diff --git a/.gitattributes b/.gitattributes
index 2c33ba9feaf0a3aad9d4803814b49fcccbbc7c97..9045f3a8f16927931c60721bf7b78757878fddb9 100644
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diff --git a/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/glasses_case_015.urdf b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/glasses_case_015.urdf
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diff --git a/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mesh/material_0.png b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mesh/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision.obj b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba35bae76c684a3da14461646774481c5037a3d6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_0.obj b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d6afe9fae0fd82538299fd1ec7059d97ad211f0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_1.obj b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62aa4389a264681c2afa440b1d3c898a190959b1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_1.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_10.obj b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e294dfeb5f455ebcc41a38339f767f08c9f2844a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_10.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_11.obj b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac62f04ff20a6b2be220d3a54dc93e34eecf984f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_11.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_12.obj b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c135f6893a0ecbe68d33534b78b87a2f1f4df5a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_12.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_13.obj b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2db383ec5c3cd36368f88f148bc0e53445ac7d7a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_13.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_2.obj b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69b7674307c753cafe00eac705c3f3ae74022868
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_2.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_3.obj b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2653178ad79754452ce7fa1e4b7605659a591ab4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_3.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_4.obj b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d83981666ef210ec7d79f894807d85c534df29a1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_4.obj
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diff --git a/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_5.obj b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1ba6eb882097dbfd5a48be46d45201eafc567ed
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_6.obj b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebd9b24ed5a351b3c56b5244ba365782ffb741a5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_6.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_7.obj b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..374cedb1bfe25b298c8db61551e1d4a6eeceef68
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_7.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_8.obj b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7179c73138fdc40c0b889adcd8275655e87cfa17
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/bf87c47163e15445b51eddb86d9317a5/mjcf/mesh/glasses_case_015_collision_8.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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