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diff --git a/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_001.obj b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_001.obj
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index 0000000000000000000000000000000000000000..b49be579aa3efd1c80c949c13ed5d0ae93d60b48
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+++ b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_001.obj
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diff --git a/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_002.obj b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_002.obj
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index 0000000000000000000000000000000000000000..62a4a3e4dbb6e46a65ee1e2e8879963ac3495692
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diff --git a/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_003.obj b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_003.obj
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+++ b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_003.obj
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diff --git a/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_004.obj b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_004.obj
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index 0000000000000000000000000000000000000000..d9e5abd2e1c837f0c2b788546f8bb8237f53a65a
--- /dev/null
+++ b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_004.obj
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diff --git a/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_006.obj b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_006.obj
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diff --git a/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_007.obj b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_007.obj
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diff --git a/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_008.obj b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_008.obj
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diff --git a/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_009.obj b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_009.obj
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+++ b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_009.obj
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diff --git a/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_010.obj b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_010.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4968b3f030c8ae27e870c20ef74be2d18868a97a
--- /dev/null
+++ b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_010.obj
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diff --git a/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_011.obj b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_011.obj
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--- /dev/null
+++ b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_011.obj
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diff --git a/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_012.obj b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_012.obj
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diff --git a/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_013.obj b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_013.obj
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diff --git a/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_014.obj b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_014.obj
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+++ b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_014.obj
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diff --git a/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_015.obj b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_015.obj
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+++ b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_015.obj
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diff --git a/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_016.obj b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_016.obj
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diff --git a/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_017.obj b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_017.obj
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+++ b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_017.obj
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diff --git a/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_018.obj b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_018.obj
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+++ b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_018.obj
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diff --git a/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_019.obj b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_019.obj
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+++ b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/mujoco_collision/hull_019.obj
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diff --git a/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/source.obj b/data/scene_packages/supermarket/entities/_prototypes/nearby_grocery_product_9_ChipsRed/source.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c84208ba5e7673b071ed0a3aa574a3f2af48421
--- /dev/null
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diff --git a/data/scene_packages/supermarket/mujoco/composed/unitree-g1-groot-wbc_spawn_9p2_11p8_yaw_m1p57_static_only_lidar.mjb b/data/scene_packages/supermarket/mujoco/composed/unitree-g1-groot-wbc_spawn_9p2_11p8_yaw_m1p57_static_only_lidar.mjb
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--- /dev/null
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Beam_Checkout_1_Beam_Checkout_1_Mesh_h002.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Beam_Checkout_1_Beam_Checkout_1_Mesh_h002.obj
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Checkout_Lane_001__Grocery_Checkout_Lane_Grocery_Checkout_Lane_Mesh_h022.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Checkout_Lane_001__Grocery_Checkout_Lane_Grocery_Checkout_Lane_Mesh_h022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d058974c10513ba67f58823880ef3c9938817194
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Checkout_Lane_001__Grocery_Checkout_Lane_Grocery_Checkout_Lane_Mesh_h022.obj
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Checkout_Lane_001__Shelf_Wall_Center_Shelf_Wall_Center_Mesh_h018.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Checkout_Lane_001__Shelf_Wall_Center_Shelf_Wall_Center_Mesh_h018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a723d157cccfd10239f10d6aa2cc2a4bdab35da
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Checkout_Lane_001__Shelf_Wall_Center_Shelf_Wall_Center_Mesh_h018.obj
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Checkout_Lane_002__Grocery_Checkout_Lane_Grocery_Checkout_Lane_Mesh_h019.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Checkout_Lane_002__Grocery_Checkout_Lane_Grocery_Checkout_Lane_Mesh_h019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54415a275aa4be2821fcf245ae70ccee4cd139ba
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Checkout_Lane_002__Grocery_Checkout_Lane_Grocery_Checkout_Lane_Mesh_h019.obj
@@ -0,0 +1,120 @@
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Checkout_Lane_003__Shelf_Wall_End_Shelf_Wall_End_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Checkout_Lane_003__Shelf_Wall_End_Shelf_Wall_End_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e60e3dcafca648f2a5bb5967944f54f2bf85a0b4
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Checkout_Lane_003__Shelf_Wall_End_Shelf_Wall_End_Mesh_h000.obj
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Checkout_Lane_004__Shelf_Wall_Center_Shelf_Wall_Center_Mesh_h009.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Checkout_Lane_004__Shelf_Wall_Center_Shelf_Wall_Center_Mesh_h009.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f87f0aed21049b195763a6a7a9128765ed42c696
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Checkout_Lane_004__Shelf_Wall_Center_Shelf_Wall_Center_Mesh_h009.obj
@@ -0,0 +1,316 @@
+# Created by Open3D 
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Checkout_Lane_005__Grocery_Checkout_Lane_Grocery_Checkout_Lane_Mesh_h012.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Checkout_Lane_005__Grocery_Checkout_Lane_Grocery_Checkout_Lane_Mesh_h012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ff59cb4fb03eee9faf3b25187c8163510cf73ee
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Checkout_Lane_005__Grocery_Checkout_Lane_Grocery_Checkout_Lane_Mesh_h012.obj
@@ -0,0 +1,592 @@
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Checkout_Lane_005__Grocery_Checkout_Lane_Grocery_Checkout_Lane_Mesh_h021.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Checkout_Lane_005__Grocery_Checkout_Lane_Grocery_Checkout_Lane_Mesh_h021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..775b540e5f10e52981021581e49f5541d5fc6fd0
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Checkout_Lane_005__Grocery_Checkout_Lane_Grocery_Checkout_Lane_Mesh_h021.obj
@@ -0,0 +1,188 @@
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Checkout_Lane_005__Shelf_Wall_Center_Shelf_Wall_Center_Mesh_h021.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Checkout_Lane_005__Shelf_Wall_Center_Shelf_Wall_Center_Mesh_h021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2ccd11df9eb76ad496e6471100ff7823f877770
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Checkout_Lane_005__Shelf_Wall_Center_Shelf_Wall_Center_Mesh_h021.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..a43b3703e562f972c7d2d3be39b8399230555f44
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Basket_003__Grocery_Basket_Grocery_Basket_Mesh_h006.obj
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Basket_013__Grocery_Basket_Grocery_Basket_Mesh_h007.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Basket_013__Grocery_Basket_Grocery_Basket_Mesh_h007.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f731e914de2660aa56ecba7901cdf5811a849ae7
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Basket_013__Grocery_Basket_Grocery_Basket_Mesh_h007.obj
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Basket_014__Grocery_Basket_Grocery_Basket_Mesh_h002.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Basket_014__Grocery_Basket_Grocery_Basket_Mesh_h002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cec22aae902ebd8f75a2777c45b145524c5d99c0
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Basket_014__Grocery_Basket_Grocery_Basket_Mesh_h002.obj
@@ -0,0 +1,900 @@
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Basket_036__Grocery_Basket_Grocery_Basket_Mesh_h006.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Basket_036__Grocery_Basket_Grocery_Basket_Mesh_h006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b90d23ac340a168ad892bc114a5c0b42addcfa5b
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Basket_036__Grocery_Basket_Grocery_Basket_Mesh_h006.obj
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Cart_Small_002__Grocery_Cart_Small_Grocery_Cart_Small_Mesh_h002.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Cart_Small_002__Grocery_Cart_Small_Grocery_Cart_Small_Mesh_h002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deb9c144ed1f0ce915080434aaeed9101d400902
--- /dev/null
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_001__Door_Middle_Door_Middle_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_001__Door_Middle_Door_Middle_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..011f2d1cf6b6e3b1b27125d8701d823c6ec766b9
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_001__Door_Middle_Door_Middle_Mesh_h000.obj
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_001__Wheel_Base_008_Wheel_Base_008_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_001__Wheel_Base_008_Wheel_Base_008_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c9e004785e283d8b570c5acd2f5391a557566b8
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_001__Wheel_Base_008_Wheel_Base_008_Mesh_h000.obj
@@ -0,0 +1,1036 @@
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_002__Wheels_007_Wheels_007_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_002__Wheels_007_Wheels_007_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3848d5b564afca2e8f7301cdfc9ab1a86f94f38c
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_002__Wheels_007_Wheels_007_Mesh_h000.obj
@@ -0,0 +1,2504 @@
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_003__Shelves_Shelves_Mesh_h005.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_003__Shelves_Shelves_Mesh_h005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6df86cbb1b2bad0f103f8fcb20610e099ff97a1a
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_003__Shelves_Shelves_Mesh_h005.obj
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_003__Wheel_Base_006_Wheel_Base_006_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_003__Wheel_Base_006_Wheel_Base_006_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d01bc05a393c0761b6173a3903fb634c85ccccc4
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_003__Wheel_Base_006_Wheel_Base_006_Mesh_h000.obj
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_004__Grocery_Freezer_Grocery_Freezer_Mesh_h013.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_004__Grocery_Freezer_Grocery_Freezer_Mesh_h013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09e068049d1d7794451300bbe25a91d63234d530
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_004__Grocery_Freezer_Grocery_Freezer_Mesh_h013.obj
@@ -0,0 +1,144 @@
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_006__Wheels_001_Wheels_001_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_006__Wheels_001_Wheels_001_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46c829147b2276cd0d709e92cbd85c9691d99839
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_006__Wheels_001_Wheels_001_Mesh_h000.obj
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_006__Wheels_002_Wheels_002_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_006__Wheels_002_Wheels_002_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44f107aa5c55b42012bae75ee126d0230066cf18
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_006__Wheels_002_Wheels_002_Mesh_h000.obj
@@ -0,0 +1,2504 @@
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_008__Door_Middle_Door_Middle_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_008__Door_Middle_Door_Middle_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29f5630875835e1eeef0f9ac68ae72253a35d914
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_008__Door_Middle_Door_Middle_Mesh_h000.obj
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_008__Wheels_001_Wheels_001_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_008__Wheels_001_Wheels_001_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4284cace2e90582f376b075beaa0f4a75e9fbff4
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_008__Wheels_001_Wheels_001_Mesh_h000.obj
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_013__Wheel_Base_001_Wheel_Base_001_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_013__Wheel_Base_001_Wheel_Base_001_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d23cfb5994e1acb47b9f7cb5de8803e50a6c9cf
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Freezer_013__Wheel_Base_001_Wheel_Base_001_Mesh_h000.obj
@@ -0,0 +1,1036 @@
+# Created by Open3D 
+# object name: Grocery_Freezer_013__Wheel_Base_001_Wheel_Base_001_Mesh_h000
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Fridge_001__Grocery_Refrigerator_Grocery_Refrigerator_Mesh_h002.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Fridge_001__Grocery_Refrigerator_Grocery_Refrigerator_Mesh_h002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f0568bdd29e11d7b0412ea686fd06e05e1135c2
--- /dev/null
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Fridge_001__Wheel_Base_009_Wheel_Base_009_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Fridge_001__Wheel_Base_009_Wheel_Base_009_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74291b24f54012d854fe678f76263a6d9b800141
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Fridge_001__Wheel_Base_009_Wheel_Base_009_Mesh_h000.obj
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Fridge_003__Grocery_Refrigerator_Grocery_Refrigerator_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Fridge_003__Grocery_Refrigerator_Grocery_Refrigerator_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..795caedbf55034ddc815a745641ebbc0196fc12b
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Fridge_003__Grocery_Refrigerator_Grocery_Refrigerator_Mesh_h000.obj
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Fridge_003__Grocery_Refrigerator_Grocery_Refrigerator_Mesh_h012.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Fridge_003__Grocery_Refrigerator_Grocery_Refrigerator_Mesh_h012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d09f6e550d3881722213bb8efed3d902213bfec7
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Fridge_003__Grocery_Refrigerator_Grocery_Refrigerator_Mesh_h012.obj
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Fridge_003__Wheel_Base_004_Wheel_Base_004_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Fridge_003__Wheel_Base_004_Wheel_Base_004_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0eeebfade4c0e66d62d8324362f14443d8c943ce
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Fridge_003__Wheel_Base_004_Wheel_Base_004_Mesh_h000.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..a67e3b9eea7f52ef97c8d60f5cd049bf5403b7ad
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Fridge_007__Grocery_Refrigerator_Grocery_Refrigerator_Mesh_h010.obj
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Fridge_008__Grocery_Refrigerator_Grocery_Refrigerator_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Fridge_008__Grocery_Refrigerator_Grocery_Refrigerator_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62931039d05178b72d329e91864537d2b8a152a8
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Fridge_008__Grocery_Refrigerator_Grocery_Refrigerator_Mesh_h000.obj
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Fridge_008__Wheel_Base_003_Wheel_Base_003_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Fridge_008__Wheel_Base_003_Wheel_Base_003_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..620c8c641b73e5871fab0c5041fa971de4eb6c10
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Fridge_008__Wheel_Base_003_Wheel_Base_003_Mesh_h000.obj
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Shelf_B_046__Shelf_Bottom__001_B_Shelf_Bottom__001_B_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Shelf_B_046__Shelf_Bottom__001_B_Shelf_Bottom__001_B_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fb54193332467bcfee7ea1350a0613f49e949f1
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Shelf_B_046__Shelf_Bottom__001_B_Shelf_Bottom__001_B_Mesh_h000.obj
@@ -0,0 +1,7646 @@
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Shelf_B_075__Shelf_Bottom__001_B_Shelf_Bottom__001_B_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Shelf_B_075__Shelf_Bottom__001_B_Shelf_Bottom__001_B_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0099cb5187547b1e35ca76dd21849d6c9f3a774
--- /dev/null
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Shelf_B_077__Shelf_Bottom__001_B_Shelf_Bottom__001_B_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Shelf_B_077__Shelf_Bottom__001_B_Shelf_Bottom__001_B_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaae73260d39230753fb3651af80235e6b461af3
--- /dev/null
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Shelf_B_081__Shelf_Bottom__001_B_Shelf_Bottom__001_B_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Shelf_B_081__Shelf_Bottom__001_B_Shelf_Bottom__001_B_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b33eb9d88be9aac539a5b9f218743cfe85ce2c85
--- /dev/null
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Shelf_C_006__Shelf_Bottom_C_Shelf_Bottom_C_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Shelf_C_006__Shelf_Bottom_C_Shelf_Bottom_C_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..082635b0b8fead03011d92794b80067ad9f8f17f
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Shelf_C_006__Shelf_Bottom_C_Shelf_Bottom_C_Mesh_h000.obj
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_002__Inner_Basket_Inner_Basket_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_002__Inner_Basket_Inner_Basket_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7951a29fd33937e4bd5a543e43861cc63e277d8e
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_002__Inner_Basket_Inner_Basket_Mesh_h000.obj
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_007__Grocery_Store_Top_Display_Fridge_Grocery_Store_Top_Display_Fridge_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_007__Grocery_Store_Top_Display_Fridge_Grocery_Store_Top_Display_Fridge_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..722c1ce4e40c6bc50d1900e667de4eab2e29547b
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_007__Grocery_Store_Top_Display_Fridge_Grocery_Store_Top_Display_Fridge_Mesh_h000.obj
@@ -0,0 +1,208 @@
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_010__Grocery_Store_Top_Display_Fridge_Grocery_Store_Top_Display_Fridge_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_010__Grocery_Store_Top_Display_Fridge_Grocery_Store_Top_Display_Fridge_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c50b4dce64ff338e912a6d25fb7000e3265e12f
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_010__Grocery_Store_Top_Display_Fridge_Grocery_Store_Top_Display_Fridge_Mesh_h000.obj
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_011__Door_Right_001_Door_Right_001_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_011__Door_Right_001_Door_Right_001_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed9bdce1b824f082f8a38da513037a9c19fc1539
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_011__Door_Right_001_Door_Right_001_Mesh_h000.obj
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_011__Inner_Basket_001_Inner_Basket_001_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_011__Inner_Basket_001_Inner_Basket_001_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..836f93060b0bd017e720e263f2a01e2ca429d37e
--- /dev/null
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_013__Grocery_Store_Top_Display_Fridge_Grocery_Store_Top_Display_Fridge_Mesh_h006.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_013__Grocery_Store_Top_Display_Fridge_Grocery_Store_Top_Display_Fridge_Mesh_h006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..367b774f5343b9b084bdec6b63364cd9af5a0174
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_013__Grocery_Store_Top_Display_Fridge_Grocery_Store_Top_Display_Fridge_Mesh_h006.obj
@@ -0,0 +1,124 @@
+# Created by Open3D 
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index 0000000000000000000000000000000000000000..3e132f394c4009a7f80b3cd3be31c322c092c664
--- /dev/null
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_017__Grocery_Store_Top_Display_Fridge_Grocery_Store_Top_Display_Fridge_Mesh_h009.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_017__Grocery_Store_Top_Display_Fridge_Grocery_Store_Top_Display_Fridge_Mesh_h009.obj
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_018__Grocery_Store_Top_Display_Fridge_Grocery_Store_Top_Display_Fridge_Mesh_h019.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_018__Grocery_Store_Top_Display_Fridge_Grocery_Store_Top_Display_Fridge_Mesh_h019.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4da3b1bb1c0a5265645a73b2e4ade75b3dbce17
--- /dev/null
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_Corner_001__Grocery_Store_Top_Display_Fridge_Corner_Grocery_Store_Top_Display_Fridge_Corner_Mesh_h003.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_Corner_001__Grocery_Store_Top_Display_Fridge_Corner_Grocery_Store_Top_Display_Fridge_Corner_Mesh_h003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55d37d641761b04952f9dc9968c734a9dfc40cb8
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_Corner_001__Grocery_Store_Top_Display_Fridge_Corner_Grocery_Store_Top_Display_Fridge_Corner_Mesh_h003.obj
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_Corner_004__Inner_Basket_004_Inner_Basket_004_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_Corner_004__Inner_Basket_004_Inner_Basket_004_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02a8b09ded8030de69112327611b6171ecb96a73
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_Corner_004__Inner_Basket_004_Inner_Basket_004_Mesh_h000.obj
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_Corner_004__Wheels_019_Wheels_019_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_Corner_004__Wheels_019_Wheels_019_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72e4c508c44c8843139b57b87e88c28fe3fe6b01
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Grocery_Store_Top_Display_Fridge_Corner_004__Wheels_019_Wheels_019_Mesh_h000.obj
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Produce_Display_006__Produce_Display_Produce_Display_Mesh_h005.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Produce_Display_006__Produce_Display_Produce_Display_Mesh_h005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ef345f50f65cfef344c9b6a266a8b3388193c16
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Produce_Display_006__Produce_Display_Produce_Display_Mesh_h005.obj
@@ -0,0 +1,104 @@
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Produce_Display_014__Produce_Display_Produce_Display_Mesh_h005.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Produce_Display_014__Produce_Display_Produce_Display_Mesh_h005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe255a66c379524eb6d5a87f57a5191a923b07e3
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Produce_Display_016__Produce_Display_Produce_Display_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Produce_Display_016__Produce_Display_Produce_Display_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..603343ef69d096c02e535864c0bab27d84943b4c
--- /dev/null
+++ b/data/scene_packages/supermarket/mujoco/db5cf5719470/Produce_Display_016__Produce_Display_Produce_Display_Mesh_h000.obj
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diff --git a/data/scene_packages/supermarket/mujoco/db5cf5719470/Produce_Display_017__Wheel_Base_022_Wheel_Base_022_Mesh_h000.obj b/data/scene_packages/supermarket/mujoco/db5cf5719470/Produce_Display_017__Wheel_Base_022_Wheel_Base_022_Mesh_h000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e0c875dca1dc645605e4fe1fd34b238366877c4
--- /dev/null
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