diff --git a/.gitattributes b/.gitattributes
index fe66c36f71e3f944461378d74d968d50df7f3d02..26f961f96a21a0483eb2c05163352bca723e3b23 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3219,5 +3219,5 @@ dataset/desktop_supplies/office_stationery/a00d15d133e7509ca0e3e2287ae57c2b/eras
 dataset/desktop_supplies/office_stationery/a00d15d133e7509ca0e3e2287ae57c2b/mesh/eraser_038.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/marker_024.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/b0b6d48298ef5fae8b6e4394df1b9631/mesh/marker_024.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/b00ca8221d7f51c3a8f1667cbca58af4/glue_stick_007.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/b00ca8221d7f51c3a8f1667cbca58af4/mesh/glue_stick_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mesh/pen_holder_002.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/pen_holder_002.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e1527b04679d6865f60c04739c4f644bc3d4e8c7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pen_holder_002_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_002_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fef1b381531d7903ff480c536909319241e45d40
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fde0ae950c52c3cd21a3e5dd103b7b3c84519335729073c0965087d36f97cefa
+size 9554189
diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mesh/pen_holder_002.glb b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mesh/pen_holder_002.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a83e6d52f96e818b968e2f71b5faefdcf09a1210
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mesh/pen_holder_002.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24d459aef5050ec13411d23560e0285ade2200d6761f4f34c82bea6ea66c11d1
+size 11831824
diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mesh/pen_holder_002.mtl b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mesh/pen_holder_002.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..063418e84516a66b86d568857aeaaa373bd91a9b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mesh/pen_holder_002.mtl
@@ -0,0 +1,6 @@
+newmtl pen_holder_002_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/afdb428a04815028876de2e874559a85/mesh/pen_holder_002.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mesh/pen_holder_002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccaef3fc6ce7dd55921c6b864ef69a7bc09df8b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mesh/pen_holder_002.obj
@@ -0,0 +1,106242 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pen_holder_002_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mesh/pen_holder_002_collision.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mesh/pen_holder_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18d20431093bf8f803c1152817bc797dd061f3e5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mesh/pen_holder_002_collision.obj
@@ -0,0 +1,17779 @@
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mesh/pen_holder_002_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mesh/pen_holder_002_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..fef1b381531d7903ff480c536909319241e45d40
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mesh/pen_holder_002_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9554189
diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fef1b381531d7903ff480c536909319241e45d40
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 9554189
diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002.obj
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index 0000000000000000000000000000000000000000..a1dbab5207fb52ea689337758991ceaa34bb0c75
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..008f10326637c05927f09ebd6babd479c8d1df4b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision.obj
@@ -0,0 +1,17779 @@
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_0.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8f01564031b585ec1f1520bf4677f6a7f642278
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_0.obj
@@ -0,0 +1,2473 @@
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_1.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c24c2daa21c23c4b9e547616ef95ab25d6e1943
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_1.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_10.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e5a976caa7ad7fe3adf552e42ab066e7d35e314
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_10.obj
@@ -0,0 +1,487 @@
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_11.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..882a40c49390fd603df11276bd6ea696833e844c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_11.obj
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_12.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8aef72c89e52020db3cd2667cb5ce70ad00dfd5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_12.obj
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_13.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8325f5de529a1446b0429197535c4208d10f679
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_13.obj
@@ -0,0 +1,619 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_14.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e22db8ee8ef5da8ab58d7f0160cd9ea83e012493
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_14.obj
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_15.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52c56883663fcf2d7919efbe7df81f8444f5299e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_15.obj
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_16.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9127d460500edb17ef21d8ab9a8f62199896a3a7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_16.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_17.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01efbea9ff3822d9a028ec52c0dbfc4550c820f0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_17.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_18.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e45c0612f1ec8298fd1b4be488d28bcfffe28778
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_18.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_19.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e9add622537c0646c6115264aff1adf25a6232f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_19.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_2.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..321545ecb2daef60ad346becb20edf7e65901f98
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_2.obj
@@ -0,0 +1,889 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_20.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df9846147507586a395ac6bf62db1ad42b08ea75
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_20.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_21.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2779ec9454e9c316f2bcd38b7474cdc2188ea200
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_21.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_22.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db438036adc73abb6a2a8b99bf6cbbfc544ed867
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_22.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_23.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4fc1b876c1943e072b8dbbe089b7c9be512d0b8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_23.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.00979459 -0.03459895 -0.03422407
+v -0.00171059 -0.03454471 -0.03422407
+v -0.00171059 -0.03454890 -0.03359330
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+v -0.00171059 -0.03449744 -0.03206108
+v -0.00171059 -0.03445294 -0.03152095
+v -0.00171059 -0.03436950 -0.03053009
+v -0.00979459 -0.03455863 -0.03379445
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+v -0.00171059 -0.02234688 -0.03422402
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+
diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_24.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0db215e0249094127cda684d324dcb68e514558b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_24.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.01933238 0.01841492 -0.02342341
+v 0.03014106 0.01841492 -0.02342341
+v 0.01946700 0.01841495 -0.03206064
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+
diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_25.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0685af439a77af51d0dbc60f970e198096d8fbc7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_25.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.00171059 -0.03454923 -0.03359334
+v -0.00171059 -0.03454513 -0.03422480
+v -0.00072395 -0.03458736 -0.03422480
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+
diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_26.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9635a3411dda563bf928a91633ba5fadc3564a08
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_26.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v 0.01689476 -0.03579804 -0.03359334
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_27.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfc8a2abfad1d39cc4dcf71fc8619de6f523f65a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_27.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_28.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c75b2a90eed88e3668dff8063b693755492cec2e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_28.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_29.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aaf858bbed85af7f61099a4f98c724178215f48
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_29.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_3.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80da8da6ac1b5504d93322f25770197b1960519f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_3.obj
@@ -0,0 +1,922 @@
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_30.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ef926a508f3fff9181ac1cd9df3535c6f0c7726
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_30.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_31.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae34af6eacbc947a3b649881b369046b32484b5d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_31.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_32.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65447df27d5af11ad237c990a65e586a08408675
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_32.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_33.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9247d2602dadc3c5423c4696bd900ddcff0f5f42
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_33.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_34.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b03bae7f2f669c06533cc4ca9f31f766d4260b7a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_34.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_4.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..385e8d68c967c37be51e2aa48ebd8ba9c50e6869
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_4.obj
@@ -0,0 +1,1240 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_5.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e09a157391b5b0c9dba567cbda21a607794ef2a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_6.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1eb4426e82fc95253cff6c673d2937fc081748b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_7.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f6627919045fe79499f6d9f4caaa0ca3f385af5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_8.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acdb6dec099c3db0f0111c08a54e18bd85c30706
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_8.obj
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_9.obj b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ece94bde6545b1659ed22fd97b7b688e68c5cb79
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/mesh/pen_holder_002_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/pen_holder_002.xml b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/pen_holder_002.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d8f48035f59c880004527910e299f12e30b36ed0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/mjcf/pen_holder_002.xml
@@ -0,0 +1,84 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pen_holder_002">
+  <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_002.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pen_holder_002_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pen_holder_002_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pen_holder_002_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pen_holder_002_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pen_holder_002_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pen_holder_002_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pen_holder_002_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pen_holder_002_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pen_holder_002_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pen_holder_002_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pen_holder_002_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pen_holder_002_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pen_holder_002_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pen_holder_002_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pen_holder_002_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pen_holder_002_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pen_holder_002_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pen_holder_002_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/pen_holder_002_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/pen_holder_002_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/pen_holder_002_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/pen_holder_002_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/pen_holder_002_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/pen_holder_002_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/pen_holder_002_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/pen_holder_002_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/pen_holder_002_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/pen_holder_002_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/pen_holder_002_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/pen_holder_002_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/pen_holder_002_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/pen_holder_002_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/pen_holder_002_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/pen_holder_002_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/pen_holder_002_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pen_holder_002">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/pen_holder_002.urdf b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/pen_holder_002.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e1c23e3d2b45d3baaa8b7bfd628c4c2574bce950
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/pen_holder_002.urdf
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_002">
+   <link name="pen_holder_002">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_002.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_002_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>afdb428a04815028876de2e874559a85</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>pen_holder</category>
+         <name>wooden pen holder</name>
+         <color>brown</color>
+         <shape>cylinder</shape>
+         <material>wood</material>
+         <description>cylindrical wooden pen holder with a brown base</description>
+         <min_height>0.0931</min_height>
+         <max_height>0.0931</max_height>
+         <real_height>0.0931</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260427233457</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>2</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/afdb428a04815028876de2e874559a85/pen_holder_002.usd b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/pen_holder_002.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/pen_holder_002.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e58f9f421da346d601c64f9dcb4f11342157b95afb4be2223087300d6c7d7193
+size 4244286
diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/textures/material_0.png b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fde0ae950c52c3cd21a3e5dd103b7b3c84519335729073c0965087d36f97cefa
+size 9554189
diff --git a/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/video.mp4 b/dataset/desktop_supplies/office_stationery/afdb428a04815028876de2e874559a85/video.mp4
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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+size 178330