diff --git a/.gitattributes b/.gitattributes
index 7fbab32efde0b775b087ed42adcfc7f7b3bec158..b988e00bb72e62d1e79008e491098cfaf7635d40 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3413,3 +3413,6 @@ dataset/desktop_supplies/office_tools/a425eea88eaf592d946d44e8f80a762a/mesh/scot
dataset/desktop_supplies/office_tools/a425eea88eaf592d946d44e8f80a762a/scotch_tape_030.usd filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/mesh/stamp_001.glb filter=lfs diff=lfs merge=lfs -text
dataset/desktop_supplies/office_tools/a2149668ce705fc5b60bf651272781f1/stamp_001.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/a467d91d11fe5b4485f1c452fbba4d50.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mesh/pen_holder.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mesh/pen_holder_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/a467d91d11fe5b4485f1c452fbba4d50.urdf b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/a467d91d11fe5b4485f1c452fbba4d50.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6652ca5ddf7ce0b1ea971585f49a7acfba01e76c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/a467d91d11fe5b4485f1c452fbba4d50.urdf
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+ mesh/pen_holder_gs.ply
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/a467d91d11fe5b4485f1c452fbba4d50.usd b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/a467d91d11fe5b4485f1c452fbba4d50.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/a467d91d11fe5b4485f1c452fbba4d50.usd
@@ -0,0 +1,3 @@
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+size 1619605
diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mesh/material.mtl b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
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+newmtl material_0
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mesh/material_0.png b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mesh/material_0.png
new file mode 100644
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mesh/pen_holder.glb b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mesh/pen_holder.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d1f08108865197642acad86e9fc4ac9cede1a089
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mesh/pen_holder.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d281ae5418fb264a3060ec17a4d9c444a7bc27b258a3e3bb031bc00d49596967
+size 4563180
diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mesh/pen_holder.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mesh/pen_holder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2b83adca80bcdcffa80c96ebef1661ddff5f823
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mesh/pen_holder.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mesh/pen_holder_collision.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mesh/pen_holder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bb182067db8644b65cdb96808e9c2923316c92c
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mesh/pen_holder_collision.obj
@@ -0,0 +1,19517 @@
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mesh/pen_holder_gs.ply b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mesh/pen_holder_gs.ply
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/material_0.png
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec88f258f90f0788189759a076e816040c037338
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision.obj
@@ -0,0 +1,19517 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_0.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b260fbaa50abfa050b6f06ec3dda98bb3071963
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_1.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0a5aba09a78447a55c0e9bd9e002f7a5e9fac7a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_10.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..110c206cc6ffe4cc3ab5c2aa7ce7762661753ad9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_10.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_11.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dea7063772218908bf16c0e2b07f085300602c8
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_11.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_12.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d227e59a874be38bacd9de348fd85e64c129c145
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_12.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_13.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ae2c565c2c2b53ad1ecbe14f1e04eb810abbd60
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_13.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_14.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a58faf33ae18073d60c70da7bbb2fb2bfc7e8b15
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_14.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_15.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b66a32096034a65b7fb3e592bb0f8f97d2aa196a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_15.obj
@@ -0,0 +1,199 @@
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_16.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09088ff4d23c2c97009f52b1781bcbe107f2fc9b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_16.obj
@@ -0,0 +1,535 @@
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_17.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3926fe401e969c41ed9d568e1b7913d49ce44d4e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_17.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_18.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdd569991d04960d85647a4271d921b05b8b7a5f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_18.obj
@@ -0,0 +1,292 @@
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_19.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59ee599e9262a25822a7289d8ebb8606330b5983
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_19.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_2.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c938702928bf24e60ad4f39da623a25e6be2f8b0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_2.obj
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_20.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08c5155c601d13f87be29c73be2697476c986df0
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_20.obj
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+
diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_21.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29083ea9caa2432634dc37824e64f1f7f43b7310
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_21.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.04711152 -0.04082302 0.04271688
+v 0.04327676 -0.04082302 0.04271688
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+
diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_22.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58496fe9d5ec6a8cafd012394958edde280a7c7a
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_22.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.02450438 -0.05510734 -0.03564501
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+
diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_23.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71cdf431e2365f7deb990d7a0f6d07d3317450fc
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_23.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_24.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b07b55bc391edace844e274b69bb28a9ba49d5e3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_24.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_25.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16a5461ec56527872aedc711a2a7d65b8f213d4b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_25.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_26.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3957a0f01b8ef90bd5fb203576563c067e7a0ad3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_26.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.02486204 -0.05527808 -0.03873810
+v -0.02486204 -0.05720870 -0.03873811
+v -0.02486204 -0.05525927 -0.03778954
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+v -0.00006368 -0.06321561 -0.03873813
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+v -0.02241984 -0.05887684 -0.03562718
+v -0.02486204 -0.05754479 -0.03564325
+v -0.02486204 -0.05507382 0.00758835
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+v -0.00006368 -0.06053215 0.03546619
+v -0.00108086 -0.06328676 -0.03562719
+v -0.00108086 -0.06323769 -0.03873813
+v -0.00006368 -0.06332686 -0.02596479
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+v -0.01620264 -0.06120159 -0.03562718
+v -0.01620264 -0.06128912 -0.02698569
+v -0.01791170 -0.06075926 -0.02266896
+v -0.02412161 -0.05856453 -0.01834419
+v -0.02400994 -0.05850727 -0.02698567
+v -0.02486204 -0.05811885 -0.02698567
+v -0.02486204 -0.05507715 0.02487133
+v -0.02486204 -0.05524237 0.03567521
+v -0.00006368 -0.06053952 0.03706587
+v -0.00006368 -0.06053706 0.03665590
+v -0.00324146 -0.06332928 -0.03562719
+v -0.00540206 -0.06314937 -0.03778957
+v -0.00540206 -0.06309704 -0.03873813
+v -0.00006368 -0.06340461 -0.00868181
+v -0.00606966 -0.06301772 -0.03873813
+v -0.00689749 -0.06290570 -0.03778957
+v -0.00872065 -0.06275691 -0.02630241
+v -0.00875949 -0.06276919 -0.02482331
+v -0.00912607 -0.06283059 -0.00538598
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+v -0.01797725 -0.06077339 0.04213823
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+v -0.01188387 -0.06202123 0.04338420
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+v -0.02052385 -0.05985674 0.04213823
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+v -0.02486204 -0.05772252 0.04338422
+v -0.02486204 -0.05797353 0.03553051
+v -0.02486204 -0.05801604 0.03351282
+v -0.02486204 -0.05683203 0.04338422
+v -0.00006368 -0.06318157 0.04338420
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+v -0.00324146 -0.06338436 0.04338420
+v -0.00527825 -0.06307935 0.04338420
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+f 3 7 8
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+f 4 51 67
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+f 10 17 18
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+f 46 66 63
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+f 46 65 47
+f 48 66 49
+f 52 54 55
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+f 56 67 68
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+
diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_27.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..798979633b21e5a35b83ed20d6e7924334821c29
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_27.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.05728897 -0.02159154 0.04272565
+v 0.05741194 -0.02130622 0.04272565
+v 0.05492731 -0.02159154 0.04272565
+v 0.05735943 -0.02159152 0.03893240
+v 0.05774029 -0.02054111 0.04272565
+v 0.05489075 -0.02113079 0.04272565
+v 0.05463418 -0.02159152 0.03781772
+v 0.05774760 -0.02054110 0.04214336
+v 0.05747575 -0.02159149 0.02917476
+v 0.05786526 -0.02007825 0.04272566
+v 0.05827936 -0.00546736 0.04272571
+v 0.05860705 -0.00344047 0.04194378
+v 0.05867485 0.00000039 0.03558843
+v 0.05862434 0.00000039 0.03449039
+v 0.05858910 0.00000040 0.03350047
+v 0.05848874 0.00000043 0.02485752
+v 0.05809923 0.00000066 -0.03778937
+v 0.05454910 -0.02159143 0.01405166
+v 0.05778749 -0.02054106 0.02917476
+v 0.05820092 -0.01909753 0.03133759
+v 0.05748106 -0.02159145 0.01948366
+v 0.05785927 -0.02047950 -0.04223987
+v 0.05918866 -0.01405255 0.04272568
+v 0.05846614 -0.01775335 0.03952303
+v 0.05874464 -0.00337285 0.04272572
+v 0.05960542 0.00000036 0.04272573
+v 0.05809657 0.00000067 -0.03995219
+v 0.05444208 -0.02159124 -0.03848821
+v 0.05846614 -0.01801540 0.03133759
+v 0.05790979 -0.02029985 -0.04223986
+v 0.05748438 -0.02159122 -0.04223987
+v 0.05967255 -0.01188828 0.04214340
+v 0.06060579 -0.00693627 0.04272570
+v 0.05882308 -0.01621468 0.03781774
+v 0.06081118 0.00000036 0.04272573
+v 0.05444607 -0.02159123 -0.03995227
+v 0.05815573 0.00000068 -0.04223979
+v 0.05449925 -0.02159122 -0.04223987
+v 0.06051871 -0.00868831 0.02192936
+v 0.06050542 -0.00866297 0.02603872
+v 0.05936746 -0.01422343 -0.04223984
+v 0.06087897 -0.00540183 0.04214342
+v 0.06086036 -0.00540184 0.04272571
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+v 0.06115150 0.00000039 0.03565498
+v 0.06123192 0.00000068 -0.04223979
+v 0.06076398 -0.00763342 -0.04223982
+v 0.06078392 -0.00752140 -0.04223982
+v 0.06108170 -0.00554736 -0.04223981
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+v 0.06109367 -0.00323758 0.04272572
+v 0.06117077 -0.00107540 0.03565498
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+v 0.06119736 -0.00323726 -0.04223980
+v 0.06122993 -0.00123574 -0.04223979
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+f 1 52 44
+f 1 44 35
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+f 1 25 11
+f 1 11 6
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+f 50 51 52
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+f 54 58 59
+f 54 59 56
+
diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_28.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b95c5fb44d342e5f09d5b35d1275f63ed1a5baf5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_28.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.04132716 -0.04698578 -0.03562557
+v -0.04331046 -0.04551287 -0.03130824
+v -0.04327155 -0.04548385 -0.03275572
+v -0.04446713 -0.04363603 -0.03873806
+v -0.04132716 -0.04661090 -0.03632003
+v -0.04132716 -0.04687725 0.04673835
+v -0.04987218 -0.03697530 -0.02266519
+v -0.04711206 -0.04052574 -0.03562555
+v -0.04599586 -0.04193818 -0.03873805
+v -0.04193429 -0.04630162 0.04673835
+v -0.04304426 -0.04524953 0.04430358
+v -0.04404681 -0.04416842 0.04430359
+v -0.04511318 -0.04303893 0.03997789
+v -0.04597251 -0.04195782 0.03997790
+v -0.04984572 -0.03695855 0.02701756
+v -0.04507582 -0.04301929 -0.03873806
+v -0.04399543 -0.04388514 -0.03873806
+v -0.04132716 -0.04607880 -0.03699775
+v -0.04132716 -0.04367262 0.04673836
+v -0.05161886 -0.03419870 -0.03873803
+v -0.05066457 -0.03568371 -0.03873803
+v -0.05020533 -0.03637060 -0.03873803
+v -0.04981925 -0.03692687 -0.03873804
+v -0.05237856 -0.03323883 0.04673840
+v -0.04286834 -0.04529549 0.04673835
+v -0.04402657 -0.04404750 0.04673836
+v -0.04782505 -0.03932400 0.04673838
+v -0.04976944 -0.03686187 0.04349201
+v -0.04306761 -0.04400124 -0.03873806
+v -0.04132716 -0.04520085 -0.03739936
+v -0.04245114 -0.04400124 -0.03873806
+v -0.05507174 -0.02227780 0.04662967
+v -0.05374694 -0.02454401 0.04673843
+v -0.04132716 -0.04338480 0.04442909
+v -0.05469501 -0.02227779 0.04430367
+v -0.05393064 -0.03017659 -0.03873801
+v -0.05608675 -0.02585489 0.04673843
+v -0.05453466 -0.02907885 0.04430364
+v -0.04132716 -0.04462765 -0.03712324
+v -0.04261771 -0.04206153 -0.03873805
+v -0.05683866 -0.02227780 0.04653763
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+v -0.05478686 -0.02295984 0.04673844
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+v -0.05446617 -0.02912940 -0.02266516
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+v -0.05658958 -0.02480280 0.04673843
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+v -0.04317503 -0.04105056 -0.03873805
+v -0.04132716 -0.04360218 -0.03562556
+v -0.05674681 -0.02293082 0.04673844
+v -0.05693985 -0.02227780 0.04616112
+v -0.04132716 -0.04290820 0.00773180
+v -0.05435097 -0.02227765 0.00541424
+v -0.05703481 -0.02227749 -0.03821923
+v -0.05643235 -0.02450020 -0.02914950
+v -0.05709552 -0.02270561 -0.02914949
+v -0.05700056 -0.02227749 -0.03873798
+v -0.05722006 -0.02227779 0.04432040
+v -0.05722940 -0.02227752 -0.02914949
+v -0.05417816 -0.02227749 -0.03873798
+v -0.05414859 -0.02227749 -0.03779251
+v -0.04132716 -0.04324187 -0.01836461
+f 1 2 3
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+f 1 5 18
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+f 1 30 39
+f 1 39 52
+f 1 52 54
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+f 47 60 61
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+f 53 65 54
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+f 57 66 58
+f 59 61 64
+
diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_29.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b28f6055440c2ddd56fe85ffabc5b2094509b3b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_29.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.00006125 -0.06048575 -0.04224832
+v 0.02500187 -0.05510731 -0.04224830
+v -0.00006125 -0.06358712 -0.04224833
+v -0.00006125 -0.06045692 -0.03995216
+v 0.02450184 -0.05510734 -0.03564793
+v 0.03146827 -0.05510731 -0.04224830
+v 0.00522917 -0.06398048 -0.04224834
+v 0.00540202 -0.06403731 -0.03778698
+v 0.00540202 -0.06403646 -0.03346531
+v 0.00540202 -0.06399995 0.02485538
+v 0.00108079 -0.06352801 0.04694391
+v -0.00006125 -0.06336805 0.04694391
+v -0.00006125 -0.06044993 -0.03855526
+v -0.00006125 -0.06051580 0.04694392
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_3.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3e32d1af63608ee28656d0623074a5173f2153b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_30.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..060f44a98d92b6ef3254b9bb2839d7a6cb548dd1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_30.obj
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_31.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3889c72c0d394781293fdddb7247bae5d394eab7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_31.obj
@@ -0,0 +1,442 @@
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_32.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..920ecd623b17178a229a61a04115e1b505e22f9f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_32.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_33.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58d5d69efabebe5bf42b5fa24b6337b3720c3fa9
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_33.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_34.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82ea3e25dd7f3035f7c1e85f5fcf6377931595c7
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_34.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_35.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25dd64e4a131e6669570a3f78454a54154c4f973
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_35.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.05136355 0.02729902 -0.05071060
+v -0.05780754 0.02729902 -0.05071060
+v -0.05137531 0.02729902 -0.05059686
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_36.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3107bf805a97a4ed886046d5d9096633f37b9c3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_36.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_37.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04fa2778a7ff2d2f3c19cc9d9fca612a8c9c1a57
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_37.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_38.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d141249f9ad75475e5887d73e7a1be46cf6233bd
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_38.obj
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_39.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe15a480c5cd5fde832fb972d95c0e46f57930ac
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_39.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_4.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df1d08a25bfe36469678e3008e516f81ccd255c2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_4.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_40.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ab1894f863a6a992777c579a7bba6dd27f1d09b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_40.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_41.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..114167d4f4d98cfd760c624e78cf831c9b98d8d3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_41.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_42.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2594aed2d307956fcdb8293522b56ad63000ee62
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_42.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_43.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f20e7710fd36ff2c77f17e76c4b00d75ef0d5ff
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_43.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_44.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..919645c520d89de68658be570e08e5a3c6963e85
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_44.obj
@@ -0,0 +1,361 @@
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+
diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_45.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6494ac2778a406fbadf9ce348edd0a7ec9d5af14
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_45.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.06108711 0.00000044 0.02230019
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+
diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_46.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d873801e27eb12ccbf5ff3d1319ed6d47aa752e2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_46.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.05697409 0.02191857 0.00080142
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+
diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_47.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27894d7b7d6b697d25c17c44f86090a12243b253
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_47.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
+v 0.05985487 0.02191837 0.05510708
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_48.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4f38486955be9fae6f0c6e5a717eab566760cdf
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_48.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_49.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9ebef4803792092933057719b8abee88f39723e
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_49.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_5.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9c88e5f8be254a6a74eee3d2cb39892bda01d45
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_5.obj
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_50.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9719ab7bbffde272dc868b89a6f2b742348d072
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_50.obj
@@ -0,0 +1,373 @@
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+
diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_51.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b179c1ac51156a0220f34ab5f60f0c9dcc3ce87
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_51.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.05893845 -0.00005523 0.00633137
+v -0.05831337 0.00192885 0.00633138
+v -0.06086580 -0.00005523 0.00633137
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+
diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_52.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef7b0cef0a80f95440400370e51d22a221b3a21f
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_52.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.02174104 0.05562191 -0.05071290
+v 0.02323115 0.05562188 -0.04427571
+v 0.03482059 0.05562191 -0.05071290
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+
diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_53.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efd0607d62f13444befadbdd73df00aeb64e253b
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_53.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v -0.00006125 0.06325052 -0.03936094
+v -0.00006125 0.06044574 -0.03936095
+v -0.00006125 0.06326618 -0.03881134
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_54.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72f7087e02c5df26ec68b5efe9206453995f3e43
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_54.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_55.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc6d9a4075a556ef85effee704ab4329aeca4b13
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_55.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_56.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da0fb1ff9d050e500bc8e23fe72eca65f37a0270
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_56.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+f 42 50 53
+f 42 53 43
+f 44 46 45
+f 48 54 55
+f 48 55 49
+f 50 52 53
+f 51 55 54
+f 51 54 52
+f 52 54 53
+
diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_57.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74eba9bb5a371a55dd3db0c346ef1f0bc90380c3
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_57.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.03283861 0.05050785 0.03998239
+v 0.03874025 0.04525487 0.03998237
+v 0.04395165 0.04090354 0.04629875
+v 0.03439674 0.04957890 0.04629878
+v 0.03433165 0.05049091 0.04629879
+v 0.03434792 0.05050783 0.04629879
+v 0.03284675 0.05050785 0.03953351
+v 0.04294544 0.04090366 0.01406344
+v 0.04289662 0.04090364 0.01824766
+v 0.04666245 0.04090354 0.04629875
+v 0.03694888 0.05050783 0.04629879
+v 0.03354377 0.05050797 0.00753465
+v 0.03436827 0.04959314 0.00830415
+v 0.04299155 0.04090367 0.01186712
+v 0.04617019 0.04188230 0.04629875
+v 0.04669228 0.04090355 0.04481584
+v 0.03732858 0.05033483 0.04629878
+v 0.03734078 0.05050787 0.03593043
+v 0.03358445 0.05050797 0.00752664
+v 0.03836597 0.04812171 0.00535436
+v 0.03836597 0.04669917 0.00535435
+v 0.03837411 0.04665122 0.00535435
+v 0.03899384 0.04560100 0.00535435
+v 0.04333057 0.04090369 0.00587936
+v 0.04315699 0.04104942 0.00598757
+v 0.04302545 0.04090367 0.01124590
+v 0.04520873 0.04304253 0.04629876
+v 0.04639530 0.04090369 0.00535433
+v 0.04585965 0.04170099 0.00535433
+v 0.04582981 0.04174424 0.00541846
+v 0.04508940 0.04295330 0.02270041
+v 0.04412930 0.04405608 0.04629876
+v 0.04295629 0.04525016 0.04430286
+v 0.03858973 0.04942568 0.03566189
+v 0.03756725 0.05039975 0.03350166
+v 0.03744791 0.05050788 0.03134142
+v 0.03521581 0.05050797 0.00776711
+v 0.03973697 0.04811325 0.00535436
+v 0.03902367 0.04556997 0.00535435
+v 0.04371705 0.04090369 0.00546655
+v 0.04298341 0.04530097 0.03350164
+v 0.04411980 0.04409377 0.02486466
+v 0.04402895 0.04090369 0.00535433
+v 0.04582846 0.04174424 0.00535433
+v 0.04495108 0.04281420 0.00757871
+v 0.03865482 0.04946146 0.02054019
+v 0.03754284 0.05043831 0.03134142
+v 0.03757403 0.05038851 0.02054020
+v 0.03748453 0.05037821 0.01189923
+v 0.03692175 0.05050795 0.01250842
+v 0.03642543 0.05050796 0.00989529
+v 0.04081640 0.04738083 0.00535435
+v 0.04291832 0.04509328 0.00757872
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 18
+f 1 18 36
+f 1 36 50
+f 1 50 51
+f 1 51 37
+f 1 37 19
+f 1 19 12
+f 1 12 7
+f 1 7 8
+f 1 8 9
+f 1 9 2
+f 2 9 3
+f 3 10 15
+f 3 15 27
+f 3 27 32
+f 3 32 17
+f 3 17 11
+f 3 11 6
+f 3 6 5
+f 3 5 4
+f 3 9 8
+f 3 8 14
+f 3 14 26
+f 3 26 24
+f 3 24 40
+f 3 40 43
+f 3 43 28
+f 3 28 16
+f 3 16 10
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 10 16 15
+f 11 17 18
+f 12 19 20
+f 12 20 21
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+f 14 25 26
+f 15 16 28
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+f 15 31 27
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 35 18
+f 18 35 36
+f 19 37 38
+f 19 38 20
+f 20 38 52
+f 20 52 44
+f 20 44 29
+f 20 29 28
+f 20 28 43
+f 20 43 39
+f 20 39 23
+f 20 23 22
+f 20 22 21
+f 23 39 24
+f 24 39 40
+f 24 26 25
+f 27 41 33
+f 27 33 32
+f 27 31 42
+f 27 42 41
+f 29 44 30
+f 30 44 45
+f 30 45 31
+f 31 45 42
+f 33 41 34
+f 34 41 46
+f 34 46 47
+f 34 47 35
+f 35 47 36
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+f 36 48 49
+f 36 49 50
+f 37 51 38
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+f 38 49 52
+f 39 43 40
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+f 41 52 46
+f 42 45 53
+f 42 53 52
+f 44 52 45
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+f 46 52 49
+f 46 49 48
+f 46 48 47
+f 49 51 50
+
diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_58.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fcff08d73c60d0ee3d211e48bdbc1435857bff2
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_58.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v 0.02303900 0.05562329 -0.03563135
+v 0.02385857 0.05562332 -0.04231842
+v 0.03399733 0.04930030 -0.04231844
+v 0.03400370 0.04929771 -0.04211311
+v 0.02343844 0.05562314 0.00535438
+v 0.03122990 0.05562332 -0.04231842
+v 0.03489329 0.04903660 -0.04231844
+v 0.03470709 0.04903659 -0.04105382
+v 0.03533888 0.04903648 -0.01179497
+v 0.03541049 0.04903648 -0.00970905
+v 0.03171687 0.05142520 0.00535437
+v 0.02726415 0.05562314 0.00535438
+v 0.03628257 0.05155683 -0.02266787
+v 0.03873650 0.04962131 -0.02482846
+v 0.03754454 0.05037700 -0.03779194
+v 0.03509062 0.05235704 -0.04231843
+v 0.03010797 0.05562316 0.00114521
+v 0.03242663 0.05410025 0.00535438
+v 0.03514791 0.05234466 -0.00754846
+v 0.03650696 0.04903660 -0.04231844
+v 0.03613616 0.04903644 0.00102853
+v 0.03353901 0.05129367 0.00535437
+v 0.03630008 0.04903643 0.00211115
+v 0.03675203 0.04903643 0.00257314
+v 0.03759229 0.04903643 0.00278779
+v 0.02866458 0.05562314 0.00478507
+v 0.03750794 0.05041748 0.00109387
+v 0.03929507 0.04903653 -0.02482846
+v 0.03917731 0.04903656 -0.03347078
+v 0.03858850 0.04940523 0.00109386
+v 0.03859009 0.04950465 -0.03563137
+v 0.03742997 0.05042730 -0.03995252
+v 0.03629212 0.05125903 -0.04231843
+v 0.02968784 0.05562315 0.00325446
+v 0.03357243 0.05293261 0.00535437
+v 0.03723263 0.04922228 -0.04231844
+v 0.03746497 0.04903659 -0.04116581
+v 0.03355970 0.05129367 0.00535437
+v 0.03890519 0.04903644 0.00109386
+v 0.03357243 0.05290167 0.00535437
+v 0.03908820 0.04903657 -0.03563137
+v 0.03862510 0.04937442 -0.03779195
+v 0.03723422 0.05030030 -0.04231844
+v 0.03886381 0.04903658 -0.03779195
+v 0.03874764 0.04903658 -0.03809527
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 26
+f 1 26 34
+f 1 34 17
+f 1 17 6
+f 1 6 2
+f 2 6 16
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+f 2 33 43
+f 2 43 36
+f 2 36 20
+f 2 20 7
+f 2 7 3
+f 3 7 8
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+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 5 11 22
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+f 5 40 35
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+f 5 18 12
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+f 7 23 21
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+f 7 10 9
+f 7 9 8
+f 10 21 11
+f 11 21 23
+f 11 23 24
+f 11 24 25
+f 11 25 22
+f 12 18 26
+f 13 19 27
+f 13 27 14
+f 14 28 29
+f 14 29 15
+f 14 27 30
+f 14 30 28
+f 15 31 32
+f 15 32 16
+f 15 29 31
+f 16 32 33
+f 17 34 18
+f 18 34 26
+f 18 35 30
+f 18 30 27
+f 18 27 19
+f 20 36 37
+f 22 25 38
+f 25 39 35
+f 25 35 40
+f 25 40 38
+f 28 30 39
+f 29 41 31
+f 30 35 39
+f 31 41 32
+f 32 41 42
+f 32 42 43
+f 32 43 33
+f 36 43 44
+f 36 44 45
+f 36 45 37
+f 41 44 42
+f 42 44 43
+
diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_59.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f22df0d3beccaa91068b485ffaa99ccb9efc7d29
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_59.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.02342603 0.05562314 0.00541851
+v 0.02343839 0.05562314 0.00535438
+v 0.03170895 0.05141953 0.00541850
+v 0.03284536 0.05050879 0.03953351
+v 0.03283850 0.05050879 0.03998239
+v 0.02361818 0.05562306 0.02690471
+v 0.02726349 0.05562314 0.00535438
+v 0.03171581 0.05142554 0.00535437
+v 0.03354121 0.05050891 0.00753465
+v 0.03434685 0.05050877 0.04629879
+v 0.02401757 0.05562299 0.04629880
+v 0.03242538 0.05410029 0.00535438
+v 0.02966944 0.05562313 0.00951856
+v 0.03353983 0.05129387 0.00535437
+v 0.03358375 0.05050891 0.00752664
+v 0.03694770 0.05050877 0.04629879
+v 0.03011138 0.05562299 0.04629880
+v 0.03496310 0.05225553 0.00757874
+v 0.03478055 0.05215642 0.00609583
+v 0.03357277 0.05293337 0.00535437
+v 0.02999197 0.05562312 0.01141428
+v 0.03004276 0.05562312 0.01192328
+v 0.03031862 0.05562301 0.04208253
+v 0.03132877 0.05495321 0.03566191
+v 0.03246381 0.05412428 0.01621972
+v 0.03355905 0.05129387 0.00535437
+v 0.03521426 0.05050891 0.00776711
+v 0.03734023 0.05050881 0.03593043
+v 0.03617225 0.05136883 0.03998239
+v 0.03509211 0.05226643 0.03998239
+v 0.03248577 0.05417272 0.04565755
+v 0.03161973 0.05463379 0.04629880
+v 0.03016079 0.05562299 0.04583790
+v 0.03692025 0.05050889 0.01250842
+v 0.03508113 0.05230048 0.03782215
+v 0.03744591 0.05050882 0.03134142
+v 0.03478055 0.05153767 0.00609583
+v 0.03642341 0.05050890 0.00989529
+v 0.03357277 0.05290233 0.00535437
+v 0.03024039 0.05562300 0.04430289
+v 0.03132877 0.05495619 0.04430289
+v 0.03251047 0.05419076 0.04430289
+v 0.03616127 0.05144644 0.03782215
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 17
+f 1 17 33
+f 1 33 40
+f 1 40 23
+f 1 23 22
+f 1 22 21
+f 1 21 13
+f 1 13 7
+f 1 7 2
+f 2 7 12
+f 2 12 20
+f 2 20 39
+f 2 39 26
+f 2 26 14
+f 2 14 8
+f 2 8 3
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+f 4 9 15
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+f 4 36 28
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+f 4 16 10
+f 4 10 5
+f 5 10 11
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+f 7 13 12
+f 8 14 9
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+f 10 32 17
+f 10 17 11
+f 12 18 19
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+f 12 13 21
+f 12 21 22
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+f 12 24 25
+f 12 25 18
+f 14 26 15
+f 15 26 27
+f 16 28 29
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 17 32 31
+f 17 31 33
+f 18 34 19
+f 18 25 35
+f 18 35 36
+f 18 36 34
+f 19 37 39
+f 19 39 20
+f 19 34 38
+f 19 38 37
+f 23 40 41
+f 23 41 42
+f 23 42 24
+f 24 42 25
+f 25 42 35
+f 26 39 37
+f 26 37 27
+f 27 37 38
+f 28 36 43
+f 28 43 29
+f 29 43 30
+f 30 43 36
+f 30 36 35
+f 30 35 42
+f 30 42 31
+f 31 42 41
+f 31 41 33
+f 33 41 40
+
diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_6.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2be78ca9356062ab0f993a8966ac4a96665e084
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_6.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
+v -0.06336311 -0.00005845 -0.05213764
+v -0.05662637 -0.00005845 -0.05213764
+v -0.06336127 -0.00107475 -0.05213764
+v -0.06336587 -0.00107475 -0.05075647
+v -0.06336678 -0.00005845 -0.05075647
+v -0.05813968 -0.00005850 -0.03873921
+v -0.05397510 -0.02284624 -0.03873929
+v -0.05462366 -0.01405315 -0.05213769
+v -0.06333551 -0.00185414 -0.05213765
+v -0.06329411 -0.00323782 -0.05075648
+v -0.06336955 -0.00107476 -0.04859620
+v -0.06337139 -0.00005846 -0.04859620
+v -0.06336955 -0.00005846 -0.04961272
+v -0.06087282 -0.00005850 -0.03873921
+v -0.05397510 -0.03006333 -0.03873932
+v -0.05397510 -0.01917928 -0.05213771
+v -0.06328951 -0.00323782 -0.05213765
+v -0.06314600 -0.00540088 -0.05213766
+v -0.06314876 -0.00540088 -0.05075649
+v -0.06329779 -0.00323783 -0.04859621
+v -0.06334563 -0.00107477 -0.04643592
+v -0.06334839 -0.00005847 -0.04643592
+v -0.06299145 -0.00005848 -0.04491704
+v -0.06091146 -0.00107480 -0.03873921
+v -0.05411677 -0.02970282 -0.03873932
+v -0.05833378 -0.02593974 -0.04543786
+v -0.05626943 -0.03047188 -0.04522932
+v -0.05408733 -0.03472591 -0.04526082
+v -0.05397510 -0.03480488 -0.04520836
+v -0.05397510 -0.03512417 -0.05213777
+v -0.06306965 -0.00618371 -0.05213766
+v -0.06293441 -0.00756395 -0.05213767
+v -0.06315244 -0.00540089 -0.04859622
+v -0.06312300 -0.00540090 -0.04643594
+v -0.06326099 -0.00323784 -0.04643593
+v -0.06298961 -0.00107478 -0.04491573
+v -0.06315980 -0.00005847 -0.04563058
+v -0.06287554 -0.00540090 -0.04503249
+v -0.06294085 -0.00323784 -0.04495509
+v -0.06081763 -0.00323787 -0.03873922
+v -0.05722341 -0.02175784 -0.03873929
+v -0.05867324 -0.02507795 -0.04626812
+v -0.05836598 -0.02601527 -0.04687674
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+v -0.05697503 -0.02919464 -0.04643603
+v -0.06050669 -0.01948831 -0.04534340
+v -0.05950671 -0.02270544 -0.04643600
+v -0.05633567 -0.03060922 -0.04643603
+v -0.05580946 -0.03169075 -0.04643604
+v -0.05484996 -0.03352077 -0.04643604
+v -0.05413793 -0.03481174 -0.04643605
+v -0.05397510 -0.03508299 -0.04643605
+v -0.05397510 -0.03512760 -0.05075660
+v -0.05415357 -0.03482889 -0.05213777
+v -0.06293809 -0.00756396 -0.04859623
+v -0.06286358 -0.00815793 -0.05213767
+v -0.06292705 -0.00756397 -0.04643595
+v -0.06271271 -0.00897511 -0.04526859
+v -0.06278722 -0.00756397 -0.04515448
+v -0.06053797 -0.00878630 -0.03873924
+v -0.05763095 -0.02053897 -0.03873929
+v -0.05880756 -0.02486850 -0.04859629
+v -0.05837978 -0.02604960 -0.04859630
+v -0.05792533 -0.02713113 -0.04859630
+v -0.05703299 -0.02919463 -0.04859631
+v -0.06082774 -0.01837587 -0.04643599
+v -0.06052233 -0.01953981 -0.04643599
+v -0.06018931 -0.02062134 -0.04643600
+v -0.05843866 -0.01767205 -0.03873927
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+v -0.05955915 -0.02270543 -0.04859628
+v -0.05636511 -0.03066414 -0.04859631
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+v -0.05397510 -0.03512075 -0.04801265
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+v -0.05415357 -0.03483233 -0.05075660
+v -0.05489412 -0.03352075 -0.05075659
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+v -0.06274123 -0.00920858 -0.04859623
+v -0.06274031 -0.00917082 -0.04643595
+v -0.06273754 -0.00920170 -0.05213767
+v -0.06255724 -0.01025235 -0.04643596
+v -0.06226562 -0.01189010 -0.04643596
+v -0.05882411 -0.02486849 -0.05075656
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+v -0.05837978 -0.02604959 -0.05075657
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_7.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a847eaf80683e286fb03909e0ad900dc6776ca13
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_7.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_8.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..705ca04c93a193654b0c9e34169adca670477ee1
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_8.obj
@@ -0,0 +1,541 @@
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diff --git a/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_9.obj b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c826e8108045e0b31b459c52d8c068e59cb547c5
--- /dev/null
+++ b/dataset/desktop_supplies/office_tools/a467d91d11fe5b4485f1c452fbba4d50/mjcf/mesh/pen_holder_collision_9.obj
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