diff --git a/.gitattributes b/.gitattributes
index 0e1a342eec77d8c4c4d190fe59f1e142c2a2612f..2f25341e31c8c551315377a5290bba1582a873c9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3201,3 +3201,5 @@ dataset/desktop_supplies/office_stationery/91cdedbaaf6d54bebb52868ee5763157/mesh
 dataset/desktop_supplies/office_stationery/91cdedbaaf6d54bebb52868ee5763157/mesh/eraser_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/marker_010.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/92cf1c4e065b5c07b21d110474c1a1e2/mesh/marker_010.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mesh/pen_holder_036.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/pen_holder_036.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7aee907e9341ddf7f76f559d7ed63320cb3cd2ce
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pen_holder_036_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd pen_holder_036_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..320f22c8f5293071b4409158bc73e6cc4231f538
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12351516
diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mesh/pen_holder_036.glb b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mesh/pen_holder_036.glb
new file mode 100644
index 0000000000000000000000000000000000000000..01a8f3867395c61b88d29f290a6646f76764febb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mesh/pen_holder_036.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 15685060
diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mesh/pen_holder_036.mtl b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mesh/pen_holder_036.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c26ee73527136d41dad059e3794e5372dfdaeb58
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mesh/pen_holder_036.mtl
@@ -0,0 +1,6 @@
+newmtl pen_holder_036_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mesh/pen_holder_036.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mesh/pen_holder_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0aa6f4965cd011d0be604667f7ae122cbdb9dfd5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mesh/pen_holder_036.obj
@@ -0,0 +1,119414 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pen_holder_036_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mesh/pen_holder_036_collision.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mesh/pen_holder_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..320b0f06edb00bb9ef6eeda21c560da327d7ac30
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mesh/pen_holder_036_collision.obj
@@ -0,0 +1,23795 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mesh/pen_holder_036_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mesh/pen_holder_036_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036.obj
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1df4c9b7dcbef3c81f359c88945daa2d56d49a4c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision.obj
@@ -0,0 +1,23795 @@
+# https://github.com/mikedh/trimesh
+
+o pen_holder_036_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_0.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4249b3979727a5c221478ccaf292f50b5372b1df
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_1.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bb38dff0a2f9f811cd6c1d27fd9678805091bb4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_10.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8cfce923c2b2f3aa83ad3e140685f132285d8b6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_11.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1311496b070b90922d29d15902549544f454e3d7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_11.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_12.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..210fb1c73c21a8bcf128a2a7b8360f45b261d800
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_12.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_13.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..689dbcf2d216b21b24e0dc4dc0dbde690ea13748
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_13.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.05027012 -0.01722752 -0.02942057
+v -0.05031833 -0.01706847 -0.02942057
+v -0.04377555 -0.01722752 -0.02942057
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+v -0.05096916 -0.01473357 -0.00415931
+v -0.05122915 -0.01360056 0.00694341
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+
diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_14.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7be2312e9478aded41f3047649f6c3fd45a34335
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_14.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v -0.00007484 0.05443371 -0.03085064
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_15.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1055986cd5c6c5f7932a9be2567c1e60170e90b7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_15.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_16.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d89772175e05bcf891f1314ea73672ea26025947
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_16.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_17.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32ebe7634992976b28069e1872f084336adbee7a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_17.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_18.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..883ce53ac249eb82b93383fa4708486377f0c043
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_18.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_19.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4d70b83822e8ad7a6484f24f09ca3f1e614cc85
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_19.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_2.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf4f5bf2cc18ba981db543d7efc5d63d57263f9c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_2.obj
@@ -0,0 +1,913 @@
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_20.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..908d152582c3c93edab864d25f0959ad5b75b72f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_20.obj
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_21.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1b2c08d115ee69bceeeb8d4b4f92906f14569bb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_21.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_22.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2ffbee81267c1ea763c2a12c9e2d4e998fe5645
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_22.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_23.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e769d1b258c681268a16b1f72d18e35b17e2b957
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_23.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_24.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25d1c0e0f1d3c09e2435c38ef4e93125fa4dcbfd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_24.obj
@@ -0,0 +1,370 @@
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_25.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efe446a2574211129b33d96417e1f079ee8e92d9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_25.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_26.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e2bc3b314ef43211a65c33e13fbe363503422ff
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_26.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_27.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4734435052472a1d253e1f6af3254c1779de39f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_27.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_28.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b28383ced7b552fdb686ac86a03b330e4e27f4e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_28.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_29.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b460e356c555496531086ab54e23067349db7db0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_29.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_3.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9407eeae46a015f5ef1849b4817810080cf3b98b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_3.obj
@@ -0,0 +1,1465 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_30.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b05a6f3e9abba320ecc1220a0b36ee8b0762b094
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_30.obj
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_31.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ac492fac6c387003597719fb004e238c306280a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_31.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_32.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5357635f30f231c62eed72823fa0ddf00117633f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_32.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_33.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deecd8ba2937260cd56979d65b8a27f7f4f10ec4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_33.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_34.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5392c93b08409fb41c49afb50781449f9518283c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_34.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_35.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..269765572feb3ff0969aca49334e465d478605ed
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_35.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_36.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a661a72b3fa5af9e830fe32eb84db06d1bf3f0d1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_36.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_37.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7810f5aedc0bbcc98268054326a8b4acd9cbd8ca
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_37.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_38.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8a60dce3fa8f17ef8d79d3738cc935819db0a54
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_38.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_39.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6371b670c8ea517d63c802163c080d8e30c18a8a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_39.obj
@@ -0,0 +1,448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_4.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb1d41b982d33ae1b344cf56a8294dc398696e63
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_4.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_40.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be93eff5c13319ebd6e9b8b4dd34e8a6f1f45714
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_40.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_41.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3fc1c9fb487d6cf927ae57a895385d4028fc32d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_41.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.04229928 0.01640026 -0.03086815
+v 0.04229928 0.01640026 -0.03085078
+v 0.04230800 0.01640027 -0.03264821
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+v 0.05103745 0.01610788 -0.03411548
+v 0.05469007 -0.00047260 -0.04194495
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+
diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_42.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73835ffa63e1b962fb375b8092dc4c14a996f0db
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_42.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.00761637 0.04347497 0.02238867
+v 0.00761637 0.04348054 0.03220941
+v -0.00007484 0.04406098 0.03138844
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+
diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_43.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6eb38c0bc8134c5c68281bc148e07b4c1e5c53f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_43.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.00761637 0.04140648 0.07583460
+v 0.00761637 0.04207971 0.07785154
+v -0.00007484 0.04238337 0.07743311
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_44.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d0af07c7e4e1879dd27e2cccb7f8c88efc26531
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_44.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_45.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f913066c91cde6901437ee6af42e7c7c3719320
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_45.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_46.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..905fe23426929fb6b226b2afaef473c5b9979e9f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_46.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_47.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11aecc37694c0583bf7687ec2b7ca1a09a923993
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_47.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_48.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4871c2b6371ddf616f26f9c8ec80640bc9f617ed
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_48.obj
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_49.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0efc327750f29430f355a6cb336130956409763
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_49.obj
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_5.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a942492fcb7d857dfca1aa77206f0c0ff17694f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_5.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_50.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afabd981433f5d0d6639a869da6e3993d9e91b44
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_50.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.05203482 0.01620770 -0.04576900
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+
diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_51.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1a9a8f1e460dfbcbebcc63e057e401bac697157
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_51.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_52.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..191c5ba3f5a6dd4842126561bc273af85ff5b795
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_52.obj
@@ -0,0 +1,622 @@
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_53.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d76ae145943552e3e460f9548ca2816ebc2370e9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_53.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_54.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b2ff09377e2a2916638c08e015cb6e07aa01898
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_54.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_55.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d8474194876298cc8246ba1f4e329b506b97db5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_55.obj
@@ -0,0 +1,463 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_56.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3f62b75eea286eda5b544003a24d794d5865f99
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_56.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_6.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c568b95150329e72d8e70c33b1180d9ac177d8d9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_6.obj
@@ -0,0 +1,613 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_7.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5160ee195120280a82e704c5cc9ec58969c0ea8c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_8.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9379c287cf91a9a2383ae9c997e938f8524cae91
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_8.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_9.obj b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35a018d655c11915e546abe3ee4e14d6b3028bc8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/mesh/pen_holder_036_collision_9.obj
@@ -0,0 +1,217 @@
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diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/pen_holder_036.xml b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/pen_holder_036.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3d7d354ac288d3e556c8e96cda35b06a42aa15c8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/mjcf/pen_holder_036.xml
@@ -0,0 +1,128 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pen_holder_036">
+  <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_036.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pen_holder_036_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pen_holder_036_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pen_holder_036_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pen_holder_036_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pen_holder_036_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pen_holder_036_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pen_holder_036_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pen_holder_036_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pen_holder_036_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pen_holder_036_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pen_holder_036_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pen_holder_036_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pen_holder_036_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pen_holder_036_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pen_holder_036_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pen_holder_036_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pen_holder_036_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pen_holder_036_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/pen_holder_036_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/pen_holder_036_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/pen_holder_036_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/pen_holder_036_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/pen_holder_036_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/pen_holder_036_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/pen_holder_036_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/pen_holder_036_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/pen_holder_036_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/pen_holder_036_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/pen_holder_036_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/pen_holder_036_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/pen_holder_036_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/pen_holder_036_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/pen_holder_036_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/pen_holder_036_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/pen_holder_036_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/pen_holder_036_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/pen_holder_036_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/pen_holder_036_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/pen_holder_036_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/pen_holder_036_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/pen_holder_036_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/pen_holder_036_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/pen_holder_036_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/pen_holder_036_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/pen_holder_036_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/pen_holder_036_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/pen_holder_036_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/pen_holder_036_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/pen_holder_036_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/pen_holder_036_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/pen_holder_036_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_51" file="mesh/pen_holder_036_collision_51.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_52" file="mesh/pen_holder_036_collision_52.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_53" file="mesh/pen_holder_036_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/pen_holder_036_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/pen_holder_036_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/pen_holder_036_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pen_holder_036">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_56" 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/90a4a00588b053c09772e7c3bc3fab53/pen_holder_036.urdf b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/pen_holder_036.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f5de0f9bd7789475204e1462b41ed63d479636a4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/pen_holder_036.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_036">
+   <link name="pen_holder_036">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_036.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_036_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>90a4a00588b053c09772e7c3bc3fab53</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>pen_holder</category>
+         <name>luxury pen holder</name>
+         <color>brown,beige</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>cylindrical brown monogram pen holder with side handle and lid-like rim</description>
+         <min_height>0.1350</min_height>
+         <max_height>0.1350</max_height>
+         <real_height>0.1350</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611145535</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.056483 -0.057311 -0.054842</min>
+            <max>0.056406 0.071655 0.080158</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/pen_holder_036.usd b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/pen_holder_036.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/pen_holder_036.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99258556228119174cf1c79942864b8461175300b4dac48f4e36cabee33392fc
+size 4909781
diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/textures/material_0.png b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12351516
diff --git a/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/video.mp4 b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3807fcc4082b3cc08916b713c75bf821db09546b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/90a4a00588b053c09772e7c3bc3fab53/video.mp4
@@ -0,0 +1,3 @@
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+size 589689