diff --git a/.gitattributes b/.gitattributes
index a105bbddb419729873b85095b510efa19159537c..2cdc7e426eb4377348b437aece30a8deb9efc638 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2794,3 +2794,5 @@ dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/storage_bin_01
 dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/855d2342d4205a288c869c2cd5f1c388.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/827465aed052542b94152f54e6dd952f/jewelry_box_008.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/827465aed052542b94152f54e6dd952f/mesh/jewelry_box_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/glasses_case_038.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mesh/glasses_case_038.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/glasses_case_038.urdf b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/glasses_case_038.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..137e599f08d331ce39346efda4d720b6e8f2a3e2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/glasses_case_038.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glasses_case_038">
+   <link name="glasses_case_038">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/glasses_case_038.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/glasses_case_038_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.2250" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>7b7ac7d206025bcf80ed388e48eb01b0</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>glasses_case</category>
+         <name>hard glasses case</name>
+         <color>white</color>
+         <shape>elongated</shape>
+         <material>leather</material>
+         <description>white rounded hard glasses case with hinged lid and padded interior</description>
+         <min_height>0.1142</min_height>
+         <max_height>0.1142</max_height>
+         <real_height>0.1142</real_height>
+         <min_mass>0.15</min_mass>
+         <max_mass>0.3</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611132725</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.047034 -0.085062 -0.032762</min>
+            <max>0.049818 0.084938 0.081444</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/glasses_case_038.usd b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/glasses_case_038.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/glasses_case_038.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba1c0de29f8fa27e23c69dfa56d465c365445e5e2618d2fbb3fdc1be7a5b80da
+size 4924556
diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mesh/glasses_case_038.glb b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mesh/glasses_case_038.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0e27460306b66348fe3a4aa7da9249ad0f070f04
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mesh/glasses_case_038.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12749048
diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mesh/glasses_case_038.mtl b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mesh/glasses_case_038.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5031cc4f6093b11577e3dd2b2646df33ed107bd3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mesh/glasses_case_038.mtl
@@ -0,0 +1,6 @@
+newmtl glasses_case_038_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mesh/glasses_case_038.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mesh/glasses_case_038.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27eef3636a9fbf3383ae3f7fefea3ac05a952f0b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mesh/glasses_case_038.obj
@@ -0,0 +1,108338 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mesh/glasses_case_038_collision.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mesh/glasses_case_038_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76870b185ee68a6558fbf06ee74e78bcf9f81520
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mesh/glasses_case_038_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mesh/glasses_case_038_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mesh/glasses_case_038_geometry_Looks_material_0.png
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index 0000000000000000000000000000000000000000..d2ba61d29b289662c50b5eab0b6d870fd381f9a8
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+version https://git-lfs.github.com/spec/v1
+oid sha256:322141e24f0e7073bfb4ec43a8c75c75b9e8809dcd675c70ce029664102b47e5
+size 9395635
diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mesh/material.mtl b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mesh/material.mtl
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index 0000000000000000000000000000000000000000..16125982c45924782f0eb5a0504465d585dfff24
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mesh/material.mtl
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+# https://github.com/mikedh/trimesh
+
+newmtl glasses_case_038_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mesh/material_0.png b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mesh/material_0.png
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:322141e24f0e7073bfb4ec43a8c75c75b9e8809dcd675c70ce029664102b47e5
+size 9395635
diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/glasses_case_038.xml b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/glasses_case_038.xml
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index 0000000000000000000000000000000000000000..b9faae460a6755471b0cea89ca8a3cebb64ae6eb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/glasses_case_038.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_22" file="mesh/glasses_case_038_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/glasses_case_038_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/glasses_case_038_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/glasses_case_038_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/glasses_case_038_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/glasses_case_038_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/glasses_case_038_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/glasses_case_038_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/glasses_case_038_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/glasses_case_038_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/glasses_case_038_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="glasses_case_038">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06bc977b37d11d5ecf4bdd019648f74de13369a6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038.obj
@@ -0,0 +1,108338 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glasses_case_038_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bdd8152d5e26d75b0f5c932a5fd5c041ea983cd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision.obj
@@ -0,0 +1,24521 @@
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_0.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a73c45592ebca7d3a8887721c8042e63c886c6e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_1.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0a806ad0d189510341f5ad8061687778e9b6db9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_10.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4cc89aa81858a8865bf854dfea0269cdadc2223
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_10.obj
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_11.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41cceab0df384d33418f6810185b54489310c997
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_11.obj
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_12.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79473e8d550c818827cb6ac80e0debc87d0d8218
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_12.obj
@@ -0,0 +1,214 @@
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_13.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d69361cd62fbeb520b2b448c917ce8c894912dc3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_13.obj
@@ -0,0 +1,1177 @@
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_14.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d7bbffd5726bdd5542b8b1e5e82668b445a2c9e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_14.obj
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_15.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7a343258ecb2799e2d7d9e851e04395725d13e0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_15.obj
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_16.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0cbc0dd0620299ac6ad2e80dd956bb096503c82
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_16.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_17.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..963854a2cd991a62975b39e96bdd0aab5bf56678
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_17.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_18.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29edc183f4d74e5b583190dffbe10f7f99d94fbd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_18.obj
@@ -0,0 +1,274 @@
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_19.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61d5f733550c52a3f939043cdf841200b7d55c0b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_19.obj
@@ -0,0 +1,283 @@
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_2.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e906199bc8bd767f189c1fd4173a3666e68cb4be
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_20.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5142adf3a170f633bf6a46e859e240cdec6795ae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_20.obj
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_21.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8420056ab55a1a43903ba79bb956320c94af0a2b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_21.obj
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_22.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e59cd0911200ba7480cf63ee312db3aba11c1a4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_22.obj
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_23.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3cc2a13723d3e798b6456a9c71ca19a67acf802
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_23.obj
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_24.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..371c62b61de3747373bfe2ec3ffb80eeece707d7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_24.obj
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_25.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06b1728c489f605fc66b6dc05fcd6aab5ca4238a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_25.obj
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_26.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..923aba65c9645076d256cc5da99e4e5a229f9949
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_26.obj
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_27.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48a38aa5be43218228cce916e50147abbf2d0d27
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_27.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_28.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ba9ed979d756fc9dc3e5d5a805e9be2f935a38f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_28.obj
@@ -0,0 +1,697 @@
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_29.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b16d18446c2d30058b88866cca1388546c42d4ed
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_29.obj
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_3.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b577e6771fad5db67ba2a34264b2eb8b97fa518f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_3.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_30.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f291bf24c577a1913bb9b3fc6b568ef734109c8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_30.obj
@@ -0,0 +1,706 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_31.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fd3f302ca6560814c3e908af4878a4bcf43cbc8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_31.obj
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_32.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3ea1e13b168af5196b6dc855221a6e95ae54b59
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_32.obj
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_4.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90a2c77cf28df671ed96e32cf175304b3c10cf02
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_4.obj
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_5.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2611742eef7ed5121470a2c67f684f2afca18267
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_6.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2f5bb10c211bb129c6433844a50d098d4b534f4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_6.obj
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_7.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f7207bb412e087999001e10b209d9e0c1a89acf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_7.obj
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_8.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23584fcd8325a7d7e5422294445362834ec6aff0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_8.obj
@@ -0,0 +1,919 @@
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_9.obj b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_collision_9.obj
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index 0000000000000000000000000000000000000000..ea1b9970b3ddf5c151df9b1a78f62a1f81258183
--- /dev/null
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/mjcf/mesh/glasses_case_038_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2ba61d29b289662c50b5eab0b6d870fd381f9a8
--- /dev/null
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/textures/material_0.png b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/textures/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/video.mp4 b/dataset/bedroom_supplies/storage/7b7ac7d206025bcf80ed388e48eb01b0/video.mp4
new file mode 100644
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