diff --git a/.gitattributes b/.gitattributes
index 1d84bb6b7ffbf1d3927d713bbc82a619c5a84f6a..7d5dadbedc6110e0dbcdebaf08d608eee956458f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2711,3 +2711,7 @@ dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/basket.gl
 dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/basket_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/1cdab40f03df59039f5f08c18251c2e3/basket_025.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/1cdab40f03df59039f5f08c18251c2e3/mesh/basket_025.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/glasses_case_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mesh/glasses_case_018.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mesh/glasses_case_018.obj filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/glasses_case_018.urdf b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/glasses_case_018.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2db11fc2146d724184fe2fe7dc58addadf136092
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/glasses_case_018.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glasses_case_018">
+   <link name="glasses_case_018">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/glasses_case_018.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/glasses_case_018_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1850" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>186ea184901b52a19381198502bb9404</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>glasses_case</category>
+         <name>gray glasses case</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>hard gray eyeglasses case opened with silver glasses inside</description>
+         <min_height>0.0672</min_height>
+         <max_height>0.0672</max_height>
+         <real_height>0.0672</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518165959</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.029976 -0.065124 -0.020769</min>
+            <max>0.046386 0.064876 0.046459</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>12</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/glasses_case_018.usd b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/glasses_case_018.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7bd576f21fd521913ece45e557bb54d3d16eb880
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/glasses_case_018.usd
@@ -0,0 +1,3 @@
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mesh/glasses_case_018.glb b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mesh/glasses_case_018.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0c2c0bff36f6daf6816b36ec9b64e05cdba00a3d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mesh/glasses_case_018.glb
@@ -0,0 +1,3 @@
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mesh/glasses_case_018.mtl b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mesh/glasses_case_018.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bda1fe927b7138fbaf9acd90369a1ebb3410ad9b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mesh/glasses_case_018.mtl
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+d 1.000000
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mesh/glasses_case_018.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mesh/glasses_case_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7659e0645b82864994ec618276ce45c822e394e5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mesh/glasses_case_018.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 117003981
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mesh/glasses_case_018_collision.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mesh/glasses_case_018_collision.obj
new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mesh/material.mtl b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mesh/material.mtl
new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mesh/material_0.png b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mesh/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/glasses_case_018.xml b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/glasses_case_018.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="glasses_case_018">
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+    <mesh name="collision_mesh_0_0" file="mesh/glasses_case_018_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_3" file="mesh/glasses_case_018_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_5" file="mesh/glasses_case_018_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/glasses_case_018_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/glasses_case_018_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/glasses_case_018_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_15" file="mesh/glasses_case_018_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_24" file="mesh/glasses_case_018_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/glasses_case_018_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_29" file="mesh/glasses_case_018_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_34" file="mesh/glasses_case_018_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/glasses_case_018_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  </asset>
+  <worldbody>
+    <body name="glasses_case_018">
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bca94650301ab3d905104677f447f4e7a95720d2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e6ef9c0a884820441e6b4723f800e58dc0e5c9be70b617ca88fba7aaeadc4e2
+size 111902971
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b569ba1b4624c16e5df3acd042d1578a68a071d6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision.obj
@@ -0,0 +1,18359 @@
+# https://github.com/mikedh/trimesh
+
+o glasses_case_018_collision.obj
+v 0.01511784 0.05581603 -0.01087441
+v 0.00576329 0.05581602 -0.00898952
+v 0.00576329 0.05539099 -0.00869697
+v 0.00576329 0.05409403 -0.00818267
+v 0.00576329 0.05347425 -0.00801301
+v 0.00576329 0.05227433 -0.00780997
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_0.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca65b732295f3c1d2efe5cba63264b315f8a4124
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_1.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69429cca5200e5051bb2a6bf27f17e8414baf6ae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_1.obj
@@ -0,0 +1,334 @@
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_10.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d47bbe375e7b17506dea885e2d925ddeaf71d541
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_10.obj
@@ -0,0 +1,649 @@
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_11.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f4c0e6c856a89747b083fcba860f488a83cf74d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_11.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_12.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b89acce1b3879d07d7e1b6304dd9462aeebe36af
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_12.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_13.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92b4e9db073b0e44e68af5bdcf388a2726daccc2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_13.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_14.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bdbc2296e01a2aff3695ed49b05d59aa1b760ab
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_14.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_15.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50b048fb3b07c559d102a6d83b17ef46dd4517d0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_15.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_16.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ab756d7033d3e4ab86aebe74b442df0fcee008d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_16.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_17.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..832861d30f0940a8747f46c14cd4dffddfbfde75
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_17.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_18.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a03d51b50e3cb074cdc3b0e4b3df0dbe14c544a1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_18.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_19.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..903a0328f8e54fb921d2aed377797170eaf117aa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_19.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_2.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8ca155d985659ae17804c14b44461549ea44379
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_2.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_20.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44f703aa0f2b835e168fb5f45593f56ff8fa5694
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_20.obj
@@ -0,0 +1,637 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_21.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00c329e4ce10ef4be2456d5416092ac1067f7ff5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_21.obj
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_22.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44ee48932af991f4282e8df1314461d237b593d6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_22.obj
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_23.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57b33ab33a110ce35a3608cebb046e03db04e697
--- /dev/null
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_24.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b2cdb8c70f999d88555e32954494ce30023055b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_24.obj
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_25.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65abfd5c574d936f12750aaf1c6bf10bfbe9c4c4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_25.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_26.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..388f308e1348adadca95ca6dcd241b1946729005
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_26.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_27.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..006190389142d85e57d2492a28ee19eedf7cafc1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_27.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_28.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55bb4cc9449f0b479fdaed0ac8b90ec1c9d3521e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_28.obj
@@ -0,0 +1,538 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_29.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e3d90cae31c00b9c8e94cb4dc8b2e5abb2d2d45
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_29.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_3.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3e69d9fce70cdcdd29ce27fc9fc73131eaf44f2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_3.obj
@@ -0,0 +1,655 @@
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_30.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1be68823ce52a6e8119770f9e9a3fd6879b4866
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_30.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_31.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..151609a2ad33ba53f2ba69ff524e12605a37ebfa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_31.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_32.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89e42cb1a9e19af60963c150031ceec072003683
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_32.obj
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_33.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb08e5d903a63d4ad568d933c940ad1377ab837c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_33.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_34.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2aece6dd2f473d337555db8ae9867e1c3a56b8b8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_34.obj
@@ -0,0 +1,550 @@
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_35.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9238739222c734d42c9374fc42ba528a5ac94a84
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_35.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_36.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1e6719e4c3246bba953710e35b6a2a86a014935
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_36.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_37.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9877bc9161e69305b58b467fad196d75a353bd31
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_37.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
+v 0.01978425 -0.06543098 -0.00751883
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_38.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f99b0b11f725e11146a640ab88559caaeebbdba
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_38.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.01511784 -0.03940837 -0.00040254
+v 0.01274166 -0.03537842 -0.00382267
+v 0.01272792 -0.03537842 -0.00380014
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+
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_39.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3f0d1f717bf922f01e75ba6ffcf5ec367a7daae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_39.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.01693552 -0.06544617 0.01774180
+v -0.01693552 -0.06544419 0.01563595
+v -0.01325437 -0.06543893 0.01353271
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+
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_4.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b77da00dc8693b27488ee19e154b525c51150555
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_4.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_40.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ea112bffc8503b33197ee5e11828f260a6c0637
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_40.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_41.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..013010d69e4d048b260308af2ef416a1ddd49e72
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_41.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_42.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35203e2e49cd4b89f016725a8bbfcac41ba3c7d4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_42.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_43.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f88fbf91784ca7fa2a2e482983fc09924f713a62
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_43.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.00576329 0.05839247 -0.00660714
+v 0.00576329 0.05846646 -0.00539713
+v 0.00576329 0.05846647 -0.00713504
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+
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_44.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdd8bc114b2b105be4ffa342afd3aa82a322133d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_44.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.02384716 0.05483852 -0.00804600
+v 0.02313068 0.05441122 -0.00804600
+v 0.02426044 0.05480800 -0.00804600
+v 0.02384716 0.05578469 -0.00836842
+v 0.02267654 0.05562699 -0.00848022
+v 0.02222767 0.05441122 -0.00822931
+v 0.02187569 0.05335824 -0.00804600
+v 0.02455705 0.05441122 -0.00804600
+v 0.02550159 0.05441122 -0.00823971
+v 0.02523728 0.05574399 -0.00839052
+v 0.02384716 0.05645615 -0.00889234
+v 0.02346420 0.05645615 -0.00897034
+v 0.02121589 0.05645616 -0.00984010
+v 0.01978425 0.05645616 -0.01041734
+v 0.02020083 0.05150661 -0.00804601
+v 0.02492419 0.05366345 -0.00804600
+v 0.02651798 0.04835783 -0.00804602
+v 0.02651798 0.05441122 -0.00889755
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+v 0.02591223 0.05645615 -0.00920566
+v 0.01978425 0.05645620 -0.02118463
+v 0.01978425 0.05093688 -0.00804601
+v 0.02651798 0.01240369 -0.00804615
+v 0.02651798 0.05645620 -0.02118853
+v 0.02487739 0.05645620 -0.02118853
+v 0.01978425 0.05588647 -0.02124053
+v 0.01978425 0.03964907 -0.00804605
+v 0.02611459 0.01202726 -0.00804616
+v 0.02651798 0.00449359 -0.01103507
+v 0.02651798 0.05590682 -0.02124053
+v 0.02595969 0.05590682 -0.02124053
+v 0.02384716 0.05590173 -0.02124053
+v 0.01978425 0.05441127 -0.02130164
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+v 0.02386693 0.01165592 -0.00804616
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+v 0.01978425 0.05424341 -0.02130424
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+v 0.02384716 0.01164071 -0.02132520
+v 0.02173463 0.00449363 -0.02132263
+v 0.02595969 0.00449363 -0.02132522
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+
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_45.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9956593004b87392d7086b4a03d17be3ca6c5d7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_45.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.01511830 -0.06543164 -0.00779646
+v 0.01978334 -0.06542860 -0.00962424
+v 0.01978334 -0.06543164 -0.00752004
+v 0.01511830 -0.06543164 -0.00752004
+v 0.01511830 -0.06542860 -0.00962424
+v 0.01978334 -0.06541443 -0.01172844
+v 0.01511830 -0.06543064 -0.00541396
+v 0.01978334 -0.06542761 -0.00541396
+v 0.01962122 -0.06542862 -0.00541396
+v 0.01511830 -0.06541443 -0.01172844
+v 0.01978334 -0.06533144 -0.01383264
+v 0.01782324 -0.06536386 -0.00509992
+v 0.01750859 -0.06498542 -0.00330976
+v 0.01511830 -0.06504411 -0.00358618
+v 0.01978334 -0.06539421 -0.00525224
+v 0.01977101 -0.06536284 -0.00509992
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+v 0.01750859 -0.06533043 -0.01383264
+v 0.01962122 -0.06533144 -0.01383264
+v 0.01978334 -0.06496614 -0.01593684
+v 0.01978334 -0.06498340 -0.00330976
+v 0.01978334 -0.06493989 -0.00322138
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+v 0.01511830 -0.06496008 -0.01593684
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+v 0.01978334 -0.06447538 -0.01730579
+v 0.01978334 -0.06441067 -0.00215705
+v 0.01750859 -0.06321158 -0.00207242
+v 0.01511830 -0.06441067 -0.00215705
+v 0.01511830 -0.06447234 -0.01730203
+v 0.01978334 -0.06370532 -0.01827796
+v 0.01539688 -0.06364056 -0.01835694
+v 0.01978334 -0.06321158 -0.00207430
+v 0.01978334 -0.06197404 -0.00217397
+v 0.01750859 -0.06197303 -0.00217397
+v 0.01511830 -0.06197202 -0.00217397
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+v 0.01511830 -0.06363955 -0.01835506
+v 0.01962122 -0.06364056 -0.01835882
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+v 0.01511830 -0.05509415 -0.02128098
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+
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_46.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40e50dfc43a83f444e3dc81d0cd7dad1497cea6e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_46.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.01511801 0.05427894 -0.00313552
+v 0.01511801 0.05834023 -0.00650511
+v 0.01522859 0.05835771 -0.00650511
+v 0.01537559 0.05838144 -0.00650511
+v 0.01608830 0.05853215 -0.00650510
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+v 0.01617245 0.05427894 -0.00146799
+v 0.01511801 0.05427893 0.00133017
+v 0.01511801 0.05853215 -0.00650510
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+v 0.01655391 0.05441298 -0.00000294
+v 0.01655940 0.05427893 0.00000166
+v 0.01657886 0.05427893 -0.00048311
+v 0.01520015 0.05427893 0.00126113
+v 0.01511801 0.05455120 0.00131866
+v 0.01511801 0.05788141 -0.00070017
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+v 0.01511801 0.05471149 0.00130946
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+v 0.01525403 0.05427893 0.00121511
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+
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_47.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..947bdda1fafda58d57b77325f2cfb1909e3dda32
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_47.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.01325437 -0.06531116 0.00722689
+v -0.01325437 -0.05959171 0.00722691
+v -0.01629623 -0.06530488 0.00722689
+v -0.01629623 -0.06530488 0.00721564
+v -0.01325437 -0.06531012 0.00721564
+v -0.01693552 -0.05874551 0.00722691
+v -0.01325437 -0.05462534 0.00128153
+v -0.01693552 -0.06529966 0.00722689
+v -0.01693552 -0.06529966 0.00721564
+v -0.01629623 -0.06502664 0.00511130
+v -0.01325437 -0.06515426 0.00603781
+v -0.01693552 -0.05462744 0.00227305
+v -0.01325437 -0.05462532 -0.00554661
+v -0.01688254 -0.05462535 0.00222304
+v -0.01693552 -0.06502142 0.00511130
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+
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_48.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37afa1a516f374d28e780781dc72b259500cd18a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_48.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.01511830 -0.00775797 0.00702682
+v 0.01511830 -0.00980196 0.00699359
+v 0.01526127 -0.00760456 0.00695802
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+v 0.01668503 -0.00119065 0.00628430
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+v 0.01545174 0.00303001 0.00634362
+v 0.01511830 0.00384263 0.00630922
+v 0.01511830 -0.01190814 0.00693547
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+v 0.01653704 0.00227958 0.00620484
+v 0.01619263 0.00370581 0.00609334
+v 0.01511830 0.02019458 0.00348739
+v 0.01511830 -0.01276637 0.00688801
+v 0.01772557 -0.00333000 0.00557259
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+v 0.01911234 -0.00333000 0.00452046
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+
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_49.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fc664d23299df76acffe14f012a8509fab204fb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_49.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.02651798 -0.05205641 -0.00927694
+v 0.02643229 -0.05205641 -0.00917901
+v 0.02651798 -0.05804227 -0.00948066
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+v 0.02553521 -0.05205641 -0.00820100
+v 0.02551016 -0.05205641 -0.00819055
+v 0.02539679 -0.05205641 -0.00817227
+v 0.02384716 -0.05205641 -0.00798425
+v 0.02595969 -0.05804227 -0.00947935
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+v 0.01978425 -0.05804227 -0.00948327
+v 0.02014084 -0.05804227 -0.00948197
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+v 0.01978425 -0.05724469 -0.02114496
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+v 0.01978425 -0.05477593 -0.02129511
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+
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_5.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..551876ffab122d13e7d61a322e42bcd6e9c9f57c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_5.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.01325401 -0.05037831 0.04229436
+v -0.01325401 -0.05157742 0.04227964
+v -0.01207064 -0.05037831 0.04227257
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+v -0.01073028 -0.02155768 0.03840477
+v -0.01112141 -0.02155768 0.03785592
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+
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_50.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46c4cb5dd2e1867262ed66f32f7634ff9bc4f85c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_50.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.02749221 0.00122244 -0.01055605
+v 0.02651798 0.00102549 -0.01055605
+v 0.02807363 0.00117797 -0.01055605
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+v 0.02651798 0.01037142 -0.02132499
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_51.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85e52e2f0fbb03a55a3ce66640edf71e4c2e2657
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_51.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_52.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b770e7e13d9e0fdc2a68c80929548b811853fe88
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_52.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+v -0.01325401 0.05441301 -0.00554033
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_53.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ff49390a6c60e57b65b8c870b73de9af2cbda63
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_53.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00430268 0.05434718 -0.00759647
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+
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_54.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0e7710719ba320ac1c646a3d78f2cf8b8b1dc3d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_54.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v 0.00576230 0.06296709 -0.00207567
+v 0.00576230 0.06349451 -0.00211125
+v 0.00060714 0.06296709 -0.00206069
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_55.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f925da764636d0a60eca8636768d95095396fc22
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_55.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_56.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4f8ccac50dcda94b3f553e1826014797f3c3e84
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_56.obj
@@ -0,0 +1,202 @@
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+
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_57.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..120db5654acd5c32a1bfa923b01ac55915388771
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_57.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_58.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d026404cdfb76487fee7a79d4367ed056285fe22
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_58.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_59.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1481578d918214a2911bae0ccd29a122412f8752
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_59.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.01511784 0.06516915 -0.00713639
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+v 0.01511784 0.06516915 -0.00724135
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+
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_6.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89d782693b27297948f80da83eb7504d3360c1f1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_6.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_60.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6e3fd7b63bdcc70ab45503585e08606ac9c0884
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_60.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_61.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7009da6b4f326135cdb1b58dfc790ced553e3a4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_61.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.01376447 0.03231317 -0.00689295
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_62.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8e4be9c6e1b254e408b2df8f86a56efef6ee229
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_62.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00483173 0.04799199 -0.00718445
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+
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_63.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44d5548284c927a89b520f06bbe3c71a22db8b6c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_63.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.01117036 -0.05700663 -0.01034733
+v 0.00936464 -0.05701158 -0.01034733
+v 0.00576329 -0.05951488 -0.00381849
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_64.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8d71abbf4bb78bf08a369b4072b6a2fc29bd85c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_64.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_65.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73d25e7e1cb59ce846783028b41fc4ad002171dc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_65.obj
@@ -0,0 +1,202 @@
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_66.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5c213ba6b2e8668c51dee3b55a51def92f9ed82
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_66.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_67.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cea2c45d0b74ef4b27730de8930a2303a1d3b75
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_67.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_68.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20faf9cc9cb6484041e4dcc7230caefd89d5e22a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_68.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_69.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdb0e36347c0a2b694957d94a3859d6d90855be0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_69.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_7.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bce1c715fbd07c9d727080b4fe5755d579644c1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_7.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_70.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b94b85a6abf486db50e21a0adb56e8d39bc4d88a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_70.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_71.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..390587396658b0faec448a6de996f623d94f2564
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_71.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_72.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..942e68d64f17886c8a69471feb4626e357346206
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_72.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_73.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3b1a5da34b37de68e20e3d181cd0108ffd24b8c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_73.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.02651798 0.00120079 -0.01073750
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+f 13 23 16
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+
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_74.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b4f1cc8b0a7d40d19eb4452b098ee18073950dd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_74.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.01978425 -0.00332948 0.00394330
+v 0.02482268 -0.00286090 -0.00020723
+v 0.01978425 -0.00118767 0.00348291
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+v 0.01978425 -0.00059019 0.00299730
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+v 0.02111702 -0.00977429 0.00230665
+v 0.02215912 -0.00977429 0.00145570
+v 0.02217296 -0.00977429 0.00144425
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+v 0.02447400 -0.00977428 -0.00049931
+v 0.02651798 -0.00507755 -0.00163084
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+v 0.02307729 0.00431033 -0.00286542
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+v 0.01978425 0.00250538 0.00027152
+v 0.02651798 -0.00977425 -0.00711108
+v 0.01978425 -0.00535758 -0.00372214
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+
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_75.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ed5397ff946781bbe25de892e36df29b3af40ed
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_75.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.00989574 0.04883584 -0.01086741
+v 0.00576329 0.04883584 -0.01086741
+v 0.01511784 0.04695165 -0.01086742
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+v 0.01511784 0.03302808 -0.02132160
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+
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_76.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..265564d487a9e171f0eab38f8bc269ef9911f4c1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_76.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.02608823 -0.00060947 -0.00775698
+v 0.02583662 -0.00090205 -0.00775698
+v 0.02651781 -0.00073281 -0.00775698
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+
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_77.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72353eae2e41f156e3e21199bffe96bb529d3ade
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_77.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.01511784 0.05581603 -0.01087441
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+v 0.00576329 0.05539099 -0.00869697
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+
diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_8.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc2469360f9688915e6b2b96cb0fe3b552756579
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_8.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
+v -0.00653215 0.02447292 -0.00117976
+v -0.00653215 0.02369522 -0.00117976
+v -0.00430268 0.06195904 -0.00202080
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diff --git a/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_9.obj b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93399e3b8e94ba807f4015efc0e26b4393b8e312
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/186ea184901b52a19381198502bb9404/mjcf/mesh/glasses_case_018_collision_9.obj
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