diff --git a/.gitattributes b/.gitattributes
index 9d7f0c6fb945b849b5dbd169faf2411ec97e94ba..cb1707954772f0ca6d07653367467a611ed577d6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2834,3 +2834,5 @@ dataset/bedroom_supplies/storage/bb157a75b28251cdb63a4b4876ffc755/mesh/basket_00
 dataset/bedroom_supplies/storage/c1c6e162d924592c8dead72d20fc5858/c1c6e162d924592c8dead72d20fc5858.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/c1c6e162d924592c8dead72d20fc5858/mesh/plastic_bin.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/c1c6e162d924592c8dead72d20fc5858/mesh/plastic_bin_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/glasses_case_013.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mesh/glasses_case_013.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/glasses_case_013.urdf b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/glasses_case_013.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d13e50dc1cd16672cf4d55bcc27e660457dcc0ff
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/glasses_case_013.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glasses_case_013">
+   <link name="glasses_case_013">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/glasses_case_013.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_013_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>be10c2472ec454d1b828f9143d95f4d1</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>glasses_case</category>
+         <name>black glasses case</name>
+         <color>black</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>hard rectangular black eyeglasses case with hinged lid and rounded corners</description>
+         <min_height>0.0613</min_height>
+         <max_height>0.0613</max_height>
+         <real_height>0.0613</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518165329</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.026251 -0.065003 -0.017440</min>
+            <max>0.042033 0.064997 0.043872</max>
+         </aabb>
+         <tags>is_graspable</tags>
+         <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>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/glasses_case_013.usd b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/glasses_case_013.usd
new file mode 100644
index 0000000000000000000000000000000000000000..322cea58c8037a1ee27a7f60bf83b7116e04bf43
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/glasses_case_013.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9366ac519f3ffb2e5db3d7f236af3ec65d0d9d468077748421849c29584a57f1
+size 4726107
diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mesh/glasses_case_013.glb b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mesh/glasses_case_013.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a0a08639c9198d71e2e421ad2f0e3cbb3de6509b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mesh/glasses_case_013.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:163d7a79419c388137356d2bdd1c9660799c7ea99743c427ed74c13bd8cff498
+size 12759132
diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mesh/glasses_case_013.mtl b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mesh/glasses_case_013.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2b124cd826ac42bf0b9f2c581aca54b7c731803b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mesh/glasses_case_013.mtl
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+newmtl glasses_case_013_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/be10c2472ec454d1b828f9143d95f4d1/mesh/glasses_case_013.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mesh/glasses_case_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abf006ea26b9f59fe77b213f9735e2af05dbf38e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mesh/glasses_case_013.obj
@@ -0,0 +1,109886 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glasses_case_013_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mesh/glasses_case_013_collision.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mesh/glasses_case_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77fb9aeb7fa596c499a7e27b65640c8941ac94fa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mesh/glasses_case_013_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mesh/glasses_case_013_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mesh/glasses_case_013_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5776e0928366153a4e340eeaf8903df8c03d4b35
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mesh/glasses_case_013_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8552d4f235d6004a358d634686663ced91bb833f7cabf995eba01d3fc4291a6
+size 9731696
diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mesh/material.mtl b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cb33a1e2fb3e13578d40fb3b1eb8397d8d3f936c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl glasses_case_013_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_013_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mesh/material_0.png b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..5776e0928366153a4e340eeaf8903df8c03d4b35
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8552d4f235d6004a358d634686663ced91bb833f7cabf995eba01d3fc4291a6
+size 9731696
diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/glasses_case_013.xml b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/glasses_case_013.xml
new file mode 100644
index 0000000000000000000000000000000000000000..32ff4d01c1e973fbd454aa1745db24b617c43003
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/glasses_case_013.xml
@@ -0,0 +1,76 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="glasses_case_013">
+  <asset>
+    <material name="material_0" texture="texture_0_glasses_case_013_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_glasses_case_013_geometry_Looks_material_0" type="2d" file="mesh/glasses_case_013_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/glasses_case_013.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/glasses_case_013_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/glasses_case_013_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/glasses_case_013_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/glasses_case_013_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/glasses_case_013_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/glasses_case_013_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/glasses_case_013_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/glasses_case_013_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/glasses_case_013_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/glasses_case_013_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/glasses_case_013_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/glasses_case_013_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/glasses_case_013_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/glasses_case_013_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/glasses_case_013_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/glasses_case_013_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/glasses_case_013_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/glasses_case_013_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/glasses_case_013_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/glasses_case_013_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/glasses_case_013_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/glasses_case_013_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/glasses_case_013_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/glasses_case_013_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/glasses_case_013_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/glasses_case_013_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/glasses_case_013_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/glasses_case_013_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/glasses_case_013_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/glasses_case_013_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/glasses_case_013_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="glasses_case_013">
+      <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/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e7b3fe11db547969b0c47531759d43c608a3bc1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013.obj
@@ -0,0 +1,109886 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glasses_case_013_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe08a3ef70a411552d99e2dc339173aea486c667
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision.obj
@@ -0,0 +1,11592 @@
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_0.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83f70dbe14251595a14222114a2eba03bcb55068
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_1.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..432af8d113d6118802560d39b7fccfcce6a0c2ab
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_1.obj
@@ -0,0 +1,436 @@
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_10.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d7b516cad6bcdd2949b55902d69190aedd70d1c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_10.obj
@@ -0,0 +1,814 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_11.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f76abbc86b08c29d3b4ec2e9ba5ffcc204548f5f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_11.obj
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_12.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24079bafe962a90ba455cc1f237e7f5eaede1dbf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_12.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_13.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31894ef0160adc43889c40da6d863e283dd4bb84
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_13.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_14.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76ae6769cddf6561b0d57f1d13d70b491007baec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_14.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_15.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ece238ad01b472c4f91e5ece633a4df588247f0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_15.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_16.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bbf2c566d0a7b789716b915a8a26132d6d48075
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_16.obj
@@ -0,0 +1,487 @@
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_17.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2c318a9748accf65a82f6c3ee1388ae64f7f7bf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_17.obj
@@ -0,0 +1,319 @@
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_18.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4067047421bfb79d0ff89f49d68abbf9693aa11b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_18.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_19.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e0f48761541412fd4181f001183d7f1a25d935d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_19.obj
@@ -0,0 +1,619 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_2.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60a73ecbd9531697b5b4ccacd69b63f36c0294fb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_20.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05af7f1f8f3c9b7e71e4bb17dbaff0b671dc1c86
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_20.obj
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_21.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..227ae5736878efa0cfacaf12d253405a8caa3247
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_21.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_22.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d1bf3b4d4dd7f039159c18f7474e163759d672c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_22.obj
@@ -0,0 +1,355 @@
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_23.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e80a6f800ed2468a55922df29a498840455b755
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_23.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_24.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b246792823b3133a2e471a01bbdb86a90732e727
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_24.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_25.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93ada32fc32cf8dfe8bd16a82d32025c16d76418
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_25.obj
@@ -0,0 +1,397 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_26.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..275fab3a1e079b8b8adedfdbcfd5d813b3626e4c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_26.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_27.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59c350da882601398b9a5e9724db71f73a95adea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_27.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_28.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..543411ab8d6b7db15bcfe4eebfcaa081ffd0d7ac
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_28.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_29.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82552a78046c0cc133444b76059c4250d56bda71
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_29.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_3.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71b4b351cc9e5d0d87292985c7ed5aeb331bb40b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_3.obj
@@ -0,0 +1,628 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_30.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1511a242580a2d06afea03bb41fdca426ab53007
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_30.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
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+v -0.01260928 -0.04465284 -0.00024588
+v -0.01260928 -0.02868188 -0.00124588
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+
diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_4.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..121df2ba6c1d9cb14bc259473797658ce72a6ea7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_4.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_5.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7615fcd8193c237ca7e1ccebc1ff964e580ae35c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_5.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_6.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dd3d4b6c158fece6f02941cc9feb7e88896100c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_6.obj
@@ -0,0 +1,412 @@
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_7.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4ea1da2d01322cbc9c6399d735c9a06b012ab07
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_7.obj
@@ -0,0 +1,421 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_8.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f74115d1b55883970ac556740452ad96e732962c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_8.obj
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diff --git a/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_9.obj b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eb81c62667c575ae95afd803dd9b510b0599a92
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/be10c2472ec454d1b828f9143d95f4d1/mjcf/mesh/glasses_case_013_collision_9.obj
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