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index 93e4767ec4cd62d4120becd391705ff367d927bb..d2034d5892c314e1db80c0cbf4b4e9ccab570d56 100644
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mesh/glasses_case_017_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mesh/glasses_case_017_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e172e62f958acdc8e2a98d1988375b254d8ca43f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mesh/glasses_case_017_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a2cca2f98186408a1040f6c7c18367cc85caa203f889a4340ea26be4bdf3fba
+size 15066451
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mesh/material.mtl b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..97703f10c0700828116ed4d9d8719ae3c0adc0ef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl glasses_case_017_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd glasses_case_017_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mesh/material_0.png b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e172e62f958acdc8e2a98d1988375b254d8ca43f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a2cca2f98186408a1040f6c7c18367cc85caa203f889a4340ea26be4bdf3fba
+size 15066451
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/glasses_case_017.xml b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/glasses_case_017.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5501dde4b50c6a29a3512d07f0605b84fd4b1ea6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/glasses_case_017.xml
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6e1b90e9397442505b4c0bf446f3a4201ae1505
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61de50f4cdf5f0a56d27216e93e51e3d800a3401e88dde2ff2e77dc3887b4161
+size 112013031
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8394d2fb04cecb2fdb809750cfd3dd62a3cb448
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision.obj
@@ -0,0 +1,16448 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_0.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71095b186a383251c0afd74ac9f242fbb1339ab0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_0.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_1.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4775d7cc39c0234e6be55ee4fc18b42e5019c88
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_1.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_10.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ebf19d90b0aa9f31fa1c7b041aee67b20b9f4d1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_10.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_11.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e423986e8f66fb975c67a06ab02d2c8eb55ea2a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_11.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_12.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b85d99aa458b69207f5a00b50c4dea057204110
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_12.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_13.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f9fddfcb67bc7dd38fd039736a4bf1fd392ec9b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_13.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_14.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e68b6caeb7a2a9f5ec4eeafd518faca0436eb1c8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_14.obj
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_15.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efca2e48a9b38af6d4df38dd4d80b793c9ee33c0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_15.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_16.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4850945759cea12f8266bd3b4587a29cdc1f65af
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_16.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.00584237 -0.05502046 -0.00859407
+v 0.00584237 -0.05677281 -0.00566380
+v 0.00584237 -0.05502045 -0.01135336
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_17.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87d8bf7080c3ab8d7ff50d0778adf0db8432f2fa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_17.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
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+v -0.01670108 0.02844431 0.05123667
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_18.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91ab91323088509ba51948f8e31e8deac26a3294
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_18.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_19.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b71ca14937593db9ce4466b2789bcf32c33d1480
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_19.obj
@@ -0,0 +1,376 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_2.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12478c1f75107ec06c2d2840f395b1a67be26919
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_2.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v -0.01670108 -0.05288425 0.05124161
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_20.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..870a087224880c0c7368720e8a56afc0ec7a7d81
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_20.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_21.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e264227a9429636dded63b84be310f979a65426
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_21.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.01670091 0.05432365 0.04667018
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_22.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb1d5ac76ed6a406fe56da17b4e6cbe4ab73e4b7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_22.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_23.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b15c02a2c17c2827b0cca31eb906d1a70c80a628
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_23.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_24.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcce816edcb4d14488eb04721a569eaef03fb069
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_24.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_25.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e7af3823fee40f48da2129cee74a9896088f071
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_25.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_26.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..753689c7cef379628067bf7a2f9f1591e1398c78
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_26.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_27.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b7ec50ccc70a8a3974e3147909e0baf8db9f2b3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_27.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_28.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2355b3f4e7dc9efaa696a3bf5cd85a55f1ec3f5f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_28.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_29.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cb19f2bc20c89167ea48b65a6e3f42484eb4161
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_29.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_3.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2381b8d4289c16188742157f347322add667173d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_3.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_30.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8fc00d6e1f4a9a57b4349da98c040c01dd76dca
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_30.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_31.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad2ba2bb30eca9f846757cea684ea46a94546e4b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_31.obj
@@ -0,0 +1,517 @@
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_32.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a8571ae91630b1cedb720b0121d58ea8e53fb98
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_32.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_33.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63973d72d9f9b5b71ade864a6457d8abe233147f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_33.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.00584237 0.05526079 -0.01110712
+v 0.01234441 0.05751550 -0.01110711
+v 0.01234441 0.05634340 -0.00472928
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+v 0.00584237 0.05562773 -0.00472929
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+v 0.01234441 0.06458542 -0.00472925
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+v 0.00888718 0.06458542 -0.00472925
+v 0.00612814 0.06458268 -0.00472925
+v 0.00676715 0.06458451 -0.00472925
+v 0.00676715 0.06454071 -0.01110708
+f 1 2 3
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+f 11 14 12
+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_34.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9279546464a7e148418e8fcb3fcd6ec596ff52d5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_34.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.00584237 0.04498767 -0.00095856
+v 0.00584237 0.04502621 -0.00060124
+v 0.00584237 0.04558119 -0.00177000
+v 0.01234441 0.04889749 -0.00297645
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_35.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfebaf108a2ced190d5dc5c7b2eb1f62ec1fca1a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_35.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.02221743 -0.00286199 0.05800405
+v -0.02291442 -0.00356554 0.05798823
+v -0.02291442 -0.00570910 0.05798822
+v -0.02221743 -0.00500555 0.05800346
+v -0.02221743 0.00500869 0.05800291
+v -0.02291442 0.00500869 0.05798767
+v -0.02503371 0.00500869 0.05787458
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+v -0.02291442 -0.00785519 0.05796829
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+v -0.02683094 0.00715225 0.05709758
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+v -0.02503371 -0.01284078 0.05201761
+v -0.02221743 0.01224924 0.05201770
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_36.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7995e14e37d56dbc4768dc2465bebceaa40a66de
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_36.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.00584237 0.04984501 -0.02561784
+v -0.00171307 0.04984501 -0.02561168
+v -0.00171307 0.05004186 -0.02561168
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+v 0.00584237 0.05312044 -0.02557058
+v 0.00584237 0.05545595 -0.00463507
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_37.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..735de6440b2af41b42ec6279e7f32e981e395f42
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_37.obj
@@ -0,0 +1,268 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_38.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ee75491eb4ba486a007c4de132d8d2b7ef47096
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_38.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.00218168 0.04984496 -0.01328607
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_39.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49c71e658aebcda507ffd3949a4cca96ac8dc8a7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_39.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v -0.01110949 0.05553377 -0.02396250
+v -0.01110820 0.05553829 -0.02396055
+v -0.01110820 0.05553377 -0.02381568
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+v -0.01314570 0.05908791 -0.01872769
+v -0.01217238 0.06076246 -0.01872769
+v -0.01127357 0.06185604 -0.01984159
+v -0.01110820 0.06169034 -0.02049741
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+v -0.01415089 0.05831215 -0.00396299
+v -0.01110820 0.06193535 -0.01996884
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+f 30 32 38
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+f 34 37 35
+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_4.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb1e22f1da8a88958ab8949555c49fba9cac2ce2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_4.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v 0.03284116 -0.06360701 -0.00008592
+v 0.03284116 -0.06146255 -0.00029355
+v 0.02584709 -0.06360701 -0.00008345
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+v 0.02584709 -0.06146255 -0.00029108
+v 0.03284116 -0.06027183 -0.00062724
+v 0.03220684 -0.06027099 -0.00062724
+v 0.01878698 -0.06146255 -0.00029355
+v 0.01878698 -0.06360701 -0.00008839
+v 0.01878698 -0.06500168 -0.00042210
+v 0.02372810 -0.06500337 -0.00041962
+v 0.02372810 -0.06533933 -0.00178653
+v 0.03284116 -0.06533257 -0.00178653
+v 0.01878698 -0.06026845 -0.00062724
+v 0.01878698 -0.06066536 -0.00051600
+v 0.03284116 -0.05964220 -0.00178651
+v 0.03220684 -0.05963796 -0.00178651
+v 0.01878698 -0.06533679 -0.00178653
+v 0.01948735 -0.06533765 -0.00178653
+v 0.02160772 -0.06533933 -0.00178653
+v 0.03284116 -0.06546452 -0.01872825
+v 0.02584709 -0.05964135 -0.00178651
+v 0.02160772 -0.05964389 -0.00178651
+v 0.01878698 -0.05964896 -0.00178651
+v 0.03284116 -0.05900410 -0.00390484
+v 0.03220684 -0.05899987 -0.00390484
+v 0.02796609 -0.05899987 -0.00390484
+v 0.01878698 -0.06544506 -0.01872825
+v 0.03284116 -0.06505830 -0.02084658
+v 0.02584709 -0.05900156 -0.00390484
+v 0.02160772 -0.05900664 -0.00390484
+v 0.01878698 -0.05923598 -0.00320532
+v 0.03284116 -0.05681897 -0.01459289
+v 0.02812158 -0.05681897 -0.01398483
+v 0.02584709 -0.05681897 -0.01383158
+v 0.01878698 -0.06501091 -0.02084658
+v 0.01878698 -0.06471641 -0.02195147
+v 0.03284116 -0.06485012 -0.02162520
+v 0.01878698 -0.05903965 -0.00390484
+v 0.03284116 -0.05681893 -0.02532298
+v 0.01878698 -0.05681897 -0.01459537
+v 0.01878698 -0.06360693 -0.02277210
+v 0.03284116 -0.06396660 -0.02256447
+v 0.03284116 -0.06474772 -0.02198608
+v 0.03284116 -0.05717522 -0.02527849
+v 0.02160772 -0.05681893 -0.02533534
+v 0.01878698 -0.05681893 -0.02533287
+v 0.01878698 -0.06307124 -0.02310827
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+v 0.02584709 -0.05931968 -0.02477672
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+v 0.01878698 -0.05717522 -0.02529085
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+v 0.03284116 -0.06247630 -0.02351859
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+v 0.03284116 -0.06092676 -0.02423787
+v 0.01878698 -0.05860966 -0.02494728
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+v 0.02160772 -0.06199561 -0.02378801
+v 0.03284116 -0.06199815 -0.02379295
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+v 0.01878698 -0.06039107 -0.02441831
+v 0.01878698 -0.05931968 -0.02477672
+v 0.03284116 -0.06124666 -0.02410686
+v 0.01878698 -0.06091915 -0.02424034
+v 0.01948735 -0.06092084 -0.02424034
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_40.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20497a9cd82193612394fdfd603f1388479f1ff6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_40.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.01551514 0.05750791 -0.00176093
+v 0.01527361 0.05750791 -0.00393714
+v 0.01468816 0.05750790 -0.00062960
+v 0.02910422 0.05329279 -0.00701101
+v 0.02910422 0.05329279 -0.00717250
+v 0.01312309 0.05750792 -0.00569065
+v 0.03157356 0.05246718 -0.00946935
+v 0.01399837 0.05750790 -0.00033798
+v 0.02687641 0.05316512 -0.00499913
+v 0.03152912 0.05142324 -0.00683149
+v 0.03208366 0.05217607 -0.00946935
+v 0.01234441 0.05750792 -0.00584073
+v 0.03006259 0.05271295 -0.00946935
+v 0.01234441 0.05750790 0.00006097
+v 0.01234441 0.05647350 0.00017116
+v 0.01234441 0.05568130 0.00023384
+v 0.02108757 0.05218440 -0.00266145
+v 0.02718556 0.05173581 -0.00487946
+v 0.03208366 0.04988655 -0.00672416
+v 0.03208366 0.05019198 -0.00679256
+v 0.03208366 0.05147216 -0.00803786
+v 0.03208366 0.04531946 -0.00946937
+v 0.01384766 0.05091975 -0.00504094
+v 0.01234441 0.05231326 -0.00465053
+v 0.02966263 0.05272131 -0.00946935
+v 0.02796616 0.05267239 -0.00946935
+v 0.02751790 0.05254592 -0.00946935
+v 0.02631221 0.05203290 -0.00946935
+v 0.02639916 0.05004285 -0.00946936
+v 0.02675275 0.04933058 -0.00946936
+v 0.01234441 0.05432596 0.00020725
+v 0.01948772 0.05218440 -0.00213616
+v 0.02824054 0.05004284 -0.00519578
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+v 0.01234441 0.05207463 0.00008280
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+v 0.03153685 0.04673564 -0.00700724
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_41.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9c394c790720d97af49af6dc8e461fe3b753670
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_41.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.02303550 -0.02478277 0.04348505
+v -0.02223262 -0.02478272 0.03051202
+v -0.03268885 -0.02478277 0.04348505
+v -0.02254897 -0.05642058 0.04348493
+v -0.03159259 -0.02478272 0.03051202
+v -0.02203320 -0.05642053 0.03051190
+v -0.03266901 -0.02478277 0.04268749
+v -0.03268989 -0.02715498 0.04348504
+v -0.03250927 -0.05642058 0.04348493
+v -0.03160825 -0.02478272 0.03067966
+v -0.03159363 -0.02661917 0.03051201
+v -0.03136498 -0.05642053 0.03051190
+v -0.03252075 -0.02478276 0.04088283
+v -0.03267005 -0.02715498 0.04268748
+v -0.03267945 -0.05074088 0.04268739
+v -0.03269824 -0.05074088 0.04348495
+v -0.03250823 -0.05642058 0.04304170
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+v -0.03243619 -0.02478276 0.03993668
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+v -0.03152890 -0.05503002 0.03051191
+v -0.03252597 -0.05074087 0.04082939
+v -0.03252389 -0.05288392 0.04084462
+v -0.03267423 -0.05288393 0.04268739
+v -0.03269407 -0.05207874 0.04348495
+v -0.03260115 -0.05514776 0.04348494
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+v -0.03160199 -0.05288388 0.03051192
+v -0.03174398 -0.05288389 0.03209942
+v -0.03249883 -0.05466773 0.04112529
+v -0.03167194 -0.05503003 0.03209941
+v -0.03242992 -0.05288392 0.03978545
+v -0.03269094 -0.05288393 0.04348495
+f 1 2 5
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+f 1 7 3
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_42.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d2ca0f3232053fd707aae5ad9ae6dd5bb57c8f8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_42.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.00039170 -0.04798707 -0.01446392
+v -0.00691149 -0.04798707 -0.01368132
+v -0.00691149 -0.05501943 -0.01258085
+v 0.00039170 -0.05501942 -0.01521462
+v 0.00039170 -0.04798703 -0.02562200
+v -0.00691149 -0.04798703 -0.02547008
+v -0.00691149 -0.05501939 -0.02528881
+v 0.00039170 -0.05501939 -0.02551606
+v 0.00039170 -0.05074187 -0.02562201
+v -0.00231697 -0.04798703 -0.02562200
+v -0.00595355 -0.04798703 -0.02557732
+v -0.00595355 -0.04859761 -0.02557732
+v -0.00691149 -0.04859761 -0.02546880
+v -0.00691149 -0.05406119 -0.02535647
+v -0.00596428 -0.05501939 -0.02541775
+v -0.00171362 -0.05501939 -0.02553393
+v 0.00039170 -0.05501457 -0.02553648
+v -0.00171362 -0.05074187 -0.02562201
+v 0.00039170 -0.05288545 -0.02561307
+v -0.00383323 -0.04798703 -0.02562072
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+v -0.00383323 -0.05288545 -0.02560413
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_43.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64223d14a59efd48c7b9cde4464d08c085932442
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_43.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_44.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7775a3b94bc1dd8e0c18b506c5871579f40b4f6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_44.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_45.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9875ca6cd1df89dac0039b7fab6a45f47b209367
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_45.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_46.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6c11e61cefc2b497cf70b3ce596cfeb057fbe6b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_46.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_47.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..966aa5daa22abc61a854844db30cb82c94f65c3e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_47.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_48.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1aa3fda45c590879ed8ada049e608ef50bce1974
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_48.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_49.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82621502e01de54fb9544a01daeae1938d7bd3f2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_49.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_5.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de8c5ba37018e8702668148d61b76a3077d65d6e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_5.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_50.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a50ae5f92d050e660f37f88fb363c2ad5988295e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_50.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_51.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a058e56813f49f1a9bbaaae779c6f8aa40f3f313
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_51.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_52.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..187ad014c11cdd3c63e491b95cd6f82a48f54646
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_52.obj
@@ -0,0 +1,439 @@
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_53.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82f719621410e759f67bc92954f2678cca6ca4da
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_53.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_54.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10451fa4e32c41bb789d7cd4cc749d7b22209ccb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_54.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_55.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7ca126546b785f133f3b6fc4647a49b449d1d2a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_55.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_56.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7683e9f5c7b2085c25b8fb6c20628f6f550a693
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_56.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.00584269 -0.05014396 -0.01093761
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+v 0.00584269 -0.05014396 -0.00964584
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_57.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b117f24a3fd05442e7a6b589cfe486550b1ca03
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_57.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_58.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..523c90f5aaaf80a30a1820102bf566fd31ef5744
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_58.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_59.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22ed2ff5502a9e746e7e65075806aea60dec41ae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_59.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_6.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4831be040f41d0e8d092e6597dbaf33378e93f3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_6.obj
@@ -0,0 +1,439 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_60.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ed01c5d2fdf38943da598c3cf4e3aa2a8188f98
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_60.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_61.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..242362d7cbe9763b11d5999e20cef360e5eb1f6c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_61.obj
@@ -0,0 +1,97 @@
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+f 17 27 18
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+f 18 28 29
+f 18 29 30
+f 18 30 19
+f 20 29 28
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+f 20 31 21
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+f 24 26 25
+f 26 33 28
+f 28 33 31
+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_62.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a99ca1b88f0efdf32aaf66f2848a09890a44a4e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_62.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.00722148 -0.06501576 -0.00178636
+v -0.00722148 -0.06489573 -0.00049163
+v -0.00722148 -0.06490419 -0.00566383
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+v -0.00722148 -0.05304052 -0.00566378
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+v -0.00383365 -0.06542803 -0.00178636
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+v -0.00383365 -0.06507154 -0.00033994
+v -0.00595317 -0.06360678 0.00005470
+v -0.00722148 -0.06146297 0.00001720
+v -0.00053290 -0.05771737 -0.00398564
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+v -0.00053290 -0.05960534 -0.00122434
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+v -0.00053290 -0.06530314 -0.00390394
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+v -0.00722148 -0.05807023 -0.00098867
+v -0.00716058 -0.05839277 -0.00079835
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+f 23 33 24
+f 27 29 28
+f 31 37 32
+f 32 37 35
+f 32 35 38
+f 34 39 35
+f 35 39 40
+f 35 40 38
+f 38 40 39
+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_63.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbf92a40497504eac7b7bc614023734e8eef9711
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_63.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
+v 0.00584237 -0.05461798 -0.02555729
+v 0.00584237 -0.05461802 -0.01425929
+v 0.00584237 -0.05409280 -0.02557588
+v 0.00676725 -0.05461798 -0.02555961
+v 0.00678626 -0.05461802 -0.01429531
+v 0.00584237 -0.05316651 -0.01376660
+v 0.00584237 -0.05288409 -0.02561654
+v 0.00888687 -0.05461798 -0.02556310
+v 0.01878560 -0.05461801 -0.01527021
+v 0.00686227 -0.05293955 -0.01376659
+v 0.00584237 -0.02765956 -0.01376650
+v 0.00584237 -0.05074113 -0.02562467
+v 0.00676725 -0.05074113 -0.02562700
+v 0.00676725 -0.05288409 -0.02561770
+v 0.00888687 -0.05288409 -0.02562003
+v 0.01060233 -0.05461798 -0.02556426
+v 0.01878560 -0.05461798 -0.02556310
+v 0.01878560 -0.04947440 -0.01376658
+v 0.00887547 -0.02765956 -0.01376650
+v 0.00584237 -0.02765952 -0.02562807
+v 0.00584237 -0.04980425 -0.02562582
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+v 0.01312611 -0.05288409 -0.02562235
+v 0.01524699 -0.05461798 -0.02556426
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+v 0.01878560 -0.04169168 -0.01376655
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+v 0.00638083 -0.02765952 -0.02562923
+v 0.00584237 -0.04002109 -0.02562928
+v 0.00584237 -0.04859554 -0.02562699
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+v 0.01736661 -0.04216404 -0.02563625
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+v 0.01524699 -0.04002109 -0.02563625
+v 0.01312611 -0.02765952 -0.02563388
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+f 1 21 12
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+f 50 57 52
+f 50 52 56
+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_64.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70c076d6925bf75d9dbad4248ad0cd36de743c45
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_64.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.02267434 0.04897497 -0.01131511
+v 0.02266190 0.04897497 -0.01131511
+v 0.02267434 0.04895419 -0.01131511
+v 0.02547483 0.05159293 -0.01154912
+v 0.02547483 0.05587654 -0.01173547
+v 0.02266190 0.04895419 -0.01131511
+v 0.01878626 0.05587655 -0.01405185
+v 0.01878626 0.04289930 -0.01182801
+v 0.02547483 0.05000692 -0.01183359
+v 0.01948753 0.04360919 -0.01182521
+v 0.02547483 0.05587659 -0.02533524
+v 0.01878626 0.05587659 -0.02533944
+v 0.01878626 0.04060167 -0.01247683
+v 0.02547483 0.04969698 -0.01192468
+v 0.02547483 0.05470613 -0.02548518
+v 0.02431784 0.05587659 -0.02533664
+v 0.02007814 0.05587659 -0.02533944
+v 0.01878626 0.05503857 -0.02544595
+v 0.01878626 0.03971862 -0.01289722
+v 0.02547483 0.03818803 -0.01534393
+v 0.02547483 0.05432867 -0.02553283
+v 0.02372723 0.05432867 -0.02553423
+v 0.02160770 0.05432867 -0.02553563
+v 0.01878626 0.05432867 -0.02553563
+v 0.01878626 0.03952124 -0.01302194
+v 0.01878626 0.03818802 -0.01392159
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+v 0.01948753 0.05218513 -0.02561692
+v 0.01878626 0.05218513 -0.02561552
+v 0.01878626 0.03818806 -0.02562958
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+v 0.02547483 0.05218513 -0.02561552
+v 0.02547483 0.05003986 -0.02562253
+v 0.01878626 0.05003986 -0.02562253
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+v 0.02547483 0.04184143 -0.02562677
+v 0.01878626 0.04360924 -0.02562676
+v 0.01878626 0.04860622 -0.02562393
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+f 35 37 40
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_65.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fefb556cc60da53bc1ddd923d3cb4b53e4580818
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_65.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00691127 0.04984494 -0.00880478
+v -0.00467439 0.04575737 -0.00994328
+v -0.00467439 0.04984495 -0.00988733
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+v -0.00691149 0.04983972 -0.00880643
+v -0.00691149 0.03346848 -0.00971464
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+v -0.00691149 0.02949590 -0.00999270
+v -0.00467439 -0.00355498 -0.01444970
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+v -0.00691149 0.04984500 -0.02545105
+v -0.00691149 0.01199560 -0.01183047
+v -0.00691149 -0.00355498 -0.01365671
+v -0.00467439 -0.00355494 -0.02560918
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+v -0.00691149 -0.00355494 -0.02548085
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+v -0.00595345 0.03502620 -0.02558107
+v -0.00691149 0.03288310 -0.02547414
+f 1 2 3
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+f 33 35 36
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_66.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03d1099296b7e56a141391170578520f4da9868e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_66.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.00329787 -0.03016122 0.00033150
+v -0.00314309 -0.03016122 0.00113146
+v -0.00302767 -0.02929793 0.00167023
+v -0.00328535 -0.02929792 0.00033150
+v -0.00303125 -0.02929792 -0.00101817
+v -0.00303841 -0.03016122 -0.00102592
+v -0.00303215 -0.03016123 0.00167297
+v -0.00171336 -0.02929793 0.00209460
+v -0.00171336 -0.02715388 0.00205723
+v -0.00295968 -0.02715388 0.00160460
+v -0.00314667 -0.02715387 0.00033151
+v -0.00295968 -0.02715387 -0.00094568
+v -0.00171336 -0.02929791 -0.00162303
+v -0.00171336 -0.03016121 -0.00163671
+v -0.00250070 -0.03016122 -0.00127525
+v -0.00224660 -0.03016123 0.00192640
+v -0.00171336 -0.03016123 0.00209049
+v 0.00040708 -0.02286375 0.00229063
+v -0.00150668 -0.02286375 0.00189817
+v -0.00286484 -0.02549214 0.00150023
+v -0.00291047 -0.02518612 0.00033152
+v -0.00286394 -0.02547591 -0.00083810
+v -0.00153174 -0.02286374 -0.00129801
+v -0.00171336 -0.02715386 -0.00151636
+v 0.00040708 -0.02071967 -0.00194253
+v 0.00040708 -0.03016121 -0.00180490
+v 0.00040708 -0.02286373 -0.00196168
+v -0.00044557 -0.03016123 0.00207089
+v 0.00040708 -0.02500983 0.00223318
+v 0.00584237 -0.01307973 0.00174915
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+v 0.00252662 -0.01643361 0.00205772
+v 0.00040708 -0.02071969 0.00217986
+v -0.00119354 -0.02071969 0.00181521
+v -0.00090545 -0.01900526 0.00162150
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_67.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2526b863b9d4d42a88446cbf1740822d7108d3e3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_67.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.00004856 0.05608892 -0.00463506
+v 0.00076746 0.05497735 -0.00463507
+v 0.00101544 0.05249924 -0.00140799
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+v -0.00004856 0.05848958 -0.00172903
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+v 0.00372417 0.05458062 -0.00463507
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+v 0.00584180 0.05339515 0.00088832
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+f 38 40 39
+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_68.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c07a4d3e85886c1c4f1bf4b477156f3cadcd4cd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_68.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
+v 0.01250954 -0.05503276 0.00012877
+v 0.01250954 -0.05347942 0.00006217
+v 0.01250954 -0.05717551 0.00010710
+v 0.01878560 -0.06360683 -0.00008870
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_69.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..914e79c63748766470a8b43144a4a73974c3ec90
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_69.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.00242134 -0.05301112 0.00114965
+v 0.00464607 -0.05503149 0.00103293
+v 0.00464607 -0.05301112 0.00098225
+v 0.00106965 -0.05301112 0.00032732
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+v 0.00584237 -0.05301112 0.00081818
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+f 34 41 35
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_7.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eda4fcf7688f42e52c09d58471405b9bf7f20fd3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_7.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
+v -0.01670252 -0.05904820 0.03050726
+v -0.02207994 -0.05608139 0.03050727
+v -0.01670252 -0.06546510 0.03050724
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+v -0.02079459 -0.06515899 0.00244990
+v -0.01670252 -0.06558069 0.00442303
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_70.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb6cd54e609ed7cf858bed881a9433ad152b0031
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_70.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_71.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37af6b3b96db063540d2b1f3532d2da5d41a613f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_71.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_72.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27fe2dcb4a94f9560195ba572f183505bad1da9f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_72.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_73.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ddedda7a3e153df63de119f5be55f0476fa4622
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_73.obj
@@ -0,0 +1,232 @@
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_74.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b3a75381f01a24862860ba464724605f8f624ea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_74.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_75.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e08122a2030d0cdf4dac0f8abb17b942815e706d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_75.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_76.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9074dd5074a07dc3a26fce3dcc394f3f5394ef20
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_76.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_77.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4e89d8fc165b70cff4688e966f803f53845645e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_77.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v -0.00331607 0.02888573 0.00033163
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_78.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cbae2b07252c525a416ff20fdce7c0f0298172f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_78.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v 0.03432805 0.05594550 -0.02532428
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+v 0.03208366 0.05647440 -0.02525472
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_79.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d671d1ebe333ae4289f5ecda8154742acce9f7b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_79.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.02547483 0.04900727 -0.01235067
+v 0.03208302 0.04704947 -0.01235068
+v 0.03208302 0.04699759 -0.01232135
+v 0.03208302 0.04513969 -0.01081945
+v 0.03208302 0.04491490 -0.01037278
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+v 0.02675442 0.04933004 -0.00947010
+v 0.02640056 0.05004284 -0.00947010
+v 0.02547483 0.04969893 -0.01192401
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+v 0.03208302 0.06454099 -0.01235061
+v 0.03208302 0.04532028 -0.00947011
+v 0.02547483 0.05775301 -0.00947007
+v 0.02547483 0.06454098 -0.01200291
+v 0.03208302 0.06454099 -0.01225135
+v 0.03208302 0.06453520 -0.00947004
+v 0.02547483 0.06453904 -0.00947004
+v 0.03208302 0.06453714 -0.01013357
+f 1 2 3
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+f 1 9 13
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+f 1 11 2
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_8.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0b28d75d275d1cca85aa74ea26f1395c991c898
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_8.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.01443349 0.05553367 0.00336832
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+v -0.01110820 0.03931317 -0.02431849
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_80.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05c61c43467fbdf2da5d641654025b0f24b620e4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_80.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v -0.00712892 0.05416558 -0.00463092
+v -0.00712892 0.05442649 -0.00384704
+v -0.00712892 0.05501462 -0.00463461
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+v -0.00004914 0.06466978 -0.00178591
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_81.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09b4d3e79e516c9b4a2ceea1f58d198ceba1b561
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_81.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.00888685 -0.05503037 0.00101177
+v 0.01100656 -0.05503037 0.00083045
+v 0.00888685 -0.05288699 0.00086513
+v 0.00584237 -0.05074175 0.00080646
+v 0.00584237 -0.05503037 0.00089356
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+v 0.00584237 -0.05590954 -0.00806753
+v 0.01250954 -0.05068437 -0.00390783
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+f 47 48 49
+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_82.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e21b1f30680e4e42f9effb3b3e33a0ad016b7c7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_82.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.01948753 0.05587659 -0.02534034
+v 0.01878626 0.05587659 -0.02533879
+v 0.01878626 0.05647443 -0.02526422
+v 0.01948753 0.05647443 -0.02526422
+v 0.02160770 0.05587659 -0.02533879
+v 0.01878626 0.05587655 -0.01405126
+v 0.01878626 0.05718436 -0.02509334
+v 0.01948753 0.05861899 -0.02474691
+v 0.02160770 0.05647443 -0.02526267
+v 0.02372723 0.05587659 -0.02533724
+v 0.02547483 0.05587654 -0.01173659
+v 0.01878626 0.05789336 -0.00947162
+v 0.01878626 0.05861899 -0.02474691
+v 0.02160770 0.05861899 -0.02474535
+v 0.01878626 0.05913776 -0.02457447
+v 0.01948753 0.06018918 -0.02422494
+v 0.02160770 0.06018744 -0.02422494
+v 0.02372723 0.05647443 -0.02526112
+v 0.02547483 0.05587659 -0.02533568
+v 0.02547483 0.05775433 -0.00947162
+v 0.01878626 0.06454168 -0.00947159
+v 0.02372723 0.05861899 -0.02474380
+v 0.01878626 0.06018831 -0.02422494
+v 0.01948753 0.06126059 -0.02377598
+v 0.02160770 0.06125886 -0.02377598
+v 0.02547483 0.06125538 -0.02377442
+v 0.02547483 0.06037166 -0.02414416
+v 0.02372723 0.06018571 -0.02422339
+v 0.02547483 0.05861899 -0.02474225
+v 0.02547483 0.05647443 -0.02525956
+v 0.02547483 0.06453907 -0.00947159
+v 0.01948753 0.06454255 -0.00947159
+v 0.01878626 0.06473809 -0.01661135
+v 0.01878626 0.06125972 -0.02377442
+v 0.01878626 0.06290637 -0.02276622
+v 0.01948753 0.06290637 -0.02276777
+v 0.02160770 0.06290637 -0.02276933
+v 0.02372723 0.06290637 -0.02276777
+v 0.02547483 0.06290637 -0.02276622
+v 0.02547483 0.06018397 -0.02422183
+v 0.02547483 0.06473722 -0.01661135
+v 0.02160770 0.06473809 -0.01661135
+v 0.01948753 0.06475375 -0.01872718
+v 0.01878626 0.06475288 -0.01872718
+v 0.01878626 0.06327394 -0.02249902
+v 0.01878626 0.06401950 -0.02195530
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+v 0.02372723 0.06402036 -0.02195685
+v 0.02547483 0.06401950 -0.02195530
+v 0.02547483 0.06475027 -0.01872718
+v 0.02160770 0.06475288 -0.01872718
+v 0.01878626 0.06446526 -0.02014550
+v 0.02160770 0.06432275 -0.02084612
+v 0.01878626 0.06432275 -0.02084612
+v 0.02547483 0.06432015 -0.02084612
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+f 1 5 10
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+f 1 19 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 21
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+f 46 54 47
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+f 47 53 48
+f 48 53 55
+f 48 55 49
+f 50 55 53
+f 50 53 51
+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_83.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfa74d1445f0367e15a3321aa8de067c8733b349
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_83.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.00040693 0.02954621 -0.01032974
+v 0.00252655 0.02954621 -0.01043607
+v -0.00060604 0.02954621 -0.01058283
+v 0.00041825 -0.00355498 -0.01227523
+v 0.00252655 -0.00355499 -0.01181547
+v 0.00464616 -0.00355499 -0.01175107
+v 0.00584237 0.01595385 -0.01124482
+v 0.00584237 0.01787525 -0.01119688
+v 0.00584237 0.02002022 -0.01114597
+v 0.00584237 0.02216195 -0.01111750
+v 0.00584237 0.02330572 -0.01112498
+v 0.00584237 0.02431340 -0.01115643
+v 0.00404600 0.02954621 -0.01092728
+v 0.00575796 0.01395793 -0.01128826
+v -0.00158813 0.02954621 -0.01086737
+v -0.00140901 0.02859685 -0.01086438
+v 0.00040693 -0.00355498 -0.01227822
+v 0.00465749 -0.00355499 -0.01175557
+v 0.00584237 -0.00355499 -0.01223929
+v 0.00584237 0.02513315 -0.01134662
+v 0.00584237 0.02954622 -0.01382811
+v 0.00584237 0.02645189 -0.01166261
+v 0.00584237 0.02714527 -0.01187676
+v 0.00584237 0.02854178 -0.01236797
+v -0.00467439 0.02954621 -0.01184979
+v -0.00257948 -0.00355498 -0.01351374
+v -0.00467439 0.02137461 -0.01240543
+v -0.00467439 0.02000727 -0.01249979
+v 0.00584237 -0.00355494 -0.02562775
+v 0.00584237 0.02954626 -0.02562463
+v -0.00467439 0.02954626 -0.02560367
+v -0.00467439 -0.00355498 -0.01444973
+v 0.00584237 0.01023507 -0.02562770
+v 0.00583517 -0.00355494 -0.02562775
+v 0.00582899 0.02954626 -0.02562463
+v -0.00383334 0.02954626 -0.02561864
+v -0.00467439 0.01015082 -0.02561123
+v -0.00467439 -0.00355494 -0.02560828
+v 0.00464616 0.00715694 -0.02562771
+v -0.00383334 0.00930191 -0.02562621
+v 0.00464616 0.00501197 -0.02562772
+v -0.00384466 -0.00355494 -0.02562325
+v -0.00383334 0.00715694 -0.02562621
+v -0.00265051 0.02954626 -0.02562014
+v -0.00383334 0.01358537 -0.02562469
+v -0.00467439 0.00586413 -0.02561125
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+f 40 45 44
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+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_84.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..883cfb014e5fc79c1a9051792d184289f0c640fe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_84.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.00993464 -0.05777431 -0.01057747
+v 0.00993464 -0.05777431 -0.01093764
+v 0.00951782 -0.05777432 -0.00928036
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+v 0.00584237 -0.05777431 -0.01093764
+v 0.00903384 -0.05777432 -0.00806753
+v 0.01878560 -0.05869578 -0.00814002
+v 0.01878560 -0.06520707 -0.01093767
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+v 0.00584237 -0.05777432 -0.00806753
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+v 0.01878560 -0.06520707 -0.01025751
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+v 0.00584237 -0.06520780 -0.01025751
+v 0.00584237 -0.06520418 -0.00806756
+v 0.01878560 -0.06520418 -0.00806756
+v 0.00896035 -0.06520490 -0.00806756
+v 0.00888687 -0.06520490 -0.00806756
+v 0.00676725 -0.06520853 -0.01025751
+f 1 2 5
+f 1 5 10
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+f 1 6 3
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+f 1 4 2
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+f 2 8 13
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+f 2 14 9
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+f 13 18 19
+f 13 19 20
+f 13 20 14
+f 14 20 16
+f 14 16 15
+f 16 20 19
+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_85.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8a2afcc833146aa0d85369c6357801b583bc3e9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_85.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.00584237 -0.05777431 -0.01093764
+v 0.00993370 -0.05777431 -0.01093764
+v 0.00584237 -0.05777432 -0.00806753
+v 0.00584237 -0.05014470 -0.01093761
+v 0.00993370 -0.05777431 -0.01057747
+v 0.00828612 -0.05014470 -0.01093761
+v 0.00829453 -0.05014470 -0.01064234
+v 0.00903262 -0.05777432 -0.00806753
+v 0.00584237 -0.05591080 -0.00806753
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+v 0.00951640 -0.05777432 -0.00928036
+v 0.00717118 -0.05014470 -0.00995235
+v 0.00868180 -0.05741730 -0.00806753
+v 0.00676709 -0.05014470 -0.00973181
+v 0.00676709 -0.05617371 -0.00806753
+v 0.00610029 -0.05014470 -0.00966972
+v 0.00858648 -0.05732319 -0.00806753
+v 0.00709188 -0.05633205 -0.00806753
+f 1 2 5
+f 1 5 11
+f 1 11 8
+f 1 8 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 13
+f 3 13 17
+f 3 17 18
+f 3 18 15
+f 3 15 9
+f 4 10 16
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+f 4 14 12
+f 4 12 7
+f 4 7 6
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+f 8 14 13
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+f 14 16 15
+f 14 15 18
+f 14 18 17
+
diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_86.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8877e91fc901b29b920293668c462b491419d6a4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_86.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.00906542 -0.03676980 -0.01093788
+v 0.00956494 -0.03773757 -0.01093788
+v 0.00906542 -0.03676051 -0.01093596
+v 0.00906542 -0.03393521 -0.01093786
+v 0.00958872 -0.04095666 -0.01376655
+v 0.00958872 -0.04098081 -0.01376501
+v 0.00958872 -0.03992575 -0.01187885
+v 0.00958872 -0.03927189 -0.01145589
+v 0.00958872 -0.03876665 -0.01119188
+v 0.00906542 -0.03573701 -0.01078123
+v 0.01878560 -0.04647911 -0.00983492
+v 0.01736697 -0.04430766 -0.00986994
+v 0.00958872 -0.03390177 -0.01103484
+v 0.00958872 -0.03290985 -0.01165907
+v 0.00958872 -0.03255692 -0.01189653
+v 0.00958872 -0.03049691 -0.01376651
+v 0.01766097 -0.04873786 -0.01376658
+v 0.01806154 -0.04789641 -0.01086788
+v 0.01878560 -0.04828649 -0.01047494
+v 0.00976189 -0.03907871 -0.01122652
+v 0.01735936 -0.04644567 -0.01043529
+v 0.01878560 -0.04429837 -0.01024555
+v 0.01024904 -0.03425099 -0.01112722
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_9.obj b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_collision_9.obj
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/mjcf/mesh/glasses_case_017_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..e172e62f958acdc8e2a98d1988375b254d8ca43f
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/textures/material_0.png b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/textures/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/video.mp4 b/dataset/bedroom_supplies/storage/224d4a4180725419b40cb51081769dc4/video.mp4
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