diff --git a/.gitattributes b/.gitattributes
index b028baee9268316f13b2ec43a5eff4efe665bb3f..dd213d600196bc33af69618d658ce097337f688c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5336,3 +5336,4 @@ dataset/desktop_supplies/office_stationery/5bfb24d7e8dc513395bdab3545784e44/mesh
dataset/desktop_supplies/office_stationery/5bfb24d7e8dc513395bdab3545784e44/notebook_033.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/5cb90cfd30bc57b59457b9d7af4d7aa6/correction_tape_006.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_stationery/5cb90cfd30bc57b59457b9d7af4d7aa6/mesh/correction_tape_006.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/5d3916ba0ecb5822ad9af922b9e06941.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/5d3916ba0ecb5822ad9af922b9e06941.urdf b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/5d3916ba0ecb5822ad9af922b9e06941.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ec48958013b71a5beedcceccdcc97d916bb299d1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/5d3916ba0ecb5822ad9af922b9e06941.urdf
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+ 0.196677
+ v0.1.5
+ pen holder
+ rectangular black marble pen holder with subtle white veining
+ 0.1
+ 0.15
+ 0.125
+ 1.5
+ 2.5
+ 20251014174805
+ mesh/pen_holder_44_gs.ply
+
+
+
+
+ NO: visible geometry distortion and irregularities in the third view.
+ YES
+ 4.578941583633423
+ NO
+ YES
+
+
+ 3
+
+
+
+
+
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+ affordance/affordance_annot.json
+
+
+
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/5d3916ba0ecb5822ad9af922b9e06941.usd b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/5d3916ba0ecb5822ad9af922b9e06941.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a79a552a663ea321bc388752dfbe5e2826bbe7dd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/5d3916ba0ecb5822ad9af922b9e06941.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa8ce28ccab39f179de9dffa0d182851a58e8096cf4d63cb5970ea07df08232a
+size 245453
diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
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+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc76897b636bef3769b34e7deb0bbeec02db22ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a675379e0e947c695c5bacce2b77ed333f9b040d96a2983dc260d81128ad5bd0
+size 1233189
diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mesh/pen_holder_44.glb b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mesh/pen_holder_44.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a5f4d0240df7c8c50712ad06f81dfcd1af224aa8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mesh/pen_holder_44.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca73973fa163d09cb5f9b35605496cfe235405881c03620fdf56493ba82b3171
+size 1395660
diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mesh/pen_holder_44.obj b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mesh/pen_holder_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33faa93ecaff8381bde10bcc53f8bb62024a2981
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mesh/pen_holder_44.obj
@@ -0,0 +1,14712 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mesh/pen_holder_44_collision.obj b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mesh/pen_holder_44_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68136ad712862636c8c59caf3b1d253117c52b07
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mesh/pen_holder_44_collision.obj
@@ -0,0 +1,5416 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision.obj b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..240ddc9393d8b28f776310c3ff52bb755115018b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision.obj
@@ -0,0 +1,5416 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_0.obj b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..864142938a7ee0daf8bb296fe21998d63a4b7573
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_0.obj
@@ -0,0 +1,580 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_1.obj b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d68d49233e83d79a248b0f5fc8d93c3b2df7c2db
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_1.obj
@@ -0,0 +1,667 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_10.obj b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95e24360fffe126b4657990e1dd370f517ffe5e3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_10.obj
@@ -0,0 +1,37 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_11.obj b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2708a297785866340957be131186103c0baeee11
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_11.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v -0.00044460 -0.06963419 -0.06109340
+v 0.01611911 -0.06963419 -0.06119812
+v -0.00044460 -0.06966283 -0.06109340
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+
diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_12.obj b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ebb1acad08dcae262c70f2a66e877df176f438f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_12.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
+v -0.01434942 -0.09869331 0.05577075
+v -0.01707927 -0.09869331 0.05577075
+v -0.01434942 -0.09869078 0.05535571
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diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_13.obj b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a25e0eecf7d09875e2cd8afb4064ff965714a09e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_13.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.01408848 0.08031736 -0.06056548
+v -0.01393890 0.08031736 -0.06056548
+v -0.01408848 0.07496002 -0.06049034
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+v -0.00045262 0.07496002 -0.06036508
+v -0.00044460 0.07496001 -0.05819388
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+
diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_14.obj b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a19f797557bfe4e1b2357a6ee0daa0465bf47ba
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_14.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_15.obj b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0de0018b5fdf83b826e7a226e3629a9f9525e6d4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_15.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_16.obj b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dc918342630410bdd7ff118769f808e8cbed2f8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_16.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_17.obj b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d024915ab48e422c481551841bfaa5d28917fd12
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_17.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.01550678 0.01385862 0.00529460
+v 0.01550678 0.05005989 0.00656778
+v -0.00044460 0.01385864 -0.00073074
+v 0.01550678 0.01385886 -0.06101077
+v 0.01550678 0.06944739 0.00705442
+v -0.00044460 0.01770567 -0.00061075
+v -0.00044460 0.01385886 -0.06102410
+v -0.00003083 0.01385886 -0.06102410
+v 0.01550678 0.06944764 -0.06049068
+v -0.00044460 0.06944742 0.00018260
+v -0.00044460 0.06944764 -0.06043735
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 10
+f 3 10 11
+f 3 11 7
+f 4 8 9
+f 5 10 6
+f 5 9 11
+f 5 11 10
+f 7 11 9
+f 7 9 8
+
diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_18.obj b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b66d623bbe5ae7015e0ceaedfb86653b220b8b1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_18.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.01639691 -0.00096391 0.00596971
+v -0.00044460 -0.00096389 -0.00031383
+v -0.01639691 0.05005605 0.00796640
+v -0.01639691 -0.00096366 -0.06135100
+v -0.00044460 -0.00002330 -0.00030015
+v -0.01639691 0.06766513 0.00849979
+v -0.00044460 -0.00096367 -0.06123476
+v -0.01639691 0.00476047 -0.06131679
+v -0.00107701 -0.00096367 -0.06124160
+v -0.00044460 0.06766516 0.00001462
+v -0.01639691 0.06766538 -0.06066017
+v -0.00044460 0.00056142 -0.06122792
+v -0.01639691 0.00667523 -0.06130312
+v -0.00044460 0.00476046 -0.06120056
+v -0.00044460 0.00379300 -0.06120740
+v -0.00044460 0.06766538 -0.06045505
+v -0.01639691 0.06623435 -0.06068753
+v -0.01639691 0.06300277 -0.06072856
+v -0.00044460 0.00799875 -0.06116636
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 17
+f 1 17 18
+f 1 18 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 12
+f 2 12 15
+f 2 15 14
+f 2 14 19
+f 2 19 16
+f 2 16 10
+f 2 10 5
+f 4 8 9
+f 5 10 6
+f 6 10 16
+f 6 16 11
+f 7 9 12
+f 8 13 14
+f 8 14 15
+f 8 15 12
+f 8 12 9
+f 11 16 17
+f 13 18 14
+f 14 18 19
+f 16 19 18
+f 16 18 17
+
diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_19.obj b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c798db006c0b4649f3f1e4b1da9ac3588f857404
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_19.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.01611911 -0.02112846 -0.06147870
+v -0.00044460 -0.01789207 -0.06141078
+v 0.01611911 -0.01789207 -0.06147189
+v 0.01611911 -0.02622822 -0.06147192
+v -0.00044460 -0.01562823 -0.06139719
+v 0.01611911 -0.03592921 -0.06145837
+v -0.00044460 -0.03082945 -0.06139045
+v -0.00044460 -0.01465568 -0.06139039
+v -0.00044460 0.00475447 -0.06120018
+v 0.01611911 -0.01651905 -0.06145830
+v 0.01611911 -0.04240199 -0.06144482
+v 0.01611911 -0.04701139 -0.06143125
+v 0.01611911 -0.04887477 -0.06142447
+v -0.00044460 -0.03406584 -0.06137688
+v -0.00044460 0.00799086 -0.06116622
+v 0.01611911 -0.01465568 -0.06143792
+v 0.01611911 -0.05024779 -0.06141768
+v -0.00044460 -0.05229096 -0.06129546
+v -0.00044460 -0.04473938 -0.06132938
+v -0.00044460 0.01026287 -0.06111867
+v 0.01611911 0.01122725 -0.06107114
+v 0.01611911 0.00936387 -0.06110510
+v 0.01611911 0.00799086 -0.06112547
+v -0.00044460 -0.05352504 -0.06128868
+v 0.01611911 -0.05671239 -0.06137696
+v -0.00044460 0.01122725 -0.06109830
+v 0.01611911 0.01385886 -0.06101002
+v -0.00044460 -0.05444855 -0.06128189
+v 0.01611911 -0.06963343 -0.06119367
+v -0.00044460 -0.06963343 -0.06109181
+v -0.00044460 -0.05671239 -0.06126152
+v -0.00044460 0.01385886 -0.06103039
+v 0.01611911 0.01385862 0.00602679
+v 0.01611911 -0.06963368 0.00788711
+v -0.00044460 -0.06963365 0.00018657
+v -0.00044460 0.01385864 -0.00072985
+v -0.00044460 0.00271108 -0.00031567
+v 0.01611911 -0.05024805 0.00750691
+v -0.00044460 0.00168132 -0.00029530
+f 1 2 3
+f 1 3 10
+f 1 10 16
+f 1 16 23
+f 1 23 22
+f 1 22 21
+f 1 21 27
+f 1 27 33
+f 1 33 38
+f 1 38 34
+f 1 34 29
+f 1 29 25
+f 1 25 17
+f 1 17 13
+f 1 13 12
+f 1 12 11
+f 1 11 6
+f 1 6 4
+f 1 4 2
+f 2 5 3
+f 2 4 6
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+f 2 7 14
+f 2 14 19
+f 2 19 18
+f 2 18 24
+f 2 24 28
+f 2 28 31
+f 2 31 30
+f 2 30 35
+f 2 35 39
+f 2 39 37
+f 2 37 36
+f 2 36 32
+f 2 32 26
+f 2 26 20
+f 2 20 15
+f 2 15 9
+f 2 9 8
+f 2 8 5
+f 3 5 8
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+f 3 9 10
+f 6 11 7
+f 7 11 12
+f 7 12 13
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+f 9 15 10
+f 10 15 16
+f 13 17 18
+f 13 18 19
+f 13 19 14
+f 15 20 21
+f 15 21 22
+f 15 22 23
+f 15 23 16
+f 17 24 18
+f 17 25 24
+f 20 26 21
+f 21 26 27
+f 24 25 28
+f 25 29 30
+f 25 30 31
+f 25 31 28
+f 26 32 27
+f 27 32 36
+f 27 36 33
+f 29 34 35
+f 29 35 30
+f 33 36 37
+f 33 37 38
+f 34 38 39
+f 34 39 35
+f 37 39 38
+
diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_2.obj b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e024c9ef608eaa35b9cbc5578f7c5acf982295e8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_2.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.01606227 -0.01789085 -0.06142856
+v -0.01606227 -0.01570802 -0.06142163
+v -0.00044460 -0.01789085 -0.06140780
+v -0.00044460 -0.01886256 -0.06140780
+v -0.01606227 -0.02436893 -0.06142166
+v -0.01606227 -0.00171676 -0.06135236
+v -0.00044460 -0.01562352 -0.06139394
+v -0.00044460 -0.02857265 -0.06139398
+v -0.00044460 -0.03180465 -0.06138708
+v -0.00044460 -0.03407198 -0.06138017
+v -0.01606227 -0.02865010 -0.06140784
+v -0.01606227 -0.00097038 -0.06134543
+v -0.00044460 -0.01465885 -0.06138701
+v -0.00044460 -0.05352735 -0.06129025
+v -0.00615294 -0.05199937 -0.06129717
+v -0.01606227 -0.06642016 -0.06120723
+v -0.01606227 -0.00097063 0.00532059
+v -0.00107750 -0.00097039 -0.06124159
+v -0.00044460 -0.00097039 -0.06123468
+v -0.00044460 -0.05444978 -0.06128333
+v -0.01606227 -0.07289824 -0.06116572
+v -0.00044460 -0.00097061 -0.00031394
+v -0.01606227 -0.07289849 0.00928664
+v -0.00044460 -0.05671710 -0.06126257
+v -0.00044460 -0.07290528 -0.06107574
+v -0.01393885 -0.07290528 -0.06113111
+v -0.01606227 -0.07290528 -0.05912373
+v -0.00044460 -0.07290551 0.00139553
+v -0.01606227 -0.07290553 0.00865673
+v -0.01583449 -0.07290553 0.00870519
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 16
+f 1 16 21
+f 1 21 27
+f 1 27 29
+f 1 29 23
+f 1 23 17
+f 1 17 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 13
+f 3 13 19
+f 3 19 22
+f 3 22 28
+f 3 28 25
+f 3 25 24
+f 3 24 20
+f 3 20 14
+f 3 14 10
+f 3 10 9
+f 3 9 8
+f 3 8 4
+f 4 8 5
+f 5 8 9
+f 5 9 10
+f 5 10 11
+f 6 12 13
+f 6 13 7
+f 10 14 11
+f 11 14 15
+f 11 15 16
+f 12 17 22
+f 12 22 19
+f 12 19 18
+f 12 18 13
+f 13 18 19
+f 14 20 21
+f 14 21 16
+f 14 16 15
+f 17 23 22
+f 20 24 21
+f 21 25 26
+f 21 26 27
+f 21 24 25
+f 22 23 28
+f 23 29 30
+f 23 30 28
+f 25 28 30
+f 25 30 29
+f 25 29 27
+f 25 27 26
+
diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_3.obj b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..910918fd816d66490a0e735b9f7acba11d1deef8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_3.obj
@@ -0,0 +1,580 @@
+# https://github.com/mikedh/trimesh
+v -0.03617346 0.08241817 -0.05647462
+v -0.03617346 0.08031735 -0.05647462
+v -0.03617346 0.08031729 -0.04043944
+v -0.03616996 0.08565504 -0.05647461
+v -0.03554737 0.08031736 -0.05969389
+v -0.03616996 0.08241811 -0.04043944
+v -0.03611400 0.08031705 0.02576992
+v -0.03615947 0.08889012 -0.05647459
+v -0.03553688 0.08241818 -0.05969389
+v -0.03461699 0.08241819 -0.06155446
+v -0.03462398 0.08031737 -0.06155446
+v -0.03614198 0.08565490 -0.01799019
+v -0.03611050 0.08031703 0.02898919
+v -0.03610350 0.08565474 0.02368903
+v -0.03599508 0.09212519 -0.05647458
+v -0.03547392 0.08889013 -0.05969386
+v -0.03551939 0.08565505 -0.05969388
+v -0.03610001 0.08888985 0.01727498
+v -0.03460300 0.08565506 -0.06152997
+v -0.03277021 0.08031737 -0.06232562
+v -0.03610700 0.08031702 0.03219623
+v -0.03609301 0.08888982 0.02368905
+v -0.03608252 0.08241778 0.04935754
+v -0.03607203 0.08565465 0.04935755
+v -0.03508568 0.09504469 -0.05647457
+v -0.03484084 0.09459569 -0.05909405
+v -0.03507868 0.09228930 -0.05997538
+v -0.03606503 0.08888974 0.04615053
+v -0.03585867 0.09212481 0.04615054
+v -0.03446659 0.09132095 -0.06140753
+v -0.03456452 0.08889014 -0.06149323
+v -0.03277021 0.08565506 -0.06223992
+v -0.02963279 0.08889014 -0.06261936
+v -0.02963279 0.08031737 -0.06274180
+v -0.03608602 0.08031696 0.04935754
+v -0.03607203 0.08241777 0.05256457
+v -0.03606503 0.08565464 0.05256458
+v -0.03395243 0.09666223 -0.05647456
+v -0.03499474 0.09483332 0.04935759
+v -0.03195875 0.09734027 -0.05882475
+v -0.03310948 0.09562716 -0.06002433
+v -0.03425673 0.09347766 -0.06122392
+v -0.03605104 0.08888972 0.05256460
+v -0.03584817 0.09212480 0.04935758
+v -0.03498425 0.09483511 0.05256462
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+v -0.03277021 0.08889014 -0.06216646
+v -0.02963279 0.09212521 -0.06254591
+v -0.02649186 0.09212521 -0.06258263
+v -0.00044810 0.09212521 -0.06253367
+v -0.00044810 0.08889014 -0.06236231
+v -0.00044810 0.08600130 -0.06173805
+v -0.00044810 0.08031736 -0.06044057
+v -0.03607203 0.08031695 0.05256457
+v -0.03605104 0.08565463 0.05577162
+v -0.03237847 0.09758369 -0.05326752
+v -0.03238546 0.09755846 -0.05647456
+v -0.03367611 0.09644723 0.05577166
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+v -0.02963279 0.09762519 -0.05936333
+v -0.02963279 0.09664421 -0.06096686
+v -0.02963279 0.09835731 -0.05647456
+v -0.03216511 0.09450193 -0.06166457
+v -0.03603355 0.08888971 0.05577164
+v -0.03583418 0.09212479 0.05256461
+v -0.03497375 0.09482789 0.05577166
+v -0.02963279 0.09502668 -0.06188490
+v -0.02649186 0.09518176 -0.06192163
+v -0.02021702 0.09520521 -0.06193387
+v -0.01707959 0.09521242 -0.06193387
+v -0.00044810 0.09510963 -0.06190939
+v -0.00044810 0.08031709 0.01247664
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+v -0.03556836 0.08031692 0.05897864
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+v -0.02963279 0.09842762 -0.05326752
+v -0.03470093 0.09435902 0.05897869
+v -0.03281918 0.09611000 0.05918678
+v -0.03180485 0.09726410 0.05825651
+v -0.02963279 0.09799444 0.05577167
+v -0.02649186 0.09859714 -0.05647456
+v -0.02649186 0.09773519 -0.05953470
+v -0.02649186 0.09679929 -0.06113822
+v -0.02649186 0.09869992 -0.05326752
+v -0.03552639 0.08888969 0.05897867
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+v -0.02335444 0.09681191 -0.06115046
+v -0.01707959 0.09682995 -0.06116270
+v -0.00044810 0.09624389 -0.06132184
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+v -0.01863606 0.08031692 0.06042303
+v -0.03501922 0.08031692 0.06027614
+v -0.03472192 0.08031692 0.06097385
+v -0.03471842 0.08241774 0.06096161
+v -0.03470793 0.08565461 0.06094939
+v -0.02649186 0.09868908 -0.05006049
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diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_4.obj b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8be50a38c0748bab4f06c37f04b7525c439a08ca
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_4.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_5.obj b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b306e1c7c716ba74324a96190b080e3a67c4a4f6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_5.obj
@@ -0,0 +1,595 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_6.obj b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7225f17bace371833b699836da3baf0797d00310
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_6.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_7.obj b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30e9b414dce2f6c23a883d29d872632cbafdfc6d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_7.obj
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diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_8.obj b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..672d93cb6b2c19c0daa5d8f495ddf6c006b3bdfc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_8.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_9.obj b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1703200a1d3ed075e3514b673642a8b97647c2c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/mjcf/mesh/pen_holder_44_collision_9.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/textures/material_0.png b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc76897b636bef3769b34e7deb0bbeec02db22ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1233189
diff --git a/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/video.mp4 b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/5d3916ba0ecb5822ad9af922b9e06941/video.mp4
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