diff --git a/.gitattributes b/.gitattributes
index 73a4da9a5e548d5f397c386be1d7f7b14f98206a..d29fa55b072c090ac56d52c6501aa5dcefc8c0ab 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2732,3 +2732,5 @@ dataset/bedroom_supplies/storage/2a403c213198553f8643e2f260693788/jewelry_box_01
 dataset/bedroom_supplies/storage/2a403c213198553f8643e2f260693788/mesh/jewelry_box_013.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/2affd27cfc035d6b818b6d07f124f85c/mesh/remote_holder_018.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/2affd27cfc035d6b818b6d07f124f85c/remote_holder_018.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/glasses_case_040.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mesh/glasses_case_040.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/glasses_case_040.urdf b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/glasses_case_040.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..922912d7811fbdb0a361c51029f6a15eab13d9cf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/glasses_case_040.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="glasses_case_040">
+   <link name="glasses_case_040">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/glasses_case_040.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_040_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>2b945e24cdef52f4928597290486cb89</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>glasses_case</category>
+         <name>red glasses case</name>
+         <color>red,golden</color>
+         <shape>elongated</shape>
+         <material>leather</material>
+         <description>burgundy leather glasses case with hinged lid and gold clasp</description>
+         <min_height>0.1156</min_height>
+         <max_height>0.1156</max_height>
+         <real_height>0.1156</real_height>
+         <min_mass>0.12</min_mass>
+         <max_mass>0.25</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611132824</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.034189 -0.084975 -0.042076</min>
+            <max>0.060549 0.085025 0.073553</max>
+         </aabb>
+         <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/2b945e24cdef52f4928597290486cb89/glasses_case_040.usd b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/glasses_case_040.usd
new file mode 100644
index 0000000000000000000000000000000000000000..188e7c4d183b3b0c556a8e050d84dfabbda74ed5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/glasses_case_040.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3805069fa13f446b255e6dcf40e778022b32a30ed868e5309effa08b69f50c30
+size 4977826
diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mesh/glasses_case_040.glb b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mesh/glasses_case_040.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d2934a0bfd713c3bab233213e1b624968f0f11ea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mesh/glasses_case_040.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d012a7e66e42414a22a639e34f3768e35fc510bf77411ca5cb062fdae9e7b838
+size 18718360
diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mesh/glasses_case_040.mtl b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mesh/glasses_case_040.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..de873c09c1143b34020474fb140b1b99d44ffd53
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mesh/glasses_case_040.mtl
@@ -0,0 +1,6 @@
+newmtl glasses_case_040_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/2b945e24cdef52f4928597290486cb89/mesh/glasses_case_040.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mesh/glasses_case_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..484b94ea3c61a247884f8fcb993be79ab1b346cf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mesh/glasses_case_040.obj
@@ -0,0 +1,117194 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glasses_case_040_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mesh/glasses_case_040_collision.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mesh/glasses_case_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c7224b40d0bf2dace51c1ddffa73077955765fb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mesh/glasses_case_040_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mesh/glasses_case_040_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mesh/glasses_case_040_geometry_Looks_material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mesh/material.mtl b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mesh/material.mtl
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index 0000000000000000000000000000000000000000..68e797b40c584fbf2489ab1b347277681d7603b2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mesh/material_0.png b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/glasses_case_040.xml b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/glasses_case_040.xml
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index 0000000000000000000000000000000000000000..087972d196e6318b93dd5a9be766a340eba30564
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+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/glasses_case_040.xml
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+    <mesh name="collision_mesh_0_29" file="mesh/glasses_case_040_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/glasses_case_040_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/glasses_case_040_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/glasses_case_040_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/glasses_case_040_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/glasses_case_040_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/glasses_case_040_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_37" file="mesh/glasses_case_040_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/glasses_case_040_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/glasses_case_040_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/glasses_case_040_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/glasses_case_040_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/glasses_case_040_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <body name="glasses_case_040">
+      <joint type="free" />
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+      <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_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" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" 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/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5647c1d67df7e6f329d0d83dfe52f60e2c4999ca
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040.obj
@@ -0,0 +1,117194 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl glasses_case_040_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa03a169086917571a3381fb975ca371e999f8e8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision.obj
@@ -0,0 +1,16548 @@
+# https://github.com/mikedh/trimesh
+
+o glasses_case_040_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_0.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1889c3778d441162f11c2f81ed5b4651df6a982b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_1.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d5b6cf27a6b8eed9ce33d9623bafdda25041d17
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_1.obj
@@ -0,0 +1,409 @@
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_10.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c34084c3b2e667bb4ecd98511b3ab86fef947892
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_10.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_11.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cae8f032a43e6841b1d2d6797cb9a3764b98ab2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_11.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_12.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adbe528296407fd0be30e5a537e9751e68ae09ff
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_12.obj
@@ -0,0 +1,463 @@
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_13.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69f95ff5c1abf76ba5d05e93d664affa3eb6d929
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_13.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_14.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9a06a18944791a4d8f27203cafe218cbbac1d2e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_14.obj
@@ -0,0 +1,793 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_15.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..096d0f6ad02f4123a7eaf2c7aed2e0147c7c5531
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_15.obj
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_16.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e733b2397885c8026dfc1d2f5f1c082872856f41
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_16.obj
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_17.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..061df44b0c6fa46ead08a11890ebb34e14abb479
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_17.obj
@@ -0,0 +1,352 @@
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_18.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c8e12710388b0d50953a311d2d7e6893cb98e65
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_18.obj
@@ -0,0 +1,526 @@
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_19.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..325887a581a8b833db3b2fe37eb1a8d3e2a50646
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_19.obj
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_2.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ca90f99642d067ee29787346813f1b6cd6cef45
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_2.obj
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_20.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5acfa502201e163dc17ed03cf2ca386bddc3ed58
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_20.obj
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_21.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8712badcd50f69f00d992bed695b442ba7298b25
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_21.obj
@@ -0,0 +1,661 @@
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_22.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb7ea64e04eb7a716859d7353a22fc598913c823
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_22.obj
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_23.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b503f84104612c636ebb17020454ed4c23f3ac9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_23.obj
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_24.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c70618b15ee750747bd20baf11ab18b2650c16b0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_24.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_25.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77c7e9b1761b311dddd4ee599907465dc1bc4e04
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_25.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_26.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6c62f0428cb23bba516a71088c4f2eda20cdfe2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_26.obj
@@ -0,0 +1,553 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_27.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbc68d91cd7532564e1e0ffd1c6210a7c4c1f637
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_27.obj
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_28.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c6bf8dcef7dc3065b6a8512dd4c0d35acd6f604
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_28.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_29.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae5fc03eb0d1e905eb75a185afa6d6a1e048f124
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_29.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_3.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b71e996f1e88dd32144f12716a867e98284f96bf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_3.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_30.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed798a4f0de40bb48e4b073ef3e93ad0a572970e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_30.obj
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_31.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a05029c59baa57e9ed7f676b673913369ecbdf6e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_31.obj
@@ -0,0 +1,628 @@
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_32.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daadd123c7f09629b8be3d93640b33e29bc076d4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_32.obj
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_33.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c207f8052c10271de324f7ee855cd01c3cad3a93
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_33.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_34.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dd8281023df6eec46dde893dc04d2322a3dc8b5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_34.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_35.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f2dd561d70da6bc0c9ae71506c466ba68eaeec0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_35.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_36.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef28c2a9c5b491a25ec9d6775f4ead87b82c2ffe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_36.obj
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_37.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9f00235d06d3b104eaa5c7a08c28abb8937c236
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_37.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_38.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bd5265143793ae26b76b473a33d4e39a850cc27
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_38.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_39.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60939d2c17c7876e1050ea4335974b5cab2dfbd7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_39.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.01288969 0.07471198 -0.00228255
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+
diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_4.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..320390c8c894e70ebca30adb38005bf32e2edfb0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_4.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v 0.04733763 -0.06322836 -0.00662210
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_40.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfd024638c11a498415d4eb08ed12c87d9f5d109
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_40.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.00017449 -0.08146435 -0.02875627
+v 0.00017449 -0.08134453 -0.03045558
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+
diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_41.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41622353901b90f98671419ac1dd770cc62c6b8f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_41.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_42.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20468db3eb051037acd1a5aaac4927675108e5f1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_42.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.00234095 0.05484341 0.06736923
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_5.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..608c301355187fdba5a590ff08c98729416f0383
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_5.obj
@@ -0,0 +1,214 @@
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_6.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd1192130c2a75bfe1266051d71325b55b04a557
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_6.obj
@@ -0,0 +1,397 @@
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_7.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ac67de2c88a79b4f08957579d92300c0bc4a996
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_7.obj
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_8.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db12cd0a11126f684a7a752674a821abb396d21e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_8.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_9.obj b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_collision_9.obj
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diff --git a/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mjcf/mesh/glasses_case_040_geometry_Looks_material_0.png
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