diff --git a/.gitattributes b/.gitattributes
index fa5d64be1c0aa656e149efdfc2a880152f15206a..81451f2c3ea0feaabf5e0afbc724235054693b99 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3272,6 +3272,5 @@ dataset/desktop_supplies/office_stationery/d8380724ed0c5739921064fd501cbae8/mesh
 dataset/desktop_supplies/office_stationery/d8380724ed0c5739921064fd501cbae8/sharpener_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/daa00b2d2fa6593d9a00989d9a43a2a7/mesh/stapler_034.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/daa00b2d2fa6593d9a00989d9a43a2a7/stapler_034.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/e10016f581985309bd6b12e417f972bb.usd filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mesh/open_notebook.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/e10016f581985309bd6b12e417f972bb/mesh/open_notebook_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mesh/pen_holder_033.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/pen_holder_033.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6528929da912177e8dfc69ec3d3252476abeea4b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl pen_holder_033_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_033_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..adcffd9707445347bec08c4579c4595f7f281cc0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0325113023511ff3f6f98f42d83ded7eed1bcbedc653288e21e59598c69038c4
+size 8121008
diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mesh/pen_holder_033.glb b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mesh/pen_holder_033.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2d9633895a35696187fe2726369fe0b31b28292e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mesh/pen_holder_033.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab22696946ec9a9081f2a45741ca52f1c204ac68867e7c512ce6d8cc10af42ac
+size 11104584
diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mesh/pen_holder_033.mtl b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mesh/pen_holder_033.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98ad49b150b0a3309810714187d118533e8a6eb4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mesh/pen_holder_033.mtl
@@ -0,0 +1,6 @@
+newmtl pen_holder_033_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mesh/pen_holder_033.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mesh/pen_holder_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39955a866406033817a4649c7052cf3cc9f26eca
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mesh/pen_holder_033.obj
@@ -0,0 +1,111004 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl pen_holder_033_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mesh/pen_holder_033_collision.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mesh/pen_holder_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..895ebf67db69be9e0e83b8c42d982cb6314c82f5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mesh/pen_holder_033_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033.obj
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diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21af973bee29f091a3f34eb810fe3972ba76cd68
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision.obj
@@ -0,0 +1,11871 @@
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diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_0.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81abca25b3c6e71fc23f82398139c4935381e620
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_0.obj
@@ -0,0 +1,2599 @@
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diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_1.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ce4b78f969a668931fc70a5006269a5f5a59a59
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_1.obj
@@ -0,0 +1,2521 @@
+# https://github.com/mikedh/trimesh
+v 0.00108930 0.05239136 -0.04581558
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diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_10.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2cad5bc137096a674fe2d98584fece01dedbd88
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_11.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d684f49885a7be1430ea63ae5a39a56b8fe6293
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_11.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_12.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c736b9f77d553d517a9ddd217caf7e4fad31196
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_12.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_13.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2b56fd52f35e6f391e57cb6539da258ea323d17
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_13.obj
@@ -0,0 +1,478 @@
+# https://github.com/mikedh/trimesh
+v 0.02241385 -0.04328953 0.07856338
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diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_14.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b9c7515ce5e7d36bd1a334614d72365d528c317
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_14.obj
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diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_15.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f85e3386a31ed1e330080b1ef465389d620853c9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_15.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_16.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58d97b6acefa21c3d5133f39158be503a91d69d1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_16.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_17.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74133d13b9a84fb7400d2f02bf49aefe57d0d65f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_17.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_18.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d46d631b4c505ece80183598d8ca9a0098f18b9
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_18.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_19.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce7079f76fb1c302233d8d733847be4cb5b7c95b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_19.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_2.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c915bfdd243c5e83238233a3c76d3618e710a24b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_2.obj
@@ -0,0 +1,493 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_20.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a94ec9cb24eb647fd7a871e184082a1093bb050c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_20.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.02647381 -0.04116045 -0.03556152
+v -0.02567549 -0.04184703 -0.03556152
+v -0.02647381 -0.04076852 -0.02943838
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+v -0.02499419 -0.04229948 -0.03556153
+v -0.02576130 -0.04122624 -0.02943838
+v -0.02647381 -0.02801819 -0.02943833
+v 0.00009177 -0.03837208 -0.02943837
+v 0.00009177 -0.03413686 -0.03556150
+v -0.02406585 -0.04278614 -0.03556153
+v -0.02321032 -0.04268882 -0.02943839
+v -0.02465874 -0.04189177 -0.02943838
+v 0.00009177 -0.04846817 -0.02943841
+v 0.00009177 -0.04913368 -0.03556155
+v -0.02067234 -0.04453546 -0.03556153
+v -0.02145246 -0.04359111 -0.02943839
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+v -0.01312601 -0.04726598 -0.03556154
+v -0.01216387 -0.04696086 -0.02943840
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+
diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_21.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a050817253271c57976bebe6e90d2e0ff7dd27dd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_21.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.04711440 0.01497236 -0.03524194
+v 0.04669022 0.01497233 -0.02661240
+v 0.04678561 0.01466025 -0.02661240
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+v 0.03202769 0.01497236 -0.03524194
+v 0.03635132 0.01497233 -0.02661240
+v 0.04718595 0.01323174 -0.02661240
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+v 0.04759310 0.01306474 -0.03524194
+v 0.03497485 0.00000447 -0.03524199
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+v 0.04792189 0.01023992 -0.02661241
+v 0.04869871 0.00795140 -0.03524196
+v 0.04942953 0.00000447 -0.03524199
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+
diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_22.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ab1802072a1639a401553219003f94d50cdfa21
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_22.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.03211480 0.01471230 -0.03524194
+v -0.03643759 0.01471227 -0.02661240
+v -0.03908486 0.00000444 -0.02661245
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+v -0.04673666 0.01471227 -0.02661240
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+v -0.04885312 0.00361230 -0.02661244
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+f 13 22 16
+f 16 22 17
+
diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_23.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31cc87dbd256715016b0de46987a27c94632c315
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_23.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.01481062 0.03211945 -0.03524187
+v 0.00008986 0.03521431 -0.03524186
+v 0.00008986 0.03939412 -0.02661231
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+v -0.01445616 0.04723263 -0.03524182
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+v -0.01216310 0.04747958 -0.02661228
+v -0.01216310 0.04785773 -0.03524181
+v -0.00111502 0.04951843 -0.03524181
+v -0.00111502 0.04898187 -0.02661227
+v -0.00995319 0.04799908 -0.02661227
+v -0.00774328 0.04840275 -0.02661227
+v -0.00327971 0.04942645 -0.03524181
+v -0.00262476 0.04945711 -0.03524181
+v -0.00260288 0.04893758 -0.02661227
+v -0.00553483 0.04869742 -0.02661227
+v -0.00489155 0.04875703 -0.02661227
+v -0.00370856 0.04886604 -0.02661227
+f 1 2 3
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+f 18 22 19
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+
diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_24.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a29b1bc929783ba32e8d62c589b73ef516f4cb7e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_24.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+v -0.01481062 0.04672646 -0.02661228
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+
diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_25.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..321bda9afcd2217bc6686d147739225ffcc89714
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_25.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.02647381 -0.02801589 -0.02943833
+v -0.02647381 -0.04076758 -0.02943838
+v -0.02647381 -0.02901115 -0.02015323
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+
diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_26.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..585bf1d3fc1e7b45ab872187de00a20f8b9d5516
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_26.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.02662887 -0.04094441 -0.03556117
+v 0.02770738 -0.04046341 -0.03556117
+v 0.02662887 -0.04069992 -0.03195031
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+v 0.02833426 -0.03958160 -0.03195031
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+v 0.02662887 -0.02677906 -0.03195026
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+v 0.02889823 -0.03917275 -0.03195030
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+v 0.03350660 -0.03540093 -0.03195029
+v 0.03224834 -0.03650322 -0.03195029
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+v 0.03461207 -0.03433472 -0.03195029
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+v 0.04958084 -0.00080921 -0.03556102
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+v 0.04001808 -0.02868700 -0.03556113
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+
diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_27.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79db0c9689ebd15bff31e9e95db55281759d6845
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_27.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.01465680 0.03216140 -0.03524187
+v 0.02673405 0.02313026 -0.03524191
+v 0.01465680 0.03657220 -0.02661232
+v 0.01465680 0.04717564 -0.03524182
+v 0.02673405 0.02900271 -0.02661234
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+
diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_28.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3adf3eadeed0efeadbecf3939718b8174046dd33
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_28.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v -0.04959142 -0.00080984 -0.03556137
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+
diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_29.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c72db46b6fb9db3657d2bafc045da88f6859e59
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_29.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_3.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23eca872bb0aa5c7ed9eca0b37835c68e0477684
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_3.obj
@@ -0,0 +1,547 @@
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+
diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_30.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68a0b5a90287c201f00b5097d94f9d73640c70b4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_30.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.00009177 -0.04913315 -0.03556155
+v 0.00109596 -0.04913491 -0.03556155
+v 0.00009177 -0.04846846 -0.02943841
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+v 0.00234269 -0.04909622 -0.03556155
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+v 0.00338234 -0.04904874 -0.03556155
+v 0.00313129 -0.04838229 -0.02943841
+v 0.01436744 -0.03564723 -0.02943836
+v 0.01458161 -0.03556810 -0.02944495
+v 0.01458161 -0.04685238 -0.03556154
+v 0.00772390 -0.04787584 -0.02943841
+v 0.00551553 -0.04817303 -0.02943841
+v 0.00423618 -0.04830843 -0.02943841
+v 0.00382344 -0.04833657 -0.02943841
+v 0.01214347 -0.04743444 -0.03556154
+v 0.00993368 -0.04747491 -0.02943840
+v 0.01458161 -0.03609037 -0.02943836
+v 0.01458161 -0.04628440 -0.02943840
+v 0.01444261 -0.04693327 -0.03556154
+v 0.01214347 -0.04696670 -0.02943840
+v 0.01420575 -0.04639870 -0.02943840
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+f 1 18 9
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+
diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_31.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b96ff069bbcf0f04d1bf0ff0877e07df5ce98b3a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_31.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.02662887 -0.04070215 -0.03026885
+v 0.02662887 -0.04069966 -0.03194915
+v 0.02684012 -0.04056551 -0.03194915
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+v 0.02672771 -0.04063512 -0.02015352
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+v 0.02833240 -0.03958171 -0.03194915
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+v 0.03459224 -0.01532214 -0.03194906
+v 0.02860179 -0.03940035 -0.03194914
+v 0.02798549 -0.03981032 -0.02015352
+v 0.03626475 -0.01532219 -0.02015343
+v 0.04642584 -0.01532214 -0.03194906
+v 0.02982274 -0.03847121 -0.03194914
+v 0.02927816 -0.03888117 -0.02015351
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+v 0.03114254 -0.03744766 -0.03194914
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+
diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_32.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6c7c9dd22fd2def9e2b3a7ed2be9b63c5343d71
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_32.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.01458161 -0.04685366 -0.03556154
+v 0.02066774 -0.04454014 -0.03556153
+v 0.01656394 -0.04562334 -0.02943840
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+
diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_33.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10ed0d5b63c28a7e332c241214f560d717b29ece
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_33.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.03459140 -0.01532214 -0.03194906
+v 0.04642690 -0.01532214 -0.03194906
+v 0.03626468 -0.01532219 -0.02015343
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diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_4.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..874f7c1da6bbaa23952c4ddc580bfa10a09f7f4e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_4.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_5.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..940f9ebedc3975bde95f11c58821a424887c8a58
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_5.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v -0.00693075 -0.05141841 0.03495403
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+v -0.00693075 -0.05137228 0.03717769
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diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_6.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17411b562229fe90eb37b730f7917d6cfb89914e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_6.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.01435403 0.04338804 0.08308761
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diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_7.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce1daffb4079dfcb3b21b2745337d485956211f8
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_7.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_8.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e956fc389ef405d378b93fa18a15a1fb25cce79f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_8.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_9.obj b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..caafec3df8fe42a662410603dd93269409748d1b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/mesh/pen_holder_033_collision_9.obj
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diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/pen_holder_033.xml b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/pen_holder_033.xml
new file mode 100644
index 0000000000000000000000000000000000000000..98dadd3871f038a2381fdda499f2953876c70ec0
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/mjcf/pen_holder_033.xml
@@ -0,0 +1,82 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="pen_holder_033">
+  <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_033.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/pen_holder_033_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/pen_holder_033_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/pen_holder_033_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pen_holder_033_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pen_holder_033_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pen_holder_033_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pen_holder_033_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/pen_holder_033_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/pen_holder_033_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/pen_holder_033_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/pen_holder_033_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/pen_holder_033_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/pen_holder_033_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/pen_holder_033_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pen_holder_033_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/pen_holder_033_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/pen_holder_033_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/pen_holder_033_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/pen_holder_033_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/pen_holder_033_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/pen_holder_033_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/pen_holder_033_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/pen_holder_033_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/pen_holder_033_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/pen_holder_033_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/pen_holder_033_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/pen_holder_033_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/pen_holder_033_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/pen_holder_033_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/pen_holder_033_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/pen_holder_033_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/pen_holder_033_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/pen_holder_033_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/pen_holder_033_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="pen_holder_033">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/pen_holder_033.urdf b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/pen_holder_033.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..43c8cf1bbe58d1ad9f1aa6c5f19cd1be07e9b680
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/dc011480cd305f6bb6581bfd17737168/pen_holder_033.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_033">
+   <link name="pen_holder_033">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_033.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_033_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2500" />
+         <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>dc011480cd305f6bb6581bfd17737168</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>pen_holder</category>
+         <name>leica pen holder</name>
+         <color>black,red</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>black cylindrical pen holder with red rim and leica badge</description>
+         <min_height>0.1350</min_height>
+         <max_height>0.1350</max_height>
+         <real_height>0.1350</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.35</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611145410</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.051871 -0.051533 -0.052038</min>
+            <max>0.051851 0.052136 0.082962</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>7</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>
+</robot>
\ No newline at end of file
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