diff --git a/.gitattributes b/.gitattributes
index 6265ce424dd536e9358f38327c0ced920824181e..590f84f6ee4782462254e65417a0db02e07c4d1b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3131,3 +3131,5 @@ dataset/desktop_supplies/office_stationery/4206bec5a00c54eb8b6379d1dcf555a1/eras
 dataset/desktop_supplies/office_stationery/4206bec5a00c54eb8b6379d1dcf555a1/mesh/eraser_016.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/4162c8581fbd5e3c84d7569b6222f6b2/ballpoint_pen_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/4162c8581fbd5e3c84d7569b6222f6b2/mesh/ballpoint_pen_005.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mesh/pen_holder_040.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/pen_holder_040.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..21f5601368331ff87e98c9acb4a6aab8cd2dce9d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pen_holder_040_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_040_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b7f518ead559449e63439f9009f22b010475b1d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:064b1fdd1d4bdc0e1d352d438adbc0538de4c29d1f2533a2bf20a9a4af77b732
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mesh/pen_holder_040.glb b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mesh/pen_holder_040.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9d6ee89d2256e931523c23ef63a5e49fcd7446b0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mesh/pen_holder_040.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:475e6d5542306d4137fcb55efa86a9aba5a2c7c1a628db9a4804d20a1e4924a1
+size 10440968
diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mesh/pen_holder_040.mtl b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mesh/pen_holder_040.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f16f335e3b8cb3901385af9c74d53e6f5ec19f97
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mesh/pen_holder_040.mtl
@@ -0,0 +1,6 @@
+newmtl pen_holder_040_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/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mesh/pen_holder_040.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mesh/pen_holder_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b04c9f4e64dc17addab63f6ad0de8c2e9d96c1c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mesh/pen_holder_040.obj
@@ -0,0 +1,109754 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pen_holder_040_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mesh/pen_holder_040_collision.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mesh/pen_holder_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7c5a46f556c4748e3c266cfac7d55320a33b6e4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mesh/pen_holder_040_collision.obj
@@ -0,0 +1,16934 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040.obj
@@ -0,0 +1,109754 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pen_holder_040_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5e6cf9c58270a7721b879fb8bce1a87f7d972cd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision.obj
@@ -0,0 +1,16934 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_0.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86ae14db4908f05aa14453209a14787df8bda4bf
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_1.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c586b103cf1a54e683be5a98cd56456b557d5fbe
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_10.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e75489f355aac739c7186d28d6f211b2b41ce34d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_10.obj
@@ -0,0 +1,346 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_11.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..667cef71dfbb84ef114e25f7211cf1b4c236f441
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_11.obj
@@ -0,0 +1,583 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_12.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c72ffcd280cd3ea26c15f82c04dfd6fb496b800
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_12.obj
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_13.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c7e87398a1636bbb55f7884cea51607bf649180
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_13.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_14.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89de2955a274e9ac214f56abcbcf5d5008ca95f0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_14.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_15.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79e3d365620344f17c9255e3879176f4d2d4a43c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_15.obj
@@ -0,0 +1,190 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_16.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6255d4fad24b554a9ac4c950b13d4db08beb8936
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_16.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_17.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0e1d645dcd68aa666b49f83ecf0de2e9b7e028a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_17.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_18.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5970477f829a5f19fdb5da28f7c0675a2c4403b3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_18.obj
@@ -0,0 +1,508 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_19.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eacd588544f397c75588fa12c0a45c4bb7495fa3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_19.obj
@@ -0,0 +1,187 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_2.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..565f211f176ecbbbddd0918f014f4091502844ee
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_2.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_20.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0b9b72db3ef71c81fcf491b33d3976cdee43aee
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_20.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_21.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8afd27ba125c00c4e7194c9a1aec4ce41acaefdb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_21.obj
@@ -0,0 +1,169 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_22.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a81f502508ec355e241f19ca4bdec5d439794d1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_22.obj
@@ -0,0 +1,226 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_23.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34f59574d8c63ddf9004a069b6e58c0f4b298a84
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_23.obj
@@ -0,0 +1,520 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_24.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd995a6f26d8630840167e9e0f0de005e9eb3895
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_24.obj
@@ -0,0 +1,541 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_25.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3cc6c7fc8e2e5bb4574e830f8df4f284d7477aa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_25.obj
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_26.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b41d0de79af0b9cd0d0f8d824dcbffc7089b116b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_26.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_27.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2659f103f046e86675f3c10bf582dfb72180ffc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_27.obj
@@ -0,0 +1,913 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_28.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..857bf656ca1ceea510060ae390db1896ad1063c9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_28.obj
@@ -0,0 +1,241 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_29.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d94350e0057e7f55e3672b866a1a3a69cb0b3eeb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_29.obj
@@ -0,0 +1,205 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_3.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2d3c7ae175c26ffb3b9a8639997f767ab456132
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_3.obj
@@ -0,0 +1,586 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_30.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b291209dd4be03bb7e952758547ea8ae0126189
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_30.obj
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_31.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c15fd246a5aaf270bb1aa5ded5c5fcb7e98a2a2d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_31.obj
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_32.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..883e4cb2e85c49131475578ca51052561288991c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_32.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_33.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac8a2264d985e023ad5ee08049b076de8f2f7b39
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_33.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_34.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68315bcb0fb8ee8f4576c0fac787015a95b08180
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_34.obj
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_35.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..557b9250775dea32bfc7dfc2afb4942437e9409e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_35.obj
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_36.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..715f265b940698578061cabf390d4c57e627675b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_36.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_37.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b059463e0b26a65f66fb55e89e512df4e00c0a76
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_37.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_38.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a736c3bbff6547286d9debebd960d5aeec4f3771
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_38.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_39.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b3748559fb74a219e7cee09a12f6b521f634295
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_39.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_4.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22f35f9cc1ac9f1b1b28ac7c34d9c40ebfb5697a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_40.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12118d1c1def410af892a3bd65db5b0d1645b5d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_40.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_41.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3020dda92d5f0dc42aaf709b99f34068c724931
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_41.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_5.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa66da2b17a9cd3f260ff27bb260bfd927630ba0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_5.obj
@@ -0,0 +1,457 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_6.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..610db08477ce626a0e7e22832050554adce82027
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_6.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_7.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa99b110e7b7368033acae66779ee1da8a54fc71
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_7.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_8.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bf90b58e6aa22bcca8c6d6571f95a2aaf4ae942
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_8.obj
@@ -0,0 +1,508 @@
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_9.obj b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d6a13147edf054f276819967d3612586163bc27
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/mesh/pen_holder_040_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/pen_holder_040.xml b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/pen_holder_040.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d4bbd619ed6bce6b3b1aefe387e95f85a1f4c8e4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/mjcf/pen_holder_040.xml
@@ -0,0 +1,98 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pen_holder_040">
+  <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_040.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pen_holder_040_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pen_holder_040_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pen_holder_040_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pen_holder_040_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pen_holder_040_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pen_holder_040_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pen_holder_040_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pen_holder_040_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pen_holder_040_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pen_holder_040_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pen_holder_040_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pen_holder_040_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pen_holder_040_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pen_holder_040_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pen_holder_040_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pen_holder_040_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pen_holder_040_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pen_holder_040_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/pen_holder_040_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/pen_holder_040_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/pen_holder_040_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/pen_holder_040_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/pen_holder_040_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/pen_holder_040_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/pen_holder_040_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/pen_holder_040_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/pen_holder_040_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/pen_holder_040_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/pen_holder_040_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/pen_holder_040_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/pen_holder_040_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/pen_holder_040_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/pen_holder_040_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/pen_holder_040_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/pen_holder_040_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/pen_holder_040_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/pen_holder_040_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/pen_holder_040_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/pen_holder_040_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/pen_holder_040_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/pen_holder_040_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/pen_holder_040_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pen_holder_040">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/pen_holder_040.urdf b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/pen_holder_040.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..64245a638478758192c0924b40afa01c863ccab0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/pen_holder_040.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_040">
+   <link name="pen_holder_040">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_040.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_040_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1850" />
+         <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>4626e85b6c4e5d5ba4eaff6ce96f9ed1</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>pen_holder</category>
+         <name>black pen holder</name>
+         <color>black,red</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>black cylindrical pen holder with red vertical text and vented base</description>
+         <min_height>0.1350</min_height>
+         <max_height>0.1350</max_height>
+         <real_height>0.1350</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611145732</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.051986 -0.052030 -0.057708</min>
+            <max>0.051858 0.051984 0.077292</max>
+         </aabb>
+         <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/4626e85b6c4e5d5ba4eaff6ce96f9ed1/pen_holder_040.usd b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/pen_holder_040.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/pen_holder_040.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:021637df7e240eb0f8fc5f2e8683d0b4f91a3028695be550fb988651e5beb103
+size 4676137
diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/textures/material_0.png b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/textures/material_0.png
new file mode 100644
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+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/textures/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/video.mp4 b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/4626e85b6c4e5d5ba4eaff6ce96f9ed1/video.mp4
@@ -0,0 +1,3 @@
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+size 145911