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diff --git a/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0003.obj b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45332f683f48d53cb44f3c7f44ae4f173d0d2961
--- /dev/null
+++ b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0003.obj
@@ -0,0 +1,394 @@
+# https://github.com/mikedh/trimesh
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diff --git a/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0005.obj b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04615519794f486e82061f94bcf2910626ea65e3
--- /dev/null
+++ b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0005.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0006.obj b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0006.obj
new file mode 100644
index 0000000000000000000000000000000000000000..992820aff06be1b909dcd7d0ad9866a8a37345fe
--- /dev/null
+++ b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0006.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0011.obj b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0011.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a72cf5048ac5dd8527a3242270f667ab2162b22
--- /dev/null
+++ b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0011.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0012.obj b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0936b008f8c6dab084d846adb6786d4ca53bba3
--- /dev/null
+++ b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0012.obj
@@ -0,0 +1,313 @@
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diff --git a/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0015.obj b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aa71832fb3f068357da22c996dea5926129fc79
--- /dev/null
+++ b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0015.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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diff --git a/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0018.obj b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0018.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53e507d863fbb94e535f54bbfb8a6467a7dbcbe1
--- /dev/null
+++ b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0018.obj
@@ -0,0 +1,241 @@
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diff --git a/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0028.obj b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3652d9813838e3c336fa90feffba63150de26318
--- /dev/null
+++ b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0028.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0032.obj b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb41c099c086b37168052dacfe3c169df8ed90b3
--- /dev/null
+++ b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0032.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0036.obj b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0036.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5afc60c418828a3e6da1275f5f2708ccd68a9e3a
--- /dev/null
+++ b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0036.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0040.obj b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b63f3a024e2d0bc13d219440dce6ee713648a592
--- /dev/null
+++ b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0040.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0047.obj b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0047.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2098bcf5648524cae9872908bbaca6639f2209a5
--- /dev/null
+++ b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0047.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 1.898994 -1.438213 0.625307
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+v 1.852631 -1.438213 0.625307
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diff --git a/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0049.obj b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0049.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77e4f5318e737c1d63e857bf1bdb0ca825365437
--- /dev/null
+++ b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0049.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.354213 -0.565217 0.541317
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diff --git a/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0052.obj b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0052.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63ef041b41e2f4ff9fb5c36ca954069cf968d792
--- /dev/null
+++ b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0052.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
+v 1.849069 -1.139063 0.692220
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diff --git a/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0054.obj b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0054.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e34d1ccc25073fd1991baddcf304ae6ff7007af8
--- /dev/null
+++ b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0054.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0058.obj b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0058.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30b360be26525f2a4160d893af0ae7a2b65542fd
--- /dev/null
+++ b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0058.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0059.obj b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0059.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abb57a6dbab90ec10a274dc09cf5e1add8b45d07
--- /dev/null
+++ b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0059.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0064.obj b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0064.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cdd68940cf657fde1fb1086e723b09b0d60bd9c
--- /dev/null
+++ b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0064.obj
@@ -0,0 +1,28 @@
+# https://github.com/mikedh/trimesh
+v 1.830026 -1.584566 0.098277
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+
diff --git a/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0070.obj b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0070.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a85a25c569734f29b8165a03e295cf90cddc1480
--- /dev/null
+++ b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0070.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0072.obj b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0072.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46154231b3001bcaf9c2c84cf0bf584a8ea8a27e
--- /dev/null
+++ b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0072.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0074.obj b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0074.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c1fee75b8052c07ae8750dd80ee127da1bf101f
--- /dev/null
+++ b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0074.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 2.054528 -1.770595 0.150613
+v 2.054506 -1.687270 0.192273
+v 2.054484 -1.687270 0.196887
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+v 2.031300 -1.812258 0.098277
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diff --git a/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0075.obj b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0075.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7084936c2dc21df357636c8dc6abd1e728b0e9af
--- /dev/null
+++ b/objects/composed_bedroom_v2/scene/collision_parts/convex_piece_0075.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 2.003839 0.339469 0.102108
+v 1.990765 0.278319 0.102108
+v 2.003839 0.261171 0.140091
+v 2.003839 0.064052 0.102108
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diff --git a/objects/composed_meetingroom/models/104/coacd_0.05/coacd.urdf b/objects/composed_meetingroom/models/104/coacd_0.05/coacd.urdf
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--- /dev/null
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+<?xml version="1.0"?>
+<robot name="red_markpen">
+  <link name="base_link">
+    <visual>
+      <geometry><mesh filename="coacd_merge.obj"/></geometry>
+    </visual>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="1e-3" ixy="0" ixz="0" iyy="1e-3" iyz="0" izz="1e-3"/>
+    </inertial>
+    <collision>
+      <geometry><mesh filename="convex_piece_0000.obj"/></geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/objects/composed_meetingroom/models/104/coacd_0.05/coacd_merge.obj b/objects/composed_meetingroom/models/104/coacd_0.05/coacd_merge.obj
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+++ b/objects/composed_meetingroom/models/104/coacd_0.05/coacd_merge.obj
@@ -0,0 +1,32376 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+
+o node
+usemtl material_0
+v -0.00398983 0.00562578 -0.04992719
+v -0.00398983 0.00562578 -0.04992719
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diff --git a/objects/composed_meetingroom/models/104/coacd_0.05/convex_piece_0000.obj b/objects/composed_meetingroom/models/104/coacd_0.05/convex_piece_0000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c06c4c794e035bcdf0d25d71c38c61ee51cc77f1
--- /dev/null
+++ b/objects/composed_meetingroom/models/104/coacd_0.05/convex_piece_0000.obj
@@ -0,0 +1,1291 @@
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diff --git a/objects/composed_meetingroom/models/104/coacd_0.05/material.mtl b/objects/composed_meetingroom/models/104/coacd_0.05/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/objects/composed_meetingroom/models/104/coacd_0.05/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/composed_meetingroom/models/105/coacd_0.05/convex_piece_0000.obj b/objects/composed_meetingroom/models/105/coacd_0.05/convex_piece_0000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0faeab246bb2dfeaec3f30753066fde5443e7ae
--- /dev/null
+++ b/objects/composed_meetingroom/models/105/coacd_0.05/convex_piece_0000.obj
@@ -0,0 +1,3145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/objects/composed_meetingroom/models/106/coacd_0.05/coacd.urdf b/objects/composed_meetingroom/models/106/coacd_0.05/coacd.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8810061c6b083a8c4cd0b0fd98104c4bc3c413d1
--- /dev/null
+++ b/objects/composed_meetingroom/models/106/coacd_0.05/coacd.urdf
@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<robot name="coffee_mug">
+  <link name="base_link">
+    <visual>
+      <geometry><mesh filename="coacd_merge.obj"/></geometry>
+    </visual>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="1e-3" ixy="0" ixz="0" iyy="1e-3" iyz="0" izz="1e-3"/>
+    </inertial>
+    <collision>
+      <geometry><mesh filename="convex_piece_0000.obj"/></geometry>
+    </collision>
+    <collision>
+      <geometry><mesh filename="convex_piece_0001.obj"/></geometry>
+    </collision>
+    <collision>
+      <geometry><mesh filename="convex_piece_0002.obj"/></geometry>
+    </collision>
+    <collision>
+      <geometry><mesh filename="convex_piece_0003.obj"/></geometry>
+    </collision>
+    <collision>
+      <geometry><mesh filename="convex_piece_0004.obj"/></geometry>
+    </collision>
+    <collision>
+      <geometry><mesh filename="convex_piece_0005.obj"/></geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/objects/composed_meetingroom/models/106/coacd_0.05/coacd_merge.obj b/objects/composed_meetingroom/models/106/coacd_0.05/coacd_merge.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ab358e7539f52a379daba4b539fec6659d409ce
--- /dev/null
+++ b/objects/composed_meetingroom/models/106/coacd_0.05/coacd_merge.obj
@@ -0,0 +1,36732 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+
+o geometry_0
+usemtl material_0
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diff --git a/objects/composed_meetingroom/models/106/coacd_0.05/convex_piece_0000.obj b/objects/composed_meetingroom/models/106/coacd_0.05/convex_piece_0000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df8ac54fc1ed81347598b09935680b21c1b06345
--- /dev/null
+++ b/objects/composed_meetingroom/models/106/coacd_0.05/convex_piece_0000.obj
@@ -0,0 +1,4348 @@
+# https://github.com/mikedh/trimesh
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+v -0.00047244 0.01349338 -0.01910840
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diff --git a/objects/composed_meetingroom/models/106/coacd_0.05/convex_piece_0001.obj b/objects/composed_meetingroom/models/106/coacd_0.05/convex_piece_0001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d68d661f1b0b0949b0e7c46407864a5aa14ec35e
--- /dev/null
+++ b/objects/composed_meetingroom/models/106/coacd_0.05/convex_piece_0001.obj
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diff --git a/objects/composed_meetingroom/models/106/coacd_0.05/convex_piece_0002.obj b/objects/composed_meetingroom/models/106/coacd_0.05/convex_piece_0002.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbe52b844cb93082b808027c50fe189f985ea9f0
--- /dev/null
+++ b/objects/composed_meetingroom/models/106/coacd_0.05/convex_piece_0002.obj
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diff --git a/objects/composed_meetingroom/models/106/coacd_0.05/convex_piece_0003.obj b/objects/composed_meetingroom/models/106/coacd_0.05/convex_piece_0003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9b732088f49990f69883a920ffcc34ccfbde967
--- /dev/null
+++ b/objects/composed_meetingroom/models/106/coacd_0.05/convex_piece_0003.obj
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diff --git a/objects/composed_meetingroom/models/106/coacd_0.05/convex_piece_0004.obj b/objects/composed_meetingroom/models/106/coacd_0.05/convex_piece_0004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cffad380d23fa3ad7ce2c6ba07632519b590b64
--- /dev/null
+++ b/objects/composed_meetingroom/models/106/coacd_0.05/convex_piece_0004.obj
@@ -0,0 +1,3781 @@
+# https://github.com/mikedh/trimesh
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+v 0.00248776 -0.05021269 0.02734837
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diff --git a/objects/composed_meetingroom/models/106/coacd_0.05/convex_piece_0005.obj b/objects/composed_meetingroom/models/106/coacd_0.05/convex_piece_0005.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1068525b91d7305249d57a5c10e0e5ecf9d1657e
--- /dev/null
+++ b/objects/composed_meetingroom/models/106/coacd_0.05/convex_piece_0005.obj
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+
diff --git a/objects/composed_meetingroom/models/106/coacd_0.05/material.mtl b/objects/composed_meetingroom/models/106/coacd_0.05/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..76ae06fa8e839967671fd51750c930a2eb869997
--- /dev/null
+++ b/objects/composed_meetingroom/models/106/coacd_0.05/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 1.00000000 1.00000000 1.00000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/composed_meetingroom/models/108/coacd_0.05/coacd.urdf b/objects/composed_meetingroom/models/108/coacd_0.05/coacd.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f5275f2d6ba4647923ed88c24c38c4ac229d51aa
--- /dev/null
+++ b/objects/composed_meetingroom/models/108/coacd_0.05/coacd.urdf
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<robot name="laptop">
+  <link name="base_link">
+    <visual>
+      <geometry><mesh filename="coacd_merge.obj"/></geometry>
+    </visual>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="1e-3" ixy="0" ixz="0" iyy="1e-3" iyz="0" izz="1e-3"/>
+    </inertial>
+    <collision>
+      <geometry><mesh filename="convex_piece_0000.obj"/></geometry>
+    </collision>
+    <collision>
+      <geometry><mesh filename="convex_piece_0001.obj"/></geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/objects/composed_meetingroom/models/108/coacd_0.05/coacd_merge.obj b/objects/composed_meetingroom/models/108/coacd_0.05/coacd_merge.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8eafdd848d322efa74d7fa9dae3576997787c22
--- /dev/null
+++ b/objects/composed_meetingroom/models/108/coacd_0.05/coacd_merge.obj
@@ -0,0 +1,36244 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+
+o geometry_0
+usemtl material_0
+v -0.04403128 -0.07290662 -0.09564361
+v -0.04349669 -0.07884435 -0.09575352
+v -0.02880868 -0.07927585 -0.09577617
+v -0.05514140 -0.08631632 -0.09582049
+v -0.05427867 -0.09909922 -0.09601437
+v -0.04679038 -0.09292594 -0.09594544
+v -0.06943367 -0.08170760 -0.09561232
+v -0.06374021 -0.08419241 -0.09569682
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diff --git a/objects/composed_meetingroom/models/108/coacd_0.05/convex_piece_0000.obj b/objects/composed_meetingroom/models/108/coacd_0.05/convex_piece_0000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85746ce5febc9bc68b91c81a829d5d6c6a3d29a0
--- /dev/null
+++ b/objects/composed_meetingroom/models/108/coacd_0.05/convex_piece_0000.obj
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diff --git a/objects/composed_meetingroom/models/108/coacd_0.05/convex_piece_0001.obj b/objects/composed_meetingroom/models/108/coacd_0.05/convex_piece_0001.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2591e5034d54b9151e6351f75289ecb3961bc358
--- /dev/null
+++ b/objects/composed_meetingroom/models/108/coacd_0.05/convex_piece_0001.obj
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diff --git a/objects/composed_meetingroom/models/108/coacd_0.05/material.mtl b/objects/composed_meetingroom/models/108/coacd_0.05/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..76ae06fa8e839967671fd51750c930a2eb869997
--- /dev/null
+++ b/objects/composed_meetingroom/models/108/coacd_0.05/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 1.00000000 1.00000000 1.00000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/composed_meetingroom/models/109/coacd_0.05/coacd.urdf b/objects/composed_meetingroom/models/109/coacd_0.05/coacd.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e6f96f4da056e5c345aa10586f7fead3d29ae184
--- /dev/null
+++ b/objects/composed_meetingroom/models/109/coacd_0.05/coacd.urdf
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<robot name="water_bottle_sport">
+  <link name="base_link">
+    <visual>
+      <geometry><mesh filename="coacd_merge.obj"/></geometry>
+    </visual>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="1e-3" ixy="0" ixz="0" iyy="1e-3" iyz="0" izz="1e-3"/>
+    </inertial>
+    <collision>
+      <geometry><mesh filename="convex_piece_0000.obj"/></geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/objects/composed_meetingroom/models/109/coacd_0.05/coacd_merge.obj b/objects/composed_meetingroom/models/109/coacd_0.05/coacd_merge.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f15b21ad151345025e4b917f3c7bdcd1359a183
--- /dev/null
+++ b/objects/composed_meetingroom/models/109/coacd_0.05/coacd_merge.obj
@@ -0,0 +1,11134 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+
+o geometry_0
+usemtl material_0
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diff --git a/objects/composed_meetingroom/models/109/coacd_0.05/convex_piece_0000.obj b/objects/composed_meetingroom/models/109/coacd_0.05/convex_piece_0000.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfff135eeda4cc4836842cd8869e3a22e8e10684
--- /dev/null
+++ b/objects/composed_meetingroom/models/109/coacd_0.05/convex_piece_0000.obj
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diff --git a/objects/composed_meetingroom/models/109/coacd_0.05/material.mtl b/objects/composed_meetingroom/models/109/coacd_0.05/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..76ae06fa8e839967671fd51750c930a2eb869997
--- /dev/null
+++ b/objects/composed_meetingroom/models/109/coacd_0.05/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 1.00000000 1.00000000 1.00000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/composed_meetingroom/models/111/coacd_0.05/coacd.urdf b/objects/composed_meetingroom/models/111/coacd_0.05/coacd.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..af9b3a8aa97d7b43f4cb71ca51bdef9a5d9d6492
--- /dev/null
+++ b/objects/composed_meetingroom/models/111/coacd_0.05/coacd.urdf
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<robot name="notebook">
+  <link name="base_link">
+    <visual>
+      <geometry><mesh filename="coacd_merge.obj"/></geometry>
+    </visual>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="1e-3" ixy="0" ixz="0" iyy="1e-3" iyz="0" izz="1e-3"/>
+    </inertial>
+    <collision>
+      <geometry><mesh filename="convex_piece_0000.obj"/></geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/objects/composed_meetingroom/models/111/coacd_0.05/material.mtl b/objects/composed_meetingroom/models/111/coacd_0.05/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..76ae06fa8e839967671fd51750c930a2eb869997
--- /dev/null
+++ b/objects/composed_meetingroom/models/111/coacd_0.05/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 1.00000000 1.00000000 1.00000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/objects/composed_meetingroom/stable/101_stable.npy b/objects/composed_meetingroom/stable/101_stable.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1e7d10b15f89d177724f55e59259c838443e1715
--- /dev/null
+++ b/objects/composed_meetingroom/stable/101_stable.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0113330b770b0b42b1702c9242408fc10746b849d62052f66472c61fa153e167
+size 184
diff --git a/objects/composed_meetingroom/stable/104_stable.npy b/objects/composed_meetingroom/stable/104_stable.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1e7d10b15f89d177724f55e59259c838443e1715
--- /dev/null
+++ b/objects/composed_meetingroom/stable/104_stable.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0113330b770b0b42b1702c9242408fc10746b849d62052f66472c61fa153e167
+size 184
diff --git a/objects/composed_meetingroom/stable/105_stable.npy b/objects/composed_meetingroom/stable/105_stable.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1e7d10b15f89d177724f55e59259c838443e1715
--- /dev/null
+++ b/objects/composed_meetingroom/stable/105_stable.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0113330b770b0b42b1702c9242408fc10746b849d62052f66472c61fa153e167
+size 184
diff --git a/objects/composed_meetingroom/stable/109_stable.npy b/objects/composed_meetingroom/stable/109_stable.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6ae35ee508255be86d297ece332f73aac54e0592
--- /dev/null
+++ b/objects/composed_meetingroom/stable/109_stable.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90d78cbea10fcbedfc7899c4d672433c576203c665cf99613460259dd6864d46
+size 184
diff --git a/objects/composed_meetingroom/stable/110_stable.npy b/objects/composed_meetingroom/stable/110_stable.npy
new file mode 100644
index 0000000000000000000000000000000000000000..997a47a20a41fd6323bd60cc1187171cb80f247d
--- /dev/null
+++ b/objects/composed_meetingroom/stable/110_stable.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb8154882046f3a8c9a7cdf120fd9b43c9eae7c3c9d691aed0a2a963d3d7b193
+size 184