diff --git a/.gitattributes b/.gitattributes
index 0cab02109b2db3f4b0b5bc0c870e827945b63392..5f6ab095965909799ff6f60a7923210347b9e49b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5266,3 +5266,5 @@ dataset/bedroom_supplies/storage/30962f1a65b35f229c26c450bedb7cd7/mesh/pill_orga
dataset/bedroom_supplies/storage/30962f1a65b35f229c26c450bedb7cd7/pill_organizer_003.usd filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/31f079ffbe945744bc0f991819ecd4be/mesh/storage_box_036.glb filter=lfs diff=lfs merge=lfs -text
dataset/bedroom_supplies/storage/31f079ffbe945744bc0f991819ecd4be/storage_box_036.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/glasses_case_032.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mesh/glasses_case_032.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/glasses_case_032.urdf b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/glasses_case_032.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..79c791b91e6b5f793001bb904e0ef8893882e8d6
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/glasses_case_032.usd b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/glasses_case_032.usd
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new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mesh/glasses_case_032.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mesh/glasses_case_032.obj
new file mode 100644
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+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mesh/glasses_case_032.obj
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mesh/glasses_case_032_collision.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mesh/glasses_case_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0da863455948d88d2926dd6ab9302a25ca9f04ac
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mesh/glasses_case_032_collision.obj
@@ -0,0 +1,30878 @@
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mesh/glasses_case_032_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mesh/glasses_case_032_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3b282be671e807b9709eafa84a68d9529f3529d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mesh/glasses_case_032_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fedf3c96b62e0a88308680b477c8c08d27662409cd36a1b174c05a64efc7238
+size 11222444
diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mesh/material.mtl b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a05554de3f41cf2c11123afbbb403eef1ce85117
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl glasses_case_032_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_032_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mesh/material_0.png b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3b282be671e807b9709eafa84a68d9529f3529d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fedf3c96b62e0a88308680b477c8c08d27662409cd36a1b174c05a64efc7238
+size 11222444
diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/glasses_case_032.xml b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/glasses_case_032.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ed610a226c54229db92ad4690a44116a0631caa7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/glasses_case_032.xml
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d869308f2b5e33a69257b932f7c0667fe82ceb18
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032.obj
@@ -0,0 +1,116300 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23f08266537e77a04886204d9624b6a3779f6a01
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision.obj
@@ -0,0 +1,30878 @@
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_0.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1ee3ae439c41ab6547b88f43b461b247514d13c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_1.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b641c66c1a8195bf32368505283312fa15c67ba
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_10.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33b9242b5a97acd56214b7067f35e3d3a69b68da
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_10.obj
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_11.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4cbe8abcc400208bfff66eaa7181718b5658747
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_11.obj
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_12.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46da2d195f5c582fce420317c235d62de89d498d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_12.obj
@@ -0,0 +1,220 @@
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_13.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e928d1d51bb6ec65a2ab49979838593614bfe6f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_13.obj
@@ -0,0 +1,865 @@
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_14.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73db3dfae50be0d2e0bacdb98c4b55109ef24836
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_14.obj
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_15.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f11745476fc065c276df1b3dac7f5fc9f2dfec35
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_15.obj
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_16.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0feb65c176bad95ae9b6e15901f1b29b2e47d40
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_16.obj
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_17.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a7edf39996e7d18760de9b4188c47676427bcea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_17.obj
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_18.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3f58dc1a9ee0571bd986172dcd5d71b296f8840
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_18.obj
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_19.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a89333d61ef7c10c6fa7c91b2e6b743d703ae09
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_19.obj
@@ -0,0 +1,220 @@
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_2.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59bcd032eb522949cf2b61fe8537cbaacb3fda86
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_2.obj
@@ -0,0 +1,175 @@
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_20.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5dd9d56df635e09fa10005be4b9e2e419b2295f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_20.obj
@@ -0,0 +1,307 @@
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_21.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3017ba004a0e240c2a9a489a81f5dac873656bee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_21.obj
@@ -0,0 +1,169 @@
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_22.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c11be84950b92f34e4b8e4be24bb680c6155842
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_22.obj
@@ -0,0 +1,745 @@
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_23.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e084c78fa04f9b0c1396c3325514a7f307f888da
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_23.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_24.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f90a1edb523cdd92e3dd83befefadd586bf1a4c3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_24.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_25.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef7dee0e051fe18df71be44fd01c609202865124
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_25.obj
@@ -0,0 +1,265 @@
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_26.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bee8c5b2109b24729a2a9138f2e7df3feb5dc04
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_26.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_27.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87ed8652114013d0e592b401611902aa4fbda867
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_27.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_28.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7218e5adac211950064948a22196b99ce3dd9a30
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_28.obj
@@ -0,0 +1,526 @@
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_29.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c13509891ed8d97877c4a0faa79e5d5c5b05cd59
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_29.obj
@@ -0,0 +1,118 @@
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_3.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23bfe984a671fe17c086c50ccc1296b0a2c02b14
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_3.obj
@@ -0,0 +1,598 @@
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_30.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67e7659a432756c0eaf06944cafb6857f006abae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_30.obj
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_31.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ddbae6dd082e11b8cb8970a6239750859b0e1eb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_31.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.05057222 -0.02192826 -0.02183450
+v 0.06269169 -0.02192826 -0.02183450
+v 0.05138545 -0.02192830 -0.01008603
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+
diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_32.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25ec3d056142c4a792f821fdb4b0d105be56a519
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_32.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.00083408 0.06837998 0.07093369
+v 0.00026319 0.05998049 0.07110568
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+
diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_33.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..519e611fcd2bb78e2790f7024c91a1f1711f349f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_33.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.02268215 -0.04678490 -0.01529371
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_34.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22122876dc209e7af1498e35bd1ab29369bb8e14
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_34.obj
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_35.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1aadb0f1d5da40c11422666a8cfd47631eb4949
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_35.obj
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_36.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6450b905d29f257752a6a05483408bf2d4c01ccc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_36.obj
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_37.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1f48e6185d617468d2bd88e1b29b1c5efaa6b45
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_37.obj
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_38.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44680500cb326ba1553a24d7fa2379a80619ada0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_38.obj
@@ -0,0 +1,367 @@
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_39.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71558c547807f407a10927291554bd639f1b462c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_39.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_4.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0931a2918c5d6b5eb2c32a5d7f8f7f5cae9f5b59
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_4.obj
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_40.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f025b4f9140b52465cf56addfd98a90abc68fcc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_40.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_41.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebb8f8987e90107ab0167ed3e581474615e0a9e0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_41.obj
@@ -0,0 +1,343 @@
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_42.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..410b0011a97029354705548176f3fbe032cfb15d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_42.obj
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_43.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3f5ae752aa6bf3ccdacf7aed08e6bc94807bd38
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_43.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_44.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47b119bdc8d0ca8fc472d464d7d1aa5ea7779418
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_44.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_45.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8531ad5949db549996c5f32b97e24340c513e09d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_45.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_46.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d97acb92f0e766294cddc1f8119f899006041c5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_46.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_47.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1e9f114b507baa8d7068df616100959b0e401f2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_47.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_48.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5303ed71db996d96cecd67849b5436a40318714a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_48.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
+v -0.00338755 -0.04873407 -0.01770977
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_49.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3ed75dfed93c783446f07b6a7da96c891f5c441
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_49.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_5.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d37aa407787f88a20425c0d16bde94766c10b2ad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_5.obj
@@ -0,0 +1,361 @@
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_50.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4de7f3dee3826bfa41341b6a0b0086ea5eb4216c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_50.obj
@@ -0,0 +1,220 @@
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_51.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b610fa278bbd6a6ad53e9c47523456870448088e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_51.obj
@@ -0,0 +1,292 @@
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_52.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c31c2216b4f13b13b5fafebc80a1fd5be7b4620
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_52.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_53.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b773833792a36838a26cd19f5622e7f3fb08d373
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_53.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_54.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2976b756637169c254456b8b4eb5907f5dd2ba4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_54.obj
@@ -0,0 +1,214 @@
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_55.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d237e951a86f380f5e2c6e7ead938a7805bf527
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_55.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_56.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5dee8d922d7b4b00f1bda7b80fbfa4f25569f57
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_56.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_57.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d33c25d458c57060a7f3f0eeeb065ccd788c21b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_57.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.01804742 0.08417808 -0.01008449
+v 0.01804742 0.08408875 -0.01243443
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+
diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_58.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1a7a0e9feef9aef42bb30184fd5d3e37b1fbad1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_58.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.01804742 0.00045719 -0.01008480
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+
diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_59.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..075776875f4ddedd06d72f64c1ce868dd70584fd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_59.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.04479120 0.02241793 -0.01723959
+v 0.04479120 0.01794883 -0.02386218
+v 0.04973880 0.01794883 -0.02338369
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+
diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_6.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0de53f28ea8e7ad72792c09121c807fa462972f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_6.obj
@@ -0,0 +1,817 @@
+# https://github.com/mikedh/trimesh
+v -0.02371200 0.06584614 0.03370521
+v -0.02922168 0.06584623 0.00932787
+v -0.03913682 0.06584614 0.03370521
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_60.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb911d8711e9b9b91cd00b950d89b613a728c0f3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_60.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_61.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3e9741fb31fa41431847f98be38c202987f1d3a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_61.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_62.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..420ccd22364009b694717ee628105f3ab75eefcc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_62.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_63.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..079721deea607caa1812cdb85349668b0b170555
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_63.obj
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_64.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71ed64eb291fc02d16980d2c69143368e63edcbb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_64.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_65.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b68e86513ccf77fdb3c9d8f8fc0a99cdbfc09c93
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_65.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_66.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15df6369a61e82df518a39bd16f1f285167e667b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_66.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_67.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..032d02548ac44010189db86bbccfa58b86685403
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_67.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v 0.00555793 0.06506872 -0.01717128
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_68.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7782a58484e4894c56326ba36a5b24d9f6a3b098
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_68.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_69.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c700b34eab81a4f3fd12430591c894ab250c23a8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_69.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_7.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44544063867df51fdeab861e6ebc31a7ee7dcb98
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_70.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f82e05adf066ace2363ef06c3df595b46b3c1982
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_70.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.02825412 0.01996079 -0.01008473
+v 0.02825412 0.01996079 -0.01171108
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+
diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_71.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a5515b600a969098b12b48ae47070f7d6cee137
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_71.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_72.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..223e6f362c29bbd8b827a05a173511ebb823e1b5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_72.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.02825412 0.01154662 -0.01573603
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+
diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_73.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2c51d7e38bff90a321986d3e449e85aa39e0b6a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_73.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_74.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6706d9b83cc43f9c683c1faf83479d2cfb367437
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_74.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_75.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b069e270a35b52634da675afc44d1d3fad62257
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_75.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.01804780 -0.08476658 -0.01008511
+v 0.01804780 -0.08470598 -0.01166373
+v 0.02418098 -0.08476782 -0.01008567
+v 0.02197907 -0.08476658 -0.01008511
+v 0.01804780 -0.07239947 -0.01008507
+v 0.01804780 -0.08464413 -0.01325672
+v 0.02825412 -0.08476288 -0.01008567
+v 0.02005290 -0.08467629 -0.01243312
+v 0.02197907 -0.08467629 -0.01243368
+v 0.02559864 -0.08467629 -0.01243368
+v 0.02825412 -0.08476164 -0.01018578
+v 0.02197907 -0.07240442 -0.01008507
+v 0.02825412 -0.07240070 -0.01008563
+v 0.02557066 -0.07213229 -0.01573578
+v 0.02418098 -0.07213229 -0.01573578
+v 0.01804780 -0.07232278 -0.01243308
+v 0.02197907 -0.08456002 -0.01529112
+v 0.02197907 -0.08464413 -0.01325672
+v 0.01804780 -0.07233143 -0.01325668
+v 0.02825412 -0.08467010 -0.01255260
+v 0.02825412 -0.07232401 -0.01233352
+v 0.02825412 -0.07222134 -0.01573579
+v 0.02418098 -0.08453775 -0.01573583
+v 0.02197907 -0.07231905 -0.01529108
+v 0.02418098 -0.08456249 -0.01521147
+v 0.02507513 -0.08453775 -0.01573583
+v 0.02825412 -0.08455755 -0.01521091
+v 0.02825412 -0.08453281 -0.01573583
+v 0.02784750 -0.08453528 -0.01573583
+f 1 2 3
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+f 1 5 16
+f 1 16 19
+f 1 19 6
+f 1 6 2
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+f 17 26 25
+f 18 25 20
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+f 25 29 27
+f 27 29 28
+
diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_76.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c02e20dbb2daa6ea282ac89c36867521b0756a9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_76.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
+v 0.02418171 0.02217161 -0.01008472
+v 0.02418171 0.01260306 -0.01474875
+v 0.02197905 0.01634597 -0.01529097
+v 0.02197905 0.01692450 -0.01008474
+v 0.02418171 -0.02922294 -0.01008491
+v 0.02418171 0.01148623 -0.01504587
+v 0.02331324 0.01283951 -0.01529098
+v 0.02197905 -0.01670129 -0.01529109
+v 0.02197905 -0.01745089 -0.01008486
+v 0.02324619 -0.02922294 -0.01008491
+v 0.02418171 -0.02922294 -0.01036877
+v 0.02418171 0.01009270 -0.01529099
+v 0.02330634 -0.01289801 -0.01529108
+v 0.02418171 -0.01291311 -0.01475446
+v 0.02345425 -0.02922294 -0.01014810
+v 0.02418171 -0.01027697 -0.01529107
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
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+f 1 14 16
+f 1 16 12
+f 1 12 6
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+f 3 13 8
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+f 5 15 11
+f 6 12 7
+f 8 13 14
+f 8 14 11
+f 8 11 15
+f 8 15 10
+f 8 10 9
+f 13 16 14
+
diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_77.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5baa9978cb62fc2b3c098eb3e1f434ad7bb1c42d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_77.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v 0.01053646 0.00424246 -0.01352451
+v 0.01055338 0.00248993 -0.01352452
+v 0.01053646 0.00430637 -0.01229926
+v 0.01053646 0.01628156 -0.01352447
+v 0.01065779 0.00045720 -0.01352453
+v 0.01053646 0.00492822 -0.01061205
+v 0.01053646 0.02022166 -0.01214163
+v 0.01180336 0.02041585 -0.01352446
+v 0.01804742 0.00045720 -0.01352453
+v 0.01082028 0.00045720 -0.01243261
+v 0.01053646 0.00615229 -0.01008478
+v 0.01124602 0.00045719 -0.01041679
+v 0.01131734 0.00045719 -0.01008480
+v 0.01053646 0.02556773 -0.01008471
+v 0.01305629 0.02145311 -0.01352445
+v 0.01804742 0.00045719 -0.01008480
+v 0.01804742 0.02061494 -0.01352445
+v 0.01804742 0.01619306 -0.01008474
+v 0.01753345 0.02123435 -0.01352445
+v 0.01725993 0.02128842 -0.01352445
+f 1 2 3
+f 1 3 6
+f 1 6 11
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+f 1 14 7
+f 1 7 4
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+f 1 8 15
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+f 1 20 19
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+f 1 17 9
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+f 1 5 2
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+f 2 6 3
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+f 5 13 12
+f 5 12 10
+f 5 10 6
+f 6 10 12
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+f 6 13 11
+f 7 14 8
+f 8 14 15
+f 9 17 18
+f 9 18 16
+f 11 13 16
+f 11 16 18
+f 11 18 14
+f 14 18 17
+f 14 17 19
+f 14 19 20
+f 14 20 15
+
diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_78.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca3ef204b02418d002d8a504995541bd48160f7a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_78.obj
@@ -0,0 +1,16 @@
+# https://github.com/mikedh/trimesh
+v 0.01053646 0.03281623 -0.01008468
+v 0.01804742 0.03847581 -0.01008466
+v 0.01053646 0.04269029 -0.01008464
+v 0.01053646 0.04269029 -0.01133301
+v 0.01804742 0.04269029 -0.01102421
+v 0.01804742 0.04269029 -0.01008464
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 6 5
+f 3 5 4
+
diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_79.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..050163d4c05aa512222a7133b841f16217c3dec4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_79.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.02197905 -0.06135666 -0.01436289
+v 0.02197905 -0.06135666 -0.01431035
+v 0.02197905 -0.06102780 -0.01529103
+v 0.02260742 -0.06089912 -0.01529103
+v 0.02418171 -0.06039155 -0.01573574
+v 0.02559876 -0.06006627 -0.01573574
+v 0.02773693 -0.05939427 -0.01573574
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+v 0.02738436 -0.05912620 -0.01358021
+v 0.02197905 -0.04704805 -0.01529098
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+v 0.02825412 -0.05871871 -0.01448070
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+v 0.02197905 -0.05923701 -0.01091360
+v 0.02197905 -0.05943718 -0.01111217
+v 0.02197905 -0.03250713 -0.01008547
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+v 0.02825412 -0.02484347 -0.01169338
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+v 0.02197905 -0.05739974 -0.01048603
+v 0.02699186 -0.04904620 -0.01008553
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+f 1 26 18
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+f 28 30 29
+
diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_8.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..972690b78043d595eb902d88adcac4b0d057c183
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_8.obj
@@ -0,0 +1,1108 @@
+# https://github.com/mikedh/trimesh
+v 0.00080316 -0.07068158 0.07092959
+v 0.00006910 -0.07068159 0.07335903
+v 0.00080316 -0.07152754 0.07092959
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+v -0.00089171 -0.07992072 0.06182313
+v -0.00059963 -0.07810151 0.06343344
+v -0.00331297 -0.08089391 0.05204939
+v -0.00611471 -0.08093002 0.04110889
+v -0.00851290 -0.08002183 0.03370468
+v -0.00915472 -0.07857139 0.03370468
+v -0.00983114 -0.07711082 0.03370469
+v -0.00007310 -0.07068157 0.06858405
+v -0.00213309 -0.07068159 0.07433001
+v 0.00007679 -0.07152755 0.07316723
+v 0.00013828 -0.07455425 0.07116933
+v 0.00019977 -0.07712397 0.06815249
+v -0.00068418 -0.08141454 0.06350535
+v -0.00334372 -0.08271889 0.05214929
+v -0.00559971 -0.08271886 0.04314675
+v -0.00611855 -0.08271885 0.04110090
+v -0.00809783 -0.08271882 0.03370467
+v -0.00818238 -0.08185405 0.03370467
+v -0.01023468 -0.07647309 0.03370469
+v -0.00305547 -0.07068155 0.06305387
+v -0.01117628 -0.07524969 0.03370469
+v -0.00402397 -0.07068159 0.07440194
+v -0.00213309 -0.07152755 0.07409826
+v -0.00029217 -0.07377191 0.07273168
+v -0.00030754 -0.07712398 0.07026227
+v -0.00043821 -0.07910224 0.06815248
+v -0.00068418 -0.08141455 0.06429253
+v -0.00323995 -0.08433277 0.05703614
+v -0.00337062 -0.08425322 0.05425906
+v -0.00348976 -0.08415054 0.05273666
+v -0.00289021 -0.08271890 0.05425907
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+v -0.00768276 -0.07152755 0.07424610
+v -0.01045375 -0.07152755 0.07427807
+v -0.00768276 -0.07432577 0.07309530
+v -0.00490792 -0.07577332 0.07235207
+v -0.00326685 -0.07575163 0.07233609
+v -0.00225992 -0.07685934 0.07138509
+v -0.00213309 -0.07880001 0.06981074
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+v -0.00490792 -0.08355478 0.06259430
+v -0.00490792 -0.08407682 0.06099998
+v -0.00490792 -0.08434580 0.05961343
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+v -0.00768276 -0.08500231 0.05425906
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+v -0.00768276 -0.08521631 0.04870490
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+v -0.01045375 -0.07432577 0.07311528
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+v -0.00490792 -0.08032275 0.06834027
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+v -0.01045375 -0.08344198 0.06259430
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+v -0.01045375 -0.08466104 0.05703614
+v -0.01045375 -0.08430675 0.05933373
+v -0.01322858 -0.08426337 0.05915391
+v -0.01322858 -0.08457283 0.05703614
+v -0.01322858 -0.08482010 0.05425906
+v -0.01322858 -0.08496614 0.05148198
+v -0.01322858 -0.08507169 0.04870490
+v -0.01045375 -0.08515847 0.04870490
+v -0.01045375 -0.08524522 0.04592382
+v -0.01045375 -0.08532330 0.04314674
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+v -0.01045375 -0.08539992 0.03758858
+v -0.01155676 -0.08537388 0.03370466
+v -0.03763713 -0.07438057 0.03370470
+v -0.03695302 -0.07354907 0.03671354
+v -0.03796765 -0.07152741 0.03481155
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diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_80.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..764e7f6e152dcf2a3d06a643906e72471e7c0822
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_80.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.02197905 0.01634907 -0.01529097
+v 0.02331324 0.01283760 -0.01529098
+v 0.02197905 0.02640527 -0.01645607
+v 0.02197905 -0.01670295 -0.01529109
+v 0.02418171 0.01008981 -0.01529099
+v 0.02418171 0.03337112 -0.02068470
+v 0.02417675 0.03337826 -0.02068470
+v 0.02197905 0.03337825 -0.01999667
+v 0.02197905 -0.02893597 -0.01647135
+v 0.02330634 -0.01289886 -0.01529108
+v 0.02418171 -0.01027954 -0.01529107
+v 0.02418171 0.03337826 -0.02234703
+v 0.02197905 0.03337833 -0.04093402
+v 0.02197905 -0.03953459 -0.01870624
+v 0.02418171 -0.03953458 -0.02117463
+v 0.02418171 0.03337833 -0.04093151
+v 0.02282596 0.03337833 -0.04093402
+v 0.02197905 0.00121846 -0.04094418
+v 0.02197905 -0.03953451 -0.04093178
+v 0.02418171 -0.03953451 -0.04093178
+v 0.02418171 0.02920311 -0.04093403
+v 0.02418171 0.00402335 -0.04094166
+v 0.02418171 -0.00294249 -0.04094168
+v 0.02282596 -0.01835867 -0.04094174
+v 0.02197905 -0.01835867 -0.04094174
+v 0.02418171 -0.01835867 -0.04093923
+f 1 2 3
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+f 1 14 9
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+
diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_81.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89b5b946f8daab78f2feb48e548b6bd8243d53ec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_81.obj
@@ -0,0 +1,31 @@
+# https://github.com/mikedh/trimesh
+v 0.01804780 -0.01829463 -0.01325678
+v 0.01967688 -0.01785811 -0.01325678
+v 0.02197905 -0.01745353 -0.01008486
+v 0.01804780 -0.01651660 -0.01008486
+v 0.01804780 0.01796184 -0.01325664
+v 0.02197905 -0.01604457 -0.01325677
+v 0.02197905 0.01692553 -0.01008474
+v 0.01804780 0.01619088 -0.01008474
+v 0.01917157 0.01767437 -0.01325665
+v 0.02197905 0.01538173 -0.01325665
+v 0.01966418 0.01752531 -0.01325665
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 11
+f 1 11 10
+f 1 10 6
+f 1 6 2
+f 2 6 3
+f 3 6 10
+f 3 10 7
+f 3 7 8
+f 3 8 4
+f 5 8 7
+f 5 7 9
+f 7 10 11
+f 7 11 9
+
diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_82.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4871d5a39658fc18e5da2c22d3e4069f75567201
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_82.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.01804780 0.01795787 -0.01325934
+v 0.01917157 0.01767478 -0.01325935
+v 0.01949407 0.01798798 -0.01347077
+v 0.01804780 0.01798798 -0.01327561
+v 0.01804780 -0.01828910 -0.01325948
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+v 0.01966418 0.01752420 -0.01325935
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+v 0.02197905 -0.04353781 -0.04093446
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+
diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_83.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2e2b907908d00892851c217d924ce70203a8a3f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_83.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.01804780 -0.06493200 -0.01325695
+v 0.01821714 -0.06485899 -0.01325695
+v 0.01804780 -0.06489708 -0.01315604
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+v 0.01804780 -0.06196063 -0.01071066
+v 0.02197905 -0.05740198 -0.01048585
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+f 20 22 25
+
diff --git a/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_9.obj b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..747a249e38feaf85d696ee56d1fba66111826f37
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/32fa901a71a950b2a14f6760cfa4a50a/mjcf/mesh/glasses_case_032_collision_9.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
+v 0.00041896 0.08407393 -0.00965742
+v 0.00041896 0.08407154 -0.00943257
+v 0.00041896 0.08405963 -0.01005582
+v -0.00222880 0.08388323 -0.01008449
+v -0.00232378 0.08389037 -0.00970948
+v -0.00363381 0.08379024 -0.00800271
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+v -0.00241877 0.08386654 -0.01008449
+v -0.00273143 0.08383793 -0.01008449
+v -0.00363381 0.08379024 -0.00882063
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+v -0.00768262 0.08269605 -0.00687468
+v -0.00469845 0.08345889 -0.00699539
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+v -0.00203091 0.08386176 -0.00699539
+v 0.00041896 0.08399286 -0.00668603
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