diff --git a/.gitattributes b/.gitattributes
index e70142f5b8d9dc3cca1691ccaf2069c0a8e32729..79f002433f8f7da31d477eb867678ac6dead45f4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2806,5 +2806,5 @@ dataset/bedroom_supplies/storage/9d3cdaa1c3c35891be06a182627700d7/mesh/wicker_ba
 dataset/bedroom_supplies/storage/9bdbff06616158c5a74eb809d7acd718/9bdbff06616158c5a74eb809d7acd718.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9bdbff06616158c5a74eb809d7acd718/mesh/wicker_basket.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9bdbff06616158c5a74eb809d7acd718/mesh/wicker_basket_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mesh/storage_bin_030.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/storage_bin_030.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/glasses_case_012.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mesh/glasses_case_012.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/glasses_case_012.urdf b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/glasses_case_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b306e3d998f5d31f2cc469c0d4bc22a80c3522bc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/glasses_case_012.urdf
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glasses_case_012">
+   <link name="glasses_case_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/glasses_case_012.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_012_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.1850" />
+         <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>9c5654d678555205aab46ced0ad4f743</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>glasses_case</category>
+         <name>brown glasses case</name>
+         <color>brown</color>
+         <shape>elongated</shape>
+         <material>leather</material>
+         <description>brown hard-shell glasses case with hinged lid and soft interior</description>
+         <min_height>0.0694</min_height>
+         <max_height>0.0694</max_height>
+         <real_height>0.0694</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518165259</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.031785 -0.064981 -0.020159</min>
+            <max>0.039756 0.065019 0.049237</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</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/9c5654d678555205aab46ced0ad4f743/glasses_case_012.usd b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/glasses_case_012.usd
new file mode 100644
index 0000000000000000000000000000000000000000..1543ec1b8fbd83b93f6153719ec3388ba33fad25
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/glasses_case_012.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07d3b846413b9b9f00334561f6674cd1a627cc2174009b6846d3d8088bf66bae
+size 4987625
diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mesh/glasses_case_012.glb b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mesh/glasses_case_012.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8ecda60666493a07d5f76733fdce1af826aa3c99
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mesh/glasses_case_012.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 15200580
diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mesh/glasses_case_012.mtl b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mesh/glasses_case_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e5ff2ec0c90438c2495422ee0b44142c03ec5eec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mesh/glasses_case_012.mtl
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+newmtl glasses_case_012_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/9c5654d678555205aab46ced0ad4f743/mesh/glasses_case_012.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mesh/glasses_case_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e1806189acede4402751fca61f01c9d699fdb25
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mesh/glasses_case_012.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glasses_case_012_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mesh/glasses_case_012_collision.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mesh/glasses_case_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30d9fd46969bbd4f3b9bb130616c690f53fb9ac1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mesh/glasses_case_012_collision.obj
@@ -0,0 +1,16554 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mesh/glasses_case_012_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mesh/glasses_case_012_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..219c0b59f2cbbdaab33efd934a8364060ca8e615
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mesh/glasses_case_012_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c207c2f118bb80de1eb6a7a7c05e15c1253ad2de0b8e80d572e86537e5c78d8
+size 11749104
diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mesh/material.mtl b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d5beb766c8ae2be57e4fc51efa157c46407cead
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl glasses_case_012_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_012_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mesh/material_0.png b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..219c0b59f2cbbdaab33efd934a8364060ca8e615
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c207c2f118bb80de1eb6a7a7c05e15c1253ad2de0b8e80d572e86537e5c78d8
+size 11749104
diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/glasses_case_012.xml b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/glasses_case_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1535e5181cca8e21d8243e8a8b93e05d4fcb8ee0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/glasses_case_012.xml
@@ -0,0 +1,76 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="glasses_case_012">
+  <asset>
+    <material name="material_0" texture="texture_0_glasses_case_012_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_glasses_case_012_geometry_Looks_material_0" type="2d" file="mesh/glasses_case_012_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/glasses_case_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/glasses_case_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/glasses_case_012_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/glasses_case_012_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/glasses_case_012_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/glasses_case_012_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/glasses_case_012_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/glasses_case_012_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/glasses_case_012_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/glasses_case_012_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/glasses_case_012_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/glasses_case_012_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/glasses_case_012_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/glasses_case_012_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/glasses_case_012_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/glasses_case_012_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/glasses_case_012_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/glasses_case_012_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/glasses_case_012_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/glasses_case_012_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/glasses_case_012_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/glasses_case_012_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/glasses_case_012_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/glasses_case_012_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/glasses_case_012_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/glasses_case_012_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/glasses_case_012_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/glasses_case_012_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/glasses_case_012_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/glasses_case_012_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/glasses_case_012_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/glasses_case_012_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="glasses_case_012">
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99cac199112a7f2b87aa547e0b76c6b92ba17175
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012.obj
@@ -0,0 +1,116858 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glasses_case_012_geometry_Looks_material_0
+v 0.015953 0.064404 -0.011443
+v 0.015953 0.064404 -0.011443
+v 0.014341 0.064408 -0.007617
+v 0.014341 0.064408 -0.007617
+v 0.015495 0.064360 -0.007445
+v 0.015495 0.064360 -0.007445
+v 0.024213 0.009044 -0.020080
+v 0.024004 0.016168 -0.020084
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c7241198f08f3616b0347c0cb9d49040e513107
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision.obj
@@ -0,0 +1,16554 @@
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_0.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46bb9782e9d8faef81bff98aac01efc899a1f579
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_1.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8154643267aff9140a3ba0a03187e6d60df1d42
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_10.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68a3c7fd68df17a85f94e27da40b7295d7836ddc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_10.obj
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_11.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac7540ac942012d9acb5efc51afac2c18bc2785e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_11.obj
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_12.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77c328e54702b5e940829e7d02e14982356f570c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_12.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_13.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f23d110e34786e59337d4c6ea71eac35a683977
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_13.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_14.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1af24d4b0af2c71e90e72d5096ecfca23ad79b2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_14.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_15.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31a1f54c519a51ea8a59fedb9c2075bc7ffbc963
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_15.obj
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_16.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..943c1f7487be7ebb6fab9df1bb1a6fab001900e2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_16.obj
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_17.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..408e9777ff76deddf3c77a19a9e65f8834d12896
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_17.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_18.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6068352319d029a545e0f141bf2cfdd884fa8b59
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_18.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_19.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43b9112d69a7b48376c6b5a25f624750a8d93fbd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_19.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_2.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20258523c94605251e3a14e08fcd5c3ebfe66f22
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_2.obj
@@ -0,0 +1,862 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_20.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c43201c0b430ccfae1a74c2c70aa1278cb96fdb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_20.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_21.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7020b50633e5d87e1eff5fcf05be0f903920f797
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_21.obj
@@ -0,0 +1,562 @@
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_22.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f34af4a9d0069f5b6aaaa0567a7b4d6066cd3da2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_22.obj
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_23.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43f192880cc9ee47a7c9925fc7c48fb5153db88b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_23.obj
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_24.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c27947b0f2f07a5bcbb8b4064be76d38a6fdde6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_24.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_25.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bccd6ad6f51dd91b6caacd9e2f92611d6e0d6a7d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_25.obj
@@ -0,0 +1,523 @@
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_26.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05ba05864b480fa89fa5ef3fe784007c806587e2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_26.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_27.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce955a2326572c655ede3484944979cbfa3df70d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_27.obj
@@ -0,0 +1,523 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_28.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8c332f8c6f7509dfaadf13bf7f658de64bb172d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_28.obj
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_29.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a69ae8f3fcff85ab637b8f9a8dea726bdfcf3b0f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_29.obj
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_3.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a91ea8534778d48f402ffbf88cabd2e3a679d3f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_3.obj
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_30.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66fb7b8cc0ddd732109163e88bb0c8210d33af1d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_30.obj
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_4.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e5e7830e8d76f58568c67f47a1643dbfc92aa1c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_4.obj
@@ -0,0 +1,487 @@
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_5.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38c66fd2a0bc70480b12a8c81b1ccada7d0afac2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_5.obj
@@ -0,0 +1,601 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_6.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edf3cf0056c12a467e7466afed0d8fa2c02166ee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_6.obj
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_7.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..528221a12d656d5cc2befa0fc82fc4299fbf25cd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_7.obj
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_8.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad55ca584fd4707c6ce9923c922aaf7a2c028f31
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_8.obj
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diff --git a/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_9.obj b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6459918371aafb31a0c839c185713554d84aa721
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9c5654d678555205aab46ced0ad4f743/mjcf/mesh/glasses_case_012_collision_9.obj
@@ -0,0 +1,529 @@
+# https://github.com/mikedh/trimesh
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