diff --git a/.gitattributes b/.gitattributes
index 0eb0e0794adefb1378a86fdf0ac85d3ac6731d50..a81eea57310e15b10a3b6a2b6e59d46bad7036f2 100644
--- a/.gitattributes
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dataset/bedroom_supplies/storage/cd5541648d70525baa5185529ceb10dd/basket_015.usd filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/cd5541648d70525baa5185529ceb10dd/mesh/basket_015.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mesh/glasses_case_036_collision.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mesh/glasses_case_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac468e89bbcfa6f20cbb40fdafcb83baa25d1fc9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mesh/glasses_case_036_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mesh/glasses_case_036_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mesh/glasses_case_036_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mesh/material.mtl b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mesh/material.mtl
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mesh/material_0.png b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mesh/material_0.png
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..990045720a7f50a0899e1198650b21ec4d84efb1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036.obj
@@ -0,0 +1,114368 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e47ae647964703467522b10bf686d111ba1c706d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision.obj
@@ -0,0 +1,19958 @@
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_0.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..612eed5040a5b0b2403c33abea09bc67de0ac2be
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_0.obj
@@ -0,0 +1,808 @@
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_1.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed7946aa98449f0a6c5e90ef1d8fe9998352c3f6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_1.obj
@@ -0,0 +1,418 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_10.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1b88921a15a3dac21cb99d8028941d7a991085f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_10.obj
@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_11.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86768aff22d885b64e712132c01783c89b5c6a50
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_11.obj
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_12.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84cc55056be4ed36c96dd5554a2779d85d660194
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_12.obj
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_13.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49129a32a61ee79f0abcd5ba516c7db57136884e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_13.obj
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_14.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6403ddeb4923deacef30bf48dd1c74623c66249c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_14.obj
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_15.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f2a79c896ffda518ed92de7356926725bd50f54
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_15.obj
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_16.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb64843893cd005621faddabfece5dbc82889f9f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_16.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_17.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4af63d81bdb7a5cc7430cb4d56925e334d06621
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_17.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_18.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9afc890e85bf7c0cdc4768f99889c1c46ffbebc9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_18.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.03960451 -0.06027199 0.00326510
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_19.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faa9bf530eb55a9374df4bf4d904b3d33295edae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_19.obj
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_2.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..298fa5de2c202229157bba844c686c64afbbe2e6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_20.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ae3cf375dae6140c8d1609663aeef7ad71267a3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_20.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_21.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7dacded1711d22c122ede534f1becc0ee8a2704
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_21.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_22.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbedf2eebca2d9d2b18409ee27c54d1a0a105e92
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_22.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_23.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e9fcca55b01b662157246bd91ba76861fa35a8f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_23.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_24.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b0139cfea9b1352b3812bdd7678fc1ca6928f54
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_24.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_25.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..affe263c04e40eb8d23e6c48b402032c8a64c0e5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_25.obj
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_26.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0de37fbead9776ad3d8441b6dd7885e991148b14
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_26.obj
@@ -0,0 +1,145 @@
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_27.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bf6efee14e8142772fbb9677f61185517b7b126
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_27.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_28.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bfb93427f3e7d8d85fdb6bec851ea8a70157879
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_28.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_29.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb0997d59e044274eb154a68dff31cfe63ee101a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_29.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+v 0.04014011 -0.05764722 -0.02103613
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+
diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_3.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a57f77c250b556325ccc6b664d957b85c8e136bf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_3.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.02773795 0.00423753 0.03571129
+v -0.03347264 0.00423760 0.01560162
+v -0.03782486 0.00423753 0.03571129
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_30.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36d1b784172e75d592224ae04be68fcfd92226b3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_30.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_31.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2315479daee102a36d24e34b05cfe4847b668cf1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_31.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_32.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eed2a8765d56efa910541ceced5b90aeeacc1bdb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_32.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_33.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10608b18c2fbbd1be1d07a60a43935c654f3c3b6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_33.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_34.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db306557d863cb855844ee3c50d5bab30c1269d6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_34.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_35.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8307f6a9e1691019745eba06900a28052aad1122
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_35.obj
@@ -0,0 +1,574 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_36.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3ff28cc235c6d8147a88747f84d0876a273ea72
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_36.obj
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_37.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f262ad70ef723342257d1d36c8b5e8abb8cb4d17
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_37.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_38.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdb8c605bc29a9b5fde4538f913c9549e84d1258
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_38.obj
@@ -0,0 +1,121 @@
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_39.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b5969a23e519904c7993fff4ee178f9ab66a973
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_39.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_4.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5eac78e2046bc642893bae3e5754ce99055c66a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_4.obj
@@ -0,0 +1,553 @@
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_40.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c078646429edb0abbf71e2bf0f62534fe8f5b69
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_40.obj
@@ -0,0 +1,169 @@
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+
diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_41.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e5334bbe26cab97c043fd3e52dcf4eb5a62acef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_41.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.01330682 0.02114766 -0.02010385
+v 0.03428604 0.02114766 -0.02010385
+v 0.01330682 0.02114764 -0.01444998
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+
diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_42.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46a731305ff609d4e0d1fdb75b685ae408fb5f84
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_42.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_43.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a469b6289722e5e57b0408dc963119af93686e8e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_43.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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+v -0.01744095 -0.06092691 -0.00492388
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+
diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_44.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2b3f99d80c338a64fb7d55787a9c188de4657bc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_44.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.03133808 0.07041384 -0.01444924
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_45.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..491a06c8852a69456c970e3f44fd442a24f95b0e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_45.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_46.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20b68ad3625cc6f76a7941d6d25c2f37398c2807
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_46.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_47.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a89a832892812ae19c4c917edb391b42863d231
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_47.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_48.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bf54c62fad7e85c93f6a694a672870897a67071
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_48.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_49.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16dc2c4382e2c980e3ba2d322c86f42675637dc0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_49.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_5.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffd8f5b2283bc716ce5412934479acf107effa3d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_5.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_50.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c6028370ba5eadee63cb6c1c96708ed234f4108
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_50.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v -0.01593533 -0.05715975 -0.00492366
+v -0.01189424 -0.05606739 -0.00492366
+v -0.01593533 -0.05713574 -0.00474198
+v -0.01593533 0.06547275 -0.00492321
+v -0.01146782 -0.05573127 -0.00492365
+v -0.01146782 -0.05581530 -0.00444428
+v -0.01593533 -0.05641550 -0.00413600
+v -0.01146782 -0.05463893 -0.00276097
+v -0.01593533 0.06547275 -0.00486180
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+v -0.01146782 0.05577355 -0.00492325
+v -0.01241556 -0.05449488 -0.00276097
+v -0.01384262 -0.05397871 -0.00276097
+v -0.01593533 -0.05480698 -0.00347918
+v -0.01146782 0.05465717 -0.00276057
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+v -0.01155092 0.05465717 -0.00276057
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+v -0.01593533 -0.05267028 -0.00276096
+v -0.01593533 -0.05329448 -0.00295535
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+
diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_51.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e5c354b76e2c2fdca574776f94402929505ad6e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_51.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.03784418 -0.07871899 -0.00276085
+v 0.04269850 -0.07628491 -0.00276084
+v 0.04279866 -0.07619900 -0.00267283
+v 0.04100495 -0.07670551 -0.00234870
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+v 0.03784418 -0.07779010 -0.00219281
+v 0.03784418 -0.06970571 -0.00273680
+v 0.04375730 -0.06043471 -0.00276078
+v 0.04550808 -0.07375775 -0.00276083
+v 0.04564856 -0.07361994 -0.00276083
+v 0.04578253 -0.07345886 -0.00276083
+v 0.04812124 -0.07058986 -0.00275576
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+
diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_52.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0beea0dfc5495cfe65fec3f18232ac846b3dc83b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_52.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.01165086 -0.00800894 -0.02010396
+v 0.01330682 -0.00800894 -0.02010396
+v -0.01165086 -0.00800896 -0.01445009
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+v 0.01330682 -0.00800896 -0.01445009
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+v -0.01165086 0.05237989 -0.01444987
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+
diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_53.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b48a37bade7f01692ba58962094a5f1075e8129
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_53.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.03428604 0.02114807 -0.02010385
+v 0.05053831 0.02114807 -0.02010385
+v 0.03428604 0.02114805 -0.01444998
+v 0.03428604 0.05465928 -0.02010373
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+v 0.05177550 0.05952872 -0.02010371
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+v 0.05176171 0.05663559 -0.01444985
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+
diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_54.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b40f45be5cd83297810c2d66f33c6801c431e546
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_54.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.05086964 0.02114430 -0.01444998
+v 0.05371694 0.00425333 -0.01445004
+v 0.05064969 0.02114432 -0.01862825
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_55.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34b9b0edf9d41537bb462e530c09743454f262ba
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_55.obj
@@ -0,0 +1,385 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_56.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9745757b2a23fc1aec5041016fe6f25e6a98e9a7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_56.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_57.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26db7b1eb178a15334bf5b5f3ab29a8e1d7d835a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_57.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_58.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25c4b848252caa4b83a9f6e7e38f9a79257be0ea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_58.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_59.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..930b46d7cf302a25fad6c9bfa279b8ea84f01e60
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_59.obj
@@ -0,0 +1,622 @@
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_6.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9166f16fafec51f73f499b4c217ebb82c3454388
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_6.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_60.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0b239800a82eaee433a86796e8bdda92c1ed992
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_60.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00712002 0.08027564 -0.01444922
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+
diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_61.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ddf3ff88687829da2bf0a7d1e2a9c20b4568575
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_61.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_62.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55f378cabd144089430882159ee32d5f615dd69c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_62.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_63.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52d9aeffe682130892fc17028feaee90fec5849b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_63.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_64.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45d50cb9ea88a6aff36de0e87441315cd8ec835c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_64.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_65.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98a15d36a787d625dae69605d218b3c345a7d1c7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_65.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.01716142 -0.05505060 -0.00276076
+v -0.01868846 -0.05505061 -0.00133085
+v -0.01575171 -0.06742476 -0.00275829
+v -0.01610539 -0.06684699 -0.00276081
+v -0.02989070 -0.05505060 -0.00276076
+v -0.01900527 -0.06043341 -0.00133087
+v -0.03286266 -0.05505061 -0.00133085
+v -0.01710610 -0.06742476 -0.00229201
+v -0.01790566 -0.06742476 -0.00276081
+v -0.02991417 -0.05684446 -0.00276077
+v -0.03287104 -0.05564775 -0.00133085
+v -0.02056584 -0.06742477 -0.00133090
+v -0.02639912 -0.06742476 -0.00276081
+v -0.02994099 -0.05961460 -0.00276078
+v -0.03287606 -0.05762089 -0.00133086
+v -0.02979348 -0.06742477 -0.00133090
+v -0.02805691 -0.06592039 -0.00276080
+v -0.02993261 -0.06043340 -0.00276078
+v -0.03286433 -0.05846634 -0.00133086
+v -0.03092661 -0.06612631 -0.00133089
+v -0.03097187 -0.06605726 -0.00133089
+v -0.02951523 -0.06324472 -0.00276079
+v -0.03255926 -0.06188328 -0.00133088
+v -0.03273862 -0.06059572 -0.00133087
+v -0.03229777 -0.06324473 -0.00133088
+f 1 2 3
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+f 1 18 14
+f 1 14 10
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+
diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_66.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c536775020e51501c8cfc6217480dc4b5f90b92
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_66.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.01593533 -0.07804085 -0.00492374
+v -0.01517260 -0.07846654 -0.00492374
+v -0.01593533 -0.07801416 -0.00460550
+v -0.01593533 -0.06543889 -0.00492369
+v -0.01490275 -0.07858314 -0.00492374
+v -0.01512405 -0.07844406 -0.00438275
+v -0.01593533 -0.07799449 -0.00438275
+v -0.01593533 -0.06546559 -0.00483687
+v -0.01146782 -0.06964938 -0.00437361
+v -0.01146782 -0.06953137 -0.00492371
+v -0.01378927 -0.07905659 -0.00492374
+v -0.01374072 -0.07903271 -0.00438275
+v -0.01325176 -0.07883182 -0.00283157
+v -0.01593533 -0.07703776 -0.00276105
+v -0.01593533 -0.06558079 -0.00449471
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+v -0.01146782 -0.07978995 -0.00492374
+v -0.01156273 -0.07976747 -0.00492374
+v -0.01156273 -0.07971830 -0.00438275
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+v -0.01283322 -0.07889364 -0.00276106
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+v -0.01593533 -0.06711916 -0.00276102
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+v -0.01593533 -0.06695760 -0.00279553
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+v -0.01146782 -0.07916900 -0.00276106
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+v -0.01225592 -0.07021978 -0.00276103
+v -0.01146782 -0.07122709 -0.00276103
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+f 25 28 27
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+
diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_67.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60850020b8ec0b35e27f31ed7b3ad73b276e3d99
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_67.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.02172176 0.06796664 -0.02287614
+v 0.03551314 0.06613651 -0.02287615
+v 0.03551314 0.06909426 -0.01444926
+v 0.02172176 0.07098126 -0.01444925
+v 0.02172176 0.07993994 -0.02287610
+v 0.03551314 0.07927587 -0.02287610
+v 0.03551314 0.07973941 -0.01444922
+v 0.02172176 0.08066230 -0.01444921
+v 0.02172176 0.08041916 -0.02111729
+v 0.02347555 0.07993852 -0.02287610
+v 0.03536597 0.07930146 -0.02287610
+v 0.03547128 0.07966265 -0.02103315
+v 0.03551314 0.07964559 -0.02107853
+v 0.03551314 0.07974227 -0.01825884
+v 0.03547128 0.07975221 -0.01444922
+v 0.02337429 0.08065518 -0.01444921
+v 0.02172176 0.08066230 -0.01448138
+v 0.02624193 0.07993141 -0.02287610
+v 0.02172176 0.08044191 -0.02103314
+v 0.03440740 0.07946215 -0.02287610
+v 0.03551314 0.07965128 -0.02103315
+v 0.03270356 0.08012481 -0.02103315
+v 0.03270356 0.08025847 -0.01825884
+v 0.03547128 0.07975507 -0.01825884
+v 0.03551314 0.07974085 -0.01831329
+v 0.03270356 0.08025986 -0.01444922
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+v 0.02440578 0.08061397 -0.01825883
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+v 0.02717215 0.08041347 -0.02103314
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+
diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_68.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e32059e288d5f9a35f776ce77c236b3596c9e8f6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_68.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v 0.03551449 0.06613747 -0.02287615
+v 0.04013185 0.05953664 -0.02287617
+v 0.04141923 0.05953068 -0.01444929
+v 0.03551449 0.06909357 -0.01444926
+v 0.03551449 0.07927581 -0.02287610
+v 0.04154351 0.05953071 -0.02287617
+v 0.04065923 0.05953071 -0.02191097
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+v 0.03551449 0.07973879 -0.01444922
+v 0.03551449 0.07964582 -0.02107853
+v 0.03725118 0.07897110 -0.02287610
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+v 0.05173900 0.05953070 -0.01825891
+v 0.05157170 0.06050022 -0.01444929
+v 0.03773872 0.07910364 -0.01444922
+v 0.03551449 0.07974277 -0.01825884
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+v 0.05035602 0.06655694 -0.01825889
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+
diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_7.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b763f488e50c69bcd9ff4df4c2c1da303e74b9e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_7.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v -0.04438995 0.05768148 0.01441196
+v -0.04430082 0.05985609 0.01441197
+v -0.04410733 0.05768148 0.01226909
+v -0.04409863 0.05487414 0.01226908
+v -0.04438778 0.05704261 0.01441196
+v -0.04427038 0.06049496 0.01441197
+v -0.04397472 0.06049496 0.01226910
+v -0.04353774 0.06049497 0.01039463
+v -0.04360731 0.05768149 0.01018186
+v -0.04360514 0.05487415 0.01018731
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_8.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef2c9a87e53bc4bdfad632783c19f3b24efa6015
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_8.obj
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diff --git a/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_9.obj b/dataset/bedroom_supplies/storage/d22f16d33cb9554293d18d31f8679a8e/mjcf/mesh/glasses_case_036_collision_9.obj
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