diff --git a/.gitattributes b/.gitattributes
index 72f7d6e64eea0fa01a5a32e1f251ee91c1086a3d..202c6bd6a3f4298eba26f5d71ad77ee03e3ba5d0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3260,3 +3260,5 @@ dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mark
 dataset/desktop_supplies/office_stationery/d18df1c4ed57560590e4568e7f911ac6/mesh/marker_008.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/d3ef0c336d9e50eb9d8954e48b0cf6a0/d3ef0c336d9e50eb9d8954e48b0cf6a0.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/d3d50a08f19551bea9ce7665ff96f971/d3d50a08f19551bea9ce7665ff96f971.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mesh/pen_holder_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/pen_holder_025.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..96d655f69b6635372f0da588f3c61494850b6026
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pen_holder_025_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd pen_holder_025_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..43d5ef8aa687f92783279374dec771241da62f59
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12460816
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mesh/pen_holder_025.glb b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mesh/pen_holder_025.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ed7da7bc9504069a10aaca8e5b8391d46eaeb84f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mesh/pen_holder_025.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 15932328
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mesh/pen_holder_025.mtl b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mesh/pen_holder_025.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c22bc260f6ceb5cb56ed5c2b5504984a93480e11
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mesh/pen_holder_025.mtl
@@ -0,0 +1,6 @@
+newmtl pen_holder_025_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mesh/pen_holder_025.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mesh/pen_holder_025.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba972c95e0e6706a263a54e040c2cdf037aaf8cc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mesh/pen_holder_025.obj
@@ -0,0 +1,120030 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pen_holder_025_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mesh/pen_holder_025_collision.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mesh/pen_holder_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0c16e1f400fefbea0bec85ba92bbe4ae909c3e4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mesh/pen_holder_025_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mesh/pen_holder_025_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mesh/pen_holder_025_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025.obj
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+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025.obj
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diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d703e7246df8b15678eb2dbf72e689b63b2c62e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision.obj
@@ -0,0 +1,13532 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_0.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7dfda1a010870a9d020dd657ccb3b242c764bb3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_0.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_1.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fa0587219accc6ee270663c137106c20b7f7ed9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_1.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_10.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13af803754c6e22150b676fbf487219c5c4c9b3b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_10.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_11.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6639a5833081b20bdc79ef3d5b55c98e9eedc46
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_11.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.03347489 0.04331850 -0.03652339
+v -0.03208772 0.04331398 -0.02444350
+v -0.03347489 0.04331548 -0.02444350
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+v -0.00858498 0.04331402 -0.03652339
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+v -0.00317830 0.04331250 -0.02666679
+v -0.00317830 0.04331249 -0.02444350
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+v -0.03208772 0.05813467 -0.02666674
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+v -0.02442852 0.05852283 -0.03652334
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+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_12.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa3f2c9ad4e7d20be929ff386a6e7735089b8a70
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_12.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v -0.02318997 0.06183358 -0.04445937
+v -0.02318997 0.06148588 -0.04668119
+v -0.02541606 0.06156887 -0.04445937
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+v -0.03347489 0.06014440 -0.04582070
+v -0.03347489 0.06024309 -0.04445938
+v -0.03347489 0.06020271 -0.04360056
+v -0.03347489 0.06016457 -0.04302410
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+v -0.03347489 0.06000307 -0.04623919
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+v -0.03347489 0.05778447 -0.04997025
+v -0.03347489 0.05780012 -0.03652334
+v -0.02442852 0.05852246 -0.03652334
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+v -0.03347489 0.03891623 -0.05053502
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+v -0.00095221 0.05006086 -0.05305932
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+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_13.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26fdc51e55c9fbc51a9d7cd05b763bca9a81f477
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_13.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.03873853 0.05805681 0.03386317
+v -0.05210350 0.05896252 0.03386318
+v -0.03873853 0.04649446 0.03386313
+v -0.03873853 0.05828378 0.03115068
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+v -0.05432883 0.06066806 0.01780812
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+v -0.05567312 0.06020980 0.01780812
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+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_14.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..329786e3d31c7ed1dc2f5f28cabdeb5080cf75f3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_14.obj
@@ -0,0 +1,538 @@
+# https://github.com/mikedh/trimesh
+v -0.03875286 -0.05001530 0.06456754
+v -0.04765889 -0.04039033 0.06455907
+v -0.04765889 -0.04557730 0.06456188
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+v -0.03875286 -0.05224775 0.06443146
+v -0.03875286 -0.04585868 0.06387305
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+v -0.05210419 -0.04112897 0.06435497
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diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_15.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..461cba19020d021d733e92b03a2d23bb9528bd94
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_15.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_16.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..781fcfcf907a282a4b46ef3b17a48e01a0de8fa5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_16.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_17.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..232c0320bc88090e31e30866c78bb0b3097bb0b2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_17.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_18.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43d54a09283f57f8d8b73328bcd08fe27441b12d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_18.obj
@@ -0,0 +1,424 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_19.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ecbc02a6d99a612ab4e8072f294b2cedca8f51c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_19.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.04286768 0.00007398 -0.01554161
+v 0.04274732 0.00007398 -0.01554161
+v 0.05617543 0.00007063 -0.01554161
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+v 0.04274578 0.00007398 -0.01660124
+v 0.04274578 -0.00108810 -0.01554161
+v 0.05736516 0.00007405 -0.03627748
+v 0.05636523 -0.03413522 -0.01554174
+v 0.05745003 -0.03413521 -0.01999747
+v 0.05750250 -0.03413521 -0.02031820
+v 0.05767378 -0.03413520 -0.02222229
+v 0.05793765 -0.03000596 -0.02666784
+v 0.05808425 -0.02178435 -0.03196393
+v 0.05850397 -0.02555857 -0.03627757
+v 0.04274115 0.00007404 -0.03216685
+v 0.04274423 -0.00332181 -0.01999735
+v 0.04274269 -0.01444021 -0.02222221
+v 0.04274423 -0.02999596 -0.01554172
+v 0.04274115 0.00007405 -0.03627748
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+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_2.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34b6ff532eca1fe8c224942f03d58b1e35fe0de1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_2.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.05772559 -0.04038995 -0.03796475
+v -0.05911644 -0.02582075 -0.03796469
+v -0.04221261 -0.04038995 -0.03796475
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+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_20.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..051f02ac49d11cc32a09f835f2b2369539e6df87
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_20.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.06043672 -0.04111587 0.05319905
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+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_21.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6dbbef9944e5168225b5af722f87be90d491c22
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_21.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v -0.03875065 -0.05798917 0.04446697
+v -0.03875065 -0.06006770 0.05220209
+v -0.03875065 -0.04329520 0.04446702
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+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_22.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9194b90e78e63a90a07b3fe58ce9b30c134428d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_22.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_23.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df867d2ba6d89b69a3fd32485734ca5b0bf3d106
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_23.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_24.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae3b9015ec4b305791a90b56501ba9b9b8b70e37
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_24.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_25.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5069c488f96d7d9c4f5d7a2bc68f81da436775a5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_25.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_26.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14e7242e1572d88b4946926a0b747ba7cc640631
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_26.obj
@@ -0,0 +1,541 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_27.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..540ed6d9970433975ba843ebdf5c32b0021ad1a0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_27.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_28.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04441c3ddf1de9689320860743744eccff0019da
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_28.obj
@@ -0,0 +1,547 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_29.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a865832f93bbef0874ced3a11c3fed043e36493a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_29.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_3.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a7c91c00cdcecd2f3c97e92fa714a5f212e16eb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_3.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_30.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81d02d973111fa0db27efd8da00b2c5e91789b9c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_30.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.06170445 -0.02555951 -0.04446042
+v -0.06136701 -0.02555950 -0.04668171
+v -0.05991915 -0.03406949 -0.04566983
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+v -0.06032599 0.00007411 -0.04853886
+v -0.05987368 -0.03406950 -0.04298423
+v -0.05957933 -0.03406951 -0.04206640
+v -0.05993591 -0.02674277 -0.03884704
+v -0.06062274 -0.02555952 -0.04001167
+v -0.06121625 0.00007409 -0.04223595
+v -0.06134787 0.00007409 -0.04328798
+v -0.05977078 -0.02555949 -0.04986710
+v -0.05841625 -0.03406948 -0.04885985
+v -0.05863403 -0.03406948 -0.04849889
+v -0.05962480 0.00007411 -0.04964951
+v -0.05761694 -0.03406952 -0.03796627
+v -0.05880873 -0.02760514 -0.03796624
+v -0.05911745 -0.02582359 -0.03796623
+v -0.05995266 -0.02555953 -0.03882390
+v -0.06040975 0.00007408 -0.04020748
+v -0.06079266 0.00007408 -0.04115616
+v -0.05865796 -0.02555948 -0.05092992
+v -0.05671472 -0.03406947 -0.05080347
+v -0.05757865 -0.03406948 -0.04993347
+v -0.05770549 -0.03406948 -0.04978230
+v -0.05909830 0.00007411 -0.05020329
+v -0.05851437 0.00007412 -0.05081414
+v -0.04232228 -0.03406952 -0.03796627
+v -0.05912463 -0.02555953 -0.03796623
+v -0.05974685 0.00007407 -0.03909529
+v -0.06006753 0.00007408 -0.03962131
+v -0.05733216 -0.02555948 -0.05204211
+v -0.05412054 -0.03406947 -0.05303093
+v -0.05711198 0.00007412 -0.05192479
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+v -0.05432874 -0.02555947 -0.05330239
+v -0.03725837 -0.03406947 -0.05053661
+v -0.03725837 -0.00404054 -0.04175005
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+v -0.04232228 0.00007407 -0.03796614
+v -0.05600156 0.00007412 -0.05251096
+v -0.04987987 -0.02555947 -0.05337180
+v -0.05432874 0.00007412 -0.05307708
+v -0.05210311 0.00007413 -0.05339639
+v -0.03725837 -0.00999348 -0.05053961
+v -0.03725837 -0.00181443 -0.04175160
+v -0.03725837 0.00007408 -0.04175313
+v -0.04987987 0.00007413 -0.05312953
+v -0.03725837 0.00007412 -0.05053648
+v -0.03725837 -0.00332186 -0.05053803
+v -0.03725837 -0.00927484 -0.05053960
+f 1 2 3
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+f 1 7 2
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+f 2 10 11
+f 2 11 3
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+f 3 11 10
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+f 3 33 32
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+f 3 31 41
+f 3 41 50
+f 3 50 52
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+f 3 24 15
+f 3 15 14
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+f 3 5 4
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+f 6 16 17
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+f 16 24 25
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+f 30 40 41
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+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_31.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9544be165ddd881f9a4b234bbdd1ed63e28bf1f6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_31.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v 0.00026024 -0.05668357 0.04495322
+v 0.00026024 -0.06027964 0.04966197
+v 0.00026024 -0.04330386 0.04495327
+v 0.02351118 -0.05832471 0.04495322
+v 0.00026024 -0.06096857 0.05116685
+v 0.02573730 -0.05838242 0.04495322
+v 0.00026024 -0.04330388 0.05218361
+v 0.00572094 -0.04330025 0.04495327
+v 0.00026024 -0.06127696 0.05237574
+v 0.02351118 -0.06118859 0.05116685
+v 0.03018205 -0.05825798 0.04495322
+v 0.00026024 -0.04330569 0.05440730
+v 0.00572094 -0.04330751 0.05783604
+v 0.00794706 -0.04330569 0.05561236
+v 0.03841419 -0.04330208 0.05183574
+v 0.00794706 -0.04330025 0.04671953
+v 0.03841419 -0.04329845 0.04495327
+v 0.00026024 -0.06152404 0.05339052
+v 0.03841419 -0.05797303 0.04495322
+v 0.03841419 -0.06004701 0.05224121
+v 0.02351118 -0.06172061 0.05339052
+v 0.00026024 -0.04330751 0.05662906
+v 0.00026024 -0.04330931 0.05783604
+v 0.01016944 -0.04341572 0.06006165
+v 0.03841419 -0.04330751 0.05783604
+v 0.03841419 -0.04330570 0.05628119
+v 0.03841419 -0.04330389 0.05405943
+v 0.00026024 -0.06150961 0.05459943
+v 0.03841419 -0.06013718 0.05284854
+v 0.03841419 -0.06020212 0.05333287
+v 0.03841419 -0.06019310 0.05534323
+v 0.02351118 -0.06167552 0.05561229
+v 0.00026024 -0.04342294 0.06006165
+v 0.01016944 -0.04399464 0.06196438
+v 0.01461793 -0.04341572 0.06006165
+v 0.00026024 -0.04368624 0.06092845
+v 0.00026024 -0.04400005 0.06196053
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+v 0.00026024 -0.04780171 0.06447826
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+v 0.00026024 -0.05909843 0.06020766
+v 0.02351118 -0.05813540 0.06140696
+v 0.03841419 -0.05446180 0.06385937
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+v 0.00026024 -0.05554567 0.06337504
+v 0.00026024 -0.05798752 0.06130702
+v 0.00026024 -0.04881885 0.06452823
+v 0.00127618 -0.05002535 0.06458781
+v 0.03685666 -0.04780171 0.06448210
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+v 0.00026024 -0.05607227 0.06293491
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+v 0.03685666 -0.05225079 0.06443980
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+f 76 87 77
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+f 78 85 84
+f 78 84 79
+f 79 84 80
+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_32.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..576b60536da68e0870a9732bd11487b535fa84b0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_32.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.03345727 -0.05779263 -0.03650511
+v -0.03345727 -0.04329606 -0.03650506
+v -0.03222304 -0.05803786 -0.03650511
+v -0.03345727 -0.05801259 -0.03571097
+v -0.03345727 -0.04329606 -0.03641649
+v -0.03114721 -0.04329309 -0.03650506
+v -0.02986347 -0.05825336 -0.03650511
+v -0.03345727 -0.05808095 -0.03483417
+v -0.03345727 -0.04330508 -0.00634835
+v -0.03239464 -0.04330360 -0.00634835
+v -0.02986347 -0.04329160 -0.03650506
+v -0.03208773 -0.05826228 -0.03333740
+v -0.02534564 -0.05847480 -0.03650511
+v -0.03345727 -0.05812704 -0.03337578
+v -0.03345727 -0.05635259 -0.00634840
+v -0.02794611 -0.04330063 -0.00634835
+v -0.02986347 -0.04330063 -0.00665538
+v -0.01652118 -0.04330063 -0.00634835
+v 0.00025650 -0.04330211 -0.00634835
+v -0.01335639 -0.04329606 -0.03650506
+v -0.03208773 -0.05806910 -0.02666838
+v -0.03345727 -0.05802154 -0.02666838
+v -0.02319068 -0.05828160 -0.03333740
+v -0.02986347 -0.05807356 -0.02666838
+v 0.00025650 -0.05735122 -0.03650511
+v 0.00025650 -0.05651459 -0.00634840
+v -0.03345727 -0.05780308 -0.02150794
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+v -0.00317560 -0.04329903 -0.03650506
+v 0.00025650 -0.04330052 -0.03650506
+v -0.00731722 -0.05651608 -0.00634840
+v -0.00762412 -0.05651608 -0.00634840
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+f 1 25 13
+f 1 13 7
+f 1 7 3
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+f 19 30 20
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+f 21 27 22
+f 23 26 24
+f 24 26 27
+f 26 32 27
+f 27 32 33
+f 27 33 28
+f 29 31 30
+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_33.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cab3ff25955f401348bd0002c8750ca10ff2b2e3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_33.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.03875065 -0.04329512 0.03561112
+v -0.04223295 -0.04039022 0.03559881
+v -0.04223295 -0.04039224 0.03561113
+v -0.03875065 -0.05790843 0.03561107
+v -0.03875065 -0.04329106 0.03115098
+v -0.04247505 -0.04039022 0.03561113
+v -0.04223295 -0.04039021 0.03317161
+v -0.05210486 -0.05896219 0.03561106
+v -0.05210486 -0.06101312 0.01780747
+v -0.04988060 -0.06082538 0.01780747
+v -0.03875065 -0.05825159 0.03115914
+v -0.03875065 -0.04329106 0.03113866
+v -0.05741368 -0.04039022 0.03561113
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diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_34.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a1cda8faafad1e03e51f9851afb6dc246ea69fd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_34.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_35.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36c25f817cf312aaf4e344c368ba3a0dc6083db5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_35.obj
@@ -0,0 +1,232 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_36.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d7a77bc54c0df0731367465050af131a3f022f0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_36.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_37.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce6d8c1e7959588f5571185afd1538b8d6beb2ec
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_37.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_38.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc0224fb2cf844e54e532b0ef1694d2c82c30454
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_38.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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+v 0.03841419 -0.05813464 0.02892690
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+v 0.00026024 -0.04330526 0.04495327
+v 0.00081677 -0.04330379 0.04495327
+v 0.00303915 -0.04330231 0.04495327
+v 0.00526526 -0.04330083 0.04495327
+v 0.00794706 -0.04329936 0.04495327
+v 0.03685666 -0.04329636 0.03559929
+v 0.03841419 -0.04329638 0.04071204
+v 0.03841419 -0.05635344 0.00890989
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+v 0.00794706 -0.05764571 0.00890989
+v 0.00349856 -0.05770775 0.01113988
+v 0.03841419 -0.05808146 0.02670397
+v 0.03841419 -0.05813317 0.03114984
+v 0.03018205 -0.05833998 0.04449452
+v 0.03018205 -0.05825728 0.04495322
+v 0.02351118 -0.05832522 0.04495322
+v 0.00026024 -0.05782005 0.02350717
+v 0.00026024 -0.05782005 0.02348600
+v 0.00026024 -0.05668440 0.04495322
+v 0.03841419 -0.04329936 0.04495327
+v 0.03841419 -0.04329787 0.04293851
+v 0.03841419 -0.05788649 0.02278031
+v 0.03841419 -0.05794558 0.02371182
+v 0.03841419 -0.05800325 0.04449452
+v 0.03841419 -0.05797372 0.04495322
+f 1 2 5
+f 1 5 12
+f 1 12 25
+f 1 25 34
+f 1 34 33
+f 1 33 35
+f 1 35 17
+f 1 17 6
+f 1 6 3
+f 1 3 10
+f 1 10 24
+f 1 24 26
+f 1 26 13
+f 1 13 11
+f 1 11 4
+f 1 4 2
+f 2 4 5
+f 3 6 21
+f 3 21 7
+f 3 7 8
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+f 5 13 26
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+f 5 14 15
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+f 26 38 39
+f 26 39 28
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+f 30 40 41
+f 30 41 31
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+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_39.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f933f8bff75f9450a4f1fb6052f1480a8c18cb9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_39.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.03347489 0.05639931 -0.00623913
+v -0.04838374 0.06027950 -0.00943078
+v -0.04982464 0.06048473 -0.00876585
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+v -0.03347489 0.04331574 -0.00623918
+v -0.03347489 0.05780821 -0.02183918
+v -0.04838374 0.06027951 -0.01052995
+v -0.03347489 0.05790870 -0.02325317
+v -0.03347489 0.05809042 -0.02666738
+v -0.03347489 0.05809897 -0.02750329
+v -0.03347489 0.05813320 -0.03339266
+v -0.04983794 0.06048474 -0.01120302
+v -0.05210297 0.06075625 -0.01110261
+v -0.05210297 0.06075410 -0.00887984
+v -0.05210297 0.06023461 -0.00729758
+v -0.05210297 0.05988399 -0.00623912
+v -0.05203385 0.05987971 -0.00623912
+v -0.05026064 0.05970441 -0.00623912
+v -0.04234098 0.03891606 -0.00623920
+v -0.03347489 0.04331581 -0.02582881
+v -0.03347489 0.05809686 -0.03396532
+v -0.05158457 0.05996533 -0.03396531
+v -0.05431218 0.06039495 -0.01111346
+v -0.05430687 0.06039494 -0.00887441
+v -0.05194346 0.05996533 -0.03396531
+v -0.05266657 0.05994609 -0.03396531
+v -0.05355185 0.06016406 -0.00749028
+v -0.05431218 0.05954835 -0.00623912
+v -0.04480009 0.03891606 -0.00623920
+v -0.04234098 0.03891607 -0.00887992
+v -0.04234363 0.03891616 -0.03333845
+v -0.03347489 0.04331796 -0.02889020
+v -0.03347489 0.04332225 -0.03396537
+v -0.05560953 0.06018117 -0.01037797
+v -0.05560953 0.06018117 -0.00961262
+v -0.05364756 0.05976651 -0.03396531
+v -0.05503529 0.05993744 -0.00812807
+v -0.05466311 0.05937732 -0.00623912
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+v -0.05601628 0.03891606 -0.00665445
+v -0.05324347 0.03891616 -0.03396539
+v -0.04234363 0.03892471 -0.03396539
+v -0.05789583 0.05808395 -0.01110262
+v -0.05432814 0.05958907 -0.03396531
+v -0.05639378 0.05858428 -0.03396531
+v -0.05753694 0.05771846 -0.03396532
+v -0.05789318 0.05807967 -0.00887985
+v -0.05776557 0.05794284 -0.00751743
+v -0.05650810 0.05843453 -0.00623913
+v -0.05944308 0.05003069 -0.00623916
+v -0.06030443 0.05002429 -0.00879846
+v -0.06008112 0.04863897 -0.00948510
+v -0.05742528 0.03891609 -0.01332545
+v -0.05742794 0.03891616 -0.03396539
+v -0.05999073 0.05575798 -0.01039427
+v -0.05999073 0.05575798 -0.00962621
+v -0.05795166 0.05720965 -0.03396532
+v -0.05827334 0.05669434 -0.00623913
+v -0.05769379 0.05737631 -0.00623913
+v -0.05719134 0.05787228 -0.00623913
+v -0.05950954 0.05044543 -0.00623915
+v -0.06001998 0.05074260 -0.00739532
+v -0.06062611 0.05228185 -0.00887987
+v -0.06063409 0.05228186 -0.01110264
+v -0.06030975 0.05000292 -0.01119764
+v -0.06008112 0.04863898 -0.01052185
+v -0.05777886 0.03891611 -0.02013215
+v -0.05776291 0.03891611 -0.01812651
+v -0.05742794 0.03891609 -0.01334987
+v -0.05743326 0.03893961 -0.01332545
+v -0.05970095 0.05068497 -0.03396534
+v -0.05777620 0.03891611 -0.02034384
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+v -0.05846475 0.05657899 -0.03396532
+v -0.05887150 0.05586709 -0.03396532
+v -0.05951220 0.05453522 -0.03396533
+v -0.05967703 0.05388104 -0.03396533
+v -0.06024063 0.05452658 -0.00888258
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+v -0.05926230 0.05484510 -0.00623914
+v -0.05974881 0.05211294 -0.00623915
+v -0.05976210 0.05228184 -0.00623915
+v -0.06001200 0.05379757 -0.00739259
+v -0.05984186 0.05228194 -0.03396534
+v -0.05983122 0.05144818 -0.03396534
+v -0.05941650 0.05452229 -0.00623914
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+f 36 44 48
+f 36 48 49
+f 36 49 50
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+f 40 51 52
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+f 44 56 57
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+f 53 67 68
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+f 64 83 84
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+f 65 85 86
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+f 66 86 72
+f 66 72 67
+f 67 73 68
+f 79 84 80
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+f 80 87 81
+f 83 87 84
+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_4.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd04a7da61f9b4bc6a530fb860fe158bb2d37794
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_4.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.01728286 0.05612477 0.03809874
+v -0.01728286 0.05612477 0.04628355
+v -0.01728286 0.05712477 0.03809874
+v -0.01728286 0.05712477 0.04628355
+v -0.00967518 0.05612477 0.03809874
+v -0.00967518 0.05612477 0.04628355
+v -0.00967518 0.05712477 0.03809874
+v -0.00967518 0.05712477 0.04628355
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_40.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21942d4de7672fd7411f3aed6eec4884a1acde1b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_40.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.04267824 0.03962723 -0.03181919
+v 0.05770290 0.03962723 -0.03181919
+v 0.04267824 0.03962722 -0.03111153
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+v 0.05932884 0.05011139 -0.03181916
+v 0.06060994 0.05002344 -0.01116967
+v 0.06038746 0.04864466 -0.01047616
+v 0.05805701 0.03962718 -0.02016405
+v 0.04223514 0.04189312 -0.03180504
+v 0.04268010 0.03962696 0.04047525
+v 0.04223514 0.05801374 -0.03181913
+v 0.05966256 0.05228312 -0.03181915
+v 0.06092141 0.05228304 -0.01109889
+v 0.06092697 0.05006099 0.01780189
+v 0.05807184 0.03962700 0.02897579
+v 0.04223514 0.04190962 0.03119784
+v 0.05769733 0.03962696 0.04047525
+v 0.04223514 0.04192004 0.04047525
+v 0.04223514 0.04191171 0.03342697
+v 0.05242462 0.05950968 -0.03181912
+v 0.04223514 0.05820200 -0.02221620
+v 0.04870553 0.06029001 -0.01056812
+v 0.05012939 0.06049714 -0.01122624
+v 0.05957356 0.05286267 -0.03181915
+v 0.06054134 0.05452173 -0.01109888
+v 0.06083983 0.05450697 0.01780191
+v 0.06117355 0.05228293 0.01780190
+v 0.05942524 0.05228285 0.04047529
+v 0.05801993 0.03962699 0.03250701
+v 0.05806072 0.03962700 0.03114831
+v 0.04223514 0.05798418 0.04047531
+v 0.05303643 0.05941762 -0.03181912
+v 0.05242462 0.06075657 -0.01109886
+v 0.04223514 0.05821037 -0.02092118
+v 0.04862025 0.06033174 0.01780193
+v 0.05020355 0.06081714 0.01780193
+v 0.05927693 0.05444440 -0.03181914
+v 0.06030033 0.05574778 -0.01036292
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+v 0.05460119 0.05914145 -0.03181912
+v 0.05464012 0.06038206 -0.01109179
+v 0.05242462 0.06100125 0.01780193
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+v 0.05588044 0.05832521 0.04047531
+v 0.05622713 0.05816202 0.04047531
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+f 1 3 9
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+f 49 56 57
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+f 52 63 53
+f 55 64 58
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+f 58 64 65
+f 58 65 61
+f 58 61 60
+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_41.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2566673813ad6d4b12e5381670f6f4937810b4c6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_41.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.05242575 -0.06072949 -0.00887925
+v 0.05013455 -0.06046136 -0.00876264
+v 0.05014557 -0.06045875 -0.01121475
+v 0.05242575 -0.06072427 -0.01110480
+v 0.05463985 -0.06034421 -0.01109814
+v 0.05590662 -0.06012814 -0.01035185
+v 0.05590662 -0.06012814 -0.00966552
+v 0.05462222 -0.06034682 -0.00890590
+v 0.05242575 -0.05904785 0.00008628
+v 0.04870256 -0.06024790 -0.00942897
+v 0.04870256 -0.06024789 -0.01054841
+v 0.05020065 -0.05872766 0.00008628
+v 0.03841419 -0.05635355 0.00008629
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+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_42.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aab21835e109d1c94e183fe527cc0d70bc45dfcc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_42.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.00025650 -0.04330421 0.04446505
+v -0.01649030 -0.04329831 0.04446505
+v 0.00025650 -0.05650193 0.04446500
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+v -0.02319132 -0.05825976 0.04446500
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+v 0.00025650 -0.04329963 0.00325865
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+v -0.02541353 -0.05833946 0.04446500
+v 0.00025650 -0.05781987 0.02348132
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+v -0.00317609 -0.04330108 -0.00634540
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+v -0.03875065 -0.04329520 0.00223409
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+v -0.03875065 -0.05792465 0.02229263
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+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_43.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2854d8d42b3328c0f3283a0c49dc184a446c6823
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_43.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.04274107 0.00007739 -0.03181934
+v 0.04267768 0.03962723 -0.03181919
+v 0.05618149 0.00007739 -0.03181934
+v 0.04274560 0.00007712 0.04047510
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+v 0.05617847 0.00007712 0.04047510
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+v 0.05804679 0.02336751 -0.03181925
+v 0.05794568 0.02493127 0.04047519
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+v 0.05803472 0.03106738 0.04047521
+v 0.05802113 0.03962699 0.03250701
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+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_44.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12f20ed4732256ad7c1c1d73c8af1d9e4024336e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_44.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.04274640 -0.03413522 -0.01553187
+v 0.04274507 -0.03222969 -0.01553186
+v 0.05636592 -0.03413522 -0.01553187
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+v 0.04274507 -0.02777227 -0.01553184
+v 0.04274107 -0.02778248 0.02669776
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+v 0.05637794 -0.03110460 0.02557633
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+v 0.04273973 -0.00332208 0.05338444
+v 0.04274640 0.00007398 -0.01553174
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+v 0.04286789 0.00007398 -0.01553174
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+v 0.04575546 -0.03413552 0.06404956
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+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_45.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a72457e9284cf702c30f019e3b5ab38f78741f29
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_45.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
+v -0.04765686 0.05965544 -0.05557963
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+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_46.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b91a4e61ff0771d45628be3f5013cd55b1fcbd4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_46.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_47.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38985ada55f50cfd234d5c7fbbd564753d6ab7e8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_47.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+v -0.04507410 0.03815793 -0.05302822
+v -0.04419422 0.03891623 -0.05302822
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 21
+f 1 21 35
+f 1 35 46
+f 1 46 44
+f 1 44 51
+f 1 51 54
+f 1 54 49
+f 1 49 40
+f 1 40 39
+f 1 39 25
+f 1 25 16
+f 1 16 12
+f 1 12 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 6 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 5 12 7
+f 6 13 9
+f 6 8 14
+f 6 14 15
+f 6 15 13
+f 7 12 8
+f 8 12 16
+f 8 16 17
+f 8 17 14
+f 9 13 18
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 21
+f 10 21 11
+f 13 15 22
+f 13 22 23
+f 13 23 18
+f 14 17 24
+f 14 24 15
+f 15 24 22
+f 16 25 26
+f 16 26 17
+f 17 26 27
+f 17 27 24
+f 18 28 19
+f 18 23 29
+f 18 29 28
+f 19 28 30
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 20
+f 20 33 34
+f 20 34 35
+f 20 35 21
+f 22 24 36
+f 22 36 48
+f 22 48 53
+f 22 53 54
+f 22 54 51
+f 22 51 52
+f 22 52 50
+f 22 50 42
+f 22 42 41
+f 22 41 31
+f 22 31 30
+f 22 30 29
+f 22 29 23
+f 24 27 37
+f 24 37 38
+f 24 38 36
+f 25 39 26
+f 26 39 40
+f 26 40 37
+f 26 37 27
+f 28 29 30
+f 31 41 32
+f 32 41 42
+f 32 42 33
+f 33 42 34
+f 34 43 44
+f 34 44 45
+f 34 45 35
+f 34 42 43
+f 35 45 46
+f 36 38 47
+f 36 47 48
+f 37 47 38
+f 37 40 49
+f 37 49 47
+f 42 50 43
+f 43 51 44
+f 43 50 52
+f 43 52 51
+f 44 46 45
+f 47 49 48
+f 48 49 53
+f 49 54 53
+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_48.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e2f707b6236e20034cd7bed60fb13523fd6b4a8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_48.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.04987974 -0.04038986 -0.06194493
+v -0.04856620 -0.04038986 -0.06176778
+v -0.05058593 -0.04038986 -0.06191861
+v -0.05432888 -0.03703539 -0.05952458
+v -0.05210511 -0.03698342 -0.05954584
+v -0.04808319 -0.04038986 -0.06170199
+v -0.05223104 -0.04038986 -0.06182143
+v -0.05432888 -0.03592364 -0.05833110
+v -0.05210511 -0.03587105 -0.05849205
+v -0.05584327 -0.03736886 -0.05928366
+v -0.04987974 -0.03725008 -0.05937375
+v -0.04837491 -0.03756189 -0.05912878
+v -0.04732281 -0.04038986 -0.06140235
+v -0.05444046 -0.04038987 -0.06081726
+v -0.05432888 -0.03890380 -0.06048421
+v -0.05432888 -0.03530743 -0.05721862
+v -0.05210511 -0.03520844 -0.05737957
+v -0.05557706 -0.03548190 -0.05688153
+v -0.05027030 -0.03535074 -0.05709613
+v -0.04966932 -0.03602881 -0.05782294
+v -0.05619238 -0.03890380 -0.05961164
+v -0.05715522 -0.03890381 -0.05780169
+v -0.05616687 -0.03664873 -0.05769438
+v -0.04764322 -0.03704344 -0.05785534
+v -0.04689240 -0.03799311 -0.05863176
+v -0.04434343 -0.04038987 -0.05967339
+v -0.04543380 -0.04038987 -0.06039818
+v -0.04554219 -0.04038987 -0.06046803
+v -0.04677603 -0.04038987 -0.06118573
+v -0.04878938 -0.03557470 -0.05663150
+v -0.05493623 -0.04038987 -0.06058545
+v -0.05412005 -0.03406947 -0.05303186
+v -0.05216728 -0.03406946 -0.05372426
+v -0.05699740 -0.03683001 -0.05555040
+v -0.05622267 -0.03471785 -0.05160354
+v -0.05538577 -0.03406947 -0.05160354
+v -0.05181020 -0.03406946 -0.05353698
+v -0.04907951 -0.03406947 -0.05160354
+v -0.05622586 -0.04038987 -0.05973413
+v -0.05654627 -0.04038987 -0.05913284
+v -0.05721898 -0.04038988 -0.05780170
+v -0.05771634 -0.03767018 -0.05479019
+v -0.04620375 -0.03750807 -0.05714979
+v -0.04392578 -0.04038987 -0.05931100
+v -0.05647294 -0.03503399 -0.05160354
+v -0.04150912 -0.04038990 -0.05160356
+v -0.04179447 -0.04038989 -0.05557876
+v -0.04595347 -0.03729712 -0.05557875
+v -0.05734810 -0.04038988 -0.05702529
+v -0.05771634 -0.03830247 -0.05479019
+v -0.05778807 -0.04038989 -0.05344286
+v -0.05779286 -0.04038990 -0.05160356
+v -0.05771634 -0.03767018 -0.05401681
+v -0.04262499 -0.04038988 -0.05780778
+v -0.05728912 -0.03714060 -0.05160355
+v -0.05755534 -0.04038989 -0.05570428
+v -0.05772431 -0.03933382 -0.05160355
+v -0.05762070 -0.03823566 -0.05160355
+f 1 2 6
+f 1 6 13
+f 1 13 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 44
+f 1 44 54
+f 1 54 47
+f 1 47 46
+f 1 46 52
+f 1 52 51
+f 1 51 56
+f 1 56 49
+f 1 49 41
+f 1 41 40
+f 1 40 39
+f 1 39 31
+f 1 31 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 8 9
+f 4 9 5
+f 4 7 10
+f 4 10 8
+f 5 9 11
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 7 14 15
+f 7 15 10
+f 8 16 17
+f 8 17 9
+f 8 10 18
+f 8 18 16
+f 9 17 19
+f 9 19 20
+f 9 20 11
+f 10 21 22
+f 10 22 23
+f 10 23 18
+f 10 15 21
+f 11 20 12
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 12 29 13
+f 12 20 30
+f 12 30 24
+f 14 31 15
+f 15 31 21
+f 16 32 33
+f 16 33 17
+f 16 18 32
+f 17 33 19
+f 18 23 34
+f 18 34 35
+f 18 35 36
+f 18 36 32
+f 19 33 37
+f 19 37 38
+f 19 38 30
+f 19 30 20
+f 21 31 39
+f 21 39 40
+f 21 40 22
+f 22 40 41
+f 22 41 42
+f 22 42 23
+f 23 42 34
+f 24 43 25
+f 24 30 43
+f 25 43 44
+f 25 44 26
+f 30 38 43
+f 32 36 38
+f 32 38 37
+f 32 37 33
+f 34 45 35
+f 34 42 45
+f 35 45 55
+f 35 55 58
+f 35 58 57
+f 35 57 52
+f 35 52 46
+f 35 46 38
+f 35 38 36
+f 38 46 47
+f 38 47 48
+f 38 48 43
+f 41 49 42
+f 42 50 51
+f 42 51 52
+f 42 52 53
+f 42 53 45
+f 42 49 50
+f 43 48 47
+f 43 47 54
+f 43 54 44
+f 45 53 55
+f 49 56 50
+f 50 56 51
+f 52 57 53
+f 53 57 58
+f 53 58 55
+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_49.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95e24b45b0ef672516b70f3d64c9eb57c6e0e592
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_49.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.05637794 -0.01666323 0.04539865
+v 0.05637794 -0.00109616 0.04404720
+v 0.06048182 -0.00109618 0.04963014
+v 0.05970285 -0.01666325 0.05137007
+v 0.05637794 -0.01666329 0.06187751
+v 0.05637794 -0.00064553 0.04404720
+v 0.06048552 0.00007709 0.04963014
+v 0.06121105 -0.00109619 0.05116768
+v 0.06018547 -0.01666325 0.05245528
+v 0.05834547 -0.01666328 0.05931859
+v 0.06038021 -0.00109622 0.05918186
+v 0.05930278 -0.00109622 0.06029443
+v 0.05819095 -0.00109623 0.06131034
+v 0.05637794 -0.00192538 0.06264907
+v 0.05637794 0.00007711 0.04405632
+v 0.06083056 0.00007709 0.05035787
+v 0.06121422 0.00007708 0.05116768
+v 0.06178416 -0.00109620 0.05338918
+v 0.06029978 -0.01666326 0.05326509
+v 0.05936470 -0.01666327 0.05783759
+v 0.06107875 -0.00109621 0.05783765
+v 0.06075224 0.00007706 0.05847419
+v 0.06038127 0.00007705 0.05918186
+v 0.05931813 0.00007705 0.06029443
+v 0.05820683 0.00007704 0.06132311
+v 0.05687485 -0.00109623 0.06229707
+v 0.05637794 -0.00109623 0.06266184
+v 0.05637794 0.00007704 0.06267826
+v 0.06148517 0.00007708 0.05222006
+v 0.06177993 0.00007707 0.05338918
+v 0.06175294 0.00007707 0.05561250
+v 0.06175347 -0.00109620 0.05561250
+v 0.06034105 -0.01666326 0.05517288
+v 0.06031301 -0.01666326 0.05336176
+v 0.06011826 -0.01666327 0.05628546
+v 0.06108298 0.00007706 0.05783765
+v 0.05758397 0.00007704 0.06179002
+v 0.05687485 0.00007704 0.06231348
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 19
+f 1 19 34
+f 1 34 33
+f 1 33 35
+f 1 35 20
+f 1 20 10
+f 1 10 5
+f 1 5 14
+f 1 14 27
+f 1 27 28
+f 1 28 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 6 15 7
+f 7 16 8
+f 7 15 28
+f 7 28 38
+f 7 38 37
+f 7 37 25
+f 7 25 24
+f 7 24 23
+f 7 23 22
+f 7 22 36
+f 7 36 31
+f 7 31 30
+f 7 30 29
+f 7 29 17
+f 7 17 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 9 18 19
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 12
+f 12 24 25
+f 12 25 13
+f 13 25 26
+f 13 26 14
+f 14 26 27
+f 17 29 18
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 34
+f 18 34 19
+f 18 29 30
+f 20 35 21
+f 21 36 22
+f 21 35 32
+f 21 32 36
+f 25 37 26
+f 26 38 28
+f 26 28 27
+f 26 37 38
+f 31 36 32
+f 32 35 33
+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_5.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66fa5948aec5299d6963f3551e8ed49bef5abb60
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_5.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.05833777 0.00007741 -0.03775457
+v -0.05834423 0.00033973 -0.03775457
+v -0.04233894 0.00007741 -0.03775457
+v -0.05602751 0.00007722 0.01488846
+v -0.05836040 0.00113050 -0.03775457
+v -0.04233733 0.00110008 -0.03775457
+v -0.04233733 0.00007740 -0.03673427
+v -0.04234380 0.00007722 0.01488846
+v -0.05602751 0.01225045 0.01488850
+v -0.05885026 0.02559102 -0.03775448
+v -0.04233571 0.00557855 -0.03775455
+v -0.04233733 0.00007740 -0.03555939
+v -0.04234218 0.00113031 0.01335802
+v -0.04234218 0.03891219 0.01488860
+v -0.05602266 0.03823928 0.01488860
+v -0.05870960 0.02784926 -0.03775447
+v -0.05602104 0.03891219 0.01488860
+v -0.05776222 0.03891231 -0.01812150
+v -0.04233733 0.03891238 -0.03775443
+v -0.05760863 0.03891238 -0.03775443
+v -0.05778001 0.03891231 -0.02013117
+f 1 2 5
+f 1 5 10
+f 1 10 16
+f 1 16 20
+f 1 20 19
+f 1 19 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 12
+f 1 12 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 14
+f 4 14 17
+f 4 17 15
+f 4 15 9
+f 4 9 10
+f 4 10 5
+f 6 11 7
+f 7 11 12
+f 8 13 14
+f 8 12 13
+f 9 15 10
+f 10 15 17
+f 10 17 18
+f 10 18 16
+f 11 19 14
+f 11 14 13
+f 11 13 12
+f 14 19 20
+f 14 20 21
+f 14 21 18
+f 14 18 17
+f 16 18 21
+f 16 21 20
+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_50.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0705cbaa9daf7a9de11fdfebc08ccb229ba1b93
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_50.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.03873853 0.05642196 0.04628355
+v -0.03873853 0.05642190 0.06189497
+v -0.03873853 0.05782365 0.04628355
+v 0.00026652 0.05642196 0.04628355
+v -0.03873853 0.05826209 0.05938613
+v -0.02377565 0.05642190 0.06271891
+v -0.02319149 0.05817794 0.06140897
+v -0.02319149 0.05928959 0.06043699
+v -0.02319149 0.06035105 0.05932499
+v -0.02485615 0.06026899 0.05921556
+v -0.03873853 0.06009813 0.05220563
+v -0.02319149 0.06123224 0.05116766
+v -0.02319149 0.06045091 0.04947794
+v -0.02541359 0.05860499 0.04628356
+v 0.00026652 0.05725869 0.04628355
+v 0.00026652 0.05642190 0.06266742
+v -0.03873853 0.05933036 0.05783804
+v -0.02319149 0.05642190 0.06272213
+v -0.02319149 0.05673182 0.06249039
+v 0.00026652 0.05744573 0.06180485
+v 0.00026652 0.05803264 0.06130920
+v 0.00026652 0.05914429 0.06025353
+v 0.00026652 0.06020942 0.05914154
+v -0.02319149 0.06108118 0.05783804
+v 0.00026652 0.06057475 0.05842864
+v 0.00026652 0.06087735 0.05783804
+v -0.03873853 0.06002442 0.05651201
+v -0.03873853 0.06024393 0.05318728
+v -0.02319149 0.06176113 0.05339167
+v 0.00026652 0.06159336 0.05339167
+v -0.00095144 0.06105559 0.05116766
+v -0.00095144 0.06034377 0.04962277
+v -0.02319149 0.05871370 0.04628356
+v 0.00026652 0.05947411 0.04852365
+v -0.02319149 0.06170939 0.05561405
+v 0.00026652 0.06124894 0.05661983
+v 0.00026652 0.06155365 0.05561405
+v -0.03873853 0.06002650 0.05650235
+v -0.03873853 0.06023243 0.05540001
+v 0.00026652 0.06104566 0.05116766
+v 0.00026652 0.06033750 0.04963404
+f 1 2 5
+f 1 5 17
+f 1 17 27
+f 1 27 38
+f 1 38 39
+f 1 39 28
+f 1 28 11
+f 1 11 3
+f 1 3 14
+f 1 14 33
+f 1 33 15
+f 1 15 4
+f 1 4 16
+f 1 16 18
+f 1 18 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 5
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 4 15 34
+f 4 34 41
+f 4 41 40
+f 4 40 30
+f 4 30 37
+f 4 37 36
+f 4 36 26
+f 4 26 25
+f 4 25 23
+f 4 23 22
+f 4 22 21
+f 4 21 20
+f 4 20 16
+f 5 10 17
+f 6 18 19
+f 6 19 7
+f 7 19 16
+f 7 16 20
+f 7 20 21
+f 7 21 8
+f 8 21 22
+f 8 22 23
+f 8 23 9
+f 9 24 10
+f 9 23 25
+f 9 25 26
+f 9 26 24
+f 10 24 27
+f 10 27 17
+f 11 28 29
+f 11 29 12
+f 12 29 30
+f 12 30 31
+f 12 31 32
+f 12 32 13
+f 13 33 14
+f 13 32 33
+f 15 33 34
+f 16 19 18
+f 24 35 27
+f 24 26 36
+f 24 36 37
+f 24 37 35
+f 27 35 38
+f 28 39 29
+f 29 39 35
+f 29 35 37
+f 29 37 30
+f 30 40 31
+f 31 40 32
+f 32 40 41
+f 32 41 33
+f 33 41 34
+f 35 39 38
+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_51.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..790269e14f98540d4b64211509b7992a68617bb9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_51.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.05771082 0.03891623 -0.05302673
+v -0.05763365 0.03801839 -0.05302673
+v -0.05956908 0.03326874 -0.04689540
+v -0.05975052 0.03326874 -0.04639455
+v -0.05995283 0.03326874 -0.04578455
+v -0.05994239 0.03891621 -0.04572921
+v -0.04419414 0.03891623 -0.05302673
+v -0.05701006 0.03685848 -0.05302673
+v -0.05757734 0.03326875 -0.04993790
+v -0.05837404 0.03326875 -0.04894367
+v -0.06003416 0.03326873 -0.04445991
+v -0.06000288 0.03891620 -0.04447185
+v -0.03872991 0.03891623 -0.05054638
+v -0.03872991 0.03890794 -0.05054638
+v -0.03872991 0.03326876 -0.05053594
+v -0.04507426 0.03815771 -0.05302673
+v -0.05584005 0.03522920 -0.05302674
+v -0.05654081 0.03326876 -0.05083495
+v -0.06001748 0.03326873 -0.04388430
+v -0.06000288 0.03891620 -0.04445989
+v -0.03872991 0.03891619 -0.04174930
+v -0.04600860 0.03735440 -0.05302673
+v -0.03872991 0.03326872 -0.04174932
+v -0.05002544 0.03326876 -0.05241975
+v -0.04996078 0.03434020 -0.05302674
+v -0.05541876 0.03498097 -0.05302674
+v -0.05432800 0.03438001 -0.05302674
+v -0.05517475 0.03326876 -0.05149129
+v -0.05997159 0.03326873 -0.04305453
+v -0.05995074 0.03891620 -0.04312029
+v -0.03872991 0.03674566 -0.04174781
+v -0.04233797 0.03891618 -0.03775443
+v -0.03872991 0.03671470 -0.04174781
+v -0.04233797 0.03668152 -0.03775444
+v -0.04234006 0.03445791 -0.03775444
+v -0.04234215 0.03326871 -0.03775445
+v -0.05135813 0.03326876 -0.05238237
+v -0.05193375 0.03379950 -0.05302675
+v -0.05189204 0.03379950 -0.05302675
+v -0.05387335 0.03422355 -0.05302674
+v -0.05432800 0.03326876 -0.05189198
+v -0.05961079 0.03326872 -0.04194218
+v -0.05961705 0.03891619 -0.04201991
+v -0.05760863 0.03891618 -0.03775443
+v -0.05768371 0.03326871 -0.03775445
+v -0.05263868 0.03326876 -0.05220744
+v -0.05212771 0.03383599 -0.05302675
+v -0.05961288 0.03891619 -0.04200944
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+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 20
+f 1 20 30
+f 1 30 43
+f 1 43 48
+f 1 48 44
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+f 1 7 16
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+f 1 22 25
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+f 1 47 40
+f 1 40 27
+f 1 27 26
+f 1 26 17
+f 1 17 8
+f 1 8 2
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+f 3 18 28
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+f 11 19 20
+f 11 20 12
+f 13 21 31
+f 13 31 33
+f 13 33 23
+f 13 23 15
+f 13 15 14
+f 15 22 16
+f 15 24 25
+f 15 25 22
+f 17 26 18
+f 18 26 27
+f 18 27 28
+f 19 29 30
+f 19 30 20
+f 21 32 31
+f 23 33 34
+f 23 34 35
+f 23 35 36
+f 24 37 38
+f 24 38 39
+f 24 39 25
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+f 27 41 28
+f 29 42 43
+f 29 43 30
+f 31 32 34
+f 31 34 33
+f 32 44 45
+f 32 45 36
+f 32 36 35
+f 32 35 34
+f 37 46 38
+f 38 46 41
+f 38 41 47
+f 40 47 41
+f 42 48 43
+f 42 45 48
+f 44 48 45
+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_52.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8411a7778a9a53fe906ca589ebc1c2e7a3222cdb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_52.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.05637794 -0.03413366 0.02464059
+v 0.05637794 -0.03110647 0.02558104
+v 0.05740603 -0.03413368 0.02892850
+v 0.05637794 -0.03413380 0.06189948
+v 0.05723733 -0.03223185 0.02892851
+v 0.05637794 -0.02978956 0.02648788
+v 0.06145869 -0.02555842 0.05116296
+v 0.06197356 -0.02555843 0.05338715
+v 0.06031448 -0.03413377 0.05331620
+v 0.05833005 -0.03413379 0.05930957
+v 0.06040760 -0.02702587 0.05921257
+v 0.05949781 -0.02555845 0.06046275
+v 0.05825884 -0.02704298 0.06136586
+v 0.05838647 -0.02555846 0.06145916
+v 0.05637794 -0.02870195 0.06254138
+v 0.05637794 -0.02860262 0.02752534
+v 0.06018522 -0.01666496 0.05245048
+v 0.06159234 -0.02333677 0.05338715
+v 0.06195658 -0.02555843 0.05561133
+v 0.06034625 -0.03413377 0.05486492
+v 0.05849711 -0.03413379 0.05907073
+v 0.05936526 -0.03413378 0.05780936
+v 0.05948467 -0.03413378 0.05757799
+v 0.06011566 -0.03413378 0.05627183
+v 0.06132998 -0.02555844 0.05783553
+v 0.06052098 -0.02555845 0.05935066
+v 0.05637794 -0.01666500 0.06187716
+v 0.05824734 -0.02400724 0.06136213
+v 0.06042786 -0.02403630 0.05922004
+v 0.05637794 -0.02331286 0.06257872
+v 0.05687473 -0.02555846 0.06245183
+v 0.05637794 -0.02638965 0.06275410
+v 0.05637794 -0.02403620 0.03185432
+v 0.05970321 -0.01666496 0.05136824
+v 0.06029969 -0.01666497 0.05326029
+v 0.05637794 -0.02175640 0.03402254
+v 0.05637794 -0.01804169 0.03920237
+v 0.05637794 -0.01724129 0.04062795
+v 0.06031339 -0.01666497 0.05336105
+v 0.06034077 -0.01666497 0.05517101
+v 0.06033475 -0.03413377 0.05518959
+v 0.06155071 -0.02333677 0.05561133
+v 0.06014195 -0.03413378 0.05615241
+v 0.06011840 -0.01666498 0.05628310
+v 0.05637794 -0.01666494 0.04539726
+v 0.05834539 -0.01666499 0.05931710
+v 0.05936472 -0.01666498 0.05783556
+v 0.05637794 -0.02555846 0.06275784
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+f 1 3 9
+f 1 9 20
+f 1 20 41
+f 1 41 43
+f 1 43 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 10
+f 1 10 4
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+f 1 36 33
+f 1 33 16
+f 1 16 6
+f 1 6 2
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+f 2 6 7
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+f 2 8 5
+f 3 5 8
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 7 18 8
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+f 8 19 20
+f 8 20 9
+f 10 21 11
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+f 11 26 12
+f 12 27 28
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+f 12 14 13
+f 12 26 29
+f 12 29 27
+f 14 28 27
+f 14 27 30
+f 14 30 31
+f 14 31 32
+f 14 32 15
+f 16 33 17
+f 17 34 45
+f 17 45 27
+f 17 27 46
+f 17 46 47
+f 17 47 44
+f 17 44 40
+f 17 40 39
+f 17 39 35
+f 17 35 18
+f 17 33 36
+f 17 36 37
+f 17 37 38
+f 17 38 34
+f 18 35 39
+f 18 39 40
+f 18 40 19
+f 19 41 20
+f 19 40 42
+f 19 42 25
+f 19 25 24
+f 19 24 43
+f 19 43 41
+f 25 44 29
+f 25 29 26
+f 25 42 44
+f 27 29 46
+f 29 44 47
+f 29 47 46
+f 30 48 31
+f 31 48 32
+f 34 38 45
+f 40 44 42
+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_53.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06d86b88ffd9e1d5151e6794fa34c570acb5fae6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_53.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.05779300 -0.04038990 -0.05160356
+v -0.05958457 -0.04038992 -0.04696295
+v -0.05960917 -0.03406949 -0.04663851
+v -0.05772366 -0.03933382 -0.05160355
+v -0.04151011 -0.04038990 -0.05160356
+v -0.05972100 -0.04038992 -0.04659314
+v -0.05997822 -0.04038992 -0.04585086
+v -0.05969640 -0.03406949 -0.04637684
+v -0.05863399 -0.03406948 -0.04849823
+v -0.05761854 -0.03823566 -0.05160355
+v -0.04907673 -0.03406947 -0.05160354
+v -0.03725821 -0.03406947 -0.05053684
+v -0.03887979 -0.04038990 -0.05102015
+v -0.06010571 -0.04038993 -0.04445974
+v -0.05991783 -0.03406949 -0.04566793
+v -0.05989099 -0.03406949 -0.04575872
+v -0.05841703 -0.03406948 -0.04886003
+v -0.05728752 -0.03714060 -0.05160355
+v -0.05538412 -0.03406947 -0.05160354
+v -0.03725821 -0.03406951 -0.04175091
+v -0.03725821 -0.04038990 -0.05060228
+v -0.06009229 -0.04038993 -0.04401517
+v -0.05993572 -0.03406950 -0.04317808
+v -0.05997151 -0.03406950 -0.04454917
+v -0.05992230 -0.03406949 -0.04557715
+v -0.05770354 -0.03406948 -0.04978254
+v -0.05757828 -0.03406948 -0.04993341
+v -0.05647114 -0.03503399 -0.05160354
+v -0.05622287 -0.03471785 -0.05160354
+v -0.05641969 -0.03406947 -0.05104550
+v -0.03725821 -0.04038994 -0.04173892
+v -0.04232201 -0.03406952 -0.03796473
+v -0.04221242 -0.04038995 -0.03796475
+v -0.06001401 -0.04038993 -0.04291776
+v -0.05987533 -0.03406950 -0.04298450
+v -0.05671493 -0.03406947 -0.05080252
+v -0.05761854 -0.03406952 -0.03796473
+v -0.05772590 -0.04038995 -0.03796475
+v -0.05966285 -0.04038994 -0.04180567
+v -0.05958009 -0.03406951 -0.04206598
+v -0.05772590 -0.04017836 -0.03796475
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 18
+f 1 18 28
+f 1 28 29
+f 1 29 19
+f 1 19 11
+f 1 11 5
+f 1 5 13
+f 1 13 21
+f 1 21 31
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+f 1 33 38
+f 1 38 39
+f 1 39 34
+f 1 34 22
+f 1 22 14
+f 1 14 7
+f 1 7 6
+f 1 6 2
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+f 3 8 16
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+f 3 15 25
+f 3 25 24
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+f 3 12 11
+f 3 11 19
+f 3 19 30
+f 3 30 36
+f 3 36 27
+f 3 27 26
+f 3 26 17
+f 3 17 9
+f 3 9 10
+f 3 10 4
+f 5 11 12
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+f 7 14 15
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+f 9 17 10
+f 10 17 18
+f 12 20 31
+f 12 31 21
+f 12 21 13
+f 14 22 23
+f 14 23 24
+f 14 24 25
+f 14 25 15
+f 17 26 18
+f 18 27 28
+f 18 26 27
+f 19 29 30
+f 20 32 33
+f 20 33 31
+f 22 34 23
+f 23 34 35
+f 27 36 28
+f 28 36 30
+f 28 30 29
+f 32 37 41
+f 32 41 38
+f 32 38 33
+f 34 39 35
+f 35 39 40
+f 37 40 39
+f 37 39 41
+f 38 41 39
+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_54.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4323017af05ad163fe639dba7cc8241fd546cc7c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_54.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.03841419 -0.04328034 -0.05182230
+v 0.03841419 -0.04311393 -0.05557923
+v 0.03758783 -0.04408433 -0.05182230
+v 0.03841419 -0.05811149 -0.05182235
+v 0.03841419 -0.04372060 -0.05755684
+v 0.03777404 -0.04420358 -0.05714166
+v 0.03763465 -0.04401216 -0.05557923
+v 0.03304049 -0.05000236 -0.05182232
+v 0.03704710 -0.05796277 -0.05182235
+v 0.03841419 -0.05815566 -0.05335557
+v 0.03841419 -0.04427868 -0.05840755
+v 0.03812752 -0.04475871 -0.05862443
+v 0.03740794 -0.04553032 -0.05785075
+v 0.03304049 -0.05021882 -0.05217553
+v 0.03304049 -0.05479392 -0.05182234
+v 0.03731221 -0.05801872 -0.05335557
+v 0.03618287 -0.05752102 -0.05182235
+v 0.03628333 -0.05759316 -0.05557928
+v 0.03841419 -0.05812768 -0.05423549
+v 0.03739531 -0.05795835 -0.05557928
+v 0.03841419 -0.04499137 -0.05908210
+v 0.03777036 -0.04624153 -0.05916620
+v 0.03637959 -0.04789370 -0.05768256
+v 0.03566264 -0.04869770 -0.05686195
+v 0.03513348 -0.05218461 -0.05797116
+v 0.03304049 -0.05224794 -0.05256947
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+v 0.03541489 -0.05599842 -0.05780210
+v 0.03503616 -0.05648141 -0.05557928
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+v 0.03696188 -0.05721619 -0.05783751
+v 0.03827796 -0.05775365 -0.05860146
+v 0.03777299 -0.05786409 -0.05711958
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+v 0.03841419 -0.04586309 -0.05962829
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+v 0.03749999 -0.04780092 -0.05945745
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+v 0.03841419 -0.05224791 -0.06086587
+v 0.03685774 -0.05447141 -0.05984255
+v 0.03565528 -0.05447141 -0.05901220
+v 0.03841419 -0.05002589 -0.06084196
+v 0.03841419 -0.05449939 -0.06052683
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 32
+f 1 32 17
+f 1 17 9
+f 1 9 4
+f 1 4 10
+f 1 10 19
+f 1 19 36
+f 1 36 49
+f 1 49 48
+f 1 48 51
+f 1 51 57
+f 1 57 53
+f 1 53 56
+f 1 56 52
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+f 1 39 38
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+f 1 37 21
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+f 1 11 5
+f 1 5 2
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+f 20 35 36
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+f 22 39 40
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+f 22 41 42
+f 22 42 27
+f 22 27 23
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+f 25 41 43
+f 25 43 44
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+f 27 42 41
+f 28 46 29
+f 29 44 30
+f 29 46 44
+f 30 47 33
+f 30 44 47
+f 33 47 34
+f 34 48 49
+f 34 49 35
+f 34 47 50
+f 34 50 51
+f 34 51 48
+f 35 49 36
+f 39 52 43
+f 39 43 41
+f 39 41 40
+f 43 53 54
+f 43 54 55
+f 43 55 44
+f 43 52 56
+f 43 56 53
+f 44 46 45
+f 44 55 47
+f 47 55 54
+f 47 54 50
+f 50 54 57
+f 50 57 51
+f 53 57 54
+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_55.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c032f72cb20cf93644940f6165dba3900746ac88
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_55.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v 0.06115453 -0.05224857 0.01780612
+v 0.06093193 -0.05002681 0.01780613
+v 0.06055352 -0.05020206 0.02002744
+v 0.05912669 -0.05224861 0.02914591
+v 0.06050455 -0.05426782 0.01999614
+v 0.06084289 -0.05447227 0.01780611
+v 0.05916453 -0.05224850 0.00008964
+v 0.06045112 -0.04851579 0.01780613
+v 0.05801371 -0.04111646 0.02914595
+v 0.05878166 -0.05009684 0.00008965
+v 0.05876831 -0.05002674 0.00008965
+v 0.05617730 -0.04111635 0.00008968
+v 0.05874827 -0.05447231 0.02914590
+v 0.06035318 -0.05580805 0.01923105
+v 0.06037990 -0.05584894 0.01780610
+v 0.06029308 -0.05571263 0.01652338
+v 0.05877498 -0.05447220 0.00008963
+v 0.05915339 -0.05232054 0.00008964
+v 0.05779111 -0.04111643 0.02225448
+v 0.05801371 -0.04111646 0.02914027
+v 0.04247433 -0.04111646 0.02914595
+v 0.04250550 -0.04111635 0.00008968
+v 0.05869485 -0.05460472 0.02914590
+v 0.05823185 -0.05804733 0.02003026
+v 0.05843887 -0.05826153 0.01780610
+v 0.05955184 -0.05696080 0.01780610
+v 0.05818065 -0.05586262 0.02914589
+v 0.05818733 -0.05587029 0.00008962
+v 0.05875718 -0.05451699 0.00008963
+v 0.03841642 -0.04329733 0.02914594
+v 0.04247433 -0.04111646 0.02892695
+v 0.03841642 -0.04330111 0.00008967
+v 0.05596361 -0.06016199 0.01921112
+v 0.05727024 -0.05686542 0.02914589
+v 0.05717007 -0.05697447 0.02914589
+v 0.05706100 -0.05707767 0.02914589
+v 0.05605710 -0.05801817 0.02914589
+v 0.05712333 -0.05937338 0.01780609
+v 0.05607045 -0.05802974 0.00008962
+v 0.05718343 -0.05698214 0.00008962
+v 0.03841642 -0.05813500 0.02914589
+v 0.03841642 -0.04329729 0.02003031
+v 0.03841642 -0.04329919 0.00669105
+v 0.03841642 -0.05635515 0.00008962
+v 0.05444773 -0.06032361 0.01998474
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diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_56.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad58175819879dea3fa2f45517fa003f7fdc2eeb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_56.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_57.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ab73355fa2aad5acf72884227158ae58fc7e53f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_57.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_58.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77ca2be4ec214a769f0e9bb8959d91c246ebc490
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_58.obj
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+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_59.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4860175b608e9f4ab4f7429976185706434e49ff
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_59.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.03347560 0.05809700 -0.03396532
+v -0.03347560 0.06016472 -0.04302303
+v -0.04078130 0.06027865 -0.04266604
+v -0.04035862 0.05800417 -0.03396532
+v -0.03347560 0.04332157 -0.03396537
+v -0.03347560 0.06020269 -0.04360030
+v -0.04078130 0.06047065 -0.04445860
+v -0.04078130 0.05799151 -0.03396532
+v -0.04078130 0.04274136 -0.03396537
+v -0.03347560 0.03891619 -0.04175465
+v -0.03347560 0.06024278 -0.04445860
+v -0.04078130 0.06046010 -0.04458962
+v -0.03347560 0.06014362 -0.04582011
+v -0.04078130 0.03891619 -0.04092104
+v -0.03347560 0.03891623 -0.05053514
+v -0.04078130 0.06025756 -0.04617899
+v -0.03347560 0.06000227 -0.04623976
+v -0.03693713 0.05805488 -0.05336442
+v -0.03876016 0.05828486 -0.05336442
+v -0.04078130 0.05838824 -0.05336442
+v -0.04078130 0.03891623 -0.05071174
+v -0.04078130 0.04131517 -0.05336258
+v -0.03954902 0.04201987 -0.05336448
+v -0.03954186 0.04202409 -0.05336448
+v -0.03842974 0.04306425 -0.05336447
+v -0.03740773 0.04417615 -0.05336447
+v -0.03740416 0.04418248 -0.05336447
+v -0.03408423 0.05021882 -0.05336445
+v -0.03347560 0.05171472 -0.05336444
+v -0.03347560 0.05976174 -0.04693286
+v -0.03583002 0.05760548 -0.05336442
+v -0.04078130 0.04134682 -0.05336448
+v -0.03347560 0.05365158 -0.05336443
+v -0.03347560 0.05849794 -0.04909950
+v -0.03581929 0.05759704 -0.05336442
+v -0.03360720 0.05441536 -0.05336443
+v -0.03347560 0.05428876 -0.05324480
+v -0.03347560 0.05778480 -0.04996920
+v -0.03472719 0.05649147 -0.05336442
+v -0.03347560 0.05692820 -0.05082180
+f 1 2 3
+f 1 3 4
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+f 36 39 40
+f 36 40 37
+f 38 40 39
+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_6.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3c377149483922d49e6dbf1d9b248500763ea33
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_6.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00967444 0.05634018 0.04254706
+v -0.00967444 0.05634018 0.04628355
+v -0.00967444 0.05734018 0.04254706
+v -0.00967444 0.05734018 0.04628355
+v 0.00026652 0.05634018 0.04254706
+v 0.00026652 0.05634018 0.04628355
+v 0.00026652 0.05734018 0.04254706
+v 0.00026652 0.05734018 0.04628355
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_60.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6286b4b2146b7bdc4dc49e8894a2c9b3f53d2247
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_60.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.04157670 0.04155582 -0.03993639
+v 0.04158358 0.04155875 -0.03992765
+v 0.04158703 0.04155875 -0.03993639
+v 0.04203620 0.03408993 -0.03993641
+v 0.04274181 0.03408990 -0.03182001
+v 0.04234598 0.04155872 -0.03181999
+v 0.05915839 0.04155875 -0.03993639
+v 0.05882796 0.03408993 -0.03993641
+v 0.05771275 0.03408990 -0.03182001
+v 0.05768693 0.04155872 -0.03181999
+v 0.05769554 0.04116247 -0.03181999
+v 0.05770415 0.03964180 -0.03181999
+v 0.05770759 0.03893849 -0.03182000
+f 1 2 3
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+f 5 11 10
+f 5 10 6
+f 7 10 11
+f 7 11 12
+f 7 12 13
+f 7 13 9
+f 7 9 8
+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_61.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e19655526d8017c6c1e3752de3f222013d11e48
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_61.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.04011364 0.04155879 -0.05241116
+v 0.03382382 0.03408997 -0.05054424
+v 0.03382382 0.03449134 -0.05054424
+v 0.03382382 0.03671532 -0.05054301
+v 0.03382382 0.03893856 -0.05054056
+v 0.03382382 0.04116254 -0.05053445
+v 0.03382382 0.04155879 -0.05052835
+v 0.05821946 0.04155879 -0.05241116
+v 0.04617071 0.03718687 -0.05241117
+v 0.03382382 0.03408993 -0.04175042
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+v 0.05101950 0.03408997 -0.05241118
+v 0.03382382 0.04155875 -0.04164906
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+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_62.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80862c6f14cbaca57a05b98d7f7506660011b118
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_62.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
+v 0.06053266 -0.04154991 -0.04445853
+v 0.06042613 -0.04154990 -0.04567524
+v 0.06038080 -0.04154991 -0.04271985
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+v 0.06148004 -0.04557803 -0.04445855
+v 0.06035814 -0.04154990 -0.04609093
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+v 0.05818459 -0.04154987 -0.05333609
+v 0.05771090 -0.04154995 -0.03394668
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diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_63.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07f3871b183fbac33449c2672ad3a828db0650f8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_63.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_64.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72333eadaef2692be5912a56b136a4f5ede5e7d6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_64.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_65.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbe73425665dba79deb810b5ab1c13297a7ce1a1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_65.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.04068772 -0.04154987 -0.05333609
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+v 0.03841419 -0.03413509 -0.05053633
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+v 0.06030929 -0.03413512 -0.04445851
+v 0.06053448 -0.04154991 -0.04445853
+v 0.06042621 -0.04154990 -0.04567524
+v 0.05795998 -0.03794989 -0.05333608
+v 0.05985892 -0.03413511 -0.04684446
+v 0.05771098 -0.04154995 -0.03394668
+v 0.05768067 -0.03413516 -0.03394666
+v 0.05397375 -0.03413509 -0.05301149
+v 0.05461682 -0.03445588 -0.05333607
+v 0.06027248 -0.03413512 -0.04339556
+v 0.06038074 -0.04154991 -0.04271985
+v 0.06025733 -0.03413512 -0.04318107
+v 0.05732123 -0.03685176 -0.05333608
+v 0.05872865 -0.03413510 -0.04888875
+v 0.06006028 -0.04154992 -0.04163221
+v 0.05773913 -0.04052149 -0.03394668
+v 0.05773263 -0.03829691 -0.03394667
+v 0.05464930 -0.03413509 -0.05268501
+v 0.05464930 -0.03446387 -0.05333607
+v 0.05609353 -0.03528547 -0.05333607
+v 0.05793617 -0.03413510 -0.04996879
+v 0.05676043 -0.03413509 -0.05104882
+v 0.05607188 -0.03527241 -0.05333607
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 15
+f 1 15 25
+f 1 25 35
+f 1 35 39
+f 1 39 36
+f 1 36 29
+f 1 29 20
+f 1 20 16
+f 1 16 10
+f 1 10 5
+f 1 5 12
+f 1 12 19
+f 1 19 18
+f 1 18 27
+f 1 27 31
+f 1 31 22
+f 1 22 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 14
+f 3 14 23
+f 3 23 28
+f 3 28 26
+f 3 26 17
+f 3 17 11
+f 3 11 21
+f 3 21 30
+f 3 30 37
+f 3 37 38
+f 3 38 34
+f 3 34 24
+f 3 24 15
+f 3 15 8
+f 3 8 9
+f 3 9 4
+f 5 10 11
+f 5 11 12
+f 6 13 7
+f 7 13 14
+f 10 16 11
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 11 16 20
+f 11 20 21
+f 13 22 32
+f 13 32 33
+f 13 33 23
+f 13 23 14
+f 15 24 25
+f 17 26 18
+f 18 26 28
+f 18 28 27
+f 20 29 30
+f 20 30 21
+f 22 31 32
+f 23 33 31
+f 23 31 27
+f 23 27 28
+f 24 34 25
+f 25 34 35
+f 29 36 37
+f 29 37 30
+f 31 33 32
+f 34 38 35
+f 35 38 39
+f 36 39 38
+f 36 38 37
+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_7.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73255a7728293bc3f658134d651c1de6b6e0284a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_7.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.00026652 0.04332056 0.04012695
+v 0.00026652 0.04332056 0.04126680
+v 0.00026652 0.05640005 0.04012700
+v 0.04223103 0.04192016 0.04012694
+v 0.04223103 0.04188500 0.05561308
+v 0.04223103 0.04188305 0.05783770
+v 0.00026652 0.04332441 0.05460734
+v 0.00026652 0.06104590 0.05116870
+v 0.02372392 0.05801694 0.04012700
+v 0.04223103 0.05797403 0.04012700
+v 0.04223103 0.04207807 0.05930561
+v 0.00026652 0.04344922 0.06005994
+v 0.00026652 0.04333220 0.05783771
+v 0.00026652 0.04332636 0.05561309
+v 0.00026652 0.06159200 0.05338854
+v 0.02351030 0.06128580 0.05116871
+v 0.03240850 0.05822759 0.04012700
+v 0.02565474 0.05811446 0.04012700
+v 0.04223103 0.06064410 0.05338853
+v 0.02351030 0.06180655 0.05338854
+v 0.04223103 0.04252277 0.06052689
+v 0.00026652 0.04403043 0.06196607
+v 0.00026652 0.04376713 0.06110400
+v 0.00026652 0.06157445 0.05439429
+v 0.04223103 0.06057389 0.05572809
+v 0.02351030 0.06175389 0.05561316
+v 0.00026652 0.06155300 0.05561316
+v 0.04223103 0.04347261 0.06234921
+v 0.00026652 0.04480280 0.06307718
+v 0.04223103 0.06035738 0.05652072
+v 0.02351030 0.06111610 0.05783777
+v 0.04223103 0.06021305 0.05704036
+v 0.00026652 0.06124872 0.05661890
+v 0.04223103 0.04453559 0.06335975
+v 0.00026652 0.04541133 0.06351301
+v 0.02351030 0.06035152 0.05933442
+v 0.02516998 0.06028716 0.05924103
+v 0.04223103 0.05996925 0.05755999
+v 0.00026652 0.06087619 0.05783777
+v 0.04223103 0.04559467 0.06392729
+v 0.00026652 0.04591453 0.06387222
+v 0.02351030 0.05932365 0.06044793
+v 0.04223103 0.05561200 0.06339092
+v 0.00026652 0.06020914 0.05914285
+v 0.04223103 0.05898038 0.05908538
+v 0.04223103 0.05970204 0.05808202
+v 0.04223103 0.04783568 0.06451159
+v 0.00026652 0.04783568 0.06448047
+v 0.00026652 0.04696580 0.06420507
+v 0.02351030 0.05821190 0.06143211
+v 0.00026652 0.05914422 0.06025396
+v 0.00026652 0.05803052 0.06130999
+v 0.04223103 0.05496446 0.06366151
+v 0.00026652 0.05558469 0.06337895
+v 0.00026652 0.05447296 0.06386266
+v 0.04223103 0.05005915 0.06457864
+v 0.04130259 0.05005915 0.06458104
+v 0.03908010 0.05005915 0.06458343
+v 0.00026652 0.05005915 0.06459062
+v 0.04130259 0.05449636 0.06385309
+v 0.04223103 0.05450026 0.06385069
+v 0.00026652 0.05228263 0.06444694
+v 0.00127301 0.05228263 0.06444694
+v 0.04223103 0.05228263 0.06442779
+v 0.04130259 0.05228263 0.06443258
+v 0.03908010 0.05228263 0.06443498
+v 0.03463100 0.05228263 0.06443737
+v 0.04223103 0.05320908 0.06418834
+f 1 2 7
+f 1 7 14
+f 1 14 13
+f 1 13 12
+f 1 12 23
+f 1 23 22
+f 1 22 29
+f 1 29 35
+f 1 35 41
+f 1 41 49
+f 1 49 48
+f 1 48 59
+f 1 59 62
+f 1 62 55
+f 1 55 54
+f 1 54 52
+f 1 52 51
+f 1 51 44
+f 1 44 39
+f 1 39 33
+f 1 33 27
+f 1 27 24
+f 1 24 15
+f 1 15 8
+f 1 8 3
+f 1 3 9
+f 1 9 18
+f 1 18 17
+f 1 17 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 4 10 19
+f 4 19 25
+f 4 25 30
+f 4 30 32
+f 4 32 38
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+f 4 45 43
+f 4 43 53
+f 4 53 61
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+f 4 68 64
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+f 4 28 21
+f 4 21 11
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+f 4 6 5
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+f 6 14 7
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 10 17 16
+f 10 16 20
+f 10 20 19
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 15 24 20
+f 15 20 16
+f 19 20 26
+f 19 26 25
+f 20 24 27
+f 20 27 26
+f 21 28 22
+f 22 28 29
+f 25 26 30
+f 26 31 32
+f 26 32 30
+f 26 27 31
+f 27 33 31
+f 28 34 29
+f 29 34 35
+f 31 36 37
+f 31 37 38
+f 31 38 32
+f 31 33 39
+f 31 39 36
+f 34 40 41
+f 34 41 35
+f 36 42 43
+f 36 43 37
+f 36 39 44
+f 36 44 42
+f 37 43 45
+f 37 45 46
+f 37 46 38
+f 40 47 48
+f 40 48 49
+f 40 49 41
+f 42 50 43
+f 42 44 51
+f 42 51 52
+f 42 52 50
+f 43 50 54
+f 43 54 55
+f 43 55 53
+f 47 56 57
+f 47 57 58
+f 47 58 59
+f 47 59 48
+f 50 52 54
+f 53 60 61
+f 53 55 60
+f 55 62 63
+f 55 63 60
+f 56 64 65
+f 56 65 57
+f 57 65 66
+f 57 66 58
+f 58 66 67
+f 58 67 63
+f 58 63 59
+f 59 63 62
+f 60 67 66
+f 60 66 65
+f 60 65 61
+f 60 63 67
+f 61 65 68
+f 64 68 65
+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_8.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b6d3dee9dab5898fbe23f4b1c1e7527e43fde1f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_8.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.03841419 -0.04330008 0.00890641
+v 0.03685666 -0.04330008 0.00890641
+v 0.03841419 -0.05635328 0.00890636
+v 0.03841419 -0.04324090 -0.03836534
+v 0.00026024 -0.04330008 0.00770333
+v 0.00026024 -0.04330167 0.00890641
+v 0.00794706 -0.05764520 0.00890636
+v 0.03841419 -0.05786842 -0.01385497
+v 0.03841419 -0.05819689 -0.03836539
+v 0.00026024 -0.04324249 -0.03836534
+v 0.00026024 -0.05756226 0.00890636
+v 0.00793959 -0.05764520 0.00890636
+v 0.02379878 -0.05953347 -0.03836540
+v 0.03841419 -0.05815070 -0.01844055
+v 0.02519197 -0.05947127 -0.03836540
+v 0.03841419 -0.05822089 -0.01999530
+v 0.00026024 -0.05908050 -0.03836540
+v 0.00349109 -0.05762446 0.00890636
+v 0.00127618 -0.05910602 -0.03836540
+v 0.00571721 -0.05763882 0.00890636
+f 1 2 6
+f 1 6 11
+f 1 11 18
+f 1 18 20
+f 1 20 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 16
+f 1 16 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 3 7 8
+f 4 9 15
+f 4 15 13
+f 4 13 19
+f 4 19 17
+f 4 17 10
+f 4 10 5
+f 5 10 17
+f 5 17 11
+f 5 11 6
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 9 16 15
+f 11 17 19
+f 11 19 18
+f 12 20 13
+f 13 15 16
+f 13 16 14
+f 13 20 18
+f 13 18 19
+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_9.obj b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34a35f7cad1be4d7ef5a0d6db846830b91c5366d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/mesh/pen_holder_025_collision_9.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.04223103 0.05797408 0.04012700
+v 0.03240850 0.05822927 0.04012700
+v 0.04223103 0.04192134 0.04012694
+v 0.04223103 0.05825820 0.03114782
+v 0.02565474 0.05811532 0.04012700
+v 0.04130259 0.05826462 0.03114782
+v 0.03908010 0.05827104 0.03114782
+v 0.03908010 0.05828067 0.02892239
+v 0.03908010 0.05828727 -0.01999478
+v 0.02573691 0.05818781 -0.03181913
+v 0.00026652 0.04332086 0.04012695
+v 0.00026652 0.04331926 0.03903536
+v 0.04223103 0.04191174 0.03342249
+v 0.04223103 0.05821184 -0.02092439
+v 0.02372392 0.05801741 0.04012700
+v 0.02363354 0.05813485 -0.03181913
+v 0.04223103 0.05820061 -0.02222021
+v 0.03240850 0.05822151 -0.03181913
+v 0.00026652 0.05639962 0.04012700
+v 0.00026652 0.04331607 0.03236613
+v 0.04223103 0.04191014 0.03119706
+v 0.00026652 0.05640310 -0.03181913
+v 0.00026652 0.05640290 0.02103480
+v 0.00026652 0.05640127 0.03114782
+v 0.04223103 0.05801287 -0.03181913
+v 0.00026652 0.04331456 0.00890757
+v 0.04223103 0.04189272 -0.03180511
+v 0.00026652 0.04331791 -0.03181918
+v 0.04223103 0.04189272 -0.03181919
+v 0.00026652 0.04331469 -0.02666408
+v 0.00026652 0.04331630 -0.02989658
+f 1 2 5
+f 1 5 15
+f 1 15 19
+f 1 19 11
+f 1 11 3
+f 1 3 13
+f 1 13 21
+f 1 21 27
+f 1 27 29
+f 1 29 25
+f 1 25 17
+f 1 17 14
+f 1 14 4
+f 1 4 2
+f 2 4 6
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+f 2 10 5
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+f 4 8 6
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+f 6 8 7
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+f 10 22 16
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+f 11 20 12
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+f 15 16 19
+f 16 22 23
+f 16 23 24
+f 16 24 19
+f 17 25 18
+f 20 26 27
+f 20 27 21
+f 26 30 29
+f 26 29 27
+f 28 29 31
+f 29 30 31
+
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/pen_holder_025.xml b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/pen_holder_025.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5ab403d5adccf6aa506230bcd7861bf7d5e9c792
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/mjcf/pen_holder_025.xml
@@ -0,0 +1,146 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pen_holder_025">
+  <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_025.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pen_holder_025_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pen_holder_025_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pen_holder_025_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pen_holder_025_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pen_holder_025_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pen_holder_025_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pen_holder_025_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pen_holder_025_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pen_holder_025_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pen_holder_025_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pen_holder_025_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pen_holder_025_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pen_holder_025_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pen_holder_025_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pen_holder_025_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pen_holder_025_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pen_holder_025_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pen_holder_025_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/pen_holder_025_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/pen_holder_025_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/pen_holder_025_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/pen_holder_025_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/pen_holder_025_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/pen_holder_025_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/pen_holder_025_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/pen_holder_025_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/pen_holder_025_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/pen_holder_025_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/pen_holder_025_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/pen_holder_025_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/pen_holder_025_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/pen_holder_025_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/pen_holder_025_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/pen_holder_025_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/pen_holder_025_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/pen_holder_025_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/pen_holder_025_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/pen_holder_025_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/pen_holder_025_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/pen_holder_025_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/pen_holder_025_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_53" file="mesh/pen_holder_025_collision_53.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_54" file="mesh/pen_holder_025_collision_54.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_55" file="mesh/pen_holder_025_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_58" file="mesh/pen_holder_025_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/pen_holder_025_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/pen_holder_025_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/pen_holder_025_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/pen_holder_025_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_64" file="mesh/pen_holder_025_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/pen_holder_025_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pen_holder_025">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+      <geom type="mesh" mesh="collision_mesh_0_65" 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/d663dadae00b55b384291c3a409f8614/pen_holder_025.urdf b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/pen_holder_025.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4b895c89950115a1b2b6552a53e2747c081c0869
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/pen_holder_025.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_025">
+   <link name="pen_holder_025">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_025.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_025_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0500" />
+         <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>d663dadae00b55b384291c3a409f8614</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>pen_holder</category>
+         <name>bamboo pen holder</name>
+         <color>green,black</color>
+         <shape>cuboid</shape>
+         <material>ceramic</material>
+         <description>square green bamboo-style pen holder with ornate corners and four white feet</description>
+         <min_height>0.1350</min_height>
+         <max_height>0.1350</max_height>
+         <real_height>0.1350</real_height>
+         <min_mass>0.7</min_mass>
+         <max_mass>1.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611144958</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.061370 -0.061510 -0.070857</min>
+            <max>0.061695 0.061545 0.064143</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/pen_holder_025.usd b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/pen_holder_025.usd
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cbb148b6c59561e539aeeee29ca13c41aba1e4791459c6f95cbebb43815dd13
+size 5003267
diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/textures/material_0.png b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/textures/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/video.mp4 b/dataset/desktop_supplies/office_stationery/d663dadae00b55b384291c3a409f8614/video.mp4
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