diff --git a/.gitattributes b/.gitattributes
index 76601894b9a6475f5869ae927efeb60cd55c136b..e3795e424e82f019e3871615553c4e72b3f3017a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5388,3 +5388,4 @@ dataset/desktop_supplies/office_stationery/f1853df5610251939b9a65bdc731fb97/mesh
 dataset/desktop_supplies/office_stationery/f3a13eb8170857009ed274c7bd71cffe/f3a13eb8170857009ed274c7bd71cffe.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/fd05d92d289d5d54a4fdd2fe2ec7d9b9/ballpoint_pen_037.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/fd05d92d289d5d54a4fdd2fe2ec7d9b9/mesh/ballpoint_pen_037.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/fd1f07a35aee503ca10ca6800b6117e1.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/fd1f07a35aee503ca10ca6800b6117e1.urdf b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/fd1f07a35aee503ca10ca6800b6117e1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bed36de868e9db21616ed1978b6414d8e2c5a6a4
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/fd1f07a35aee503ca10ca6800b6117e1.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="pen_holder_42">
+   <link name="pen_holder_42">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_42.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/pen_holder_42_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.80</mu1>
+            <mu2>0.60</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5500" />
+         <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>0.140000</scale>
+         <version>v0.1.5</version>
+         <category>pen holder</category>
+         <description>cylindrical white pen holder with two pens inserted</description>
+         <min_height>0.12</min_height>
+         <max_height>0.16</max_height>
+         <real_height>0.14</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.7</max_mass>
+         <generate_time>20251014174133</generate_time>
+         <gs_model>mesh/pen_holder_42_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.830293655395508</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>4</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/fd1f07a35aee503ca10ca6800b6117e1.usd b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/fd1f07a35aee503ca10ca6800b6117e1.usd
new file mode 100644
index 0000000000000000000000000000000000000000..58a48e686f20a4b426d99b50f1d52c54904f8bdc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/fd1f07a35aee503ca10ca6800b6117e1.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63aaede6636ad0493c6fb0f5b08b5996e869b901aa3b1178046c4a35e8f60c50
+size 647574
diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f64940a4a519ad8b751dfac94d4a09e80bee1773
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c1e1810b012bb7a1c0ea48e54d50c0c81c26fe287134822cafc0969bee13faf
+size 1087625
diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mesh/pen_holder_42.glb b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mesh/pen_holder_42.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9cb0471d2f1d092246b78cc4fffbb0d20f62589d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mesh/pen_holder_42.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5aaf0b8860f497d2e24b7c9d04f7504e0b3739c373e5e952c1000a4ca27b16a8
+size 1524472
diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mesh/pen_holder_42.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mesh/pen_holder_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..793edf9fa27e618b6c0cfc8b63cf32ad54c6bd61
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mesh/pen_holder_42.obj
@@ -0,0 +1,39836 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mesh/pen_holder_42_collision.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mesh/pen_holder_42_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37552fa6b1df5d81acafa530ae3f7b5a5654a1dc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mesh/pen_holder_42_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mesh/pen_holder_42_gs.ply b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mesh/pen_holder_42_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..47ce028e9e7a42bbbb9b8ef6d6e81c34f428f1f8
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+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mesh/pen_holder_42_gs.ply
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/fd1f07a35aee503ca10ca6800b6117e1.xml b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/fd1f07a35aee503ca10ca6800b6117e1.xml
new file mode 100644
index 0000000000000000000000000000000000000000..046148d9567c9888810014dd0c50b052ac2df127
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+    <mesh name="collision_mesh_0_0" file="mesh/pen_holder_42_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_2" file="mesh/pen_holder_42_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/pen_holder_42_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/pen_holder_42_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/pen_holder_42_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/pen_holder_42_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_8" file="mesh/pen_holder_42_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_13" file="mesh/pen_holder_42_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/pen_holder_42_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec3504d0ff3506794027430b37f2f342e1a0a0f9
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+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a88eb014e909797bb6964ecc7de163f6fd55635
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision.obj
@@ -0,0 +1,17374 @@
+# https://github.com/mikedh/trimesh
+
+o pen_holder_42_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_0.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fe2919f3ab38dde8626669858a4446412609406
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_0.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_1.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2457a9d9a392edea7f80662fea0e90b76d6308bc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_1.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_10.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44a22217100d4df783ca7a980e6c30babb31c58c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_10.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_11.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e54ab7ce89b18b2b8e0531a5a81eb09c2559a65
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_11.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_12.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb846476b0414889be6a41c4c878fa02182c495e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_12.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_13.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2b5f00fa2aee3cf7c9323a2082db85348f72f8f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_13.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_14.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f435193d5adf99bc4ec7bccf625754628aa2b705
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_14.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_15.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e20dec699c402c6b680468d42c847a125df99f47
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_15.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_16.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e617be5a09ed5129de085b3a068f01f30e849782
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_16.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_17.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03fbac989efdaab4f166986f8b8833559ad6c784
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_17.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_18.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..998222a222449f00808232ad271cd13ca13c3a7d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_18.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_19.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0c8add62e04759196a79f0b3cd58809c19b3423
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_19.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_2.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84a74054d884daad522e5169c6f2ae0b755084c2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_2.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_20.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f66c5060652c301b618f778efe21333137658409
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_20.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_21.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fda541504eae40a7522ca9cf835060699cfbc0e
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_21.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_22.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9c58826bdda26f542cf7bbabc419f25900e9800
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_22.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_23.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afdd96be273356f33f63d34f799337ed0e8ee75d
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_23.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_24.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cfeb29dbb8c837bcf13d9f40b1ed0d59007c82a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_24.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_25.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..131f72a546a31a2c3ba9b4f9b3b7f3b5e0f8e904
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_25.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_26.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39e88b8b21b16cbf8a6009d62635ef7a296dfc96
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_26.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_27.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c0d23f540291a24ef473ab077df35ff27dd9853
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_27.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_28.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cf6fb3b394db6e8fd3074f61f6e3ea6719d3d95
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_28.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_3.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cf3617b2c3c168845702d6edf9150f466e3f342
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_3.obj
@@ -0,0 +1,925 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_4.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc6e70f3af0bfb75fb65ea41c3729ebf6a7ea478
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_4.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_5.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e4ae53e01f55dc8139e489ce93833d533639a07
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_5.obj
@@ -0,0 +1,616 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_6.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbda08e95d8f4e250d09bc75b6e9c394ebcb390a
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_6.obj
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_7.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..983db6c03c96498dbd621cd71c554866ccbe604b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_7.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_8.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e9d2abb61e166b1f9ea6ae3536cfa953372fc3f
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_8.obj
@@ -0,0 +1,508 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_9.obj b/dataset/desktop_supplies/office_stationery/fd1f07a35aee503ca10ca6800b6117e1/mjcf/mesh/pen_holder_42_collision_9.obj
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