diff --git a/.gitattributes b/.gitattributes
index bfcee23ab67fa676ba8137511734b13aa88b9646..fee3db4b5cea6106c3ab685308fec7f94be2ebf0 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3972,5 +3972,5 @@ dataset/kitchen_supplies/storage/47e22f52962d5f55b4dd170f09ac3417/drawer_055.usd
 dataset/kitchen_supplies/storage/47e22f52962d5f55b4dd170f09ac3417/mesh/drawer_055.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/47fd24c169725c2fa5c4150eb00dec1a/drawer_060.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/47fd24c169725c2fa5c4150eb00dec1a/mesh/drawer_060.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mesh/storage_bin_008.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/storage_bin_008.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mesh/storage_bin_105.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/storage_bin_105.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mesh/material.mtl b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0b58fec0bb3e5902c8194b1c3878e859d6b320f5
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_105_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 storage_bin_105_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mesh/material_0.png b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..876f7b2a533e772b08e074710abc35107f97c205
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mesh/storage_bin_105.glb b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mesh/storage_bin_105.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d1191024706bef49e3c491ae9da2b2c6e6443424
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mesh/storage_bin_105.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 15969156
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mesh/storage_bin_105.mtl b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mesh/storage_bin_105.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..745fe44b701a2b3aef85bfaffd1d84ba6c340bd3
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mesh/storage_bin_105.mtl
@@ -0,0 +1,6 @@
+newmtl storage_bin_105_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/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mesh/storage_bin_105.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mesh/storage_bin_105.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8751a31052e29a29e96044bbecba85a6bd7a2f04
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mesh/storage_bin_105.obj
@@ -0,0 +1,175344 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl storage_bin_105_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mesh/storage_bin_105_collision.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mesh/storage_bin_105_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57ac16ad618220dc8842fb96071ab2b80dab7997
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mesh/storage_bin_105_collision.obj
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mesh/storage_bin_105_geometry_Looks_material_0.png b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mesh/storage_bin_105_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/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/material_0.png
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index 0000000000000000000000000000000000000000..876f7b2a533e772b08e074710abc35107f97c205
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+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105.obj
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index 0000000000000000000000000000000000000000..e9ca5fb419e40460b71f1d71d5cb3c829c16fec3
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+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105.obj
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33ba6da7cb65fd8f1aaae1ecc52b0af5879165d6
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision.obj
@@ -0,0 +1,19835 @@
+# https://github.com/mikedh/trimesh
+
+o storage_bin_105_collision.obj
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_0.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ffd12669824d403c05b7e565db78235d5345833
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_0.obj
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_1.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..862bd64744ad9ddc81751564026e9d095e9c1a35
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_1.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_10.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fba429da2c47d09bc1e5b620c8fd7be83b333baf
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_10.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_11.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd6f7f5585e3e137fdce32eadfbae868ec6c41b1
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_11.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_12.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2f614be9646a847a8d2fa2833e275cd1a1ae8af
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_12.obj
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_13.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04c3014fbaf6df696d210bc3850583d65147bb8d
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_13.obj
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_14.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f63a165b5cfe416685c2d6f759bfab714dc0ae5e
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_14.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_15.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afe51d8942f6ec3dcc6178e8d2df1fa87eeb4ce3
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_15.obj
@@ -0,0 +1,46 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_16.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c89338ad08e76399cebc4bbf81b5010ff6d92e3
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_16.obj
@@ -0,0 +1,631 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_17.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..261b2b84cc84f0bbbcc9bed3e469605bcac8cdc3
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_17.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_18.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cbb3dc61486801e8dcb4b4efdbe79c5ceb221c3
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_18.obj
@@ -0,0 +1,481 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_19.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e483bbdc57d327fdd8bd1507fb4c66511f26e3d8
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_19.obj
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_2.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29a5ade5ef52bbd379f817cd2e59c5b30339ccab
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_2.obj
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_20.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4f961f369bec130633f846b12eccf918463a7bb
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_20.obj
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_21.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dc733574b8126ced6eeb310e8c85b8bba882454
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_21.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_22.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dec57ac0a1732ecf834bd6b6ef74b177f82307fd
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_22.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_23.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12f217357f0c397d46eff60fdc0302be13cb9431
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_23.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_24.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..157371f7717413059d1dc6a4da528cf86d9958af
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_24.obj
@@ -0,0 +1,580 @@
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+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_25.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2019cf056c73107e57ddf1a049ba2e5dcb0ec40
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_25.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.11862690 -0.00054948 -0.02340808
+v 0.11860811 -0.00160502 -0.02340809
+v 0.11849168 -0.00160500 -0.03016144
+v 0.11849168 -0.00054946 -0.03121948
+v 0.11639209 0.00796273 -0.02281289
+v 0.10756180 0.01941510 0.01554980
+v 0.10725005 0.01941510 0.01725260
+v 0.10684441 0.01941509 0.01945137
+v 0.11635829 -0.00014006 -0.01493540
+v 0.11634326 -0.00160505 -0.01498500
+v 0.11846539 -0.00160500 -0.03121949
+v 0.11665876 -0.00160497 -0.03716276
+v 0.11639960 -0.00054943 -0.03809682
+v 0.10612326 0.01941539 -0.06255594
+v 0.11567094 0.00537641 -0.03682383
+v 0.11629819 0.00767676 -0.03126078
+v 0.11492726 0.01154707 -0.02869003
+v 0.11492726 0.01154705 -0.02501992
+v 0.10784350 0.01941512 0.01118534
+v 0.10303585 0.01941508 0.02107151
+v 0.10685567 0.00723626 0.01947613
+v 0.10685567 -0.00160518 0.01947609
+v 0.11638082 -0.00160497 -0.03805550
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+v 0.08025588 0.01941539 -0.06255594
+v 0.10784350 0.01941532 -0.04317209
+v 0.10805007 0.01941513 0.00780453
+v 0.09544128 0.01941508 0.02188158
+v 0.10303961 0.01502214 0.02107150
+v 0.10634110 -0.00160518 0.01969100
+v 0.10421899 -0.00160488 -0.06244030
+v 0.10422650 -0.00158430 -0.06255602
+v 0.10531197 0.00723656 -0.06255598
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+v 0.09481778 -0.00160519 0.02167485
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+v 0.10201799 -0.00160519 0.02117889
+v 0.10304712 -0.00160519 0.02106316
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+v 0.08930777 0.01502216 0.01560765
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+v 0.08025588 -0.00160504 -0.01786985
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+v 0.08025588 -0.00159269 -0.01775412
+v 0.08930401 -0.00160517 0.01560758
+v 0.09062236 -0.00160518 0.01969100
+f 1 2 3
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+f 50 54 51
+f 51 54 55
+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_26.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..789b58e138e394bc98099209b419e8f8138ad950
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_26.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.08025588 0.10852151 -0.01778438
+v 0.08023455 0.10852151 -0.01778438
+v 0.08025588 -0.00159425 -0.01778479
+v 0.08025588 0.10852209 -0.17680038
+v 0.03446214 0.10852151 -0.01851135
+v -0.02649663 0.10851072 -0.01851135
+v -0.02869354 0.10848917 -0.01851135
+v -0.02869354 0.10845683 -0.01851135
+v 0.08018123 -0.00160503 -0.01783221
+v 0.08025588 -0.00160503 -0.01789542
+v -0.02869354 -0.00053783 -0.01855916
+v -0.02869354 -0.00159425 -0.01857498
+v 0.08025588 0.10846819 -0.17681618
+v 0.08018123 0.10852209 -0.17681618
+v 0.03347034 0.10852153 -0.02489601
+v -0.02869354 0.10851073 -0.02062903
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+v -0.02869354 -0.00159375 -0.15649315
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+v -0.02869354 0.07708816 -0.17776454
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+v -0.02869354 0.09511202 -0.17910775
+v 0.08025588 0.07731455 -0.17842827
+v -0.02869354 0.09288059 -0.17909196
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+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_27.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..568a7be7b6e4db948790e7dcebf5070c7889a464
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_27.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
+v 0.10748459 0.14740661 -0.13268868
+v 0.10745353 0.10852202 -0.15610313
+v 0.10745353 0.10852202 -0.15614059
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_28.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59a38ff5585a0cf114c49e3691c24524760f0de8
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_28.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_29.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdddb19e58abe4549f04ad6eb1e8ecd8d93db65e
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_29.obj
@@ -0,0 +1,430 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_3.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03a00d16afa3527327af6d20d567140097f2bcc5
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_3.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_30.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6f554ab95276d9cf9bb2b8d7a00ac81e039c16f
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_30.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_31.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bcf96e9860edecfef795575e0784284a82f1b32
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_31.obj
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_32.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f15b9ed8720968dcbf67baf4eaa300eda738340a
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_32.obj
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_33.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59ecf035cdbd4d5a9ba98aef0e911fa6ddc57f8e
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_33.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_34.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17f6af59435444ee113edb357cecd308eb2f305d
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_34.obj
@@ -0,0 +1,469 @@
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+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_35.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58e5e9a2e9908943ed9d693c7f7aa92f23f270fa
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_35.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.10814184 -0.00322926 -0.00867418
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_36.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac187c68f09706a22e74549126f3977b93c0a1d3
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_36.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_37.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7f0b0d8b8147f60f61b17efeafc236104b71dc7
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_37.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_38.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c00049e6fcc7562ae144593e80685f808ae44f1
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_38.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.04123295 0.12130614 0.08210338
+v -0.04123295 0.11410616 0.09972450
+v -0.04123295 0.13402689 0.08210342
+v -0.02239168 0.12022577 0.08210337
+v 0.00398610 0.11410616 0.09970424
+v -0.04123295 0.11410608 0.12319910
+v 0.08019505 0.11462106 0.08210335
+v 0.08780430 0.11422323 0.08210335
+v 0.09542811 0.11418033 0.08210335
+v -0.04123295 0.13402674 0.12348678
+v 0.10730029 0.13402689 0.08210342
+v 0.02132880 0.11410616 0.09970424
+v 0.07257125 0.11410608 0.12311809
+v 0.06494744 0.13402674 0.12343818
+v 0.09810517 0.11514370 0.08210335
+v 0.08534548 0.11410610 0.11708234
+v 0.08611659 0.11410612 0.11143547
+v 0.08639303 0.11410613 0.10927637
+v 0.08550552 0.11410614 0.10503109
+v 0.08515634 0.11410615 0.10351608
+v 0.08019505 0.11410616 0.10068454
+v 0.07257125 0.11410616 0.09971234
+v 0.05943328 0.11410616 0.09970829
+v 0.10732939 0.13402688 0.08570056
+v 0.10740214 0.13183105 0.08210341
+v 0.08019505 0.11410608 0.12216614
+v 0.08019505 0.13402674 0.12257130
+v 0.07470998 0.13402674 0.12325588
+v 0.07257125 0.13402674 0.12343007
+v 0.10244085 0.11729471 0.08210336
+v 0.08501085 0.11410610 0.11819632
+v 0.10737304 0.13183103 0.08586664
+v 0.10722754 0.13402685 0.09339715
+v 0.10711115 0.12549894 0.08210339
+v 0.08303215 0.11410608 0.12139648
+v 0.08201370 0.13402674 0.12215405
+v 0.10497241 0.12028816 0.08210337
+v 0.10188797 0.11798114 0.08586659
+v 0.08410880 0.11410609 0.12110077
+v 0.10716935 0.13211183 0.09330398
+v 0.10700931 0.12754460 0.09045623
+v 0.10709660 0.12671581 0.08586663
+v 0.10708205 0.13402683 0.09690518
+v 0.10677652 0.12331869 0.08210338
+v 0.08492355 0.13402674 0.12136009
+v 0.10629639 0.12196723 0.08210338
+v 0.10568532 0.12282333 0.08586661
+v 0.10629639 0.12970338 0.09565751
+v 0.10488512 0.13402681 0.10257636
+v 0.10152424 0.13402679 0.10775738
+v 0.10692201 0.13402683 0.09805562
+f 1 2 6
+f 1 6 10
+f 1 10 3
+f 1 3 11
+f 1 11 25
+f 1 25 34
+f 1 34 44
+f 1 44 46
+f 1 46 37
+f 1 37 30
+f 1 30 15
+f 1 15 9
+f 1 9 8
+f 1 8 7
+f 1 7 4
+f 1 4 2
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+f 2 13 6
+f 2 4 7
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+f 40 43 41
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+f 41 48 47
+f 41 47 46
+f 41 46 44
+f 48 51 49
+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_39.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f879cf29ae408d77a68e117896d60d0232e4846
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_39.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
+v 0.08019674 -0.10487305 -0.13287604
+v 0.08782192 -0.10487305 -0.13282997
+v 0.08019401 -0.10487307 -0.12869802
+v 0.08019401 -0.10486533 -0.13287604
+v 0.08019674 -0.07398398 -0.13502638
+v 0.09543617 -0.10487305 -0.13264565
+v 0.08142114 -0.07386052 -0.13502638
+v 0.08782192 -0.07290367 -0.13502638
+v 0.08820455 -0.07283422 -0.13502638
+v 0.09593359 -0.07053472 -0.13502637
+v 0.08019128 -0.10487318 -0.09751646
+v 0.08019401 -0.07333580 -0.13502638
+v 0.10206106 -0.10487306 -0.13061807
+v 0.09969698 -0.06754072 -0.13502636
+v 0.10274705 -0.06350500 -0.13502634
+v 0.08019128 -0.10487347 -0.01784219
+v 0.08019128 -0.02604165 -0.09751617
+v 0.08019401 -0.02604151 -0.13502621
+v 0.10587091 -0.10487308 -0.12581027
+v 0.10521499 -0.05506318 -0.13502631
+v 0.10560581 -0.05237013 -0.13502630
+v 0.08019128 -0.08619959 -0.01781139
+v 0.08933603 -0.10487360 0.01559736
+v 0.08930869 -0.08619972 0.01559743
+v 0.08019128 -0.02604194 -0.01782653
+v 0.10711445 -0.02604151 -0.13502621
+v 0.10707619 -0.10487309 -0.12190873
+v 0.10651318 -0.04496231 -0.13502628
+v 0.08019128 -0.07063546 -0.01781133
+v 0.08930596 -0.07842151 0.01559746
+v 0.08930050 -0.03170597 0.01559763
+v 0.09084467 -0.10487361 0.02031299
+v 0.09082554 -0.08619973 0.02032842
+v 0.08930050 -0.02604207 0.01559765
+v 0.10706252 -0.03170541 -0.13502623
+v 0.10761733 -0.02604167 -0.09364536
+v 0.10667716 -0.04206863 -0.13502626
+v 0.10681928 -0.03949133 -0.13502626
+v 0.10704612 -0.03254650 -0.13502623
+v 0.10810381 -0.10487357 0.00779429
+v 0.09082280 -0.03949190 0.02032859
+v 0.09040738 -0.02604208 0.01903837
+v 0.09543890 -0.10487362 0.02187975
+v 0.09543890 -0.08619974 0.02189518
+v 0.10806555 -0.02604204 0.00779458
+v 0.10807648 -0.03170594 0.00779456
+v 0.10810654 -0.07063556 0.00779442
+v 0.10810927 -0.07842148 0.00779439
+v 0.10810927 -0.08619969 0.00779436
+v 0.10756267 -0.10487360 0.01552056
+v 0.09082280 -0.02604208 0.02032864
+v 0.10302036 -0.10487362 0.02106565
+v 0.09543890 -0.04728555 0.02189533
+v 0.10303403 -0.09399339 0.02106569
+v 0.10303949 -0.08619974 0.02106572
+v 0.10756540 -0.02604207 0.01553621
+v 0.10756540 -0.07063559 0.01552069
+v 0.10756267 -0.07842151 0.01553602
+v 0.10755994 -0.08619972 0.01555135
+v 0.10684935 -0.08619973 0.01945288
+v 0.10684661 -0.09399338 0.01945285
+v 0.10683295 -0.10487361 0.01942209
+v 0.09543890 -0.02604209 0.02188004
+v 0.10532158 -0.10487361 0.02008258
+v 0.10303129 -0.03170599 0.02106592
+v 0.10736862 -0.02604207 0.01661143
+v 0.10684388 -0.02604208 0.01943774
+v 0.10579986 -0.02604208 0.01988319
+v 0.10303403 -0.02604209 0.02105058
+f 1 2 6
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+f 65 68 69
+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_4.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2881956ee74d1ea20b74c8285c96d7184df4c045
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_4.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.08635710 -0.01942428 0.10928047
+v 0.08535214 -0.01942431 0.11708240
+v 0.08638222 -0.10175360 0.10925706
+v 0.08512602 -0.01942426 0.10380109
+v 0.08535214 -0.10175363 0.11708210
+v 0.08483710 -0.01942432 0.11878561
+v 0.08513858 -0.10175358 0.10377999
+v 0.08018915 -0.01942425 0.10097937
+v 0.08413363 -0.10175364 0.12109631
+v 0.08412106 -0.01942432 0.12110354
+v 0.08018915 -0.10175357 0.10095364
+v 0.07256402 -0.10175357 0.09969646
+v 0.07256402 -0.01942425 0.09972680
+v 0.08412106 -0.03170602 0.12110580
+v 0.08412106 -0.09399296 0.12111019
+v 0.08018915 -0.10175365 0.12218017
+v 0.08018915 -0.01942433 0.12216660
+v 0.08018915 -0.03949089 0.12217114
+v 0.06493888 -0.01942425 0.09972449
+v -0.04195123 -0.10175357 0.09968028
+v -0.04195123 -0.01942425 0.09969907
+v 0.08018915 -0.09399297 0.12218019
+v 0.07256402 -0.08620811 0.12313004
+v 0.07260170 -0.10175365 0.12312305
+v 0.07256402 -0.01942433 0.12311179
+v 0.07256402 -0.03170603 0.12311637
+v 0.07256402 -0.03949089 0.12311865
+v -0.04195123 -0.10175365 0.12328713
+v -0.04195123 -0.01942433 0.12328512
+v 0.07256402 -0.09399297 0.12312769
+v -0.04195123 -0.09399297 0.12328946
+v -0.04195123 -0.09420250 0.12328946
+v 0.07256402 -0.10175365 0.12312536
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 19
+f 1 19 21
+f 1 21 29
+f 1 29 25
+f 1 25 17
+f 1 17 10
+f 1 10 6
+f 1 6 2
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+f 3 5 9
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+f 3 28 20
+f 3 20 12
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+f 3 11 7
+f 3 7 4
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+f 5 6 9
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+f 17 23 18
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+f 23 27 29
+f 23 29 31
+f 23 31 32
+f 23 32 30
+f 24 30 33
+f 25 29 26
+f 26 29 27
+f 28 33 32
+f 30 32 33
+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_40.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d38e4daaa0f60706148f4506684cbf823c612a91
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_40.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.08025588 0.01941567 -0.13656319
+v 0.08025588 0.10852193 -0.13656286
+v 0.10723503 0.01941567 -0.13656319
+v 0.08025588 0.01941524 -0.01776808
+v 0.09328190 0.10852193 -0.13656286
+v 0.08025588 0.10852150 -0.01775223
+v 0.10722682 0.02281733 -0.13656318
+v 0.10819495 0.10846907 0.00779812
+v 0.10784490 0.01941533 -0.04317871
+v 0.08931092 0.01941511 0.01560570
+v 0.08927263 0.10852137 0.01565259
+v 0.10205798 0.10852191 -0.13122306
+v 0.10467522 0.05396441 -0.13656306
+v 0.10721588 0.02464900 -0.13656317
+v 0.10708187 0.10852188 -0.12194049
+v 0.10819222 0.10852140 0.00779812
+v 0.10757415 0.10852137 0.01548185
+v 0.10757141 0.10846904 0.01554394
+v 0.10756321 0.01941511 0.01554361
+v 0.10818675 0.10068012 0.00779809
+v 0.10814026 0.06953305 0.00779798
+v 0.10805001 0.01941514 0.00779779
+v 0.09016965 0.01941510 0.01826008
+v 0.09083422 0.01941510 0.02030907
+v 0.09080960 0.10852136 0.02037149
+v 0.10210721 0.10852191 -0.13119201
+v 0.10602623 0.04617546 -0.13656309
+v 0.10716665 0.03060628 -0.13656315
+v 0.10712563 0.03231584 -0.13656314
+v 0.10702171 0.03631934 -0.13656313
+v 0.10591683 0.10852189 -0.12583668
+v 0.10756594 0.10852137 0.01554394
+v 0.10684394 0.10852136 0.01944013
+v 0.10684942 0.08510219 0.01944004
+v 0.10684394 0.01941510 0.01943980
+v 0.10783942 0.01941513 0.01116621
+v 0.09543695 0.01941509 0.02186134
+v 0.09543695 0.10852135 0.02201690
+v 0.10589222 0.10852189 -0.12588326
+v 0.10666344 0.04062812 -0.13656311
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_41.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5a1d954b8c608a1cb2813de822aaa4580c85451
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_41.obj
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_42.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7d60993d90825a317237f4fbce1635484cf0044
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_42.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.02815028 0.15149840 -0.00793192
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+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_43.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f0ac20a6141e1ee35c2d0a04002b54946d27d2d
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_43.obj
@@ -0,0 +1,460 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_44.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93d6e3a9820bfa12af5296cce0da1523305fc4e9
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_44.obj
@@ -0,0 +1,556 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_45.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a949a8003c6367da36308f4767f47b1766bb3c6f
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_45.obj
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_46.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5158f5c917e402bcf223bc3efebb159764285bb
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_46.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.10814184 -0.02534383 -0.02341583
+v 0.10814184 -0.02528340 -0.02749345
+v 0.11375680 -0.01912099 -0.02341581
+v 0.10814184 -0.02276224 -0.01642217
+v 0.10814184 -0.02506031 -0.03375709
+v 0.11330699 -0.01879798 -0.03122015
+v 0.11625279 -0.01490347 -0.03122013
+v 0.11641058 -0.01522648 -0.02341580
+v 0.11567489 -0.01395313 -0.01753128
+v 0.10814184 -0.02182813 -0.01478467
+v 0.10814184 -0.02480702 -0.03486220
+v 0.10814184 -0.02412617 -0.03781454
+v 0.10814184 -0.02373114 -0.03913744
+v 0.11546382 -0.01352086 -0.03643513
+v 0.11832151 -0.00833905 -0.03122011
+v 0.11849775 -0.00833907 -0.02341577
+v 0.11626816 -0.00828798 -0.01520408
+v 0.11373016 -0.01084869 -0.01232838
+v 0.10814184 -0.01903970 -0.01261477
+v 0.10814184 -0.01744553 -0.04682883
+v 0.11624561 -0.00833902 -0.03780641
+v 0.11638087 -0.00160497 -0.03805646
+v 0.11666162 -0.00160497 -0.03716511
+v 0.11846905 -0.00160500 -0.03122009
+v 0.11860943 -0.00160502 -0.02341575
+v 0.11634296 -0.00160505 -0.01498223
+v 0.11849262 -0.00160500 -0.03016338
+v 0.11596691 -0.00160506 -0.01398601
+v 0.11488081 -0.00565526 -0.01136441
+v 0.10814184 -0.01309572 -0.00883963
+v 0.10814184 -0.01512894 -0.01001332
+v 0.10814184 -0.01612567 -0.04744188
+v 0.10814184 -0.00833898 -0.04977307
+v 0.11411746 -0.00160496 -0.04143229
+v 0.11542591 -0.00160506 -0.01268327
+v 0.11488081 -0.00246251 -0.01136440
+v 0.10814184 -0.00322934 -0.00867019
+v 0.10814184 -0.00828801 -0.00867424
+v 0.10814184 -0.00160493 -0.04987388
+v 0.11374963 -0.00160496 -0.04196064
+v 0.11354880 -0.00160507 -0.01094494
+v 0.10814184 -0.00160508 -0.00872665
+f 1 2 3
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+f 1 32 20
+f 1 20 13
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+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
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+f 8 16 9
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+f 9 16 17
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+f 16 24 27
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+f 17 29 18
+f 18 29 30
+f 18 30 31
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+f 20 32 21
+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 22 34 40
+f 22 40 39
+f 22 39 42
+f 22 42 41
+f 22 41 35
+f 22 35 28
+f 22 28 26
+f 22 26 25
+f 22 25 27
+f 22 27 24
+f 22 24 23
+f 28 35 36
+f 28 36 29
+f 29 36 37
+f 29 37 38
+f 29 38 30
+f 33 39 40
+f 33 40 34
+f 35 41 36
+f 36 41 42
+f 36 42 37
+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_47.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..280c04727980e942f5e36724ee27c6980a195767
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_47.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v -0.00060888 -0.10487289 -0.17626959
+v -0.00060888 -0.10487303 -0.14018893
+v -0.00060888 -0.10431045 -0.17632957
+v 0.00006685 -0.10487289 -0.17628159
+v 0.00095656 -0.10487303 -0.14019292
+v 0.00397480 -0.07866350 -0.13674628
+v -0.00060888 -0.07872598 -0.13674628
+v -0.00060888 -0.10178574 -0.17658944
+v 0.00397480 -0.10178574 -0.17666942
+v 0.00397480 -0.10487289 -0.17634957
+v 0.01619420 -0.10487302 -0.14024091
+v 0.01159926 -0.07851351 -0.13674628
+v 0.02684253 -0.07440773 -0.13674227
+v -0.00060888 -0.04103024 -0.13674614
+v -0.00060888 -0.09710502 -0.17668139
+v 0.01159926 -0.10178574 -0.17679735
+v 0.01921808 -0.10178574 -0.17691730
+v 0.01159926 -0.10487289 -0.17646951
+v 0.02381865 -0.10487302 -0.14026889
+v 0.05691800 -0.07412651 -0.13679425
+v 0.01851419 -0.07764486 -0.13674628
+v 0.05429957 -0.10487302 -0.14041683
+v 0.05691800 -0.10487302 -0.14043282
+v 0.03005223 -0.07437648 -0.13674626
+v 0.03005223 -0.04103024 -0.13674614
+v -0.00060888 -0.04103014 -0.16307097
+v -0.00060888 -0.09399286 -0.17673734
+v 0.01159926 -0.09399286 -0.17694126
+v 0.01921808 -0.09399286 -0.17706523
+v 0.02684253 -0.10178574 -0.17703326
+v 0.01921808 -0.10487289 -0.17658145
+v 0.05691800 -0.04103024 -0.13679413
+v 0.05691800 -0.10487289 -0.17710525
+v -0.00060888 -0.05929056 -0.16940434
+v 0.02072720 -0.04103014 -0.16320291
+v 0.05691800 -0.06285265 -0.17117960
+v 0.02684253 -0.06285265 -0.17091571
+v -0.00060888 -0.08931839 -0.17640947
+v 0.00397480 -0.08619999 -0.17626553
+v 0.01921808 -0.08619999 -0.17649744
+v 0.02684253 -0.09399286 -0.17717717
+v 0.03446135 -0.10178574 -0.17714121
+v 0.02684253 -0.10487289 -0.17668943
+v 0.05691800 -0.04103014 -0.16335884
+v 0.05691800 -0.10178574 -0.17745307
+v -0.00060888 -0.06285265 -0.17063584
+v 0.02834602 -0.04103014 -0.16323889
+v 0.05691800 -0.07063926 -0.17369456
+v 0.03597047 -0.04103014 -0.16327487
+v 0.04969899 -0.07063926 -0.17363059
+v 0.04208580 -0.07063926 -0.17355861
+v -0.00060888 -0.08619999 -0.17618957
+v -0.00060888 -0.08375027 -0.17589768
+v -0.00060888 -0.08198797 -0.17568575
+v 0.02684253 -0.08619999 -0.17660539
+v 0.03005223 -0.09399286 -0.17722116
+v 0.05691800 -0.10136079 -0.17746108
+v 0.03005223 -0.07063926 -0.17342668
+v 0.02684253 -0.07063926 -0.17339069
+v -0.00060888 -0.06595855 -0.17160742
+v 0.05691800 -0.07601365 -0.17514996
+v 0.05691800 -0.07632612 -0.17523393
+v 0.04969899 -0.07647610 -0.17520193
+v 0.00397480 -0.08179424 -0.17572173
+v 0.03005223 -0.08619999 -0.17664936
+v -0.00060888 -0.07965074 -0.17521395
+v 0.05691800 -0.09399286 -0.17758900
+v 0.00397480 -0.07063926 -0.17312281
+v -0.00060888 -0.07063926 -0.17306283
+v 0.05691800 -0.08022567 -0.17606158
+v 0.04969899 -0.08037565 -0.17602561
+v 0.04208580 -0.07666983 -0.17516196
+v 0.01159926 -0.08151927 -0.17578172
+v 0.04208580 -0.08619999 -0.17680529
+v 0.00397480 -0.07790719 -0.17493007
+v 0.05691800 -0.09356791 -0.17755700
+v -0.00060888 -0.07810092 -0.17489808
+v 0.03446135 -0.07690105 -0.17511798
+v -0.00060888 -0.07353268 -0.17378653
+v 0.05691800 -0.08619999 -0.17698123
+v 0.04208580 -0.08056938 -0.17598164
+v 0.04969899 -0.08619999 -0.17689727
+v 0.01159926 -0.07762597 -0.17497405
+v 0.01921808 -0.07738850 -0.17502602
+v 0.03446135 -0.08078810 -0.17593366
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+f 30 42 31
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+f 41 55 65
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+f 46 59 60
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+f 50 61 51
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+f 51 63 58
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+f 58 63 59
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+f 69 78 79
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+f 73 80 82
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+f 73 83 84
+f 73 84 85
+f 73 85 80
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+f 75 79 83
+f 76 82 80
+f 78 84 79
+f 78 81 85
+f 78 85 84
+f 79 84 83
+f 80 85 81
+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_48.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43d33084ae353d9ff88a916627a42deb87bf6b58
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_48.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.04636674 -0.14499694 -0.16342916
+v -0.04636674 -0.13774600 -0.17661231
+v -0.04494896 -0.14499694 -0.16342916
+v -0.04636674 -0.14499761 0.01792167
+v -0.04636674 -0.13293513 -0.17872236
+v -0.04176239 -0.13293513 -0.17860621
+v -0.04176239 -0.13763650 -0.17649615
+v -0.04176239 -0.14499694 -0.16331301
+v -0.02870491 -0.14499761 0.01792167
+v -0.04636674 -0.12355103 0.01792175
+v -0.04636674 -0.12514796 -0.17982578
+v -0.04176239 -0.12514796 -0.17984512
+v -0.03414092 -0.12514796 -0.17922567
+v -0.03466654 -0.13264243 -0.17701881
+v -0.03755398 -0.13706670 -0.17589603
+v -0.02870491 -0.14499694 -0.16201597
+v -0.02870491 -0.12731837 0.01792173
+v -0.04636674 -0.12330745 0.01459208
+v -0.02870491 -0.12216999 -0.01576212
+v -0.04636674 -0.12216939 -0.17982577
+v -0.04176239 -0.12216939 -0.17982577
+v -0.03414092 -0.12216939 -0.17943859
+v -0.02870491 -0.12216940 -0.17767694
+v -0.02870491 -0.12514797 -0.17730915
+v -0.02870491 -0.12686852 -0.17680586
+v -0.02960746 -0.12984932 -0.17624444
+v -0.02870491 -0.14485618 -0.16215149
+v -0.04636674 -0.12284266 0.00779723
+v -0.04636674 -0.12217000 -0.01231629
+v -0.02870491 -0.13090401 -0.17446347
+f 1 2 3
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+f 1 9 4
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+f 1 5 2
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+f 5 11 12
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+f 18 19 28
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+f 19 23 22
+f 19 22 21
+f 19 21 20
+f 19 20 29
+f 25 30 26
+f 26 30 27
+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_49.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58fd7268c50d48aba7a1eb0717d3ac008e171c77
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_49.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
+v 0.02709739 0.19675956 -0.04710023
+v 0.02683822 0.19674184 -0.04682801
+v 0.02815028 0.19674184 -0.04682801
+v 0.02815028 0.19675513 -0.04710023
+v 0.01159017 0.19675070 -0.04710023
+v 0.02815028 0.19591334 -0.04036767
+v 0.01159017 0.19673299 -0.04682801
+v -0.01127111 0.19573611 -0.03902193
+v 0.01921419 0.19574054 -0.03902193
+v 0.02815028 0.16295113 -0.04710035
+v -0.01127111 0.19673742 -0.04710023
+v 0.02815028 0.19574054 -0.03902193
+v -0.01127111 0.19671969 -0.04682801
+v -0.01889513 0.19671083 -0.04682801
+v -0.01889513 0.19572282 -0.03902193
+v -0.01127111 0.19418544 -0.03121968
+v 0.02815028 0.19446456 -0.03256159
+v 0.02815028 0.15150286 -0.01930366
+v -0.00364708 0.16286253 -0.04710035
+v -0.01889513 0.19672412 -0.04710023
+v -0.02651376 0.19570067 -0.03902193
+v -0.02653536 0.19669753 -0.04710023
+v -0.02701051 0.19667982 -0.04682801
+v -0.02701051 0.19661779 -0.04632575
+v -0.02701051 0.19415443 -0.03121968
+v -0.01889513 0.19417214 -0.03121968
+v -0.01127111 0.19208541 -0.02341743
+v 0.01921419 0.19419430 -0.03121968
+v 0.02815028 0.19419430 -0.03121968
+v 0.02815028 0.15150282 -0.00793192
+v -0.02701051 0.15150286 -0.01937267
+v -0.02652996 0.16281379 -0.04710035
+v -0.02701051 0.19569623 -0.03902193
+v -0.02701051 0.19559877 -0.03851967
+v -0.02701051 0.19669311 -0.04710023
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+v -0.02651376 0.19205440 -0.02341743
+v -0.01889513 0.19207211 -0.02341743
+v -0.01127111 0.19056576 -0.01865557
+v -0.00364708 0.19056576 -0.01864790
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+v -0.02701051 0.15150282 -0.00793192
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+v 0.01159017 0.18903724 -0.01474487
+v 0.02815028 0.19055246 -0.01867857
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+v -0.02701051 0.18879800 -0.01434996
+v -0.02701051 0.18899737 -0.01480621
+v -0.01889513 0.18596253 -0.00793180
+v 0.01173055 0.18599796 -0.00793180
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+f 1 5 2
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+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_5.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f521cd81155ce72cfaf5bfdd6f95501a215af2f9
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_5.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_50.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28a4434d79271a9ce948882bb3fc4df9360f726f
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_50.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+v -0.03414242 -0.20446419 -0.05860350
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+v -0.05017541 -0.20419126 -0.06244496
+v -0.04176166 -0.20428839 -0.06244496
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+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_51.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e858fc891479b613c0f587c033c9341135e0a08
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_51.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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+f 8 12 11
+f 8 11 10
+f 8 10 9
+f 18 30 19
+f 19 30 31
+f 19 31 32
+f 19 32 23
+f 20 33 21
+f 21 33 34
+f 21 34 25
+f 25 34 26
+f 26 34 35
+f 26 35 27
+f 27 35 28
+f 28 35 29
+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_52.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94145453d04cb9f92d9275867f358b9591c9b5f5
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_52.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.02870491 -0.20461357 -0.05462954
+v -0.05017541 -0.20440035 -0.05462954
+v -0.03414242 -0.20446522 -0.05860350
+v -0.03039060 -0.20450230 -0.05860350
+v -0.02870491 -0.20451621 -0.05860350
+v -0.02870491 -0.20434939 -0.04906409
+v -0.05017541 -0.20404349 -0.04682457
+v -0.05017541 -0.20408057 -0.04763461
+v -0.05017541 -0.20429372 -0.05860350
+v -0.02870491 -0.17151940 -0.05860338
+v -0.02870491 -0.20424280 -0.04682457
+v -0.05017541 -0.20321384 -0.03982964
+v -0.05017541 -0.16611031 -0.05860336
+v -0.02870491 -0.15726219 -0.01596668
+v -0.02870491 -0.20358001 -0.04125913
+v -0.02870491 -0.20331119 -0.03901961
+v -0.05017541 -0.20311652 -0.03901961
+v -0.05017541 -0.15726214 -0.02889871
+v -0.02870491 -0.15726239 0.03875385
+v -0.02870491 -0.20223588 -0.03345415
+v -0.03414242 -0.20175384 -0.03121463
+v -0.05017541 -0.20176310 -0.03202467
+v -0.05017541 -0.15726239 0.03866808
+v -0.03414242 -0.15726239 0.03874432
+v -0.02870491 -0.17533432 0.01903648
+v -0.02870491 -0.20180019 -0.03121463
+v -0.05017541 -0.19991839 -0.02466760
+v -0.05017541 -0.20160553 -0.03121463
+v -0.05017541 -0.17523235 0.01892213
+v -0.04176166 -0.17528334 0.01897930
+v -0.03414242 -0.17531578 0.01901742
+v -0.04184574 -0.15726239 0.03872526
+v -0.02870491 -0.17631231 0.01792148
+v -0.02870491 -0.20001572 -0.02436264
+v -0.03414242 -0.19999255 -0.02443889
+v -0.05017541 -0.19886160 -0.02117967
+v -0.05017541 -0.17862982 0.01502439
+v -0.04176166 -0.17867616 0.01508156
+v -0.02870491 -0.17874107 0.01513874
+v -0.02870491 -0.19882916 -0.02046493
+v -0.03414242 -0.19880599 -0.02054117
+v -0.05017541 -0.19873646 -0.02076988
+v -0.05017541 -0.18251860 0.01034521
+v -0.04176166 -0.18256494 0.01040239
+v -0.03414242 -0.18260202 0.01045004
+v -0.02870491 -0.18262984 0.01047863
+v -0.02870491 -0.19754992 -0.01702464
+v -0.03414242 -0.19697981 -0.01560468
+v -0.05017541 -0.19702615 -0.01611930
+v -0.05017541 -0.18281524 0.00993542
+v -0.04176166 -0.18535521 0.00650466
+v -0.02870491 -0.18342705 0.00936363
+v -0.02870491 -0.19702152 -0.01560468
+v -0.02870491 -0.19461596 -0.01003923
+v -0.03414242 -0.19360553 -0.00780924
+v -0.05017541 -0.19347111 -0.00780924
+v -0.05017541 -0.19683148 -0.01560468
+v -0.05017541 -0.18531351 0.00643795
+v -0.05017541 -0.18572138 0.00580898
+v -0.04176166 -0.18924862 0.00031022
+v -0.02870491 -0.18929962 0.00039599
+v -0.02870491 -0.18652324 0.00480833
+v -0.03414242 -0.18538302 0.00655231
+v -0.02870491 -0.18540621 0.00658090
+v -0.02870491 -0.19364724 -0.00780924
+v -0.05017541 -0.19169127 -0.00409258
+v -0.05017541 -0.18920690 0.00025306
+v -0.02870491 -0.18994851 -0.00071900
+v -0.05017541 -0.18944793 -0.00015674
+v -0.05017541 -0.19147807 -0.00365420
+v -0.04176166 -0.19151052 -0.00358750
+v -0.02870491 -0.19156150 -0.00350173
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 14
+f 1 14 19
+f 1 19 25
+f 1 25 33
+f 1 33 39
+f 1 39 46
+f 1 46 52
+f 1 52 64
+f 1 64 62
+f 1 62 61
+f 1 61 68
+f 1 68 72
+f 1 72 65
+f 1 65 54
+f 1 54 53
+f 1 53 47
+f 1 47 40
+f 1 40 34
+f 1 34 26
+f 1 26 20
+f 1 20 16
+f 1 16 15
+f 1 15 11
+f 1 11 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 7
+f 2 7 12
+f 2 12 17
+f 2 17 22
+f 2 22 28
+f 2 28 27
+f 2 27 36
+f 2 36 42
+f 2 42 49
+f 2 49 57
+f 2 57 56
+f 2 56 66
+f 2 66 70
+f 2 70 69
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+f 2 67 59
+f 2 59 58
+f 2 58 50
+f 2 50 43
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+f 2 37 29
+f 2 29 23
+f 2 23 18
+f 2 18 13
+f 2 13 9
+f 3 9 13
+f 3 13 10
+f 3 10 5
+f 3 5 4
+f 6 11 7
+f 7 11 12
+f 10 13 14
+f 11 15 12
+f 12 15 16
+f 12 16 17
+f 13 18 14
+f 14 18 23
+f 14 23 32
+f 14 32 24
+f 14 24 19
+f 16 20 17
+f 17 20 21
+f 17 21 22
+f 19 24 25
+f 20 26 21
+f 21 26 27
+f 21 27 28
+f 21 28 22
+f 23 29 30
+f 23 30 31
+f 23 31 25
+f 23 25 32
+f 24 32 25
+f 25 31 33
+f 26 34 35
+f 26 35 27
+f 27 35 36
+f 29 37 30
+f 30 37 38
+f 30 38 39
+f 30 39 31
+f 31 39 33
+f 34 40 41
+f 34 41 35
+f 35 41 36
+f 36 41 42
+f 37 43 44
+f 37 44 38
+f 38 44 45
+f 38 45 46
+f 38 46 39
+f 40 47 48
+f 40 48 49
+f 40 49 41
+f 41 49 42
+f 43 50 44
+f 44 50 51
+f 44 51 45
+f 45 52 46
+f 45 51 52
+f 47 53 48
+f 48 54 55
+f 48 55 56
+f 48 56 57
+f 48 57 49
+f 48 53 54
+f 50 58 51
+f 51 58 59
+f 51 59 60
+f 51 60 61
+f 51 61 62
+f 51 62 63
+f 51 63 52
+f 52 63 64
+f 54 65 55
+f 55 65 66
+f 55 66 56
+f 59 67 60
+f 60 68 61
+f 60 67 69
+f 60 69 70
+f 60 70 71
+f 60 71 68
+f 62 64 63
+f 65 71 66
+f 65 72 71
+f 66 71 70
+f 68 71 72
+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_53.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f269ac24ed2a8d47022abcb881c75ffdd4c5a1b1
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_53.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.04920438 -0.10487332 -0.06052447
+v -0.02869728 -0.10487332 -0.06052447
+v 0.04920438 -0.14827593 -0.06052462
+v 0.04920438 -0.10487289 -0.17699364
+v -0.02869728 -0.14826699 -0.06052462
+v -0.02869728 -0.10487288 -0.17910640
+v 0.01921522 -0.14827593 -0.06052462
+v -0.02869728 -0.15049525 -0.10481146
+v 0.04311807 -0.15049524 -0.10642506
+v 0.04920438 -0.15049524 -0.10656437
+v 0.04920438 -0.10907069 -0.17652932
+v -0.02869728 -0.11751095 -0.17834029
+v -0.02869728 -0.10957531 -0.17904837
+v -0.01888903 -0.14827146 -0.06052462
+v -0.02869728 -0.15049505 -0.15787442
+v 0.04920438 -0.15049505 -0.15913977
+v 0.04920438 -0.10957532 -0.17647126
+v -0.02869728 -0.12515186 -0.17730714
+v -0.02869728 -0.13089928 -0.17447466
+v 0.03408777 -0.15049505 -0.15893080
+v 0.04902134 -0.15049505 -0.15913977
+v 0.04920438 -0.15025836 -0.15930229
+v 0.04920438 -0.11367041 -0.17578639
+v 0.04920438 -0.11393835 -0.17573994
+v 0.04920438 -0.11758241 -0.17479967
+v 0.04920438 -0.11783250 -0.17473000
+v -0.02869728 -0.12687117 -0.17680798
+v 0.04920438 -0.14071950 -0.16526908
+v 0.04920438 -0.14655178 -0.16178651
+v 0.04920438 -0.14694924 -0.16154273
+v 0.04208081 -0.15049505 -0.15904690
+v 0.04920438 -0.12515188 -0.17241992
+v 0.04920438 -0.13208272 -0.16959906
+v 0.04920438 -0.13255610 -0.16940171
+v 0.04920438 -0.13619568 -0.16775329
+v 0.04920438 -0.13644575 -0.16763721
+v 0.04920438 -0.14043815 -0.16543160
+f 1 2 5
+f 1 5 14
+f 1 14 7
+f 1 7 3
+f 1 3 10
+f 1 10 16
+f 1 16 22
+f 1 22 30
+f 1 30 29
+f 1 29 28
+f 1 28 37
+f 1 37 36
+f 1 36 35
+f 1 35 34
+f 1 34 33
+f 1 33 32
+f 1 32 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 17
+f 1 17 11
+f 1 11 4
+f 1 4 6
+f 1 6 2
+f 2 6 13
+f 2 13 12
+f 2 12 18
+f 2 18 27
+f 2 27 19
+f 2 19 15
+f 2 15 8
+f 2 8 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 12
+f 4 12 13
+f 4 13 6
+f 5 8 14
+f 7 14 8
+f 8 15 20
+f 8 20 31
+f 8 31 21
+f 8 21 16
+f 8 16 10
+f 8 10 9
+f 11 17 12
+f 12 17 18
+f 15 19 20
+f 16 21 19
+f 16 19 22
+f 17 23 18
+f 18 23 24
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 22
+f 19 21 31
+f 19 31 20
+f 26 32 27
+f 27 32 33
+f 27 33 34
+f 27 34 35
+f 27 35 36
+f 27 36 37
+f 27 37 28
+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_54.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edb89a1f004d95f776206b4e824b2296ebca6af9
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_54.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.10740076 -0.10487337 -0.04683209
+v 0.10718759 -0.10487335 -0.05045094
+v 0.10721424 -0.10487339 -0.04136785
+v 0.10705437 -0.13526021 -0.01728888
+v 0.10705437 -0.13832779 -0.01728889
+v 0.10738744 -0.12515132 -0.04683216
+v 0.10697443 -0.13511767 -0.06052456
+v 0.10704105 -0.10487335 -0.05282541
+v 0.10557553 -0.10487348 -0.01728877
+v 0.10625500 -0.14245234 -0.03902314
+v 0.10706769 -0.13856069 -0.03902313
+v 0.10706769 -0.13842697 -0.03122251
+v 0.10732082 -0.13293461 -0.04683219
+v 0.10618839 -0.14222374 -0.01728890
+v 0.10696111 -0.13763732 -0.06052457
+v 0.10670797 -0.10487333 -0.05672784
+v 0.10684121 -0.10487334 -0.05517872
+v 0.10601519 -0.10487332 -0.06052445
+v 0.10608180 -0.10487332 -0.06017315
+v 0.08112821 -0.10487348 -0.01728877
+v 0.10705437 -0.13843123 -0.04683221
+v 0.10319076 -0.14525250 -0.01728891
+v 0.10237807 -0.14606362 -0.01728892
+v 0.10244468 -0.14602470 -0.03902316
+v 0.10241804 -0.14601604 -0.04683224
+v 0.10228480 -0.14604619 -0.06052460
+v 0.10622835 -0.14232718 -0.04683222
+v 0.10630829 -0.14057546 -0.06052458
+v -0.02870491 -0.10487332 -0.06052445
+v -0.02870491 -0.10487347 -0.01854161
+v -0.02870491 -0.11916728 -0.01728882
+v 0.09543689 -0.14794472 -0.01728892
+v 0.09712889 -0.14743114 -0.06052460
+v 0.10609513 -0.14153328 -0.06052458
+v -0.02870491 -0.14826383 -0.06052460
+v -0.02870491 -0.14894568 -0.01728893
+v 0.08781626 -0.14841069 -0.01728893
+v 0.09543689 -0.14787984 -0.06052460
+v -0.02650665 -0.14826815 -0.06052460
+v -0.02650665 -0.14894568 -0.01728893
+v -0.01888602 -0.14827246 -0.06052460
+v 0.06494102 -0.14828540 -0.06052460
+v 0.08781626 -0.14827246 -0.06052460
+v 0.06494102 -0.14871269 -0.01728893
+v -0.01126537 -0.14892841 -0.01728893
+v 0.06681953 -0.14828540 -0.06052460
+v 0.05732038 -0.14874289 -0.01728893
+v 0.04969974 -0.14876878 -0.01728893
+v 0.04207910 -0.14879035 -0.01728893
+f 1 2 8
+f 1 8 17
+f 1 17 16
+f 1 16 19
+f 1 19 18
+f 1 18 29
+f 1 29 30
+f 1 30 20
+f 1 20 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 3 9 4
+f 4 9 20
+f 4 20 31
+f 4 31 36
+f 4 36 40
+f 4 40 45
+f 4 45 49
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+f 4 32 23
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+f 4 22 14
+f 4 14 5
+f 5 10 11
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+f 5 12 13
+f 5 13 6
+f 5 14 10
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+f 6 15 7
+f 7 16 17
+f 7 17 8
+f 7 15 28
+f 7 28 34
+f 7 34 26
+f 7 26 33
+f 7 33 38
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+f 7 43 46
+f 7 46 42
+f 7 42 41
+f 7 41 39
+f 7 39 35
+f 7 35 29
+f 7 29 18
+f 7 18 19
+f 7 19 16
+f 10 21 11
+f 10 14 22
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+f 10 23 24
+f 10 24 25
+f 10 25 26
+f 10 26 27
+f 10 27 21
+f 11 21 13
+f 11 13 12
+f 13 21 15
+f 15 21 27
+f 15 27 28
+f 20 30 31
+f 23 32 24
+f 24 26 25
+f 24 32 26
+f 26 32 33
+f 26 34 27
+f 27 34 28
+f 29 35 36
+f 29 36 31
+f 29 31 30
+f 32 37 38
+f 32 38 33
+f 35 39 36
+f 36 39 41
+f 36 41 42
+f 36 42 46
+f 36 46 40
+f 37 43 38
+f 37 44 43
+f 40 46 43
+f 40 43 45
+f 43 44 47
+f 43 47 48
+f 43 48 49
+f 43 49 45
+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_55.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..149915e6be74d6b38536b8784874adc853701bdb
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_55.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.02815029 0.12056740 -0.00460315
+v 0.02815029 0.11483204 0.04446421
+v 0.02815029 0.15082512 -0.00460304
+v 0.08851285 0.10852559 -0.00460319
+v 0.02815029 0.14999675 0.04446434
+v 0.08852069 0.10852554 0.00785341
+v 0.08925720 0.10852551 0.01561176
+v 0.08926504 0.10852551 0.01565980
+v 0.09080074 0.10852550 0.02038687
+v 0.08019184 0.11221498 0.04446420
+v 0.02815029 0.15082495 0.04169246
+v 0.10626748 0.15082512 -0.00460304
+v 0.10612643 0.10852559 -0.00460319
+v 0.04208915 0.15082495 0.04143305
+v 0.02815029 0.15013754 0.04399355
+v 0.03035982 0.14998019 0.04446434
+v 0.05732866 0.15082495 0.04109678
+v 0.05026912 0.15082495 0.04126011
+v 0.09543919 0.10852549 0.02201541
+v 0.08312222 0.11211146 0.04446420
+v 0.10636933 0.15082512 -0.00437245
+v 0.10746626 0.13183071 -0.00460311
+v 0.10732522 0.12547025 -0.00460313
+v 0.10748976 0.10852556 0.00173800
+v 0.03793648 0.14992222 0.04446434
+v 0.05806517 0.15082495 0.04107756
+v 0.04550531 0.14986011 0.04446434
+v 0.10303152 0.10852549 0.02114589
+v 0.09438144 0.11195410 0.04446420
+v 0.08834048 0.11194581 0.04446420
+v 0.08577053 0.11202035 0.04446420
+v 0.10692564 0.15082511 -0.00223470
+v 0.10721553 0.15082508 0.00424100
+v 0.10818710 0.11626079 0.00781020
+v 0.10819494 0.10852554 0.00781017
+v 0.10744275 0.12868774 -0.00460312
+v 0.10700398 0.15082510 -0.00080793
+v 0.05306630 0.14978972 0.04446434
+v 0.06495234 0.15082495 0.04087099
+v 0.09707675 0.11207833 0.04446420
+v 0.10683944 0.10852550 0.01945491
+v 0.10736441 0.15082506 0.01219151
+v 0.10739574 0.13183053 0.04446427
+v 0.10731739 0.12641007 0.04446425
+v 0.10720770 0.12413669 0.04446425
+v 0.10701965 0.12136642 0.04446424
+v 0.10692564 0.12003303 0.04446423
+v 0.10756812 0.10852551 0.01555412
+v 0.05732866 0.14974415 0.04446434
+v 0.06495234 0.14964477 0.04446434
+v 0.06592390 0.15082495 0.04081815
+v 0.06061946 0.14970689 0.04446434
+v 0.09870648 0.11227295 0.04446420
+v 0.10300802 0.11592524 0.04446422
+v 0.10727038 0.15082504 0.01536211
+v 0.10730956 0.13352003 0.04446428
+v 0.06807859 0.14952883 0.04446434
+v 0.07436244 0.15082495 0.04003511
+v 0.07256817 0.15082495 0.04022727
+v 0.10715285 0.15082503 0.01913320
+v 0.10711367 0.13665470 0.04446429
+v 0.07545937 0.14906091 0.04446434
+v 0.08781552 0.15082496 0.03811834
+v 0.08329460 0.15082496 0.03877648
+v 0.08019184 0.15082496 0.03922324
+v 0.10705100 0.15082502 0.02076653
+v 0.10668274 0.15082502 0.02234703
+v 0.10494332 0.14055130 0.04446431
+v 0.08284799 0.14842321 0.04446434
+v 0.09577611 0.15082497 0.03668677
+v 0.10555447 0.15082501 0.02485468
+v 0.10379154 0.14202962 0.04446431
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+v 0.09553322 0.14712295 0.04446433
+v 0.09789945 0.15082497 0.03579324
+v 0.09008773 0.14777722 0.04446433
+v 0.10376020 0.15082500 0.02827508
+v 0.10113540 0.14502766 0.04446432
+v 0.09910608 0.15082497 0.03464510
+v 0.10231852 0.15082499 0.03068185
+f 1 2 5
+f 1 5 15
+f 1 15 11
+f 1 11 3
+f 1 3 12
+f 1 12 22
+f 1 22 36
+f 1 36 23
+f 1 23 13
+f 1 13 4
+f 1 4 2
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+f 2 7 8
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+f 3 65 64
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+f 42 55 56
+f 42 56 43
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+f 50 58 59
+f 50 59 51
+f 55 60 56
+f 56 60 61
+f 57 62 63
+f 57 63 64
+f 57 64 65
+f 57 65 58
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+f 67 72 68
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+f 70 76 74
+f 71 77 78
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+f 74 78 75
+f 75 78 79
+f 77 80 78
+f 78 80 79
+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_56.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f786d27b2fdba2c821ac55ec1b231d24b49c7a69
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_56.obj
@@ -0,0 +1,58 @@
+# https://github.com/mikedh/trimesh
+v -0.04636674 -0.12216939 -0.17982152
+v -0.04636674 -0.12044085 -0.17982151
+v -0.04176239 -0.12216939 -0.17982152
+v -0.04636674 -0.12217000 -0.01232679
+v -0.04176239 -0.11735844 -0.17982150
+v -0.04636674 -0.09868698 -0.17980502
+v -0.03414092 -0.10957311 -0.17980506
+v -0.03414092 -0.11735844 -0.17978870
+v -0.03414092 -0.12216939 -0.17944434
+v -0.02870491 -0.12216999 -0.01575409
+v -0.04636674 -0.09868759 -0.01345820
+v -0.03414092 -0.09868698 -0.17980502
+v -0.02955213 -0.09868698 -0.17928028
+v -0.02870491 -0.10178778 -0.17918189
+v -0.02870491 -0.10957311 -0.17905075
+v -0.02870491 -0.11751014 -0.17832924
+v -0.02870491 -0.12216940 -0.17767332
+v -0.02870491 -0.09868757 -0.01854175
+v -0.02870491 -0.09868698 -0.17914908
+v -0.02870491 -0.09955354 -0.17918189
+f 1 2 5
+f 1 5 3
+f 1 3 9
+f 1 9 17
+f 1 17 10
+f 1 10 4
+f 1 4 11
+f 1 11 6
+f 1 6 2
+f 2 6 5
+f 3 5 12
+f 3 12 7
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 5 6 12
+f 6 11 18
+f 6 18 19
+f 6 19 13
+f 6 13 12
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 10 18 11
+f 10 17 16
+f 10 16 15
+f 10 15 14
+f 10 14 20
+f 10 20 19
+f 10 19 18
+f 13 19 20
+f 13 20 14
+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_57.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e62fbda047fde231b18ef83105573cd6d4e6a9a
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_57.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.08017047 -0.15049563 -0.00100721
+v 0.10431647 -0.15049563 -0.00100721
+v 0.08017047 -0.15049573 0.02602707
+v 0.08017047 -0.12781408 -0.00100713
+v 0.10467506 -0.15049563 0.00002494
+v 0.10656656 -0.14274756 -0.00100718
+v 0.10691967 -0.15049573 0.02602707
+v 0.08017047 -0.12355833 0.02602717
+v 0.08017047 -0.12659494 -0.00100183
+v 0.08019785 -0.12659047 -0.00100712
+v 0.10518694 -0.15049564 0.00203630
+v 0.10713866 -0.13885342 -0.00100717
+v 0.10662677 -0.15049567 0.00973505
+v 0.10640779 -0.15049566 0.00822123
+v 0.10628735 -0.15049566 0.00755166
+v 0.10697168 -0.15049572 0.02324028
+v 0.10790237 -0.13293187 0.00780843
+v 0.10813230 -0.12515254 0.00780846
+v 0.10693609 -0.14850846 0.02602707
+v 0.08415877 -0.12250887 0.02602717
+v 0.09543931 -0.10487362 0.02188542
+v 0.09084332 -0.10487361 0.02031867
+v 0.08933505 -0.10487360 0.01561050
+v 0.08905037 -0.10487359 0.01251671
+v 0.08861788 -0.10487357 0.00780853
+v 0.08861514 -0.10487354 -0.00100705
+v 0.10729468 -0.13329356 -0.00100715
+v 0.10699084 -0.15049568 0.01353281
+v 0.10702916 -0.15049569 0.01610524
+v 0.10812683 -0.11736426 0.00780849
+v 0.10691145 -0.14090776 0.02602710
+v 0.10810493 -0.10487357 0.00780853
+v 0.10756294 -0.10487360 0.01552316
+v 0.09543931 -0.12209357 0.02602717
+v 0.10001886 -0.10487362 0.02139845
+v 0.09926609 -0.12335291 0.02602717
+v 0.10338030 -0.12482213 0.02602716
+v 0.10652823 -0.10487354 -0.00100705
+v 0.10673627 -0.10487354 -0.00031101
+v 0.10741513 -0.10487355 0.00204440
+v 0.10768886 -0.10487356 0.00432570
+v 0.10689503 -0.13659385 0.02602712
+v 0.10683207 -0.10487361 0.01942414
+v 0.10688682 -0.13509336 0.02602712
+v 0.10302171 -0.10487362 0.02107823
+v 0.10532106 -0.10487361 0.02008842
+v 0.10477360 -0.12806427 0.02602715
+v 0.10668426 -0.13334279 0.02602713
+f 1 2 5
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+f 1 13 28
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+f 1 29 16
+f 1 16 7
+f 1 7 3
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+f 1 6 2
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+f 16 29 17
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+f 18 27 30
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+f 21 25 24
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+f 33 44 42
+f 35 37 45
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+f 37 47 43
+f 43 47 48
+f 43 48 44
+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_58.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..737cc25b2bd9d1cd4885edf36c0f6f29697d4818
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_58.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v 0.09328257 0.10852193 -0.13656286
+v 0.10218717 0.10852195 -0.14208965
+v 0.08025588 0.10852193 -0.13656286
+v 0.10467694 0.05396441 -0.13656306
+v 0.10599505 0.10852197 -0.14656947
+v 0.10602967 0.04617545 -0.13656309
+v 0.08025588 0.10852208 -0.17684373
+v 0.08025588 0.01941566 -0.13656319
+v 0.10717736 0.10852198 -0.15046951
+v 0.10666342 0.04062812 -0.13656311
+v 0.10702291 0.03631934 -0.13656313
+v 0.08757874 0.10852208 -0.17644748
+v 0.08025588 0.10846975 -0.17685627
+v 0.08025588 0.01941574 -0.15910413
+v 0.10723594 0.01941566 -0.13656319
+v 0.10745962 0.10846967 -0.15611308
+v 0.10745696 0.10852200 -0.15611308
+v 0.10712676 0.03231584 -0.13656314
+v 0.10716937 0.03060628 -0.13656315
+v 0.10739039 0.03060630 -0.14050073
+v 0.08951196 0.10852208 -0.17630567
+v 0.08781839 0.10068080 -0.17794078
+v 0.08025588 0.10068081 -0.17833288
+v 0.08025588 0.06111677 -0.17452477
+v 0.08802077 0.06239022 -0.17455394
+v 0.08781839 0.01941574 -0.15863279
+v 0.10743832 0.02281735 -0.14050076
+v 0.10722795 0.02281733 -0.13656318
+v 0.10731849 0.01941567 -0.13811069
+v 0.10741169 0.08510286 -0.16391324
+v 0.10739571 0.09289181 -0.16391321
+v 0.10732648 0.10068075 -0.16391318
+v 0.10714540 0.10852203 -0.16398407
+v 0.10745696 0.10852200 -0.15614645
+v 0.10743832 0.01941568 -0.14050077
+v 0.10745696 0.06953365 -0.15611322
+v 0.10721730 0.02464900 -0.13656317
+v 0.09373526 0.10852208 -0.17597198
+v 0.09543948 0.10695209 -0.17617220
+v 0.09543948 0.10068080 -0.17730260
+v 0.09543948 0.09289186 -0.17810766
+v 0.08781839 0.09289187 -0.17873334
+v 0.08025588 0.09289187 -0.17911293
+v 0.08025588 0.06497201 -0.17582196
+v 0.08561621 0.06539940 -0.17570101
+v 0.09069694 0.06581805 -0.17557588
+v 0.09543948 0.06175350 -0.17367383
+v 0.09524776 0.01941574 -0.15793204
+v 0.10735311 0.07731391 -0.16391327
+v 0.10712410 0.08510288 -0.16845980
+v 0.10711078 0.09289183 -0.16842640
+v 0.10744897 0.06175343 -0.15611325
+v 0.10704155 0.10068077 -0.16820530
+v 0.10695101 0.10554778 -0.16797588
+v 0.10681255 0.10852204 -0.16727928
+v 0.10727322 0.01941569 -0.14385855
+v 0.10733713 0.05396448 -0.15611328
+v 0.09543948 0.10852208 -0.17580095
+v 0.09961485 0.10550420 -0.17583434
+v 0.09726088 0.10852207 -0.17550480
+v 0.10025925 0.10068080 -0.17623477
+v 0.10087970 0.09289186 -0.17664359
+v 0.09543948 0.08510291 -0.17819113
+v 0.08781839 0.08510292 -0.17881678
+v 0.08025588 0.08510292 -0.17917551
+v 0.08025588 0.06499817 -0.17583031
+v 0.08025588 0.06948140 -0.17696485
+v 0.09543948 0.06682983 -0.17531725
+v 0.08802077 0.06886212 -0.17644347
+v 0.09543948 0.07071995 -0.17627243
+v 0.09972934 0.07222890 -0.17590537
+v 0.09967343 0.04945513 -0.16808454
+v 0.09835797 0.01941574 -0.15670572
+v 0.10706019 0.07731393 -0.16825545
+v 0.10715872 0.06175345 -0.16176101
+v 0.10474085 0.08510289 -0.17235984
+v 0.10469025 0.09289184 -0.17232644
+v 0.10407247 0.10068078 -0.17210952
+v 0.10316177 0.10812085 -0.17159225
+v 0.10312183 0.10852206 -0.17153803
+v 0.10714807 0.01941570 -0.14604006
+v 0.10705220 0.05396450 -0.16060146
+v 0.10092764 0.08510291 -0.17668532
+v 0.10039506 0.07731396 -0.17633081
+v 0.09543948 0.07731396 -0.17748623
+v 0.08781839 0.07731396 -0.17811607
+v 0.08025588 0.07731397 -0.17846227
+v 0.08025588 0.06952501 -0.17697320
+v 0.10323100 0.06967327 -0.17162576
+v 0.10236025 0.06175349 -0.17050792
+v 0.10087438 0.05396453 -0.16902720
+v 0.10233096 0.01941573 -0.15479950
+v 0.10695634 0.07230737 -0.16799268
+v 0.10420561 0.07731394 -0.17215548
+v 0.10673799 0.01941570 -0.14824244
+v 0.10700427 0.03281307 -0.15253868
+v 0.10692172 0.04976910 -0.16011345
+v 0.10673266 0.06711764 -0.16686231
+v 0.10617080 0.06175347 -0.16566104
+v 0.10614151 0.01941571 -0.14994428
+v 0.10678326 0.02762334 -0.15147089
+f 1 2 5
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+f 1 34 33
+f 1 33 55
+f 1 55 80
+f 1 80 60
+f 1 60 58
+f 1 58 38
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+f 27 37 28
+f 27 29 35
+f 30 49 50
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+f 30 51 31
+f 30 36 52
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+f 35 57 52
+f 35 52 36
+f 38 58 39
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+f 41 64 42
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+f 44 66 45
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+f 45 67 46
+f 46 68 47
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+f 46 69 70
+f 46 70 68
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+f 47 71 72
+f 47 72 48
+f 48 72 73
+f 49 74 50
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+f 49 75 74
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+f 50 76 51
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+f 54 78 79
+f 54 79 80
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+f 70 85 71
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+f 74 75 93
+f 74 93 76
+f 75 82 93
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+f 76 94 83
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+f 84 94 89
+f 86 88 87
+f 89 98 90
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+f 90 98 99
+f 90 99 92
+f 90 92 91
+f 92 99 100
+f 93 97 98
+f 95 100 101
+f 95 101 97
+f 95 97 96
+f 97 101 100
+f 97 100 98
+f 98 100 99
+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_59.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eee94b6c873b5a2a7607771f0afee7991684a66d
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_59.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.02870216 -0.10487288 -0.17911221
+v -0.02870216 -0.10178573 -0.17919082
+v -0.00061028 -0.10178574 -0.17658034
+v -0.00061028 -0.10487289 -0.17626585
+v -0.02870216 -0.10487347 -0.01855254
+v -0.02870216 -0.09954848 -0.17917511
+v -0.00061028 -0.09399286 -0.17673757
+v -0.00061028 -0.10487347 -0.01858399
+v -0.02651586 -0.10487347 -0.01855254
+v -0.02870216 -0.06285321 -0.01853665
+v -0.02870216 -0.09399285 -0.17897064
+v -0.02870216 -0.09176186 -0.17884482
+v -0.00061028 -0.08619999 -0.17617143
+v -0.00061028 -0.10363611 -0.01856825
+v -0.00667417 -0.10487347 -0.01856826
+v -0.01498210 -0.09778052 -0.01855251
+v -0.02802565 -0.04103067 -0.01855230
+v -0.02870216 -0.04103067 -0.01855230
+v -0.00061028 -0.04103067 -0.01856802
+v -0.02870216 -0.08580629 -0.17797988
+v -0.00061028 -0.08198797 -0.17568390
+v -0.02870216 -0.04103014 -0.16289875
+v -0.00061028 -0.04103014 -0.16305601
+v -0.02870216 -0.08030691 -0.17656455
+v -0.00061028 -0.07063926 -0.17304195
+v -0.00061028 -0.07353268 -0.17378106
+v -0.00061028 -0.07810092 -0.17488189
+v -0.02712363 -0.04103014 -0.16291448
+v -0.00061028 -0.06285265 -0.17063588
+v -0.00214207 -0.04103014 -0.16305601
+v -0.02500608 -0.04103014 -0.16293019
+v -0.01498210 -0.04103014 -0.16299310
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 9
+f 1 9 5
+f 1 5 10
+f 1 10 18
+f 1 18 22
+f 1 22 24
+f 1 24 20
+f 1 20 12
+f 1 12 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 13
+f 3 13 21
+f 3 21 27
+f 3 27 26
+f 3 26 25
+f 3 25 29
+f 3 29 23
+f 3 23 19
+f 3 19 14
+f 3 14 8
+f 3 8 4
+f 5 9 10
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 8 14 15
+f 9 16 10
+f 9 15 14
+f 9 14 16
+f 10 17 18
+f 10 16 14
+f 10 14 19
+f 10 19 17
+f 12 20 21
+f 12 21 13
+f 17 19 23
+f 17 23 30
+f 17 30 32
+f 17 32 31
+f 17 31 28
+f 17 28 22
+f 17 22 18
+f 20 24 25
+f 20 25 26
+f 20 26 27
+f 20 27 21
+f 22 28 24
+f 23 29 30
+f 24 28 31
+f 24 31 32
+f 24 32 30
+f 24 30 29
+f 24 29 25
+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_6.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fe7e64c3bacf70ee981149cda030458efdd7030
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_6.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.04648225 -0.09868698 -0.17980530
+v -0.04648225 -0.08917448 -0.17980527
+v -0.04176251 -0.09399250 -0.17982159
+v -0.03414166 -0.09868698 -0.17980530
+v -0.04648225 -0.09868759 -0.01338219
+v -0.04648225 -0.08620956 -0.17978896
+v -0.04176251 -0.08620956 -0.17980526
+v -0.03414166 -0.09399250 -0.17978899
+v -0.03086813 -0.09868698 -0.17943052
+v -0.02870491 -0.09868757 -0.01854777
+v -0.04648225 -0.03949347 -0.01336568
+v -0.04648225 -0.08138204 -0.17925122
+v -0.04176251 -0.07841710 -0.17879494
+v -0.03414166 -0.08620956 -0.17938160
+v -0.02870491 -0.09175930 -0.17886017
+v -0.02870491 -0.09399250 -0.17897424
+v -0.02870491 -0.09868698 -0.17915349
+v -0.02955245 -0.09868698 -0.17926755
+v -0.02870491 -0.00161454 -0.01854742
+v -0.04648225 -0.00161456 -0.01336554
+v -0.04648225 -0.07841710 -0.17886012
+v -0.02870491 -0.00161404 -0.15650279
+v -0.02870491 -0.08581044 -0.17798019
+v -0.04648225 -0.00161404 -0.15643761
+v -0.04073050 -0.00161404 -0.15647019
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 18
+f 1 18 17
+f 1 17 10
+f 1 10 5
+f 1 5 11
+f 1 11 20
+f 1 20 24
+f 1 24 21
+f 1 21 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 5 10 11
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 10 19 20
+f 10 20 11
+f 10 17 16
+f 10 16 15
+f 10 15 23
+f 10 23 22
+f 10 22 19
+f 12 21 13
+f 13 21 22
+f 13 22 14
+f 14 23 15
+f 14 22 23
+f 19 22 25
+f 19 25 24
+f 19 24 20
+f 21 24 25
+f 21 25 22
+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_60.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69f2b0890fff839859bfa1f13ecbb66e932f1c90
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_60.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v -0.02701051 0.11720691 0.04446902
+v -0.02701051 0.12048148 -0.00793204
+v -0.02120070 0.11694915 0.04446902
+v -0.02701051 0.15037560 0.04446914
+v -0.01127111 0.12048148 -0.00793204
+v 0.02815028 0.11483126 0.04446901
+v 0.02452725 0.11497756 0.04446901
+v 0.01690323 0.11529803 0.04446901
+v -0.01358208 0.11661474 0.04446902
+v -0.02701051 0.18593408 -0.00793180
+v -0.02651376 0.15037560 0.04446914
+v -0.01127111 0.17699568 0.00692266
+v -0.01889513 0.17698871 0.00691240
+v -0.02701051 0.17697478 0.00689189
+v 0.01921419 0.12048844 -0.00793204
+v 0.02815028 0.12049542 -0.00793204
+v 0.02815028 0.15000637 0.04446914
+v -0.02701051 0.18587137 -0.00780357
+v -0.02651376 0.18587835 -0.00780357
+v -0.01889513 0.18596194 -0.00793180
+v -0.01127111 0.15031987 0.04446914
+v 0.02683822 0.17698175 0.00688163
+v 0.01921419 0.17699568 0.00689702
+v 0.00397154 0.17699568 0.00691753
+v -0.00364708 0.17699568 0.00692266
+v -0.00364708 0.18089011 0.00140353
+v -0.01127111 0.18089011 0.00139327
+v -0.02651376 0.18086922 0.00135224
+v -0.02701051 0.18086226 0.00135224
+v 0.02815028 0.18596194 -0.00793180
+v -0.00752389 0.15030594 0.04446914
+v 0.02815028 0.17697478 0.00687650
+v -0.02701051 0.18570418 -0.00746503
+v -0.02701051 0.18321702 -0.00255116
+v -0.01127111 0.18592711 -0.00780357
+v -0.01127111 0.18598284 -0.00793180
+v 0.02815028 0.17765056 0.00592757
+v 0.02683822 0.18087619 0.00137276
+v 0.01921419 0.18088315 0.00138814
+v 0.01159017 0.18089011 0.00139327
+v -0.00364708 0.18325186 -0.00249987
+v -0.01127111 0.18324490 -0.00251013
+v 0.02697320 0.18596892 -0.00793180
+v 0.02815028 0.18590621 -0.00780357
+v -0.00364708 0.18594104 -0.00780357
+v -0.00364708 0.18599678 -0.00793180
+v 0.02815028 0.18086921 0.00137276
+v 0.02815028 0.18128027 0.00070082
+v 0.02815028 0.18323096 -0.00253065
+v 0.01921419 0.18323792 -0.00251526
+v 0.00397154 0.18325186 -0.00250500
+v 0.01159017 0.18594104 -0.00780357
+v 0.01935458 0.18598284 -0.00793180
+v 0.02683822 0.18591318 -0.00780357
+v 0.02815028 0.18369077 -0.00343340
+v 0.00397154 0.18600374 -0.00793180
+v 0.01173055 0.18599678 -0.00793180
+v 0.00411193 0.18600374 -0.00793180
+f 1 2 3
+f 1 3 9
+f 1 9 8
+f 1 8 7
+f 1 7 6
+f 1 6 17
+f 1 17 31
+f 1 31 21
+f 1 21 11
+f 1 11 4
+f 1 4 14
+f 1 14 29
+f 1 29 34
+f 1 34 33
+f 1 33 18
+f 1 18 10
+f 1 10 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 2 10 20
+f 2 20 36
+f 2 36 46
+f 2 46 56
+f 2 56 58
+f 2 58 57
+f 2 57 53
+f 2 53 43
+f 2 43 30
+f 2 30 16
+f 2 16 15
+f 2 15 5
+f 4 11 25
+f 4 25 12
+f 4 12 13
+f 4 13 14
+f 5 15 6
+f 6 15 16
+f 6 16 30
+f 6 30 44
+f 6 44 55
+f 6 55 49
+f 6 49 48
+f 6 48 47
+f 6 47 37
+f 6 37 32
+f 6 32 17
+f 10 18 19
+f 10 19 20
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 13
+f 13 27 28
+f 13 28 14
+f 14 28 29
+f 17 32 31
+f 18 33 19
+f 19 33 34
+f 19 34 35
+f 19 35 20
+f 20 35 36
+f 21 31 22
+f 22 32 37
+f 22 37 38
+f 22 38 23
+f 22 31 32
+f 23 38 39
+f 23 39 40
+f 23 40 24
+f 24 40 26
+f 24 26 25
+f 26 40 51
+f 26 51 41
+f 26 41 27
+f 27 41 42
+f 27 42 28
+f 28 42 34
+f 28 34 29
+f 30 43 44
+f 34 42 35
+f 35 42 45
+f 35 45 46
+f 35 46 36
+f 37 47 38
+f 38 47 48
+f 38 48 39
+f 39 48 49
+f 39 49 50
+f 39 50 51
+f 39 51 40
+f 41 51 52
+f 41 52 45
+f 41 45 42
+f 43 53 54
+f 43 54 44
+f 44 54 55
+f 45 52 58
+f 45 58 56
+f 45 56 46
+f 49 55 50
+f 50 55 52
+f 50 52 51
+f 52 57 58
+f 52 55 54
+f 52 54 53
+f 52 53 57
+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_61.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b93b1132b3ed969bf5215f69ed4bd88ec6a40e1
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_61.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.10814184 -0.02542860 -0.09366208
+v 0.10814184 -0.02394542 -0.09808959
+v 0.11367937 -0.01907154 -0.09366206
+v 0.10814184 -0.02529336 -0.08586066
+v 0.10814184 -0.02268146 -0.10050853
+v 0.11563765 -0.01385247 -0.09936807
+v 0.11639738 -0.01517941 -0.09366205
+v 0.11634919 -0.01508148 -0.08586063
+v 0.11354608 -0.01897361 -0.08586064
+v 0.10814184 -0.02244368 -0.07925096
+v 0.10814184 -0.01686307 -0.10731945
+v 0.11614619 -0.00795247 -0.10176728
+v 0.11850330 -0.00833962 -0.09366202
+v 0.11392748 -0.01029147 -0.10457295
+v 0.11845306 -0.00833964 -0.08586060
+v 0.11557306 -0.01372194 -0.08039135
+v 0.10814184 -0.02157151 -0.07738052
+v 0.10814184 -0.01538923 -0.10834543
+v 0.11622924 -0.00160474 -0.10198035
+v 0.11470362 -0.00510040 -0.10556735
+v 0.11651016 -0.00160474 -0.10101750
+v 0.11861608 -0.00160477 -0.09366200
+v 0.11858532 -0.00160479 -0.08586058
+v 0.10814184 -0.00820895 -0.11129708
+v 0.11110695 -0.00795244 -0.10832568
+v 0.11647530 -0.00160482 -0.07857216
+v 0.11635227 -0.00833967 -0.07884446
+v 0.11363836 -0.00833968 -0.07494178
+v 0.10814184 -0.01475505 -0.07255047
+v 0.10814184 -0.01878009 -0.07534037
+v 0.11572172 -0.00160473 -0.10321153
+v 0.11470362 -0.00338871 -0.10556734
+v 0.10814184 -0.00160470 -0.11136809
+v 0.11382086 -0.00160484 -0.07466948
+v 0.10814184 -0.00833970 -0.07105883
+v 0.10814184 -0.01225281 -0.07138243
+v 0.11452215 -0.00160472 -0.10536214
+v 0.11242032 -0.00160472 -0.10741016
+v 0.10814184 -0.00160485 -0.07113379
+v 0.11330616 -0.00160484 -0.07433012
+v 0.10814184 -0.00348445 -0.07105486
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 17
+f 1 17 30
+f 1 30 29
+f 1 29 36
+f 1 36 35
+f 1 35 41
+f 1 41 39
+f 1 39 33
+f 1 33 24
+f 1 24 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 5 11 6
+f 6 12 13
+f 6 13 7
+f 6 11 14
+f 6 14 12
+f 7 13 15
+f 7 15 8
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 9 17 10
+f 11 18 14
+f 12 19 13
+f 12 14 20
+f 12 20 19
+f 13 19 21
+f 13 21 22
+f 13 22 23
+f 13 23 15
+f 14 18 24
+f 14 24 25
+f 14 25 20
+f 15 23 26
+f 15 26 27
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 16 29 30
+f 16 30 17
+f 19 20 31
+f 19 31 37
+f 19 37 38
+f 19 38 33
+f 19 33 39
+f 19 39 40
+f 19 40 34
+f 19 34 26
+f 19 26 23
+f 19 23 22
+f 19 22 21
+f 20 32 31
+f 20 25 24
+f 20 24 33
+f 20 33 32
+f 26 34 27
+f 27 34 28
+f 28 34 35
+f 28 35 36
+f 28 36 29
+f 31 32 37
+f 32 33 38
+f 32 38 37
+f 34 40 35
+f 35 40 41
+f 39 41 40
+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_62.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00160383c9a01c6759b9bbb775cc682b8ac6415d
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_62.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.02815028 0.14315841 -0.04710043
+v -0.02625459 0.14316258 -0.04710043
+v 0.02815028 0.10852577 -0.04710056
+v 0.02815028 0.15109273 -0.09851193
+v 0.02268604 0.15109273 -0.09849913
+v -0.02651376 0.15109273 -0.09839672
+v -0.02701051 0.14316258 -0.04710043
+v -0.02701051 0.10852577 -0.04710056
+v 0.02815028 0.10852624 -0.17478446
+v 0.02815028 0.15109293 -0.15331590
+v -0.02701051 0.15109273 -0.09839672
+v -0.02701051 0.10852625 -0.17788247
+v -0.02701051 0.10960553 -0.17778005
+v -0.02701051 0.11198077 -0.17733198
+v 0.02815028 0.10865959 -0.17475886
+v 0.02815028 0.14740507 -0.15610667
+v 0.02683822 0.15109293 -0.15330310
+v -0.02701051 0.15109293 -0.15268863
+v -0.02701051 0.11504357 -0.17657668
+v 0.02815028 0.10872209 -0.17474605
+v 0.02815028 0.14274212 -0.15951195
+v 0.02683822 0.14740507 -0.15609388
+v 0.00513242 0.15109293 -0.15308548
+v -0.02656775 0.15109293 -0.15270143
+v -0.02701051 0.14766760 -0.15523617
+v -0.02701051 0.11626036 -0.17606460
+v 0.02815028 0.12404861 -0.16958692
+v 0.02815028 0.12270681 -0.17009900
+v 0.02815028 0.11626034 -0.17255694
+v 0.02815028 0.11499356 -0.17292819
+v 0.02815028 0.13885007 -0.16191867
+v -0.02701051 0.11839806 -0.17514288
+v -0.02701051 0.12381109 -0.17159679
+v -0.02701051 0.14215455 -0.15915349
+v -0.02701051 0.14740507 -0.15542819
+v -0.00364708 0.14740507 -0.15573542
+v 0.01159017 0.14740507 -0.15591465
+v -0.01027761 0.15109293 -0.15290625
+v 0.00397154 0.15109293 -0.15307268
+v -0.02572004 0.15109293 -0.15271422
+v 0.02815028 0.12734060 -0.16816592
+v 0.02815028 0.13193273 -0.16581041
+v 0.02815028 0.13126182 -0.16616885
+v 0.02815028 0.12804485 -0.16785868
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 9
+f 1 9 15
+f 1 15 20
+f 1 20 30
+f 1 30 29
+f 1 29 28
+f 1 28 27
+f 1 27 41
+f 1 41 44
+f 1 44 43
+f 1 43 42
+f 1 42 31
+f 1 31 21
+f 1 21 16
+f 1 16 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 7
+f 3 8 12
+f 3 12 9
+f 4 10 17
+f 4 17 23
+f 4 23 39
+f 4 39 38
+f 4 38 40
+f 4 40 24
+f 4 24 18
+f 4 18 11
+f 4 11 6
+f 4 6 5
+f 7 11 18
+f 7 18 25
+f 7 25 35
+f 7 35 34
+f 7 34 33
+f 7 33 32
+f 7 32 26
+f 7 26 19
+f 7 19 14
+f 7 14 13
+f 7 13 12
+f 7 12 8
+f 9 12 13
+f 9 13 14
+f 9 14 15
+f 10 16 22
+f 10 22 17
+f 14 19 20
+f 14 20 15
+f 16 21 22
+f 17 22 23
+f 18 24 25
+f 19 26 27
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 20
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 36
+f 21 36 37
+f 21 37 22
+f 22 37 38
+f 22 38 39
+f 22 39 23
+f 24 40 25
+f 25 40 36
+f 25 36 35
+f 26 32 27
+f 27 32 41
+f 31 42 32
+f 32 42 43
+f 32 43 44
+f 32 44 41
+f 36 40 38
+f 36 38 37
+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_63.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..025f231bdb1f9648dad9ff8be7e326e65a0fbd43
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_63.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
+v 0.10711666 -0.02604151 -0.13504300
+v 0.08019127 -0.02604151 -0.13504300
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+v 0.08479806 -0.10487302 -0.14091834
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+v 0.08781942 -0.07290367 -0.13504317
+v 0.10401256 -0.10487300 -0.14781742
+v 0.10275009 -0.06350500 -0.13504313
+v 0.10020381 -0.10487301 -0.14359988
+v 0.10250187 -0.10487300 -0.14608613
+v 0.10707128 -0.08620676 -0.16831063
+v 0.10697787 -0.08069719 -0.16804592
+v 0.10679638 -0.07550401 -0.16714773
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+v 0.10721275 -0.10487293 -0.16667054
+v 0.10712467 -0.10177861 -0.16847990
+v 0.10488533 -0.09399268 -0.17240236
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+v 0.09950986 -0.03508513 -0.16016605
+v 0.10135685 -0.06285670 -0.16941700
+v 0.09988353 -0.08058913 -0.17600372
+v 0.09543956 -0.08620673 -0.17774370
+v 0.08781942 -0.08620672 -0.17835551
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+v 0.08019661 -0.10177857 -0.17928844
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+v 0.09543956 -0.10487302 -0.14197272
+v 0.10440490 -0.08620675 -0.17221142
+v 0.10333995 -0.07805043 -0.17172975
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+v 0.10710064 -0.10487292 -0.16839313
+v 0.10481861 -0.10177860 -0.17238503
+v 0.10571007 -0.10487291 -0.17074923
+v 0.10107393 -0.09399266 -0.17679781
+v 0.10059350 -0.08620673 -0.17646367
+v 0.09543956 -0.09399265 -0.17840327
+v 0.08019661 -0.08620672 -0.17871131
+v 0.08781942 -0.09399265 -0.17900640
+v 0.08019127 -0.08620672 -0.17871131
+v 0.08019127 -0.09399265 -0.17936220
+v 0.08019661 -0.09399265 -0.17936220
+v 0.08781942 -0.10177857 -0.17892831
+v 0.09084079 -0.10487288 -0.17837727
+v 0.10100720 -0.10177858 -0.17675878
+v 0.10459441 -0.10487291 -0.17229827
+v 0.09543956 -0.10177857 -0.17832083
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+v 0.10229368 -0.10487290 -0.17493641
+v 0.10078300 -0.10487289 -0.17660261
+v 0.09742000 -0.10487289 -0.17754850
+f 1 2 6
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+f 1 39 66
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+f 80 95 81
+f 81 100 82
+f 81 95 94
+f 81 94 100
+f 82 100 101
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+f 83 102 84
+f 83 101 103
+f 83 103 106
+f 83 106 102
+f 84 102 104
+f 84 104 85
+f 86 105 106
+f 86 106 87
+f 87 106 103
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+f 87 107 88
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+f 89 92 90
+f 90 92 91
+f 93 100 94
+f 93 99 100
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+f 97 110 109
+f 99 101 100
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+f 101 111 107
+f 101 107 103
+f 102 106 105
+f 102 105 104
+f 107 111 108
+f 108 111 112
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+f 109 114 115
+f 109 115 111
+f 111 115 112
+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_64.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d65b92c5da4f6d1a2f7eb91e867bf545cc2d05f1
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_64.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.02815029 0.10852575 -0.04936699
+v 0.02815029 0.10852564 -0.01847606
+v 0.02815029 0.14316043 -0.04936686
+v 0.10726567 0.10852575 -0.04936699
+v 0.02815029 0.12056740 -0.00461233
+v 0.08850780 0.10852559 -0.00461237
+v 0.03694692 0.14316043 -0.04936686
+v 0.02815029 0.15082517 -0.01960638
+v 0.08019253 0.15082519 -0.02369888
+v 0.10732779 0.11870000 -0.04936695
+v 0.10742871 0.10852574 -0.04682999
+v 0.02815029 0.15082512 -0.00461222
+v 0.10612436 0.10852559 -0.00461237
+v 0.06495175 0.14315629 -0.04936686
+v 0.08781680 0.15082519 -0.02351923
+v 0.08781680 0.14313559 -0.04936686
+v 0.07256826 0.14315216 -0.04936686
+v 0.10732779 0.12658018 -0.04936693
+v 0.10742871 0.11626099 -0.04682996
+v 0.10746754 0.13183071 -0.00461229
+v 0.10743648 0.12868774 -0.00461230
+v 0.10732779 0.12547025 -0.00461231
+v 0.10725791 0.10852572 -0.04099795
+v 0.10626412 0.15082512 -0.00461222
+v 0.09423765 0.15082518 -0.02263851
+v 0.09029352 0.14293682 -0.04936686
+v 0.10738213 0.13183083 -0.03902173
+v 0.10741319 0.12404592 -0.04682993
+v 0.10719580 0.13183087 -0.04936691
+v 0.10742871 0.13183080 -0.03121794
+v 0.10694735 0.13583515 -0.04936689
+v 0.10305757 0.13892840 -0.04936688
+v 0.10450168 0.15082513 -0.00840239
+v 0.10145042 0.15082515 -0.01407668
+v 0.09543330 0.14252273 -0.04936687
+v 0.10712593 0.13312283 -0.04936690
+v 0.10325944 0.15082514 -0.01094815
+f 1 2 5
+f 1 5 12
+f 1 12 8
+f 1 8 3
+f 1 3 7
+f 1 7 14
+f 1 14 17
+f 1 17 16
+f 1 16 26
+f 1 26 35
+f 1 35 32
+f 1 32 31
+f 1 31 36
+f 1 36 29
+f 1 29 18
+f 1 18 10
+f 1 10 4
+f 1 4 11
+f 1 11 23
+f 1 23 13
+f 1 13 6
+f 1 6 2
+f 2 6 5
+f 3 8 9
+f 3 9 7
+f 4 10 11
+f 5 6 13
+f 5 13 22
+f 5 22 21
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+f 5 20 24
+f 5 24 12
+f 7 9 14
+f 8 12 24
+f 8 24 33
+f 8 33 37
+f 8 37 34
+f 8 34 25
+f 8 25 15
+f 8 15 9
+f 9 15 16
+f 9 16 17
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+f 10 18 19
+f 10 19 11
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 13 23 22
+f 15 25 16
+f 16 25 26
+f 18 27 28
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+f 19 28 30
+f 19 30 20
+f 20 30 24
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+f 24 27 31
+f 24 31 32
+f 24 32 33
+f 25 34 35
+f 25 35 26
+f 27 30 28
+f 27 29 36
+f 27 36 31
+f 32 35 34
+f 32 34 37
+f 32 37 33
+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_65.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1b1d5ea00bbef9b8bd4cf5c9efff6e90978f339
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_65.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v 0.07260119 -0.15049559 -0.01053853
+v 0.07260119 -0.15049563 -0.00100721
+v 0.07260119 -0.14860208 -0.01727833
+v 0.08782038 -0.14841006 -0.01728470
+v 0.08782038 -0.15049560 -0.00943753
+v 0.10431660 -0.15049563 -0.00100721
+v 0.07260119 -0.12763992 -0.00100713
+v 0.07856184 -0.14847258 -0.01728470
+v 0.08019550 -0.14847258 -0.01728470
+v 0.07260119 -0.11927998 -0.01728459
+v 0.09543846 -0.14794563 -0.01728469
+v 0.09543846 -0.15049560 -0.00874603
+v 0.10283578 -0.15049561 -0.00528053
+v 0.10619480 -0.14222053 -0.01728467
+v 0.10656500 -0.14274756 -0.00100718
+v 0.08861513 -0.10487354 -0.00100705
+v 0.07260119 -0.12710403 -0.00102944
+v 0.07260119 -0.11915494 -0.01728459
+v 0.10238406 -0.14606554 -0.01728469
+v 0.10185083 -0.15049560 -0.00718138
+v 0.10319919 -0.14525278 -0.01728468
+v 0.10687407 -0.13916150 -0.01728466
+v 0.10705748 -0.13832640 -0.01728466
+v 0.10713899 -0.13885342 -0.00100717
+v 0.10652764 -0.10487354 -0.00100705
+v 0.08113290 -0.10487348 -0.01728454
+v 0.10705748 -0.13526290 -0.01728465
+v 0.10729522 -0.13329356 -0.00100715
+v 0.10558005 -0.10487348 -0.01728454
+f 1 2 7
+f 1 7 17
+f 1 17 18
+f 1 18 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 20
+f 1 20 13
+f 1 13 6
+f 1 6 2
+f 2 6 15
+f 2 15 24
+f 2 24 28
+f 2 28 25
+f 2 25 16
+f 2 16 7
+f 3 8 9
+f 3 9 4
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+f 4 8 10
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+f 4 26 29
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+f 4 23 22
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+f 4 14 21
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+f 4 19 11
+f 4 11 12
+f 4 12 5
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+f 7 16 17
+f 11 19 20
+f 11 20 12
+f 13 20 19
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+f 13 21 14
+f 14 22 15
+f 15 22 23
+f 15 23 24
+f 16 25 29
+f 16 29 26
+f 16 26 17
+f 17 26 18
+f 23 27 28
+f 23 28 24
+f 25 28 27
+f 25 27 29
+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_66.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d5c515a0ed994da0360e3fa06e48c152d0a9d35
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_66.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v -0.00060888 -0.10487305 -0.13313368
+v -0.00060888 -0.07872598 -0.13673311
+v 0.00397480 -0.10487305 -0.13313368
+v -0.00060888 -0.10487347 -0.01857392
+v 0.03005223 -0.07438898 -0.13679095
+v 0.05691800 -0.07412651 -0.13679095
+v 0.00397480 -0.07866350 -0.13673311
+v 0.01921808 -0.10487305 -0.13311053
+v -0.00060888 -0.04103024 -0.13673297
+v 0.04969899 -0.10487347 -0.01856234
+v 0.03005223 -0.08620057 -0.01856227
+v 0.01921808 -0.06285321 -0.01856218
+v -0.00060888 -0.04103067 -0.01857368
+v 0.03005223 -0.04103024 -0.13679083
+v 0.01159926 -0.07851351 -0.13673311
+v 0.05691800 -0.04103024 -0.13679083
+v 0.05691800 -0.10487305 -0.13300636
+v 0.04969899 -0.10487305 -0.13302950
+v 0.05691800 -0.10487347 -0.01856234
+v 0.03005223 -0.05177946 -0.01856214
+v 0.04818987 -0.04103067 -0.01856210
+v 0.05691800 -0.04103067 -0.01856210
+f 1 2 3
+f 1 3 8
+f 1 8 18
+f 1 18 17
+f 1 17 19
+f 1 19 10
+f 1 10 4
+f 1 4 13
+f 1 13 9
+f 1 9 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 9 14
+f 2 14 5
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 14 16
+f 5 16 6
+f 6 15 7
+f 6 16 22
+f 6 22 19
+f 6 19 17
+f 6 17 15
+f 7 15 18
+f 7 18 8
+f 9 13 21
+f 9 21 22
+f 9 22 16
+f 9 16 14
+f 10 19 22
+f 10 22 21
+f 10 21 20
+f 10 20 12
+f 10 12 11
+f 12 20 13
+f 13 20 21
+f 15 17 18
+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_67.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1be8f484a62a4b5e509a8d4ac78cae07506f11c4
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_67.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.07256869 -0.10487105 -0.17897090
+v 0.07256869 -0.10178420 -0.17928727
+v 0.07559403 -0.10487105 -0.17897090
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+v 0.07256869 -0.05506908 -0.16974864
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+f 39 41 44
+f 40 44 41
+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_68.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73cfa782b3dc7d6013fb5e63d7d4121262bb6307
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_68.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
+v 0.10743862 -0.15049512 -0.13850185
+v 0.10728473 -0.15049514 -0.13273031
+v 0.10742723 -0.15049512 -0.13893164
+v 0.10743862 -0.15007087 -0.13893164
+v 0.10697692 -0.13511983 -0.06052456
+v 0.10696552 -0.13763852 -0.06052457
+v 0.10722773 -0.15049515 -0.13086529
+v 0.04921201 -0.15049512 -0.13893164
+v 0.10741012 -0.14890978 -0.13893164
+v 0.10707952 -0.10487309 -0.12191617
+v 0.10707952 -0.10487310 -0.12015862
+v 0.10601930 -0.10487332 -0.06052445
+v 0.10609911 -0.14153265 -0.06052458
+v 0.10711943 -0.15049516 -0.12908472
+v 0.04921201 -0.11254072 -0.13893150
+v 0.04921201 -0.15049524 -0.10655882
+v 0.10722202 -0.14161720 -0.13893161
+v 0.10634991 -0.10487308 -0.12427238
+v 0.10718782 -0.14087589 -0.13893161
+v 0.10690282 -0.13600377 -0.13893159
+v 0.04921201 -0.10487332 -0.06052445
+v 0.10229143 -0.14604752 -0.06052460
+v 0.10685152 -0.15049516 -0.12705086
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+v 0.04970792 -0.10487305 -0.13303714
+v 0.06495571 -0.10487305 -0.13300645
+v 0.07257676 -0.10487305 -0.13296039
+v 0.08781315 -0.10487305 -0.13282991
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+v 0.04970792 -0.15049524 -0.10656649
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+v 0.06495571 -0.15049524 -0.10689650
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+f 49 51 53
+f 51 61 53
+f 53 61 54
+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_7.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9118a9c12e10ba9250dfb4833cc488b2dd4c8349
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_7.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.02870138 -0.00160453 -0.15649761
+v -0.04176196 -0.00160453 -0.15646499
+v -0.04672783 0.06953152 -0.17863237
+v -0.04176196 0.06953152 -0.17851820
+v -0.03414196 0.07731455 -0.17925220
+v -0.02870138 0.07709894 -0.17778413
+v -0.02870138 -0.00160503 -0.01854922
+v -0.04672783 -0.00160453 -0.15643236
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+v -0.04176196 0.07731455 -0.17977418
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+v -0.02870138 0.08510835 -0.17887699
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+v -0.04672783 -0.00159427 -0.01319896
+v -0.04243431 -0.00160504 -0.01611876
+v -0.04672783 -0.00160503 -0.01828823
+v -0.04672783 0.08239184 -0.17979046
+v -0.04176196 0.08510835 -0.17979045
+v -0.03414196 0.10067439 -0.17980672
+v -0.03414196 0.09289137 -0.17979042
+v -0.02870138 0.09512279 -0.17913796
+v -0.02870138 0.09289137 -0.17912164
+v -0.04669960 0.10852149 -0.01319855
+v -0.02870138 0.10852152 -0.02060408
+v -0.04672783 0.10852149 -0.01319855
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+v -0.04181137 0.10852210 -0.17982299
+v -0.04176196 0.10846820 -0.17982299
+v -0.04176196 0.10852210 -0.17982299
+v -0.03414196 0.10852210 -0.17977406
+v -0.02870138 0.10290581 -0.17902373
+v -0.02870138 0.10852210 -0.17832232
+v -0.04672783 0.10852208 -0.17478267
+v -0.04672783 0.10850054 -0.17980669
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+f 23 33 25
+f 26 34 27
+f 27 29 28
+f 27 34 33
+f 30 32 31
+
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_8.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0858513c3eb7744394237777e3a867591ac2d912
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_8.obj
@@ -0,0 +1,643 @@
+# https://github.com/mikedh/trimesh
+v 0.10689758 0.00738233 0.28099662
+v 0.10691300 -0.01612793 0.27747687
+v 0.10692842 -0.02356040 0.27275614
+v 0.10689758 0.00738233 0.28091954
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_9.obj b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/mesh/storage_bin_105_collision_9.obj
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diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/storage_bin_105.xml b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/storage_bin_105.xml
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index 0000000000000000000000000000000000000000..ad51753b173416d26c408d5735ca979ef0434c9c
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/mjcf/storage_bin_105.xml
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+    <mesh name="collision_mesh_0_29" file="mesh/storage_bin_105_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_50" file="mesh/storage_bin_105_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_55" file="mesh/storage_bin_105_collision_55.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_56" file="mesh/storage_bin_105_collision_56.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_57" file="mesh/storage_bin_105_collision_57.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_58" file="mesh/storage_bin_105_collision_58.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_59" file="mesh/storage_bin_105_collision_59.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_60" file="mesh/storage_bin_105_collision_60.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_61" file="mesh/storage_bin_105_collision_61.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_62" file="mesh/storage_bin_105_collision_62.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_63" file="mesh/storage_bin_105_collision_63.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_64" file="mesh/storage_bin_105_collision_64.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_65" file="mesh/storage_bin_105_collision_65.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_66" file="mesh/storage_bin_105_collision_66.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_67" file="mesh/storage_bin_105_collision_67.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_68" file="mesh/storage_bin_105_collision_68.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="storage_bin_105">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_65" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_68" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/storage_bin_105.urdf b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/storage_bin_105.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4fb38cae000ee6d41b270b10409101fb45985836
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/storage_bin_105.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_105">
+   <link name="storage_bin_105">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_105.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/storage_bin_105_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="2.2500" />
+         <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>4635cf3ee8fc5500af5a860ddb2bf4cb</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>red drawer bin</name>
+         <color>red</color>
+         <shape>irregular</shape>
+         <material>wood</material>
+         <description>red decorative tabletop storage bin with two small drawers</description>
+         <min_height>0.4741</min_height>
+         <max_height>0.4741</max_height>
+         <real_height>0.4741</real_height>
+         <min_mass>1.5</min_mass>
+         <max_mass>3.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609194316</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.086786 -0.205772 -0.177768</min>
+            <max>0.118722 0.196752 0.296284</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</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>NO: {"summary":"Cyan mixes front opening and thin edge strips; segmentation is inconsistent and not actionable.","merge_groups":[{"colors":["Yellow","Cyan"],"target_part":"main body","reason":"Cyan is mostly accidental fragments plus opening surface"}]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/storage_bin_105.usd b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/storage_bin_105.usd
new file mode 100644
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+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/storage_bin_105.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:796c1d61dabac54f6a3b8d3099cc9b8f8388bfd114478b6438fe72a1af89c26e
+size 5708855
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/textures/material_0.png b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/textures/material_0.png
new file mode 100644
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+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 13617807
diff --git a/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/video.mp4 b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4635cf3ee8fc5500af5a860ddb2bf4cb/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebad7d47a9cc184d187cebfc124a12da64c2158544b4868d19730b95c34f5a8c
+size 489886