen_holder_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..442f45c6a1e52cac6be6453f77855a9662d56835
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mesh/pen_holder_010.obj
@@ -0,0 +1,117538 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pen_holder_010_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mesh/pen_holder_010_collision.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mesh/pen_holder_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb7561e0d059af6cecd1a0b36f8c23e428933400
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mesh/pen_holder_010_collision.obj
@@ -0,0 +1,14594 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mesh/pen_holder_010_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mesh/pen_holder_010_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..52e880f4297d96bad482fe394fec3544efd2d26b
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..52e880f4297d96bad482fe394fec3544efd2d26b
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+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010.obj
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index 0000000000000000000000000000000000000000..e954cf0ae02164effd5e0fc8e2b4f46c6e144fe9
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03722dbab5a39b83f9947b0595fb89127ceb913e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision.obj
@@ -0,0 +1,14594 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_0.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..132aea64ae885dc41dd7e993c5e94866f0685889
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_1.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f622954d3ff1f467e85508d1d343737957d4adaf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_10.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a97d1df714c62dc09958322d7a9521eda8658518
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_10.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_11.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36650db3c0aa4ab399c25dc03f2b637013362ae9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_11.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_12.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c44107d285023984418210e61412dbf8840f282f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_12.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_13.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..919677a376c44aeb0e4d97ad5b6ade5ba97fbede
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_13.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_14.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..200d9fe3addea5de96d2ccd6aae752b150d7c379
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_14.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_15.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a36af9cf007e2ca4ae468621eb4606e085d8a6f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_15.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_16.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86bd4d4c214f072f1ed435baaf8b23620ed2624f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_16.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_17.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..858477aceecd8d8680e1701b685460d3dd770b69
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_17.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_18.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..007e7eac00cb3f573f291909fc02d07996f2a9fe
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_18.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_19.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a77f1ea6d9b6ddf5b2204fe8edcce90238ff0a81
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_19.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_2.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dff10733b762a87e4adb28e2ce1dd23f5ed41b67
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_2.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_20.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56bec32a9f68af92c92b5af3aaca518c2ece851c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_20.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_21.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80ee0c143c08c3b2421ab38992a890a8fbb0244b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_21.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_22.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ad18ffcffc2f977a4275f4e686a06379077872d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_22.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_23.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42be381d5e0a13310d2542422ed9bd434b0ffdda
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_23.obj
@@ -0,0 +1,400 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_24.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9b36b39e39131a0a703a31b69ade407f724a8df
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_24.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_25.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8ebf10829e600dfe88e39ee8804b6aab825d031
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_25.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_26.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb1d49d69bb32905c4bc4b5acb0bf62a48772c94
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_26.obj
@@ -0,0 +1,472 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_27.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16be5d66bafa334ba029d0ca76dc098929ed7eab
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_27.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_28.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e92870488e89fb9c5a8aa1dfa83ae580930bfb4c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_28.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_29.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67335a9eae6197a1db7f6edc14e63ccb7e1bcf33
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_29.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_3.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..673ad93b03b4f928aa7b96808749012a10969fa7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_3.obj
@@ -0,0 +1,475 @@
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_30.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b73dfcae6f207ba88abba68623a596633823a09
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_30.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_31.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcffaa85fe57b6d9c63a97a9dad0e1ecdaa5a84a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_31.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_32.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54cb7a96ea85081677f97321786112ffd19534fd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_32.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
+v -0.00053133 -0.03463431 -0.02489275
+v -0.00053133 -0.03456910 -0.02603981
+v 0.00015728 -0.03456910 -0.02603400
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+v 0.03301582 0.00042465 -0.02186359
+v -0.00053133 0.00042468 -0.02927080
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+v 0.02870276 -0.02170338 -0.02928978
+v 0.03298895 0.00042467 -0.02768831
+v 0.03253212 0.00042467 -0.02844721
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+
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_33.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72071185c46550f8d0e3e45e0cd7927df51c19ee
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_33.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.00902851 -0.03177101 -0.02186371
+v 0.01075604 -0.03163814 -0.02186371
+v 0.00902851 -0.03122944 -0.01735049
+v 0.00902851 -0.02529219 -0.02186368
+v 0.01226998 -0.03142534 -0.02186371
+v 0.00929693 -0.03113373 -0.01735049
+v 0.00902851 -0.02622789 -0.01735048
+v 0.01738874 -0.02026924 -0.02186366
+v 0.01196638 -0.03008658 -0.01735049
+v 0.01193037 -0.03010234 -0.01735049
+v 0.01075604 -0.03059214 -0.01735049
+v 0.01738874 -0.02799789 -0.02186369
+v 0.01738874 -0.02726265 -0.01735048
+v 0.01678316 -0.02765787 -0.01735048
+v 0.01583715 -0.02824337 -0.01735048
+v 0.01508018 -0.02863408 -0.01735049
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+v 0.01378310 -0.02923985 -0.01735049
+v 0.01738874 -0.02144702 -0.01735046
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+f 8 19 13
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+
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_34.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0bb7d6dc6a9ba9ebe38678044ef2ba9f9db262b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_34.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.02239399 0.01517230 -0.02177050
+v 0.02341329 0.01517228 -0.01734132
+v 0.02956117 0.01517230 -0.02177050
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+v 0.03113824 0.00768874 -0.01734135
+v 0.03134313 0.00870071 -0.02177053
+v 0.03166290 0.00737406 -0.02177053
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+
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_35.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8cf880f7895071aa14694cfcb7138c29d52bd0f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_35.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
+v -0.02861036 -0.01399077 0.04025280
+v -0.02709714 -0.01399077 0.04013741
+v -0.02861036 -0.01247745 0.04015664
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+v -0.03060989 -0.01092122 0.03977203
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+v -0.03087295 -0.01170181 0.03959208
+v -0.03063161 -0.01399076 0.03936130
+v -0.02965658 -0.01511462 0.03976102
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+
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_36.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef87f09f0867acf520bf5917a91574491fd333f5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_36.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.03409443 -0.00037569 -0.02169222
+v -0.03285630 -0.00306236 -0.01848305
+v -0.03296949 -0.00188801 -0.01848305
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+v -0.03307275 0.00038116 -0.01848304
+v -0.03408847 0.00038117 -0.02169222
+v -0.03319090 -0.00491262 -0.02169224
+v -0.03248397 -0.00610117 -0.01848306
+v -0.03266566 -0.00491263 -0.01848306
+v -0.03282254 -0.00340032 -0.01848305
+v -0.02859880 0.00038116 -0.01848304
+v -0.02800307 0.00038117 -0.02169222
+v -0.03284836 -0.00646611 -0.02169224
+v -0.03233106 -0.00685804 -0.01848307
+v -0.02471959 -0.01412564 -0.01848309
+v -0.02395209 -0.01412563 -0.02169227
+v -0.03210468 -0.00944954 -0.02169225
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+v -0.03094598 -0.01158950 -0.01848308
+v -0.03123690 -0.01070484 -0.01848308
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+
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_37.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d7bb128ddb47bdd0dd5da621cf168c39bae0ffe
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_37.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00053133 0.03454502 -0.02177043
+v 0.00012694 0.03334333 -0.01734126
+v 0.00015740 0.03334333 -0.01734126
+v 0.00015740 0.03454414 -0.02177043
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+v 0.00167088 0.03329650 -0.01734126
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+v 0.00318545 0.03317545 -0.01734126
+v 0.00322135 0.03317103 -0.01734126
+v 0.00470001 0.03295632 -0.01734126
+v 0.00473592 0.03295014 -0.01734126
+v 0.00629074 0.03328592 -0.02177044
+v 0.01058419 0.02551925 -0.02177047
+v -0.00053133 0.02865594 -0.01734127
+v 0.00621240 0.03264177 -0.01734126
+v 0.01058419 0.03233342 -0.02177044
+v 0.01058419 0.02634715 -0.01734128
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+v 0.00924045 0.03178912 -0.01734126
+v 0.01058419 0.03134203 -0.01734126
+v 0.00746693 0.03230071 -0.01734126
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+
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_38.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6207054e51d7492c9e6218c49328ae903d140b2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_38.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.01058419 0.02551868 -0.02177047
+v 0.01934734 0.01925560 -0.02177049
+v 0.01058419 0.02634571 -0.01734128
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+v 0.01269006 0.03048866 -0.01734127
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+
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_39.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15754053326dcfb0a21459920d0d197a56cbf28a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_39.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.02175643 -0.01533415 -0.02186365
+v 0.02927419 -0.01533415 -0.02186365
+v 0.02278660 -0.01533417 -0.01735044
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+v 0.03131245 -0.00624077 -0.01735040
+v 0.03163782 -0.00704289 -0.02186362
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+
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_4.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f049a82b66befee6c0241f70c1910382f03f36d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_4.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_40.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75c312f2934d3809d93cebfd6b156a88d43312e9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_40.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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+v 0.01179357 0.01570130 -0.03073133
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+
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_41.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaa705f2d6cca028e3bf789abceb48dc7fa24e51
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_41.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_42.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffd83ea1ea8bcfd60d097c3f480ce1f84d7e3c17
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_42.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.00902851 -0.02529179 -0.02186368
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+
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_43.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0d5533bee908a31004e73962047b5517cfe5add
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_43.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_44.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99fb3f10d177b465266f9f3450232c4ebd48d999
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_44.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.00053305 -0.01849775 -0.02251147
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_45.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b0876be8d57a5f3bfefce5679c6ab287fd999f4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_45.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_46.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f47f3d3b5e26bfa3e25fbd51543fee8dc8ef7467
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_46.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_47.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e904eca7bf5d7358837dbdf93564a3f75915cc46
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_47.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.01934734 0.01925516 -0.02177049
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+v 0.01934734 0.02038052 -0.01734131
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+v 0.02438389 0.02959592 -0.02052182
+v 0.02286934 0.02970874 -0.02041603
+v 0.02135480 0.02955880 -0.02054350
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+
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_48.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dadee26b661d623355d6880a6b76d58c2a8961e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_48.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00135838 0.03478889 -0.02226651
+v -0.00589996 0.03297015 -0.01734146
+v -0.00438644 0.03315976 -0.01734146
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+v -0.00053133 0.02865651 -0.01734147
+v -0.00772850 0.03346838 -0.02226652
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+v -0.00876077 0.03231135 -0.01734146
+v -0.00874332 0.03231619 -0.01734146
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+
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_49.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6231a885ebc6abeb2a4f8c7d5fa43f1c645abc5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_49.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.01982981 0.01894445 -0.02226657
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+
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_5.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..128f9ce3cd8370d1dd23ecbd2a67c782416b95b5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_5.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
+v 0.01955265 -0.01957461 0.02668008
+v 0.01955265 -0.02574519 0.02668006
+v 0.01955265 -0.01939307 0.02553365
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_50.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e21b83144825fe3f354e3832dc1a44cbf65673f2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_50.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_51.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc17a31bae55b556af7f7596f0ec66977cf24d19
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_51.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_52.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f8cdf2692cb311ac6f0f166b5f5b63068073bc6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_52.obj
@@ -0,0 +1,412 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_53.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4c066804c670e2f59bb8b6dba1d502bc32a35cf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_53.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.02740940 -0.00785285 -0.02928973
+v 0.02743393 -0.00793846 -0.02928973
+v 0.02816975 -0.02003764 -0.03096126
+v 0.02772008 -0.01863582 -0.03096126
+v 0.02768942 -0.01858053 -0.03096126
+v 0.02696995 -0.01740521 -0.03096125
+v 0.02557598 -0.01551650 -0.03096125
+v 0.02547583 -0.01542197 -0.03096125
+v 0.02444569 -0.01450169 -0.03096124
+v 0.02435371 -0.01442144 -0.03096124
+v 0.02135116 -0.01255234 -0.03096124
+v 0.02023517 -0.01187996 -0.03096123
+v 0.01947687 -0.01154110 -0.03096123
+v 0.01832204 -0.01127536 -0.03096123
+v 0.01669097 -0.01128428 -0.03096123
+v 0.01234351 -0.00952398 -0.02928973
+v 0.02808594 -0.01243285 -0.02928975
+v 0.02865416 -0.02019102 -0.02928977
+v 0.02872979 -0.02155004 -0.02928978
+v 0.02819223 -0.02086518 -0.03096127
+v 0.01652133 -0.01130568 -0.03096123
+v 0.01554432 -0.01158747 -0.03096123
+v 0.01500268 -0.01182646 -0.03096123
+v 0.01388260 -0.01256839 -0.03096124
+v 0.01147279 -0.01016782 -0.02928974
+v 0.02820449 -0.02155004 -0.03096127
+v 0.02870321 -0.02170342 -0.02928978
+v 0.02813909 -0.02195846 -0.03096127
+v 0.01374566 -0.01267540 -0.03096124
+v 0.00935118 -0.01258444 -0.02928975
+v 0.01304867 -0.01324790 -0.03096124
+v 0.02843750 -0.02301963 -0.02928978
+v 0.02822289 -0.02248102 -0.03039189
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+v 0.01122956 -0.01689692 -0.03096125
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+v 0.01249068 -0.01394346 -0.03096124
+v 0.01161996 -0.01535420 -0.03096125
+v 0.01140943 -0.01602479 -0.03096125
+v 0.02817179 -0.02378296 -0.02928979
+v 0.02785089 -0.02301784 -0.03096127
+v 0.01120708 -0.01702533 -0.03096125
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+v 0.02783454 -0.02437865 -0.02928979
+v 0.02704149 -0.02459980 -0.03096128
+v 0.01126022 -0.01851276 -0.03096126
+v 0.02653255 -0.02607296 -0.02928980
+v 0.01174464 -0.01991279 -0.03096126
+v 0.01179778 -0.02001980 -0.03096126
+v 0.01260309 -0.02137169 -0.03096127
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+v 0.01548300 -0.02471394 -0.03096128
+v 0.01667667 -0.02585003 -0.03096128
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+v 0.02772826 -0.02456413 -0.02928979
+v 0.02659182 -0.02525255 -0.03096128
+v 0.02586009 -0.02607296 -0.03064551
+v 0.02579673 -0.02599984 -0.03096129
+v 0.02695564 -0.02566454 -0.02928979
+v 0.02569862 -0.02607296 -0.03096129
+f 1 2 3
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+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
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+f 1 14 15
+f 1 15 16
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+f 1 25 30
+f 1 30 36
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+f 1 59 55
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+f 45 55 56
+f 47 57 58
+f 47 58 56
+f 47 56 59
+f 55 59 56
+f 57 60 58
+
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_54.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1ec31cc824da01b8425e415493323044d45d2bc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_54.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.02653150 -0.02607296 -0.02928980
+v 0.02617164 -0.02642664 -0.02928980
+v 0.02585863 -0.02607296 -0.03064551
+v 0.00785089 -0.02607296 -0.02928980
+v 0.02569680 -0.02607296 -0.03096129
+v 0.02542424 -0.02703515 -0.02928980
+v 0.02514743 -0.02685256 -0.03022028
+v 0.00777423 -0.02613488 -0.02928980
+v 0.01698358 -0.02607296 -0.03096129
+v 0.02491321 -0.02671165 -0.03096129
+v 0.02438513 -0.02758770 -0.02928980
+v 0.02429144 -0.02705064 -0.03096129
+v 0.00477826 -0.02879521 -0.02928981
+v 0.01781615 -0.02669021 -0.03096129
+v 0.00477826 -0.02918818 -0.02928981
+v 0.00477826 -0.02911475 -0.02929291
+v 0.00477826 -0.02884641 -0.02929046
+v 0.02288183 -0.02811643 -0.02928980
+v 0.02286692 -0.02757976 -0.03096129
+v 0.01857206 -0.02712963 -0.03096129
+v 0.01075742 -0.02911475 -0.02973549
+v 0.01075742 -0.03012815 -0.02928981
+v 0.01983901 -0.02761033 -0.03096129
+v 0.02275832 -0.02814223 -0.02928980
+v 0.02135297 -0.02779411 -0.03096129
+f 1 2 3
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+f 1 5 9
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+f 1 4 8
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+f 1 13 15
+f 1 15 22
+f 1 22 24
+f 1 24 18
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+
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_55.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fa3a73397708cb4c2b4cb4f028bcb781e693736
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_55.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01420724 -0.00944625 -0.02982080
+v 0.01420724 -0.00944625 -0.02882080
+v 0.01420724 -0.00826391 -0.02982080
+v 0.01420724 -0.00826391 -0.02882080
+v 0.02007647 -0.00944625 -0.02982080
+v 0.02007647 -0.00944625 -0.02882080
+v 0.02007647 -0.00826391 -0.02982080
+v 0.02007647 -0.00826391 -0.02882080
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_56.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7650202286a133a75de05029af588adb02e36296
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_56.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.01983067 0.01943864 -0.02204384
+v -0.01983067 0.01894273 -0.02226657
+v -0.01983067 0.01943864 -0.02226657
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+v -0.02413594 0.01252762 -0.02226659
+v -0.03090843 0.01591582 -0.02226658
+v -0.03089575 0.01252760 -0.01734153
+v -0.02996694 0.01471762 -0.01734153
+v -0.02995196 0.01475280 -0.01734153
+v -0.02950484 0.01576560 -0.01734152
+v -0.02949562 0.01578387 -0.01734152
+v -0.02944261 0.01943864 -0.02213592
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+v -0.02735797 0.01933511 -0.01734151
+v -0.03160216 0.01252762 -0.02226659
+v -0.02908998 0.01652131 -0.01734152
+v -0.02837551 0.01774656 -0.01734151
+v -0.02788115 0.01858481 -0.01734151
+f 1 2 3
+f 1 3 6
+f 1 6 16
+f 1 16 17
+f 1 17 8
+f 1 8 4
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+f 2 5 9
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+f 2 10 6
+f 2 6 3
+f 4 7 5
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+f 4 22 21
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+f 5 7 9
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+f 8 17 18
+f 10 19 11
+f 15 20 17
+f 15 17 16
+f 17 20 21
+f 17 21 22
+f 17 22 18
+
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_57.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8bf40e695498687612459e8bc443e1b222ceafe
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_57.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.02407015 0.03038304 -0.02226653
+v -0.02407015 0.03037768 -0.02185723
+v -0.02366201 0.03031769 -0.02226653
+v -0.02517571 0.03022770 -0.02226653
+v -0.02407015 0.02970488 -0.02041915
+v -0.02255645 0.02956882 -0.02053099
+v -0.02255645 0.03008842 -0.02185723
+v -0.02255645 0.03010663 -0.02226653
+v -0.02558385 0.03016449 -0.02185723
+v -0.02558385 0.02958704 -0.02053148
+v -0.02558385 0.03016556 -0.02226653
+v -0.01983179 0.02704580 -0.01734148
+v -0.02163926 0.02931599 -0.02080579
+v -0.02151031 0.02944883 -0.02185723
+v -0.02223689 0.02992986 -0.02226653
+v -0.02668941 0.02976916 -0.02226653
+v -0.02709754 0.02962132 -0.02185723
+v -0.02787570 0.02913707 -0.02107624
+v -0.02709754 0.02931599 -0.02084580
+v -0.02709754 0.02836570 -0.02017040
+v -0.02069292 0.02641907 -0.01734148
+v -0.01983179 0.02106881 -0.01734150
+v -0.01983179 0.02842249 -0.02226654
+v -0.02147331 0.02946276 -0.02226653
+v -0.02713118 0.02959346 -0.02226653
+v -0.02796764 0.02919814 -0.02226653
+v -0.02796203 0.02919492 -0.02185723
+v -0.02871889 0.02855212 -0.02185724
+v -0.02943537 0.02768648 -0.02100876
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+
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_58.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef0231d50ed686028a22c93a345c61cd68a1d603
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_58.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00053133 -0.03234112 -0.03005243
+v -0.00053133 -0.03234112 -0.02905243
+v -0.00053133 -0.02635550 -0.03005243
+v -0.00053133 -0.02635550 -0.02905243
+v 0.00477826 -0.03234112 -0.03005243
+v 0.00477826 -0.03234112 -0.02905243
+v 0.00477826 -0.02635550 -0.03005243
+v 0.00477826 -0.02635550 -0.02905243
+f 2 4 1
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+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_59.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fc5ca3b3c4e6802c7b5715bb8ca122fd06f7c2e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_59.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.02594111 -0.00489132 -0.03002741
+v 0.02594111 -0.00489132 -0.02902741
+v 0.02594111 0.00042468 -0.03002741
+v 0.02594111 0.00042468 -0.02902741
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+f 7 6 5
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+
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_6.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3680b7df7add690754477f82cad1c9d02bd8bd55
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_6.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_7.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7f7035f3dc743df89df6e95dccda8b5469a7a0a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_7.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
+v -0.00053386 0.03334063 0.02524313
+v -0.00135873 0.03334187 0.02524313
+v -0.00053386 0.02866230 0.02524312
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_8.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f79d94c8d31141b3daeb2746852f5dd56161aaa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_9.obj b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/mesh/pen_holder_010_collision_9.obj
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/pen_holder_010.xml b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/pen_holder_010.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4b48b83ff410924c8b6bc9bde08429cecd38a34e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/mjcf/pen_holder_010.xml
@@ -0,0 +1,134 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pen_holder_010">
+  <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_010.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pen_holder_010_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pen_holder_010_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pen_holder_010_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pen_holder_010_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pen_holder_010_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pen_holder_010_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pen_holder_010_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pen_holder_010_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pen_holder_010_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pen_holder_010_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pen_holder_010_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pen_holder_010_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pen_holder_010_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pen_holder_010_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pen_holder_010_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pen_holder_010_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pen_holder_010_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pen_holder_010_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/pen_holder_010_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/pen_holder_010_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/pen_holder_010_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/pen_holder_010_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/pen_holder_010_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/pen_holder_010_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/pen_holder_010_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/pen_holder_010_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/pen_holder_010_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/pen_holder_010_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/pen_holder_010_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/pen_holder_010_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/pen_holder_010_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/pen_holder_010_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/pen_holder_010_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/pen_holder_010_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/pen_holder_010_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/pen_holder_010_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/pen_holder_010_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/pen_holder_010_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/pen_holder_010_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/pen_holder_010_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_42" file="mesh/pen_holder_010_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_47" file="mesh/pen_holder_010_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_50" file="mesh/pen_holder_010_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/pen_holder_010_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/pen_holder_010_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/pen_holder_010_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/pen_holder_010_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/pen_holder_010_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/pen_holder_010_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/pen_holder_010_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/pen_holder_010_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/pen_holder_010_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pen_holder_010">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" 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/8d311289164654fd9c0352f2f204435a/pen_holder_010.urdf b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/pen_holder_010.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2bed15bde8ba93b14b3eb2e57ccaa7acf770e491
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/pen_holder_010.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_010">
+   <link name="pen_holder_010">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_010.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_010_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.4000" />
+         <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>1.000000</scale>
+         <uuid>8d311289164654fd9c0352f2f204435a</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>pen_holder</category>
+         <name>woven pen holder</name>
+         <color>brown,beige</color>
+         <shape>cylinder</shape>
+         <material>wood</material>
+         <description>cylindrical woven pen holder with wooden legs</description>
+         <min_height>0.0920</min_height>
+         <max_height>0.0920</max_height>
+         <real_height>0.0920</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427233949</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_container,is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/pen_holder_010.usd b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/pen_holder_010.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/pen_holder_010.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44a54a09ef26910f97e45b9623e5b98b953225ae9af9911a2c2d1c3505b9523f
+size 5001461
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/textures/material_0.png b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8120204290afdda2fa47b3d737b93b6e8dff09b51d273ab0b0a09f821a4e9ae1
+size 15269047
diff --git a/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/video.mp4 b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b229d229af5347bc5372d0fca581f87bc8270a07
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/8d311289164654fd9c0352f2f204435a/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69ecf535a9e0b669df4c5cdecdc046052a84ea62910d3c2bb7b57e79f7bd8130
+size 595627