diff --git a/.gitattributes b/.gitattributes
index f051a8ff44f3ede29cd87bcf3d006af996c96f60..3f2ae97596483706acb40d5f50b3d2db254f1a0e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3284,8 +3284,5 @@ dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mesh
 dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mesh/open_notebook_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/eb6ac2ebca0953e8b987bb3791a8eb67/marker_025.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/eb6ac2ebca0953e8b987bb3791a8eb67/mesh/marker_025.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/marker_013.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/f102061b2d175563b5266aac005756dd/mesh/marker_013.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/f13bec88a65f501e900878d73d9a7702/f13bec88a65f501e900878d73d9a7702.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/f13bec88a65f501e900878d73d9a7702/mesh/book.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/f13bec88a65f501e900878d73d9a7702/mesh/book_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mesh/pen_holder_021.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/pen_holder_021.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f2db51ed8e3a5fd03835856eaeced1e5fe72afba
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pen_holder_021_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd pen_holder_021_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1e7aa85fa86580c84d1acaf30a41952b15fbc62
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3904a40de4419aee5fb66a25d45eeffc3b36d93c8bccaadc4d733b044981686
+size 18713644
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mesh/pen_holder_021.glb b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mesh/pen_holder_021.glb
new file mode 100644
index 0000000000000000000000000000000000000000..88183adf77ec82802a9995df38ab1f36639615ff
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mesh/pen_holder_021.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a8d3d6c91bb4422a641b00e6d6a8b02cdffcdf05d5485c13dd82839b74a09f1
+size 21602540
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mesh/pen_holder_021.mtl b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mesh/pen_holder_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d6fa148013b049246ebe1785ccf0ed328be62123
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mesh/pen_holder_021.mtl
@@ -0,0 +1,6 @@
+newmtl pen_holder_021_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/f0e95139e78b506599cd9c9f82e8db88/mesh/pen_holder_021.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mesh/pen_holder_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cbe3229e5ca5457fc5c61356388c7fb722513b1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mesh/pen_holder_021.obj
@@ -0,0 +1,114060 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pen_holder_021_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mesh/pen_holder_021_collision.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mesh/pen_holder_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25070c4ca2bffa9082babb4bb409516fcf27595c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mesh/pen_holder_021_collision.obj
@@ -0,0 +1,13313 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mesh/pen_holder_021_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mesh/pen_holder_021_geometry_Looks_material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4168b8c6e0fbebf8cdf037ef2a2f818769a8065
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision.obj
@@ -0,0 +1,13313 @@
+# https://github.com/mikedh/trimesh
+
+o pen_holder_021_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_0.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a16facd076badf28c87556d740938856c8f5387
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_0.obj
@@ -0,0 +1,355 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_1.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e22be4d4ede3c3114be0e235070dec3980a17f15
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_1.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_10.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a108f0db371a6a9a2697bf21a55f41280b3afa8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_10.obj
@@ -0,0 +1,400 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_11.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..004a03e70bd0b434c2253ad49aef5fb9a2826d1f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_11.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.03624751 -0.00047045 0.02128224
+v -0.04482608 -0.00047045 0.02128224
+v -0.03624931 -0.00149410 0.02128223
+v -0.03625831 -0.00149410 0.02045899
+v -0.03625201 -0.00047045 0.02090117
+v -0.04538862 -0.00047034 -0.00843583
+v -0.04491789 -0.02574768 0.02128215
+v -0.03625381 -0.00369845 0.02128223
+v -0.03652113 -0.00047036 -0.00177137
+v -0.03660394 -0.00047034 -0.00843583
+v -0.04543812 -0.02354323 -0.00843592
+v -0.04501419 -0.02574766 0.01601109
+v -0.04497369 -0.02574767 0.01823646
+v -0.04491248 -0.02795202 0.02128214
+v -0.03626101 -0.00590279 0.02128222
+v -0.03653553 -0.00590270 -0.00177139
+v -0.03652923 -0.00369836 -0.00177138
+v -0.03653373 -0.00047036 -0.00280114
+v -0.03661744 -0.00591140 -0.00843585
+v -0.04544173 -0.02574757 -0.00843592
+v -0.04540392 -0.02574758 -0.00621928
+v -0.04500519 -0.02795200 0.01601108
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+v -0.03626911 -0.00811004 0.02128221
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+v -0.03662554 -0.00811574 -0.00843586
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+v -0.04538592 -0.02795192 -0.00621929
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+v -0.03627361 -0.00892431 0.02128221
+v -0.03663724 -0.01032009 -0.00843587
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+v -0.04532742 -0.03017952 -0.00843594
+v -0.04492418 -0.03017961 0.01599071
+v -0.04488638 -0.03017962 0.01823644
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+v -0.03628171 -0.01031438 0.02128220
+v -0.03633931 -0.01913175 0.02128217
+v -0.03667414 -0.03017954 -0.00177148
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+f 33 41 35
+f 35 41 42
+f 35 42 43
+f 40 43 42
+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_12.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbd0fdfa81e1bb7a8c6483a57a1f2bc0a187ac68
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_12.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.03301647 -0.04459564 -0.00843599
+v -0.03301647 -0.03638646 -0.00843596
+v -0.03220529 -0.04470126 -0.00843599
+v -0.03301647 -0.04457128 -0.00621644
+v -0.03301647 -0.03601827 0.02128211
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+v 0.03172582 -0.03588917 0.02039488
+v 0.03172582 -0.03630432 -0.00841269
+v 0.03172582 -0.03630522 -0.00843596
+v -0.03114696 -0.04449824 0.01757896
+v -0.03220529 -0.04433578 0.02128208
+v -0.03301647 -0.04452706 -0.00242314
+v -0.02999990 -0.04487729 -0.00843599
+v -0.03301647 -0.04419405 0.02128208
+v 0.03172582 -0.03588377 0.02128211
+v 0.03172582 -0.04451801 -0.00843599
+v -0.03102655 -0.04448922 0.01906254
+v -0.03301647 -0.04446299 0.00265302
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+v -0.02779450 -0.04494228 -0.00843600
+v -0.02962599 -0.04452354 0.02128208
+v -0.03003792 -0.04450639 0.02128208
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+v 0.03111744 -0.04454149 -0.00621644
+v 0.03130122 -0.04456134 -0.00843599
+v 0.03172582 -0.04447921 -0.00621644
+v -0.02558911 -0.04496575 -0.00843600
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+v 0.03035696 -0.04405142 0.02128208
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+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_13.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0808cdf7b4bc738cb8373873860e52dd0f867929
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_13.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.03317866 0.04329719 0.02128240
+v -0.03317866 0.04371277 -0.00584668
+v -0.03323603 0.04370411 -0.00580305
+v -0.03441341 0.04308512 0.02128240
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+v -0.03317866 0.04374307 -0.00843567
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+v -0.03334481 0.04372143 -0.00843567
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+v -0.03317866 0.03483622 0.02127365
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+v -0.03317866 0.03508735 -0.00843570
+v -0.03662471 0.04275632 -0.00843567
+v -0.03661873 0.04259181 0.00489907
+v -0.03661873 0.04242297 0.01823671
+v -0.03715542 0.04214165 0.02128239
+v -0.03317866 0.03507869 -0.00793244
+v -0.04482566 -0.00047045 0.02128224
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+v -0.03660439 -0.00047034 -0.00843583
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+v -0.04405349 0.03385813 0.02045912
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diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_14.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..feee37ad3a82050248153b639cc664c98af24e29
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_14.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
+v 0.04463637 -0.00047045 0.02128224
+v 0.04468191 -0.00149362 0.01823654
+v 0.04468737 -0.00047044 0.01823655
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+v 0.04460267 -0.00590317 0.02128222
+v 0.04458809 -0.00810939 0.02128221
+v 0.04465367 -0.00590316 0.01823653
+v 0.04474658 -0.00810935 0.01156624
+v 0.04476115 -0.00590313 0.01156625
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+v 0.04488684 -0.00810932 0.00267642
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+v 0.04463819 -0.00810938 0.01823652
+v 0.04467462 -0.00810937 0.01601115
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+v 0.04443052 -0.03016577 0.01156616
+v 0.04456532 -0.03016574 0.00267634
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+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_15.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ae2f1939db53d3627d9406f1afe64bb23672504
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_15.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.01631199 0.04604812 -0.03453311
+v 0.02072415 0.04604707 -0.03453311
+v 0.01190563 0.04604707 -0.03453311
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+v 0.02352820 0.04604603 -0.03453311
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+v 0.01411171 0.04467017 -0.02778284
+v 0.01631199 0.04465973 -0.02778284
+v 0.02952816 0.04453968 -0.02778284
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+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_16.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75066e79e29b969e03b1656af0e9e9903d976aa2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_16.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.03301647 -0.04459683 -0.00843599
+v -0.03343222 -0.04452063 -0.00621935
+v -0.03348887 -0.04453474 -0.00843599
+v -0.03301647 -0.03638619 -0.00843596
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+v -0.03336353 -0.04450512 -0.00399398
+v -0.03349609 -0.04453332 -0.00843599
+v -0.03441316 -0.04395059 0.02128208
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+v -0.03642203 -0.03018104 0.02128213
+v -0.03301647 -0.03601796 0.02128211
+v -0.03301647 -0.04452770 -0.00242605
+v -0.03301647 -0.04446280 0.00267629
+v -0.03302852 -0.04446139 0.00267629
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diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_17.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46d76d6ebc74bb2c571fda1cddb6f3f87160e4bd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_17.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_18.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18d21addee1c577cceebb44bb5168906adddf359
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_18.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_19.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c19c562cb9eac2d7373529b512020e3d5f604c32
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_19.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_2.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3700abba01fb919077c9e76236c04b2a388760cd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_2.obj
@@ -0,0 +1,349 @@
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diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_20.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..668ba882ae8ebd999ee1b8d6d5a7db2b72985278
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_20.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00012621 0.03161318 -0.03539063
+v -0.00012621 0.03161318 -0.03439063
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+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_21.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cfedc055d1dbe5ef785044d672e7ac98b4bb1a5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_21.obj
@@ -0,0 +1,334 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_22.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a81879fcb6ab583925c3db29a40d2d3d0c72e639
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_22.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+f 45 50 51
+f 45 51 46
+f 47 52 56
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+f 47 58 53
+f 47 53 49
+f 47 49 48
+f 50 54 51
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+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_23.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41820c7edb4852be764a432efb34a924f510c7c9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_23.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.02998899 -0.04492933 -0.02233960
+v -0.02998899 -0.03717454 -0.02233957
+v -0.02834556 -0.04516736 -0.02233960
+v -0.02998899 -0.04511389 -0.02233551
+v -0.02998899 -0.03700297 -0.00845638
+v 0.02975935 -0.03670193 -0.02199523
+v 0.02975935 -0.03670624 -0.02233956
+v -0.02779580 -0.04518547 -0.02233960
+v -0.02998899 -0.04487850 -0.00844279
+v -0.02998899 -0.03700297 -0.00844277
+v 0.02975935 -0.03654675 -0.00844276
+v 0.02975935 -0.03667262 -0.01955775
+v 0.02975935 -0.03669935 -0.02178156
+v 0.02975935 -0.04491381 -0.02233959
+v -0.02614067 -0.04520531 -0.02233960
+v -0.02779580 -0.04494318 -0.00844280
+v -0.02998899 -0.04483193 -0.00843735
+v -0.02779580 -0.04494232 -0.00843736
+v -0.02780165 -0.03701676 -0.00843733
+v -0.02559676 -0.03698830 -0.00843733
+v -0.02338603 -0.03696588 -0.00843733
+v -0.02118114 -0.03694604 -0.00843733
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+v 0.02953710 -0.03657348 -0.00843732
+v 0.02975935 -0.03755922 -0.00843733
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+v -0.01897041 -0.04527344 -0.02233960
+v -0.01676552 -0.04504581 -0.00843736
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+v -0.01732113 -0.04528723 -0.02233960
+v -0.01676552 -0.04529155 -0.02233960
+v -0.01456063 -0.04506133 -0.00843736
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+v -0.01235574 -0.04507599 -0.00843736
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+v -0.01456063 -0.04530621 -0.02233960
+v -0.01015086 -0.04533380 -0.02233960
+v -0.01015086 -0.04508893 -0.00843736
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+v -0.00849573 -0.04534243 -0.02233960
+v -0.00794597 -0.04534502 -0.02233960
+v -0.00794597 -0.04509755 -0.00843736
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+v -0.00629084 -0.04535105 -0.02233960
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+v -0.00573524 -0.04510273 -0.00843736
+v 0.00087358 -0.04510445 -0.00843736
+v 0.00307846 -0.04514239 -0.01066661
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+v -0.00408596 -0.04535536 -0.02233960
+v -0.00353035 -0.04534674 -0.02178160
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+v -0.00132546 -0.04514670 -0.01066661
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+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_24.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fac96fb8662f72b787b28955e2370268ba40d63f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_24.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.02975935 -0.04491426 -0.02233959
+v 0.02975935 -0.03670578 -0.02233956
+v 0.03120104 -0.04480963 -0.02233959
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+v 0.03582538 -0.03219054 -0.00844275
+v 0.03175385 -0.04476728 -0.02233959
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+v 0.03240759 -0.04444597 -0.00843735
+v 0.03130851 -0.04456056 -0.00843735
+v 0.03175385 -0.04475732 -0.02178159
+v 0.02975935 -0.03755906 -0.00843733
+v 0.03582538 -0.04378949 -0.02233959
+v 0.02975935 -0.03667216 -0.01955775
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+v 0.03582538 -0.03236492 -0.00843731
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+v 0.03258988 -0.04446464 -0.01066660
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+v 0.03307322 -0.04454184 -0.01955778
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+f 23 31 27
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+f 23 29 28
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+f 23 32 31
+f 25 26 31
+f 25 31 32
+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_25.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d159bf5f1a46c291644326c39d1b479e08741c3
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_25.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.02952323 0.03591140 -0.02235848
+v 0.02952323 0.03591140 -0.02233930
+v 0.02952323 0.03592386 -0.02400551
+v 0.03586975 0.03182542 -0.02233931
+v 0.02952323 0.04444554 -0.02233927
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+v 0.02954808 0.04444430 -0.02233927
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+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_26.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60508e7653d529876dabf571ad48dcc545f38279
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_26.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.03327030 -0.03593999 -0.02233956
+v 0.03327030 -0.04454465 -0.02233959
+v 0.03327030 -0.03599122 -0.02778313
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+v -0.03218807 -0.03685320 -0.02233957
+v 0.03317419 -0.04456701 -0.02233959
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+v 0.03221948 -0.04479902 -0.02778316
+v 0.03327030 -0.04458937 -0.02502301
+v -0.03218807 -0.04500962 -0.02778317
+v -0.03218807 -0.04494720 -0.02398610
+v -0.02999673 -0.04521742 -0.02778317
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+f 28 33 34
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+f 31 35 32
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+f 41 48 42
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+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_27.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..424ab3688440565acb1ed3357a6dcde4a848cea5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_27.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.03587068 0.03182381 -0.02233931
+v 0.03587068 0.04326348 -0.02233927
+v 0.03587068 0.03184961 -0.02400552
+v 0.03618240 -0.00057423 -0.02233943
+v 0.03616472 0.04315174 -0.02233927
+v 0.03587068 0.04328497 -0.02400548
+v 0.03587068 0.03188830 -0.02622803
+v 0.03618892 -0.00057423 -0.02308008
+v 0.04528288 -0.00057423 -0.02233943
+v 0.03587068 0.03191838 -0.02778288
+v 0.03616472 0.04321193 -0.02778284
+v 0.03587068 0.04332796 -0.02778284
+v 0.03822490 0.04210318 -0.02233928
+v 0.03619729 -0.00057422 -0.02400564
+v 0.04536570 -0.00057421 -0.02778300
+v 0.04528567 0.00071499 -0.02233943
+v 0.03623265 -0.00057421 -0.02778300
+v 0.03620939 -0.00057422 -0.02530313
+v 0.03825188 0.04212469 -0.02622800
+v 0.03826211 0.04213328 -0.02778285
+v 0.03823792 0.04211179 -0.02400549
+v 0.03905120 0.04157890 -0.02233928
+v 0.04528847 0.00291955 -0.02233942
+v 0.04536942 0.00291957 -0.02778299
+v 0.03859431 0.04192271 -0.02778285
+v 0.03932756 0.04140271 -0.02233928
+v 0.03934059 0.04141131 -0.02400549
+v 0.04529219 0.00788304 -0.02233940
+v 0.04537594 0.01394668 -0.02778295
+v 0.03936571 0.04142851 -0.02778285
+v 0.04049909 0.04029827 -0.02233928
+v 0.04529312 0.00953753 -0.02233939
+v 0.04537501 0.01615124 -0.02778294
+v 0.04529405 0.01615122 -0.02233937
+v 0.04529405 0.01174210 -0.02233939
+v 0.04052421 0.04032408 -0.02778285
+v 0.04050746 0.04030688 -0.02400549
+v 0.04160175 0.03920674 -0.02233929
+v 0.04537128 0.01835581 -0.02778293
+v 0.04529033 0.01891015 -0.02233936
+v 0.04529126 0.01835579 -0.02233936
+v 0.04085547 0.03999747 -0.02778285
+v 0.04162594 0.03923684 -0.02778286
+v 0.04235175 0.03810230 -0.02233929
+v 0.04236943 0.03812381 -0.02622801
+v 0.04536756 0.01989857 -0.02778293
+v 0.04528661 0.02056035 -0.02233935
+v 0.04214796 0.03846760 -0.02778286
+v 0.04345441 0.03616418 -0.02233930
+v 0.04346093 0.03618568 -0.02400551
+v 0.04347209 0.03620717 -0.02622802
+v 0.04347675 0.03622437 -0.02778287
+v 0.04237408 0.03813241 -0.02778286
+v 0.04536570 0.02056037 -0.02778292
+v 0.04528009 0.02276491 -0.02233935
+v 0.04358096 0.03588915 -0.02233930
+v 0.04397457 0.03510704 -0.02622802
+v 0.04398202 0.03511993 -0.02778287
+v 0.04535826 0.02276493 -0.02778292
+v 0.04527730 0.02331498 -0.02233934
+v 0.04395596 0.03506405 -0.02233930
+v 0.04396434 0.03508125 -0.02400551
+v 0.04439703 0.03378774 -0.02778288
+v 0.04534523 0.02496949 -0.02778291
+v 0.04526799 0.02496947 -0.02233934
+v 0.04424442 0.03411432 -0.02233930
+v 0.04435981 0.03378773 -0.02400552
+v 0.04490230 0.03158318 -0.02778288
+v 0.04530615 0.02717406 -0.02778290
+v 0.04523077 0.02717404 -0.02233933
+v 0.04434306 0.03378772 -0.02233931
+v 0.04518332 0.02937862 -0.02778289
+v 0.04471713 0.03213753 -0.02233931
+v 0.04486043 0.03158317 -0.02400552
+v 0.04511446 0.02937860 -0.02233932
+v 0.04484182 0.03158316 -0.02233931
+f 1 2 6
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+f 1 10 7
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+f 1 3 4
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+f 1 9 16
+f 1 16 23
+f 1 23 28
+f 1 28 32
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+f 1 22 13
+f 1 13 5
+f 1 5 2
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+f 3 7 4
+f 4 8 14
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+f 4 17 15
+f 4 15 9
+f 4 7 10
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+f 5 11 12
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+f 8 10 14
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+f 10 12 11
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+f 10 20 25
+f 10 25 30
+f 10 30 36
+f 10 36 42
+f 10 42 43
+f 10 43 48
+f 10 48 53
+f 10 53 52
+f 10 52 58
+f 10 58 63
+f 10 63 68
+f 10 68 72
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+f 10 69 64
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+f 10 15 17
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+f 11 19 20
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+f 15 23 16
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+f 21 22 25
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+f 23 24 28
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+f 28 29 32
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+f 68 73 74
+f 68 74 72
+f 69 72 75
+f 69 75 70
+f 72 74 76
+f 72 76 75
+f 73 76 74
+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_28.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4ec7498f898e265e2102784d8da9da367996f78
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_28.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.03174734 0.03554987 -0.00844930
+v 0.03174734 0.03554987 -0.00843706
+v 0.02356389 0.03580882 -0.00844250
+v 0.03174734 0.03556744 -0.01067312
+v 0.03174734 0.04351828 -0.00843703
+v 0.02513729 0.03581145 -0.00843706
+v 0.02356389 0.03824200 -0.00843705
+v 0.02356389 0.03588433 -0.01733503
+v 0.03174734 0.03566403 -0.02233930
+v 0.03174654 0.04406425 -0.00843703
+v 0.03174734 0.04406425 -0.00844247
+v 0.02513088 0.04427843 -0.00843703
+v 0.02356389 0.04428281 -0.00844247
+v 0.02356389 0.03592736 -0.02233930
+v 0.03174734 0.04423634 -0.02233927
+v 0.02954746 0.04422664 -0.00844247
+v 0.02954105 0.04422664 -0.00843703
+v 0.03174734 0.04426092 -0.02233654
+v 0.02954746 0.04444525 -0.02233927
+v 0.02733637 0.04427140 -0.00843703
+v 0.02356389 0.04451635 -0.02233927
+v 0.03010023 0.04439785 -0.02233927
+v 0.02734277 0.04427140 -0.00844247
+v 0.02734277 0.04449880 -0.02233927
+v 0.02569006 0.04450757 -0.02233927
+v 0.02513729 0.04451021 -0.02233927
+f 1 2 3
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+f 1 18 11
+f 1 11 5
+f 1 5 2
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+f 2 20 12
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+f 2 7 6
+f 2 6 3
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+f 12 20 21
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+f 15 22 18
+f 16 23 20
+f 16 20 17
+f 16 19 24
+f 16 24 23
+f 18 22 19
+f 20 23 24
+f 20 24 25
+f 20 25 26
+f 20 26 21
+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_29.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d6d049f9e0ff50b75e09563a72a0217d6095398
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_29.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.03336214 0.04382768 -0.00843703
+v 0.03337000 0.04382622 -0.00843703
+v 0.03336738 0.04382768 -0.00844247
+v 0.03175388 0.04406401 -0.00844247
+v 0.03174734 0.04406401 -0.00844247
+v 0.03174734 0.04351841 -0.00843703
+v 0.03446922 0.04357676 -0.00843703
+v 0.03372724 0.04391818 -0.02233927
+v 0.03175388 0.04425954 -0.02233927
+v 0.03174734 0.04425954 -0.02233654
+v 0.03174734 0.03555028 -0.00843706
+v 0.03615992 0.04300490 -0.00843703
+v 0.03616516 0.04300344 -0.00844247
+v 0.03483039 0.04365850 -0.02233927
+v 0.03455428 0.04372415 -0.02233927
+v 0.03174734 0.04423620 -0.02233927
+v 0.03174734 0.03555028 -0.00844930
+v 0.03619395 0.02935755 -0.00844252
+v 0.03619395 0.02938235 -0.00843708
+v 0.03814114 0.04203478 -0.00843704
+v 0.03616516 0.04314645 -0.02178127
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+v 0.03174734 0.03566412 -0.02233930
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+v 0.03174734 0.03556780 -0.01067312
+v 0.04488303 0.02935755 -0.00843708
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+v 0.03923905 0.04134183 -0.00843704
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+v 0.04494977 0.02935755 -0.00844252
+v 0.04494846 0.02937505 -0.00843708
+v 0.03932673 0.04140315 -0.02233928
+v 0.03925345 0.04135206 -0.01066629
+v 0.04043511 0.04024333 -0.00843704
+v 0.04511465 0.02935760 -0.02233932
+v 0.04508193 0.02935759 -0.01953437
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+v 0.04393298 0.03501054 -0.01733503
+v 0.04390027 0.03493466 -0.01066631
+v 0.04340431 0.03603608 -0.01066631
+v 0.04342394 0.03608862 -0.01511258
+v 0.04358097 0.03589170 -0.02233930
+v 0.04395654 0.03506600 -0.02233930
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+f 1 26 32
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+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_3.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a3be5f3e108295fb73b1433ccb6c7fa36819500
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_3.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.00024252 0.03820147 0.08478429
+v -0.00024252 0.04040629 0.08457895
+v -0.03323262 0.03820147 0.08485274
+v -0.03323262 0.03714555 0.08459761
+v -0.03323262 0.03620018 0.08428647
+v -0.00024252 0.03661139 0.08418691
+v -0.01235869 0.04040629 0.08457895
+v -0.00024252 0.04169571 0.08398159
+v -0.00133078 0.04169674 0.08398159
+v -0.00794753 0.04169984 0.08398159
+v -0.03323262 0.03938137 0.08466606
+v -0.02558897 0.04040629 0.08456651
+v -0.02779455 0.04040629 0.08456028
+v -0.03000013 0.04040629 0.08454162
+v -0.03323262 0.03553998 0.08377000
+v -0.03323262 0.03465764 0.08304817
+v -0.00024252 0.03550899 0.08295483
+v -0.01015311 0.04169881 0.08398159
+v -0.01235869 0.04169674 0.08398159
+v -0.01456428 0.04169364 0.08398159
+v -0.00024252 0.04215754 0.08335310
+v -0.00024252 0.04263075 0.08270596
+v -0.00794753 0.04263075 0.08270596
+v -0.03220572 0.04040629 0.08448562
+v -0.03323262 0.04047035 0.08437361
+v -0.02779455 0.04167814 0.08396914
+v -0.03000013 0.04166161 0.08395048
+v -0.03323262 0.03423817 0.08244458
+v -0.00024252 0.03477336 0.08184098
+v -0.01015311 0.04262765 0.08270596
+v -0.00024252 0.04305849 0.08161077
+v -0.00133078 0.04349759 0.08048448
+v -0.00353636 0.04349656 0.08048448
+v -0.02779455 0.04346350 0.08048448
+v -0.03220572 0.04160375 0.08390691
+v -0.03323262 0.04155829 0.08386336
+v -0.02558897 0.04259459 0.08270596
+v -0.02779455 0.04258942 0.08270596
+v -0.03000013 0.04256049 0.08270596
+v -0.03323262 0.03377014 0.08113159
+v -0.03323262 0.03359243 0.08048444
+v -0.00024252 0.03454710 0.08048445
+v -0.00024252 0.04349759 0.08048448
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+v -0.03323262 0.03345607 0.07683798
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+v -0.03220572 0.04346579 0.02128240
+v -0.03302272 0.04332527 0.02128240
+v -0.03323262 0.04328911 0.02128240
+f 1 2 3
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+f 1 5 6
+f 1 6 17
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+f 1 42 53
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+f 44 63 62
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+f 44 48 47
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+f 46 55 54
+f 49 56 50
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+f 49 57 56
+f 51 58 52
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+f 53 60 61
+f 53 58 59
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+f 57 63 64
+f 57 64 65
+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_30.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..240a7b2e6f36e71db192a123a2efc052172a130c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_30.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
+v -0.02998899 -0.04511413 -0.02233551
+v -0.03220770 -0.04491713 -0.02233959
+v -0.03000188 -0.04511279 -0.02233960
+v -0.02998899 -0.04492919 -0.02233960
+v -0.02998899 -0.04487832 -0.00844279
+v -0.03220770 -0.04470142 -0.00843735
+v -0.03389799 -0.04463570 -0.02233959
+v -0.03348750 -0.04453524 -0.00843735
+v -0.02998899 -0.03717522 -0.02233957
+v -0.02998899 -0.04483141 -0.00843735
+v -0.03000188 -0.04487698 -0.00843735
+v -0.03472413 -0.04443200 -0.02233959
+v -0.03349459 -0.04453390 -0.00843735
+v -0.03459460 -0.04427526 -0.00844279
+v -0.03657230 -0.03237221 -0.02233955
+v -0.03657230 -0.03142345 -0.00844275
+v -0.02998899 -0.03708545 -0.01512646
+v -0.02998899 -0.03700239 -0.00844277
+v -0.03000897 -0.03700239 -0.00843733
+v -0.03500058 -0.04436366 -0.02233959
+v -0.03459396 -0.04427526 -0.00843735
+v -0.03657230 -0.04362798 -0.00844279
+v -0.03657230 -0.04379947 -0.02233959
+v -0.03657230 -0.03236958 -0.00843731
+v -0.03643698 -0.03237091 -0.00843731
+v -0.03657230 -0.04379947 -0.02232326
+v -0.03657230 -0.04353953 -0.00843735
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 17
+f 1 17 18
+f 1 18 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 7 12
+f 2 12 20
+f 2 20 23
+f 2 23 15
+f 2 15 9
+f 2 9 4
+f 2 4 3
+f 2 6 8
+f 2 8 7
+f 5 10 11
+f 5 11 6
+f 6 11 10
+f 6 10 19
+f 6 19 25
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+f 6 24 27
+f 6 27 21
+f 6 21 13
+f 6 13 8
+f 7 8 13
+f 7 13 14
+f 7 14 12
+f 9 15 16
+f 9 16 17
+f 10 18 19
+f 12 14 20
+f 13 21 14
+f 14 21 22
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+f 15 26 22
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+f 15 27 24
+f 15 24 16
+f 16 24 25
+f 16 25 19
+f 16 19 18
+f 16 18 17
+f 20 26 23
+f 20 22 26
+f 21 27 22
+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_31.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e40f9d1f2b25f5b4b9f5d11bc5bb11bb6472bd7
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_31.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.02954927 0.04597857 -0.03453311
+v 0.03175449 0.04582388 -0.03453311
+v 0.02952816 0.03554763 -0.03453315
+v 0.02952816 0.04597575 -0.03453046
+v 0.02952816 0.04453862 -0.02778284
+v 0.02954927 0.04453862 -0.02778284
+v 0.03175449 0.04434598 -0.02778284
+v 0.03395972 0.04548219 -0.03453311
+v 0.02952816 0.03541264 -0.03453315
+v 0.02952816 0.03621271 -0.02778287
+v 0.03386066 0.04395928 -0.02778284
+v 0.03419193 0.04387913 -0.02778284
+v 0.03496328 0.04368930 -0.02778284
+v 0.03404741 0.04545688 -0.03453311
+v 0.03536438 0.03161459 -0.03453316
+v 0.03599119 0.03161456 -0.02778288
+v 0.02952816 0.03595539 -0.02778948
+v 0.02954927 0.03595539 -0.02778287
+v 0.03616494 0.04321261 -0.02778284
+v 0.03619255 0.04471302 -0.03453312
+v 0.04611770 0.03161459 -0.03453316
+v 0.04489654 0.03161456 -0.02778288
+v 0.03826137 0.04213408 -0.02778285
+v 0.03629161 0.04466380 -0.03453312
+v 0.04577181 0.03379274 -0.03453316
+v 0.04439638 0.03379271 -0.02778288
+v 0.03859264 0.04192315 -0.02778285
+v 0.04018080 0.04261220 -0.03453312
+v 0.04571985 0.03396147 -0.03453316
+v 0.04398067 0.03512434 -0.02778287
+v 0.03936398 0.04142959 -0.02778285
+v 0.04068095 0.04223535 -0.03453312
+v 0.04495175 0.03610869 -0.03453315
+v 0.04382965 0.03545620 -0.02778287
+v 0.04052343 0.04032715 -0.02778285
+v 0.04162605 0.03923878 -0.02778286
+v 0.04241688 0.04051702 -0.03453313
+v 0.04280011 0.04003611 -0.03453313
+v 0.04347727 0.03622678 -0.02778287
+v 0.04237304 0.03813776 -0.02778286
+f 1 2 8
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+f 21 25 22
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+f 23 28 24
+f 25 29 26
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+f 29 33 30
+f 30 33 34
+f 31 35 32
+f 32 35 36
+f 32 36 37
+f 33 38 39
+f 33 39 34
+f 36 40 38
+f 36 38 37
+f 38 40 39
+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_32.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd04c9efa61819b822f4293c8b683da4c5238763
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_32.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.04578142 -0.00057421 -0.02778300
+v -0.03678113 -0.00057421 -0.02778300
+v -0.04569900 -0.00057422 -0.02400564
+v -0.04564525 0.02276394 -0.02233935
+v -0.04575992 0.02276396 -0.02778292
+v -0.03676799 -0.00057421 -0.02622815
+v -0.03357996 0.03509948 -0.02778287
+v -0.04567869 -0.00057423 -0.02308008
+v -0.04566197 0.00016189 -0.02233943
+v -0.04564286 0.02441478 -0.02233934
+v -0.04564167 0.02496796 -0.02233934
+v -0.04572050 0.02496798 -0.02622806
+v -0.04575753 0.02342604 -0.02778291
+v -0.03673574 -0.00057423 -0.02233943
+v -0.03357996 0.04392425 -0.02778284
+v -0.03357996 0.03505155 -0.02233930
+v -0.04566197 -0.00057423 -0.02233943
+v -0.04561897 0.02661879 -0.02233933
+v -0.04575156 0.02496798 -0.02778291
+v -0.03391919 0.04386327 -0.02778284
+v -0.03376391 0.04381969 -0.02233927
+v -0.03357996 0.04385454 -0.02253695
+v -0.03357996 0.04385018 -0.02233927
+v -0.04561061 0.02717197 -0.02233933
+v -0.04564286 0.02717198 -0.02400554
+v -0.04568586 0.02717199 -0.02622805
+v -0.04574081 0.02563005 -0.02778291
+v -0.03502287 0.04358886 -0.02778284
+v -0.03491418 0.04356272 -0.02400548
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+v -0.04552938 0.02882716 -0.02233932
+v -0.04571453 0.02717199 -0.02778290
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+v -0.03661868 0.04293983 -0.02233927
+v -0.03619226 0.04309228 -0.02233927
+v -0.03486640 0.04354964 -0.02233927
+v -0.04550072 0.02938034 -0.02233932
+v -0.04567989 0.02783842 -0.02778290
+v -0.03661868 0.04300519 -0.02778284
+v -0.03661868 0.04296162 -0.02400548
+v -0.03803890 0.04223855 -0.02233927
+v -0.04559628 0.02938036 -0.02778289
+v -0.04529647 0.03103118 -0.02233932
+v -0.03855849 0.04202950 -0.02778285
+v -0.03851907 0.04199898 -0.02233928
+v -0.04522718 0.03158436 -0.02233931
+v -0.04551147 0.03004244 -0.02778289
+v -0.03966098 0.04131515 -0.02778285
+v -0.03879499 0.04182040 -0.02233928
+v -0.04484376 0.03323519 -0.02233931
+v -0.04531199 0.03158438 -0.02778288
+v -0.03962156 0.04128464 -0.02233928
+v -0.04088173 0.04021314 -0.02778285
+v -0.04054250 0.04046141 -0.02233928
+v -0.04471476 0.03378838 -0.02233931
+v -0.04515432 0.03224646 -0.02778288
+v -0.04165215 0.03945089 -0.02778286
+v -0.04084947 0.04018264 -0.02233928
+v -0.04473626 0.03378839 -0.02400552
+v -0.04445437 0.03465517 -0.02233930
+v -0.04478404 0.03378840 -0.02778288
+v -0.04112539 0.03990822 -0.02233928
+v -0.04198421 0.03911985 -0.02778286
+v -0.04436359 0.03495137 -0.02233930
+v -0.04467056 0.03415428 -0.02778287
+v -0.04196152 0.03909370 -0.02400550
+v -0.04195196 0.03908062 -0.02233929
+v -0.04222072 0.03878881 -0.02778286
+v -0.04275106 0.03799170 -0.02400550
+v -0.04254322 0.03825739 -0.02233929
+v -0.04437314 0.03497315 -0.02400551
+v -0.04423339 0.03523013 -0.02233930
+v -0.04439464 0.03502108 -0.02778287
+v -0.04277017 0.03801784 -0.02778286
+v -0.04354060 0.03669804 -0.02778287
+v -0.04274150 0.03797862 -0.02233929
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+v -0.04385355 0.03607951 -0.02400551
+v -0.04387266 0.03612308 -0.02778287
+v -0.04301743 0.03749949 -0.02233929
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+f 1 17 8
+f 1 8 3
+f 1 3 4
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+f 1 5 13
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+f 1 19 27
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+f 1 53 48
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+f 1 28 20
+f 1 20 15
+f 1 15 7
+f 1 7 2
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+f 55 59 56
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+f 62 66 67
+f 63 68 69
+f 63 69 70
+f 63 70 66
+f 64 71 65
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+f 65 71 73
+f 66 70 67
+f 68 74 69
+f 69 75 76
+f 69 76 70
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+f 72 78 73
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+f 75 79 76
+f 76 79 80
+f 77 80 78
+f 78 80 79
+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_33.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbc8dceb6d25cdc20446161440c30c416d4da612
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_33.obj
@@ -0,0 +1,811 @@
+# https://github.com/mikedh/trimesh
+v -0.03522219 0.04351575 -0.02778284
+v -0.03522219 0.04695401 -0.03682109
+v -0.03782987 0.04596897 -0.03616569
+v -0.03551745 0.04340786 -0.02778284
+v -0.03522219 0.03359509 -0.02778288
+v -0.03522219 0.04714164 -0.03734587
+v -0.03661985 0.04671010 -0.03734587
+v -0.03810719 0.04610970 -0.03734587
+v -0.03920959 0.04551868 -0.03734587
+v -0.04195248 0.04356739 -0.03676705
+v -0.03855836 0.04202882 -0.02778285
+v -0.03719795 0.04271365 -0.02778284
+v -0.03661985 0.04300447 -0.02778284
+v -0.03678128 -0.00052447 -0.02778300
+v -0.03522219 -0.00052444 -0.03491586
+v -0.03522219 0.04737618 -0.03956658
+v -0.03661985 0.04694933 -0.03956658
+v -0.03944966 0.04565941 -0.03956658
+v -0.03834588 0.04623166 -0.03956658
+v -0.04218566 0.04375501 -0.03824903
+v -0.04114259 0.04429912 -0.03744272
+v -0.04319423 0.04257298 -0.03746975
+v -0.04420419 0.04135340 -0.03669048
+v -0.04088320 0.04020886 -0.02778285
+v -0.04002915 0.04098281 -0.02778285
+v -0.03966076 0.04131585 -0.02778285
+v -0.04578121 -0.00052447 -0.02778300
+v -0.03522219 -0.00052438 -0.05078969
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diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_34.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76121b858549c120df3ed6a693e7f6b632101aae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_34.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_35.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..911a5be29cc278ba50311475224a0cf0675d8ee8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_35.obj
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diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_36.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c84c7272767100bcdfdc1f5a74ba59e59466d40e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_36.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.04777380 -0.02354143 -0.03521866
+v -0.04776360 -0.02574683 -0.03521866
+v -0.04627766 -0.02574684 -0.03356022
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+v -0.04601753 -0.03236304 -0.03356025
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+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_37.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46a0aacfea1d7632825121b1534c2118279a46ce
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_37.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.00012965 0.04614266 -0.03462066
+v -0.00133204 0.04471266 -0.02778284
+v -0.00012965 0.04471126 -0.02778284
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+v -0.02845790 0.04444035 -0.02778284
+v -0.03160472 0.04593877 -0.03462066
+f 1 2 3
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+f 1 4 8
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+f 1 23 33
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+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_38.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c42960348ecf4f9ef3046f0babffbd2bbba0f27
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_38.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.03176173 0.03161004 -0.03524742
+v 0.03599163 0.03161001 -0.02778288
+v 0.04690451 0.03161004 -0.03524742
+v 0.03232348 0.00512472 -0.03524752
+v 0.03623282 -0.00052916 -0.02778300
+v 0.04489565 0.03161001 -0.02778288
+v 0.04690909 0.03158486 -0.03524742
+v 0.04490176 0.03158483 -0.02778288
+v 0.03245781 -0.00052913 -0.03524754
+v 0.04536429 -0.00052916 -0.02778300
+v 0.04715944 0.02942338 -0.03524743
+v 0.04518263 0.02937930 -0.02778289
+v 0.04735025 -0.00052913 -0.03524754
+v 0.04536581 0.00005290 -0.02778300
+v 0.04728919 0.02730593 -0.03524744
+v 0.04530628 0.02717376 -0.02778290
+v 0.04735177 0.00071365 -0.03524754
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+v 0.04537497 0.01614923 -0.02778294
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+f 27 32 28
+f 30 31 32
+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_39.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab42c0e7fa06efcd08480b4567f8b8fe236e6951
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_39.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.03426168 -0.03363841 -0.03463857
+v 0.03426168 -0.03513463 -0.02778313
+v 0.03426168 -0.04621084 -0.03463862
+v -0.00036578 -0.03617633 -0.03463858
+v -0.00036578 -0.03710481 -0.02778314
+v 0.03426168 -0.04439825 -0.02778316
+v 0.03395662 -0.04632413 -0.03463862
+v -0.00036578 -0.04693745 -0.03463862
+v -0.00036578 -0.04545821 -0.02778317
+v 0.03336684 -0.04461441 -0.02778316
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+v 0.00449142 -0.04694005 -0.03463862
+v 0.00970113 -0.04694136 -0.03463862
+v 0.00154253 -0.04545821 -0.02778317
+v 0.03222118 -0.04479802 -0.02778316
+v 0.03175342 -0.04667441 -0.03463862
+v 0.01411091 -0.04693875 -0.03463862
+v 0.00308476 -0.04545691 -0.02778317
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+v 0.02954684 -0.04683848 -0.03463862
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+v 0.00528796 -0.04545170 -0.02778317
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+f 26 33 27
+f 28 30 34
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+f 28 36 31
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+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_4.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91f5694f513e96cf27e7e0a3a509ce4c3b06870f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_4.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v -0.03372915 -0.04407084 0.02128208
+v -0.03441370 -0.04394815 0.02128208
+v -0.03372915 -0.03566061 0.02128211
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+v -0.03441370 -0.04352510 0.08048572
+v -0.03661851 -0.04324270 0.02128208
+v -0.03661851 -0.04293620 0.08048572
+v -0.03372915 -0.03503498 0.04073029
+v -0.03625159 0.01859791 0.02128231
+v -0.03503473 0.01859770 0.07826347
+v -0.03494820 0.01614395 0.07826346
+v -0.03372915 -0.04284419 0.08259613
+v -0.03441370 -0.04284419 0.08247785
+v -0.03661851 -0.04253747 0.08201094
+v -0.03814424 -0.04253725 0.02128208
+v -0.03796681 -0.04242090 0.07883599
+v -0.03777951 -0.04231663 0.08165609
+v -0.03794819 -0.04241478 0.08048572
+v -0.03372915 -0.03390026 0.07822593
+v -0.04481015 0.01859791 0.02128231
+v -0.03510373 0.01859770 0.08023693
+v -0.03372915 -0.03675890 0.08433926
+v -0.03372915 -0.03598597 0.08382257
+v -0.03372915 -0.03554429 0.08351129
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+v -0.03372915 -0.04261108 0.08295720
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+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_40.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2deaee8f901098a20cb977644013504b22c5b857
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_40.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.03040204 -0.03405779 -0.03521814
+v -0.04703505 -0.03405779 -0.03521814
+v -0.03594790 -0.03405782 -0.02778386
+v -0.00036578 -0.03457906 -0.03521814
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+v -0.04496563 -0.03405782 -0.02778386
+v -0.00036578 -0.03710450 -0.02778387
+v -0.00036578 -0.04760539 -0.03521818
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+v -0.00353615 -0.04760539 -0.03521818
+v -0.04618535 -0.03684716 -0.03521815
+v -0.04442658 -0.03588424 -0.02778386
+v -0.00353615 -0.04545801 -0.02778390
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+f 29 42 41
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+f 39 43 49
+f 39 49 44
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+f 42 47 48
+f 42 48 45
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+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_41.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bb4a63659f93c5533029a015d18e8cf43d214aa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_41.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.04580158 -0.02354213 -0.02778309
+v -0.04572525 -0.02354214 -0.02400573
+v -0.04579714 -0.01692696 -0.02778306
+v -0.04579803 -0.02574915 -0.02778309
+v -0.04576785 -0.02574915 -0.02622824
+v -0.04572437 -0.02574916 -0.02400573
+v -0.04569153 -0.02574917 -0.02233952
+v -0.04569153 -0.02354215 -0.02233952
+v -0.04578116 -0.00057421 -0.02778300
+v -0.04576785 -0.02795322 -0.02778310
+v -0.04569774 -0.02795323 -0.02400574
+v -0.04566579 -0.02795324 -0.02233953
+v -0.04568354 -0.01692698 -0.02233949
+v -0.04566402 -0.00149259 -0.02233944
+v -0.04566224 -0.00057423 -0.02233943
+v -0.03678156 -0.00057421 -0.02778300
+v -0.04558504 -0.03015730 -0.02400575
+v -0.04555575 -0.03015731 -0.02233954
+v -0.04564805 -0.03015729 -0.02778311
+v -0.04562320 -0.03015729 -0.02622826
+v -0.03673630 -0.00057423 -0.02233943
+v -0.03677534 -0.00057421 -0.02715371
+v -0.03683392 -0.03083865 -0.02778311
+v -0.04547055 -0.03083867 -0.02233954
+v -0.04556019 -0.03083865 -0.02778311
+v -0.04553623 -0.03083865 -0.02622826
+v -0.04549895 -0.03083866 -0.02400575
+v -0.03673896 -0.00057423 -0.02270762
+v -0.03673630 -0.00094158 -0.02233943
+v -0.03676736 -0.00057421 -0.02622815
+v -0.03682060 -0.03083865 -0.02622826
+v -0.03678955 -0.03083867 -0.02233954
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+f 1 10 4
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+f 28 29 30
+f 29 32 31
+f 29 31 30
+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_42.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..473ca193a813cf316591222b8705b912721ec861
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_42.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.03426168 -0.04620684 -0.03463862
+v 0.03619278 -0.04550479 -0.03463862
+v 0.03616501 -0.04375194 -0.02778316
+v 0.03499958 -0.04416333 -0.02778316
+v 0.03447302 -0.04434667 -0.02778316
+v 0.03426168 -0.04439586 -0.02778316
+v 0.03426168 -0.03363708 -0.03463857
+v 0.03833886 -0.04437347 -0.03463861
+v 0.03811423 -0.04279501 -0.02778316
+v 0.03674591 -0.04347023 -0.02778316
+v 0.03426168 -0.03513064 -0.02778313
+v 0.03548145 -0.00053360 -0.03463845
+v 0.04040402 -0.04320190 -0.03463861
+v 0.03921686 -0.04210638 -0.02778315
+v 0.03623264 -0.00053363 -0.02778300
+v 0.04659951 -0.00053360 -0.03463845
+v 0.04263705 -0.04105105 -0.03463860
+v 0.04042818 -0.04100189 -0.02778315
+v 0.04536524 -0.00053363 -0.02778300
+v 0.04659105 -0.02354014 -0.03463854
+v 0.04387374 -0.03895385 -0.03463859
+v 0.04229045 -0.03878843 -0.02778314
+v 0.04175906 -0.03956202 -0.02778315
+v 0.04152960 -0.03989292 -0.02778315
+v 0.04119748 -0.04022829 -0.02778315
+v 0.04536403 -0.00149503 -0.02778301
+v 0.04658985 -0.02462674 -0.03463854
+v 0.04499206 -0.03689690 -0.03463859
+v 0.04339428 -0.03682538 -0.02778314
+v 0.04306216 -0.03742011 -0.02778314
+v 0.04536283 -0.00215683 -0.02778301
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+v 0.04535800 -0.00436134 -0.02778302
+v 0.04535437 -0.00590406 -0.02778302
+v 0.04534713 -0.00810857 -0.02778303
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+v 0.04533746 -0.01031308 -0.02778304
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+v 0.04516718 -0.02795367 -0.02778310
+v 0.04649806 -0.02914757 -0.03463856
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+v 0.04513095 -0.02861547 -0.02778311
+v 0.04644009 -0.03018945 -0.03463856
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+f 1 12 16
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+f 1 20 27
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+f 32 48 40
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+f 56 60 61
+f 56 61 57
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+f 59 62 63
+f 60 63 61
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+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_43.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c3c0a19ddeb4a8246789338f1b17940d9bd1b76
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_43.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.04555917 -0.03083865 -0.02778311
+v -0.04536282 -0.03236595 -0.02778312
+v -0.04534057 -0.03236595 -0.02622827
+v -0.04554608 -0.03083865 -0.02691297
+v -0.03683360 -0.03083865 -0.02778311
+v -0.04500286 -0.03390713 -0.02778312
+v -0.04477248 -0.03457022 -0.02233956
+v -0.04530654 -0.03236596 -0.02400576
+v -0.04553561 -0.03083865 -0.02622826
+v -0.03682051 -0.03083865 -0.02622826
+v -0.03218808 -0.03690901 -0.02778314
+v -0.04484709 -0.03457020 -0.02778313
+v -0.04439419 -0.03580483 -0.02233956
+v -0.04528036 -0.03236597 -0.02233955
+v -0.04549896 -0.03083866 -0.02400575
+v -0.03679040 -0.03083867 -0.02233954
+v -0.03218808 -0.03689237 -0.02622829
+v -0.03218808 -0.04500883 -0.02778317
+v -0.04442953 -0.03588388 -0.02778313
+v -0.04427376 -0.03621541 -0.02778313
+v -0.04400543 -0.03663021 -0.02233956
+v -0.04547016 -0.03083867 -0.02233954
+v -0.03218808 -0.03685354 -0.02235449
+v -0.03218808 -0.03687018 -0.02402497
+v -0.03218808 -0.03685354 -0.02233957
+v -0.03218808 -0.04500883 -0.02776932
+v -0.03220771 -0.04500745 -0.02778317
+v -0.04390987 -0.03698669 -0.02778314
+v -0.04387453 -0.03690626 -0.02233957
+v -0.03218808 -0.04491868 -0.02233959
+v -0.03218808 -0.04494781 -0.02400581
+v -0.03220771 -0.04494503 -0.02400581
+v -0.03389889 -0.04463570 -0.02233959
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+v -0.04280772 -0.03885941 -0.02778314
+v -0.04277238 -0.03881087 -0.02233957
+v -0.03220771 -0.04491730 -0.02233959
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+v -0.04203412 -0.03996222 -0.02778315
+v -0.04199485 -0.03991369 -0.02233958
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+v -0.03856929 -0.04280876 -0.02233959
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+v -0.03997643 -0.04182802 -0.02233958
+v -0.03862165 -0.04284620 -0.02778316
+v -0.03967013 -0.04210407 -0.02233958
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 22
+f 1 22 16
+f 1 16 10
+f 1 10 5
+f 1 5 11
+f 1 11 18
+f 1 18 27
+f 1 27 35
+f 1 35 40
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+f 46 50 47
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+f 49 53 50
+f 49 50 52
+f 50 53 51
+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_44.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfee5cff637ac25326983211ba46892131fa479f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_44.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_5.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0e8c262770ab281a069553b8a2bf5444ac06c56
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_5.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_6.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51d201e42c1788e4f113706c733a6434f3632adb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_6.obj
@@ -0,0 +1,424 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_7.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..625891dafe09e20196793d563d56f8b4a0f9595e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_7.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_8.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dbda1f3ebc73fbb5a470084af886b8802bd5f7a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_8.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_9.obj b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f8e3dbd6c207ea4a70c2a7fe92998974f22766e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/mesh/pen_holder_021_collision_9.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v 0.04462865 0.03185454 -0.00843571
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diff --git a/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/pen_holder_021.xml b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/pen_holder_021.xml
new file mode 100644
index 0000000000000000000000000000000000000000..12469a0a4f638d2106678b6fcd4d2ca8de1458ae
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/mjcf/pen_holder_021.xml
@@ -0,0 +1,104 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pen_holder_021">
+  <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_021.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pen_holder_021_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pen_holder_021_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pen_holder_021_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pen_holder_021_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pen_holder_021_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pen_holder_021_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pen_holder_021_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pen_holder_021_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pen_holder_021_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pen_holder_021_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pen_holder_021_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pen_holder_021_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pen_holder_021_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pen_holder_021_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pen_holder_021_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pen_holder_021_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pen_holder_021_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pen_holder_021_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/pen_holder_021_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/pen_holder_021_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/pen_holder_021_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/pen_holder_021_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/pen_holder_021_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/pen_holder_021_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/pen_holder_021_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/pen_holder_021_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/pen_holder_021_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/pen_holder_021_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/pen_holder_021_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/pen_holder_021_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/pen_holder_021_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/pen_holder_021_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/pen_holder_021_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/pen_holder_021_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/pen_holder_021_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/pen_holder_021_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/pen_holder_021_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/pen_holder_021_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/pen_holder_021_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/pen_holder_021_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/pen_holder_021_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/pen_holder_021_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/pen_holder_021_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/pen_holder_021_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/pen_holder_021_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pen_holder_021">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_44" 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/f0e95139e78b506599cd9c9f82e8db88/pen_holder_021.urdf b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/pen_holder_021.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f50518b42eed1830debec4217426f87c9dd44bd8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/f0e95139e78b506599cd9c9f82e8db88/pen_holder_021.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_021">
+   <link name="pen_holder_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_021.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_021_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1850" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>f0e95139e78b506599cd9c9f82e8db88</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>pen_holder</category>
+         <name>gray pen holder</name>
+         <color>gray,black</color>
+         <shape>cuboid</shape>
+         <material>fabric</material>
+         <description>gray fabric-covered square pen holder with rounded corners and black printed graphics</description>
+         <min_height>0.1350</min_height>
+         <max_height>0.1350</max_height>
+         <real_height>0.1350</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611144800</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.049082 -0.048964 -0.050169</min>
+            <max>0.048619 0.048169 0.084831</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
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\ No newline at end of file
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