diff --git a/.gitattributes b/.gitattributes
index 61ec7dfe7ae69346e2abc7f4e9aa4080a0e99278..bbfafae47b4b550302ac646cf51961c47a2606c0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2709,3 +2709,5 @@ dataset/bedroom_supplies/storage/15bb5c7e8a4d5a1ab70a7684ac8a0da9/storage_bin_00
dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/1b55e3ce75a35111b880ea7ea86b08ea.usd filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/basket.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/basket_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/glasses_case_033.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mesh/glasses_case_033.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/glasses_case_033.urdf b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/glasses_case_033.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8315fc3b61c8e87e773b1ccbdbe4966542c54816
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/glasses_case_033.usd b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/glasses_case_033.usd
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+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mesh/glasses_case_033.glb
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new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mesh/glasses_case_033.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mesh/glasses_case_033.obj
new file mode 100644
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+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mesh/glasses_case_033.obj
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mesh/glasses_case_033_collision.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mesh/glasses_case_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddc3fe139898b7a871e8ac2ea67c8419cdd8ccb1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mesh/glasses_case_033_collision.obj
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+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl glasses_case_033_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd glasses_case_033_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mesh/material_0.png b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d0da3c676c28d49b6722ebe3f72bb64f1b6df77
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d1d256e46b3f169edb121cec07b07a2746ec9809c6e5e401d1cc948c2d817c8
+size 17383108
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/glasses_case_033.xml b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/glasses_case_033.xml
new file mode 100644
index 0000000000000000000000000000000000000000..08a9caa1e16ab9f05eb8603d5da355765a791e8e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/glasses_case_033.xml
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2bf9ea6ed6018a2b5a123a25ca838e1974525e3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033.obj
@@ -0,0 +1,118408 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glasses_case_033_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..124458830eb0af33a4a9d0a36e1cb207d775f72d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision.obj
@@ -0,0 +1,16014 @@
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_0.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac1cd56300e67ba80d6258557e358ca16e2ea78e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_1.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9615413d18dcf9c5220786c6aa5b67c83720f313
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_1.obj
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_10.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..955b975945b42d50f70c119a8aa9a8df860c9204
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_10.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.01614074 0.04282477 -0.00599436
+v -0.01771483 0.04221146 -0.00599436
+v -0.01614074 0.04086983 -0.00599437
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+v -0.01909483 0.04159471 -0.00599437
+v -0.02051725 0.04086983 -0.00599437
+v -0.01614074 0.04086992 -0.02965237
+v -0.01614074 0.04278651 -0.00996863
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+v -0.02050953 0.04086983 -0.00635104
+v -0.01904856 0.04157291 -0.00996864
+v -0.02043027 0.04086985 -0.00996864
+v -0.01983389 0.04086992 -0.02965237
+v -0.01614074 0.04253514 -0.02965236
+v -0.01614074 0.04275820 -0.01277794
+v -0.01614074 0.04273524 -0.01485772
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+v -0.01897786 0.04154116 -0.01558727
+v -0.01901471 0.04155742 -0.01277795
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+v -0.01737079 0.04206860 -0.02965237
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+v -0.01614074 0.04272702 -0.01558726
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+v -0.01614074 0.04269354 -0.01839194
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+v -0.02013936 0.04086989 -0.02120126
+v -0.02004425 0.04086990 -0.02400826
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_11.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e17cce100660e193273a4dcd8f11c93eab29ba88
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_11.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.01131627 0.02125207 0.07714613
+v -0.01131627 0.02196996 0.06478556
+v -0.01277779 0.02359539 0.06305740
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+v -0.01131627 -0.02721301 0.07714595
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+v -0.01721315 0.02344668 0.06463937
+v -0.01277779 -0.02537219 0.06305722
+v -0.01721315 0.01898572 0.07714475
+v -0.01576029 0.02003686 0.07714475
+v -0.01277779 -0.02616187 0.07714595
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+v -0.01721315 -0.02400319 0.07395721
+v -0.01721315 -0.02485435 0.07333380
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+v -0.01721315 -0.02719248 0.06979333
+v -0.01721315 -0.02841793 0.06591496
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_12.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..936f4d0cc2409a73f12416f7716dc9565403a0dd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_12.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.01031236 -0.03550496 0.07714653
+v -0.01016652 -0.03573526 0.07714653
+v -0.01031236 -0.02792065 0.08339791
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+v 0.00648859 -0.03591395 0.07714653
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_13.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57e5a141fffdd5d98607a74180156afac341b467
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_13.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.00718760 0.00355199 0.07714607
+v 0.00585233 0.00355199 0.07714607
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_14.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b39742ffebf242f7416efcbfbd3537bd0ac22717
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_14.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.02721656 0.01510582 0.08551653
+v -0.02702898 0.01228909 0.08551652
+v -0.02653850 0.01228908 0.08832504
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+v -0.01862825 0.00354837 0.08876901
+v -0.01846846 0.00354837 0.08870201
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_15.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7fb33be0b48504958d726ad6140768147139944
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_15.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_16.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1380cccec348e50630ff2834b9240d89ff02197
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_16.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_17.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dc5595f159336574f958adc07b58de8e9e5b35a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_17.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_18.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f5edb9f5b3bccfd53be184c547d6239ee8cc967
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_18.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_19.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..300f2143cd3b418c2bb16e2cab6586ffc8077d78
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_19.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_2.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5364a7484be93be6347dafa6e5967bfcd073a471
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_2.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_20.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c7a5e774be7d7fe00afff1d175ebaf27f02f2bd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_20.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_21.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09ff31b1916a418fd15be0df5ec15495a65b61d2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_21.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_22.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ff098083d56de9cd57f45cc5b3a575ea1363392
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_22.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_23.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c84cac4aec72c5c730c05463318c01f3bf3042ec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_23.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
+v 0.04156169 0.02233234 0.04404405
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_24.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06105c1aa5f7c870cab4e1c1fe2851a4eec03e58
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_24.obj
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_25.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6340e70ffde1bdb7ecd428f43dbda99c3b62ea56
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_25.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.01320083 -0.00623794 0.07714604
+v 0.01320083 -0.00623798 0.08750266
+v 0.01320083 0.00354842 0.07714607
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+v 0.02883924 0.00354842 0.07714607
+v 0.02817126 -0.00149420 0.07714605
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+v 0.02380727 -0.00623798 0.08832437
+v 0.01601851 -0.00623799 0.09037041
+v 0.01751500 -0.00463152 0.09118389
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_26.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cf98dd2a3eaf99cc3a3ea4ec5339a4fce5c2db7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_26.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.00143580 0.03697820 0.06652362
+v -0.00106030 0.03672075 0.06652361
+v 0.00387003 0.04366338 0.05175859
+v -0.00143580 0.03721848 0.06616726
+v -0.00143580 -0.03431842 0.06652335
+v -0.00050874 0.03620585 0.06652361
+v 0.00387003 0.04349174 0.05197535
+v 0.00387003 0.04531107 0.04924572
+v 0.00299490 0.04488198 0.05068217
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+v 0.00387003 0.04342309 0.05205984
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_27.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..904fd83febf45d203cb7ed0b28bdaf0fafbe9fef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_27.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.01031236 -0.02894116 0.08582158
+v -0.01009392 -0.02895115 0.08579351
+v 0.00436905 -0.02980622 0.08551718
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_28.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f9028e0b68c42f93ad974c27944a74a59a66a0d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_28.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v 0.01166944 -0.00421791 0.02899180
+v 0.01166944 -0.00421802 0.06071060
+v 0.01166944 0.02233239 0.02899190
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+v 0.04032606 0.02082243 0.02899190
+v 0.04488645 -0.00145269 0.02899181
+v 0.04584032 0.00100843 0.04058521
+v 0.04604256 0.00100842 0.04339196
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_29.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2ba414ff6aaa10259a47c7fb82a76b85d3f3e17
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_29.obj
@@ -0,0 +1,172 @@
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_3.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acc9cf2402eee4554a4ba4739358afa5758f0031
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_3.obj
@@ -0,0 +1,1342 @@
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_30.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..667557485f6d55e70efd6ca36452a4f99fde277c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_30.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_31.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e48a7faebb9f6732b507e063b97886ad6e93595
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_31.obj
@@ -0,0 +1,400 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_32.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88b2d7f3e05743a9fe80646caf35c93208732b1d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_32.obj
@@ -0,0 +1,175 @@
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_33.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e1c1a8b83b91447980cd365f87daa076dfd0a59
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_33.obj
@@ -0,0 +1,226 @@
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_34.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d6d2db01284a1e43cfb9b78021221c7b648abfa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_34.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.00982119 -0.01817824 0.09032022
+v 0.00982119 -0.01591143 0.09011831
+v 0.00436905 -0.02504702 0.08998344
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_35.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96e8189ed6f084db7937fb582f6d5af806a4ff54
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_35.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+v 0.03062870 -0.01309412 0.07094039
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+v 0.03576329 -0.01643070 0.06228368
+v 0.03834279 -0.01709024 0.05646870
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_36.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ae184c5772440dd35151304e934f5f326f74532
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_36.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.01320044 -0.02181715 0.07714598
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_37.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebff5d4b1b959c6ecdce4cf6a6d2dd7bb719bcb3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_37.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v 0.01184847 0.02474030 0.07714615
+v 0.01183119 0.02474030 0.07714615
+v 0.01475844 0.02400890 0.07714615
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_38.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38ae142e05de5d8e0e57ae79531cf0688e6ec9cf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_38.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_39.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0155121f1f8284cd789584cdc3b82366e3b8d5b6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_39.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_4.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fe3dedbac77fd8668559a52b3f48117cbd623ff
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_4.obj
@@ -0,0 +1,1438 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_40.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af6ed00cdb73341e904c9be00e14a7d15665e0e8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_40.obj
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_41.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae420406e22f0d1fb4aff3799326f50969f192e0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_41.obj
@@ -0,0 +1,586 @@
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_42.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d431b6b14ecb13c27c169a399992cd37e7ec68f2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_42.obj
@@ -0,0 +1,223 @@
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_43.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fe496a9e5161f124b596f2584cb344ca29d8a21
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_43.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_44.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ac482f064455ca64ee68dac1d30c28d4593ff64
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_44.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_45.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf961ee48b28dfa2ff3305282cc4f7f596c94e9a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_45.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_46.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1573ff24c81ec2815f3d323ffd1fe9a4511a33a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_46.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.01131627 0.04475100 0.07214543
+v -0.01131627 0.04544579 0.07115277
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+v -0.01721315 0.04738134 0.05265120
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+f 1 11 5
+f 1 5 12
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_47.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f2870ff05f3cbdd1fb8af5700c30089a9657878
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_47.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.04126235 0.00664591 0.06069329
+v -0.04124868 0.00669875 0.06069329
+v -0.04035261 0.00382115 0.06069328
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+v -0.02880323 -0.00328878 0.06069326
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_48.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da60e0552c5558bd9009b48822b11a76666d52de
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_48.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v 0.02569940 0.00743474 0.07714609
+v 0.02602832 0.00717758 0.07714609
+v 0.02569940 0.00946709 0.07617437
+v 0.02569940 -0.00421601 0.07714604
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+v 0.02569940 0.01197434 0.07489539
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_49.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad8c38d8d244cdbaa2fbdf1558f27bf0044f1d04
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_49.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
+v -0.00733472 -0.06024185 0.03496984
+v -0.00747524 -0.06014376 0.03235076
+v -0.00694300 -0.06016933 0.03002772
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+v -0.00882172 -0.05971731 0.03496984
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+v -0.00993576 -0.05782388 0.04620267
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_5.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7e8558276a26ab886652ae763d80b1f3b1e5dcc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_5.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.00143580 -0.04365135 0.05116706
+v -0.00463414 -0.04365136 0.05331977
+v -0.00143580 -0.04486412 0.04915453
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+v -0.00181262 -0.04571275 0.02899415
+v -0.00143580 -0.04613898 0.04338977
+v -0.00694300 -0.04522010 0.02899415
+v -0.00694300 -0.04539770 0.04851872
+v -0.00634355 -0.04556695 0.04787791
+v -0.00457269 -0.04583483 0.04619830
+v -0.00181262 -0.04588767 0.04619830
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+v -0.00529882 -0.04545242 0.02899415
+v -0.00694300 -0.04565680 0.04560004
+v -0.00512362 -0.04547044 0.02899415
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_50.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b25cbe239989d85c3ff4b2eaf2380182d2e2aa1e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_50.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.01131627 0.01820273 0.02899189
+v -0.01131627 0.04493333 0.02899199
+v -0.00694300 0.01820273 0.02899189
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+v -0.01009453 0.04520426 0.02899199
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_51.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4dbf85ebba9de2f239703c0f8ee31774a308109
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_51.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.01789586 -0.02362967 0.02899173
+v 0.01789586 -0.00421791 0.02899180
+v 0.02385424 -0.02362967 0.02899173
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_52.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0b8f75095dd91a88ca91803e6ec80e0bc66f578
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_52.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.01833834 -0.04225147 0.04339223
+v 0.02027526 -0.04123070 0.04339224
+v 0.01833834 -0.04206555 0.04621019
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+f 1 2 3
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_53.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b44385e9fa2bcb76a6f3c2bf50748c62c330bf6c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_53.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+v -0.02554741 -0.03411008 0.05905422
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_54.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af8ed52e4b7ff869a9f8635d67e56f351dcc69a7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_54.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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+v -0.01131627 0.01820256 0.07714613
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_55.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af99ea7c9fe0a07f87f9cb941ca66b7255b3805d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_55.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_56.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3cb24d739ed92f72770429b3facfdbb0713ea85
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_56.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.03034881 0.01307198 0.06069332
+v -0.03346955 0.01962602 0.06069334
+v -0.02132161 0.01307198 0.06069332
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+v -0.02942023 0.02850169 0.06069337
+v -0.02986605 0.02842012 0.06069337
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_57.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f56ef6871c4a56329b69a0411d1fa6064d6ead63
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_57.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.01131627 0.02195420 0.06478422
+v -0.01131627 0.02681370 0.06418514
+v -0.01277779 0.02142828 0.06478422
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+v -0.01277779 -0.02468437 0.06478405
+v -0.01131627 -0.03563752 0.06240860
+v -0.01277779 0.02682084 0.02899192
+v -0.01721315 0.02682084 0.02899192
+v -0.01721315 -0.02877952 0.06305328
+v -0.01131627 -0.03792339 0.02899168
+v -0.01131627 -0.03668234 0.06211430
+v -0.01721315 -0.04236216 0.02899166
+v -0.01131627 -0.03718723 0.06177094
+v -0.01721315 -0.03984485 0.05333087
+v -0.01131627 -0.03965553 0.05969683
+v -0.01131627 -0.04428352 0.02899517
+v -0.01277779 -0.04390485 0.02899166
+v -0.01692569 -0.04248838 0.02899166
+v -0.01721315 -0.04295123 0.04339478
+v -0.01721315 -0.03999912 0.05318022
+v -0.01161642 -0.04003420 0.05903816
+v -0.01131627 -0.04011834 0.05922735
+v -0.01131627 -0.04481650 0.04339478
+v -0.01277779 -0.04444485 0.04339478
+v -0.01285629 -0.04388382 0.02899166
+v -0.01670462 -0.04257954 0.02899166
+v -0.01652972 -0.04264966 0.02899166
+v -0.01532448 -0.04309143 0.02899166
+v -0.01561656 -0.04353326 0.04339478
+v -0.01721315 -0.04294422 0.04374513
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+v -0.01721315 -0.04108601 0.05182434
+v -0.01131627 -0.04250249 0.05573080
+v -0.01131627 -0.04480950 0.04496087
+v -0.01277779 -0.04441681 0.04619762
+v -0.01285629 -0.04442381 0.04339478
+v -0.01561656 -0.04347717 0.04619762
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+v -0.01277779 -0.04408725 0.04908455
+v -0.01296192 -0.04333694 0.05189090
+v -0.01131627 -0.04386987 0.05184185
+v -0.01131627 -0.04418542 0.05057006
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_58.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c0131669e9a639658aabc7b1a0db47dc2033873
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_58.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v -0.00694300 0.03995271 0.07714621
+v -0.00598183 0.03957043 0.07714621
+v -0.00694300 0.04008607 0.07702837
+v -0.00694300 -0.03645031 0.07714593
+v -0.00429183 0.03769458 0.07714620
+v -0.00526486 0.03996160 0.07653344
+v -0.00694300 0.04030832 0.07682568
+v -0.00694300 -0.03799722 0.07647187
+v -0.00328969 -0.03693928 0.07714592
+v -0.00227353 0.03494749 0.07714619
+v -0.00551337 0.04250423 0.07374771
+v -0.00694300 0.04195302 0.07519006
+v -0.00694300 -0.03816614 0.07639174
+v -0.00186922 -0.03701040 0.07714592
+v -0.00694300 -0.03852175 0.07621734
+v -0.00143580 0.03340058 0.07714618
+v -0.00582927 0.04487795 0.07038690
+v -0.00694300 0.04520689 0.07078757
+v -0.00694300 0.04452233 0.07182926
+v -0.00694300 0.04288651 0.07408708
+v -0.00181262 -0.03789943 0.07655200
+v -0.00143580 -0.03781942 0.07651901
+v -0.00143580 -0.03677036 0.07714592
+v -0.00694300 -0.03970415 0.07558099
+v -0.00694300 -0.04069097 0.07493994
+v -0.00694300 -0.04106435 0.07469483
+v -0.00143580 0.04422901 0.05432292
+v -0.00143580 0.04519806 0.05225366
+v -0.00143580 0.04532253 0.05196141
+v -0.00143580 0.04539365 0.05177758
+v -0.00143580 0.04623824 0.04901069
+v -0.00694300 0.04717166 0.06474472
+v -0.00694300 0.04615815 0.06867116
+v -0.00694300 -0.04314468 0.07324774
+v -0.00457269 -0.04301133 0.07312048
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+v -0.00192852 -0.04365141 0.06864254
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+v -0.00143580 -0.04365127 0.02899166
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_59.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48040b0cbedb4f033615bee0cd6298f96d5ddc2e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_59.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.01131627 0.03929081 0.07714472
+v -0.01131627 0.04053870 0.07658828
+v -0.01274693 0.04033335 0.07638054
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+v -0.01483633 0.04474926 0.07093483
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+v -0.01131627 0.04474929 0.06198723
+v -0.01705542 0.04474929 0.06198723
+v -0.01704689 0.04471067 0.06198723
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+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_6.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..279e8b4b16efd33156def68ec63f0fe397ce8df8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_6.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.00585617 0.00354842 0.07714742
+v 0.00585617 0.00354840 0.08129072
+v 0.00585617 0.01134516 0.07714745
+v 0.02883783 0.00354842 0.07714742
+v 0.00585617 0.01134512 0.08675491
+v 0.01212670 0.00354839 0.08535657
+v 0.01406812 0.00568072 0.08932594
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+v 0.02293661 0.01134516 0.07714745
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+v 0.03032275 0.00354841 0.07996851
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+v 0.01590696 0.00514649 0.08982194
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+v 0.01475544 0.00946690 0.09102866
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+v 0.01751498 0.00504117 0.08993608
+v 0.01751498 0.00664768 0.09070930
+v 0.02027453 0.00664768 0.09074735
+v 0.02303407 0.00664768 0.09072153
+v 0.02579618 0.00664768 0.09065494
+v 0.01693538 0.01134511 0.09080580
+v 0.02774273 0.00837554 0.08999724
+v 0.01775350 0.01134511 0.09071068
+v 0.02963286 0.00776729 0.08832443
+v 0.03074591 0.00635844 0.08832442
+v 0.03205388 0.00382771 0.08551556
+v 0.02760681 0.00590515 0.07714743
+v 0.03204875 0.00354839 0.08551556
+v 0.03039969 0.00354837 0.09019291
+v 0.03062538 0.00354837 0.09017932
+v 0.03062538 0.00382769 0.09017388
+v 0.02861984 0.00672018 0.09023232
+v 0.02579618 0.00876782 0.09027310
+v 0.03032788 0.00582878 0.08999316
+v 0.03178716 0.00382770 0.08832441
+v 0.03177946 0.00354838 0.08832441
+v 0.03167175 0.00354837 0.08851194
+f 1 2 5
+f 1 5 3
+f 1 3 9
+f 1 9 25
+f 1 25 46
+f 1 46 27
+f 1 27 10
+f 1 10 4
+f 1 4 11
+f 1 11 30
+f 1 30 47
+f 1 47 55
+f 1 55 56
+f 1 56 49
+f 1 49 48
+f 1 48 34
+f 1 34 33
+f 1 33 32
+f 1 32 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 5 13
+f 3 13 31
+f 3 31 40
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+f 3 26 9
+f 4 10 11
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+f 17 40 31
+f 18 26 19
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+f 20 41 43
+f 20 43 21
+f 21 43 22
+f 22 44 45
+f 22 45 29
+f 22 29 23
+f 22 43 44
+f 23 29 24
+f 24 29 28
+f 24 28 27
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+f 24 46 25
+f 29 45 30
+f 30 45 47
+f 34 48 39
+f 34 39 38
+f 34 38 37
+f 34 37 36
+f 34 36 35
+f 39 48 49
+f 39 49 50
+f 39 50 51
+f 39 51 52
+f 39 52 40
+f 40 52 42
+f 41 51 53
+f 41 53 43
+f 41 42 52
+f 41 52 51
+f 43 53 44
+f 44 54 45
+f 44 53 54
+f 45 54 47
+f 47 54 55
+f 49 56 54
+f 49 54 50
+f 50 54 53
+f 50 53 51
+f 54 56 55
+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_60.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de7cd637f6164cd69fbd58119d90a953c5009de6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_60.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v -0.01721315 0.02682085 0.02899192
+v -0.01721315 0.04299604 0.02899198
+v -0.01131627 0.02682085 0.02899192
+v -0.01721315 0.02682074 0.05887368
+v -0.01561656 0.04363315 0.02899198
+v -0.01721315 0.04329963 0.04339349
+v -0.01705557 0.04474929 0.06198723
+v -0.01703594 0.04474929 0.06152214
+v -0.01131627 0.04474941 0.02899198
+v -0.01131627 0.02682073 0.06198717
+v -0.01293883 0.02682073 0.06198717
+v -0.01703537 0.04465978 0.06198723
+v -0.01704691 0.04471067 0.06198723
+v -0.01721315 0.03678107 0.05504968
+v -0.01321475 0.04441945 0.02899198
+v -0.01721315 0.04310129 0.04612910
+v -0.01131627 0.04474929 0.06198723
+v -0.01721315 0.04242029 0.04900682
+v -0.01721315 0.04202890 0.05013399
+v -0.01721315 0.04191305 0.05043436
+v -0.01721315 0.04082312 0.05200402
+v -0.01721315 0.03942779 0.05354784
+v -0.01721315 0.03766565 0.05462658
+v -0.01207705 0.04474941 0.02899198
+f 1 2 5
+f 1 5 15
+f 1 15 24
+f 1 24 9
+f 1 9 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 14
+f 1 14 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 16
+f 1 16 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 17
+f 3 17 10
+f 4 11 12
+f 4 12 13
+f 4 13 7
+f 4 7 14
+f 5 8 15
+f 6 16 7
+f 7 13 12
+f 7 12 11
+f 7 11 10
+f 7 10 17
+f 7 17 9
+f 7 9 24
+f 7 24 8
+f 7 16 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 22
+f 7 22 23
+f 7 23 14
+f 8 24 15
+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_61.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbf0a4c91f2af9c685428dd259433d0ec4a10e0f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_61.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.02223867 0.01224839 0.07714610
+v 0.02271534 0.01178719 0.07714610
+v 0.02506722 0.01123753 0.07597811
+v 0.02569940 0.01197462 0.07489539
+v 0.02569940 0.01218943 0.07470234
+v 0.02569940 0.01370993 0.07300185
+v 0.02223867 0.01474817 0.07393495
+v 0.02223867 -0.00421597 0.07714604
+v 0.02395972 0.01000555 0.07714610
+v 0.02569940 0.00946642 0.07617437
+v 0.02569940 0.00743418 0.07714609
+v 0.02569940 0.01374784 0.07295198
+v 0.02569940 0.01410376 0.07154590
+v 0.02260490 0.01729432 0.06071068
+v 0.02223867 0.01729432 0.06111771
+v 0.02223867 -0.00421591 0.06071060
+v 0.02569940 -0.00421597 0.07714604
+v 0.02569940 0.01558429 0.06071068
+v 0.02223867 0.01729432 0.06071068
+v 0.02569940 -0.00421591 0.06071060
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 15
+f 1 15 19
+f 1 19 16
+f 1 16 8
+f 1 8 17
+f 1 17 11
+f 1 11 9
+f 1 9 2
+f 2 9 3
+f 3 10 4
+f 3 9 11
+f 3 11 10
+f 4 10 11
+f 4 11 17
+f 4 17 20
+f 4 20 18
+f 4 18 13
+f 4 13 12
+f 4 12 6
+f 4 6 5
+f 6 12 7
+f 7 13 14
+f 7 14 15
+f 7 12 13
+f 8 16 20
+f 8 20 17
+f 13 18 14
+f 14 19 15
+f 14 18 20
+f 14 20 16
+f 14 16 19
+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_62.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de0f0f41c85161a0abba602a2bb0d3e8aa63f2fd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_62.obj
@@ -0,0 +1,34 @@
+# https://github.com/mikedh/trimesh
+v 0.02039995 0.01729426 0.07714612
+v 0.02223833 0.01474817 0.07393495
+v 0.02185037 0.01729428 0.07147351
+v 0.01166944 0.01729426 0.07714612
+v 0.02223833 0.01224839 0.07714610
+v 0.02223833 0.01729432 0.06111771
+v 0.01166944 0.01729432 0.06071068
+v 0.01166944 -0.00421597 0.07714604
+v 0.02223833 -0.00421597 0.07714604
+v 0.02223833 0.01729432 0.06071068
+v 0.01166944 -0.00421591 0.06071060
+v 0.02223833 -0.00421591 0.06071060
+f 1 2 3
+f 1 3 6
+f 1 6 10
+f 1 10 7
+f 1 7 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 2
+f 2 6 3
+f 2 5 9
+f 2 9 12
+f 2 12 10
+f 2 10 6
+f 4 7 11
+f 4 11 8
+f 7 10 12
+f 7 12 11
+f 8 11 12
+f 8 12 9
+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_63.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00f8a574b1e12bcf7ea82d6ffdad662ca886d971
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_63.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.02776672 -0.01992951 0.05905428
+v -0.03035164 -0.01979105 0.05905428
+v -0.02132122 -0.01992951 0.05905428
+v -0.02595799 -0.01992953 0.06598920
+v -0.03035164 -0.01735590 0.06731563
+v -0.03035164 -0.00384260 0.05905434
+v -0.02430219 -0.01992955 0.07052452
+v -0.02132122 -0.00328878 0.05905434
+v -0.02132122 -0.01992956 0.07440815
+v -0.03035164 -0.01735264 0.06732626
+v -0.03035164 -0.00358687 0.05906143
+v -0.03034546 -0.00328878 0.05905434
+v -0.02314587 -0.01992956 0.07268681
+v -0.02132122 -0.00328884 0.07714605
+v -0.02132122 -0.01660989 0.07714600
+v -0.02446662 -0.01538171 0.07714600
+v -0.02196833 -0.01992956 0.07400261
+v -0.03035164 -0.01734775 0.06733865
+v -0.03035164 -0.00403159 0.07147379
+v -0.03021638 -0.00328882 0.07144369
+v -0.02280728 -0.01992956 0.07323934
+v -0.02737244 -0.00328884 0.07714605
+v -0.02676157 -0.01334234 0.07714601
+v -0.03035164 -0.01712785 0.06776721
+v -0.03035164 -0.00413584 0.07165265
+v -0.03035164 -0.00528422 0.07358295
+v -0.02907686 -0.00328883 0.07419924
+v -0.03035164 -0.01510967 0.07083090
+v -0.03035164 -0.01552666 0.07024119
+v -0.03035164 -0.00600744 0.07372816
+v -0.03035164 -0.00744087 0.07391056
+v -0.02745554 -0.00463267 0.07714604
+v -0.02684290 -0.01324787 0.07714601
+v -0.03035164 -0.01433594 0.07159418
+v -0.03035164 -0.00909745 0.07378660
+v -0.02743963 -0.01035333 0.07714602
+v -0.02746350 -0.00486397 0.07714604
+v -0.02686324 -0.01318271 0.07714601
+v -0.03035164 -0.01200501 0.07305520
+v -0.03035164 -0.01353290 0.07210066
+v -0.03035164 -0.01027351 0.07353334
+v -0.03035164 -0.01123781 0.07331906
+f 1 2 6
+f 1 6 12
+f 1 12 8
+f 1 8 3
+f 1 3 9
+f 1 9 17
+f 1 17 21
+f 1 21 13
+f 1 13 7
+f 1 7 4
+f 1 4 2
+f 2 5 10
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+f 2 18 24
+f 2 24 29
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+f 2 34 40
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+f 2 42 41
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+f 2 35 31
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+f 2 26 25
+f 2 25 19
+f 2 19 11
+f 2 11 6
+f 2 4 7
+f 2 7 5
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+f 3 15 9
+f 5 7 10
+f 6 11 12
+f 7 13 10
+f 8 12 20
+f 8 20 27
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+f 8 22 14
+f 9 15 16
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+f 10 13 18
+f 11 19 12
+f 12 19 20
+f 13 21 18
+f 14 22 32
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+f 14 23 16
+f 14 16 15
+f 16 23 21
+f 16 21 17
+f 18 21 24
+f 19 25 20
+f 20 25 26
+f 20 26 27
+f 21 28 29
+f 21 29 24
+f 21 23 28
+f 22 27 26
+f 22 26 30
+f 22 30 31
+f 22 31 32
+f 23 33 28
+f 28 33 34
+f 31 35 36
+f 31 36 37
+f 31 37 32
+f 33 38 39
+f 33 39 40
+f 33 40 34
+f 35 41 36
+f 36 41 42
+f 36 42 38
+f 38 42 39
+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_7.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16b94ad2afb90c6c737c807c6125adcc697f1893
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_7.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.01573009 -0.01591343 0.09282222
+v -0.01435077 -0.01591343 0.09248000
+v -0.01608292 -0.01309221 0.09270713
+v -0.01742758 -0.01591343 0.09282222
+v -0.01627844 -0.01873082 0.09274394
+v -0.01470360 -0.01309221 0.09235877
+v -0.01031236 -0.02653311 0.08994015
+v -0.01031236 -0.02519131 0.08995397
+v -0.01726050 -0.01309221 0.09270713
+v -0.01669259 -0.01132227 0.09259665
+v -0.01939169 -0.01031305 0.09132137
+v -0.01939169 -0.01309221 0.09146869
+v -0.01939169 -0.01591343 0.09130907
+v -0.01732004 -0.01873082 0.09274394
+v -0.01681346 -0.02028669 0.09259815
+v -0.01380065 -0.01027481 0.09056019
+v -0.01404594 -0.00745360 0.09005992
+v -0.01421391 -0.00599330 0.08976221
+v -0.01561633 -0.00745360 0.09112034
+v -0.01570965 -0.01033981 0.09201655
+v -0.01285592 -0.02653693 0.09002762
+v -0.01031236 -0.02795136 0.08918357
+v -0.01031236 0.00354840 0.08075704
+v -0.01709964 -0.01132227 0.09259665
+v -0.01939169 0.00354837 0.08899646
+v -0.01939169 -0.01859701 0.09074892
+v -0.01710230 -0.02028669 0.09259815
+v -0.01685523 0.00354838 0.08713956
+v -0.01846740 0.00354837 0.08870181
+v -0.01862648 0.00354837 0.08876934
+v -0.01489912 -0.02623111 0.08999386
+v -0.01308255 -0.02805839 0.08845923
+v -0.01231379 -0.02886117 0.08761211
+v -0.01031236 -0.02803164 0.08908075
+v -0.01031236 0.00354842 0.07714607
+v -0.01939169 0.00354842 0.07714607
+v -0.01939169 -0.01876904 0.09036680
+v -0.01873402 -0.02154819 0.08832420
+v -0.01749690 -0.02372336 0.09025782
+v -0.01787106 -0.02135324 0.09116940
+v -0.01673970 -0.02560035 0.08893804
+v -0.01031236 -0.03550513 0.07714593
+v -0.01031236 -0.02894145 0.08781468
+v -0.01939169 -0.01785534 0.07714599
+v -0.01939169 -0.01959857 0.08832421
+v -0.01701787 -0.02580677 0.08687244
+v -0.01756445 -0.02454525 0.08813083
+v -0.01701787 -0.02580677 0.08706580
+v -0.01111133 -0.03434683 0.07714593
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 14
+f 1 14 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 3 6 10
+f 3 10 24
+f 3 24 9
+f 4 9 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 5 14 27
+f 5 27 15
+f 5 15 7
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 20
+f 6 20 10
+f 6 8 16
+f 7 15 21
+f 7 21 22
+f 7 22 34
+f 7 34 43
+f 7 43 42
+f 7 42 35
+f 7 35 23
+f 7 23 8
+f 8 23 17
+f 8 17 16
+f 9 24 11
+f 10 20 25
+f 10 25 24
+f 11 24 25
+f 11 25 36
+f 11 36 44
+f 11 44 45
+f 11 45 37
+f 11 37 26
+f 11 26 13
+f 11 13 12
+f 13 26 14
+f 14 26 27
+f 15 27 21
+f 17 23 18
+f 18 23 28
+f 18 28 29
+f 18 29 19
+f 19 29 30
+f 19 30 20
+f 20 30 25
+f 21 31 22
+f 21 27 31
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 23 35 36
+f 23 36 25
+f 23 25 30
+f 23 30 29
+f 23 29 28
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 27
+f 27 40 39
+f 27 39 31
+f 31 41 42
+f 31 42 32
+f 31 39 41
+f 32 42 33
+f 33 43 34
+f 33 42 43
+f 35 42 49
+f 35 49 44
+f 35 44 36
+f 37 45 38
+f 38 45 44
+f 38 44 46
+f 38 46 47
+f 38 47 39
+f 39 47 41
+f 41 47 48
+f 41 48 42
+f 42 48 46
+f 42 46 49
+f 44 49 46
+f 46 48 47
+
diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_8.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be996d44bd51b9bdee8483d560e9590d5ad18538
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_8.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.01614032 0.04087005 -0.06483764
+v -0.01797966 0.04087004 -0.06332567
+v -0.02000560 0.04509757 -0.05936489
+v -0.01837761 0.04522162 -0.05945788
+v -0.01677120 0.04500896 -0.05932012
+v -0.01614032 0.04364376 -0.06025004
+v -0.01614032 0.04086992 -0.02965237
+v -0.01843347 0.04087004 -0.06277805
+v -0.02091004 0.04087002 -0.05792871
+v -0.02031470 0.04555635 -0.05770826
+v -0.01837761 0.04612540 -0.05770826
+v -0.01970666 0.04087003 -0.06065302
+v -0.01658143 0.04528528 -0.05770826
+v -0.01614032 0.04483240 -0.05770827
+v -0.01614032 0.04455018 -0.05867263
+v -0.01614032 0.04253573 -0.02965236
+v -0.01983360 0.04086992 -0.02965237
+v -0.02150411 0.04087001 -0.05511830
+v -0.02255580 0.04483234 -0.03989866
+v -0.02055461 0.04585892 -0.05490129
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_9.obj b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_collision_9.obj
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index 0000000000000000000000000000000000000000..db4d3dd54a1ba7c388eb1cea4d533b1aff722bec
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mjcf/mesh/glasses_case_033_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/textures/material_0.png b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/textures/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/video.mp4 b/dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/video.mp4
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