diff --git a/.gitattributes b/.gitattributes
index 208c62674c35d87c20d1aaf05c4fc916d9cb6506..c65050b9d831c3564b0825022992b9f174d60f36 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2803,6 +2803,5 @@ dataset/bedroom_supplies/storage/9626d812207854d2b7d2c70ab082bd4c/basket_024.usd
 dataset/bedroom_supplies/storage/9626d812207854d2b7d2c70ab082bd4c/mesh/basket_024.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/mesh/pill_organizer_006.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9757ffc15bd25b769bbd085b7c88fd68/pill_organizer_006.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/98a034dae6f9578194dc8dd4f27b222a/98a034dae6f9578194dc8dd4f27b222a.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/98a034dae6f9578194dc8dd4f27b222a/mesh/plastic_bin.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/98a034dae6f9578194dc8dd4f27b222a/mesh/plastic_bin_gs.ply filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mesh/storage_bin_012.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/storage_bin_012.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mesh/material.mtl b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..21482fca2cf17d8275ce346c7880334183856eef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_012_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd storage_bin_012_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mesh/material_0.png b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..82d36562b34eefe32e838df5d441938f4c14fee7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64c9a6d3961f17e5401e8675e69c8114366feff3ba56f1a2ef3a37a2d14b2979
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diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mesh/storage_bin_012.glb b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mesh/storage_bin_012.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c4479ecf06d73d1b77cda641ce4e990c2f1fed53
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mesh/storage_bin_012.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6ff930b578c11d3893b81fe9b9168847cca1b9f2eb00c0508280472bb48b89f
+size 16594272
diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mesh/storage_bin_012.mtl b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mesh/storage_bin_012.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4f8c4703262181c2de19f3f0e4f3e8962e7153b1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mesh/storage_bin_012.mtl
@@ -0,0 +1,6 @@
+newmtl storage_bin_012_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mesh/storage_bin_012.obj b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mesh/storage_bin_012.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9a2395a01d9f4d901debee773a340d24141c255
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mesh/storage_bin_012.obj
@@ -0,0 +1,106116 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl storage_bin_012_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mesh/storage_bin_012_collision.obj b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mesh/storage_bin_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fc30a7fbfa8274caa2df9434fe37514cb48df51
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mesh/storage_bin_012_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012.obj b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012.obj
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diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision.obj b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13aa71791ab338a8e15fc2c20fab9cf631dfe6d2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision.obj
@@ -0,0 +1,4512 @@
+# https://github.com/mikedh/trimesh
+
+o storage_bin_012_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_0.obj b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b585097d589f9a7b056057dc403b6d39fc19e8c0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_0.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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+v -0.05571403 0.03351775 -0.01991579
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+v -0.05669024 0.03279919 -0.01934523
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+
diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_1.obj b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7cf9e73a763009b017cefde17e39c11fa715398
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_1.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.05766112 0.02851510 -0.01735508
+v 0.05776297 0.02259461 -0.01735510
+v 0.05761020 0.02851511 -0.01811147
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+v -0.00003577 0.02851512 -0.02246726
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+
diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_10.obj b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..447e797a5718215697db6f7412f1fc782800a596
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_10.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.04262801 0.02851567 -0.02253246
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diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_11.obj b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a223c6e3920cb8f7f02e815c8f0037d539cb6819
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_11.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_12.obj b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7749b1620113364f0f430a5d7a7a8f7eeb8f0c06
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_12.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_13.obj b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cb046f9386be9dbc3aad915b85d1bd9c115402c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_13.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.05826102 0.00006471 -0.01697317
+v -0.05511242 0.00006471 -0.01697317
+v -0.05829171 0.00006471 -0.01672232
+v -0.05838706 0.02259376 -0.01697309
+v -0.05460282 0.00496464 -0.01697315
+v -0.05488776 0.00006463 0.00465933
+v -0.05852734 0.02063643 -0.01477472
+v -0.05840624 0.02063644 -0.01672224
+v -0.06019534 0.00006455 0.02603643
+v -0.05841500 0.02259376 -0.01672224
+v -0.05821609 0.02719358 -0.01672222
+v -0.05818760 0.02719358 -0.01697307
+v -0.05491022 0.02719358 -0.01697307
+v -0.05471679 0.02719355 -0.00700287
+v -0.05469597 0.02719354 -0.00505991
+v -0.05477762 0.02719347 0.01369920
+v -0.05479789 0.02455362 0.01437421
+v -0.05488392 0.00006462 0.00854069
+v -0.05487461 0.00006462 0.00757377
+v -0.05487022 0.00006463 0.00659773
+v -0.05487789 0.00006463 0.00563537
+v -0.06019863 0.00300716 0.02603644
+v -0.06020027 0.00496448 0.02603645
+v -0.06019863 0.00692445 0.02603646
+v -0.06019643 0.00888442 0.02603646
+v -0.06019370 0.01084174 0.02603647
+v -0.06017232 0.02063628 0.02603651
+v -0.06015479 0.02259360 0.02603651
+v -0.06012684 0.00006455 0.02700335
+v -0.06007862 0.00300716 0.02797940
+v -0.06009780 0.02455357 0.02603652
+v -0.05998657 0.02651354 0.02603653
+v -0.05992519 0.02719342 0.02603653
+v -0.05478638 0.02719347 0.01437422
+v -0.05521763 0.02719342 0.02702625
+v -0.05488776 0.02259364 0.01631716
+v -0.05493817 0.00006461 0.01048821
+v -0.05490803 0.00006462 0.00951673
+v -0.06006931 0.02063628 0.02797947
+v -0.06002876 0.02259360 0.02797947
+v -0.06004191 0.00006455 0.02797939
+v -0.06005889 0.00104719 0.02797939
+v -0.05953559 0.00300715 0.02913787
+v -0.05954545 0.02063627 0.02916075
+v -0.05990875 0.02455357 0.02797948
+v -0.05987095 0.02719342 0.02667050
+v -0.05523791 0.02719342 0.02724062
+v -0.05576286 0.00006455 0.02603643
+v -0.05498803 0.00006461 0.01146425
+v -0.05951860 0.02259359 0.02912882
+v -0.05934928 0.02719341 0.02895553
+v -0.05977231 0.00006455 0.02854494
+v -0.05951751 0.00104718 0.02911962
+v -0.05835473 0.00104718 0.02948450
+v -0.05835473 0.02063627 0.02962140
+v -0.05946435 0.02719341 0.02867275
+v -0.05968683 0.02669148 0.02817105
+v -0.05967751 0.02719342 0.02808439
+v -0.05530147 0.02719342 0.02787459
+v -0.05596670 0.00006455 0.02797939
+v -0.05835473 0.02259359 0.02954387
+v -0.05847638 0.02719341 0.02930216
+v -0.05950162 0.00006454 0.02910138
+v -0.05892242 0.00006454 0.02928381
+v -0.05835473 0.00006454 0.02946169
+v -0.05687577 0.00006454 0.02931118
+v -0.05678426 0.01867630 0.02939791
+v -0.05678919 0.02063627 0.02940704
+v -0.05661823 0.02719341 0.02933864
+v -0.05619739 0.02719341 0.02889623
+f 1 2 6
+f 1 6 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 38
+f 1 38 37
+f 1 37 49
+f 1 49 48
+f 1 48 60
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+f 1 64 63
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+f 1 29 9
+f 1 9 3
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+f 1 13 5
+f 1 5 2
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+f 3 7 8
+f 3 8 4
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+f 4 10 11
+f 4 11 12
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+f 5 16 17
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+f 7 10 8
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+f 11 13 12
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+f 17 38 18
+f 22 30 23
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+f 35 37 36
+f 39 44 40
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+f 40 50 51
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+f 47 59 48
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+f 50 61 62
+f 50 62 51
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+f 53 64 54
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+f 56 58 57
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+f 67 69 68
+
diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_14.obj b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bc6dbd2b77af1955399681c1f8d55620f8f21f3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_14.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
+v -0.04561670 0.03239017 0.02940537
+v -0.04646969 0.03239017 0.02942321
+v -0.05637363 0.03043210 0.02964615
+v -0.04561670 0.03155586 0.02933106
+v -0.04561670 0.03287327 0.02927458
+v -0.04845020 0.03239017 0.02940835
+v -0.04561670 0.03351393 0.02908433
+v -0.04646969 0.03351463 0.02908433
+v -0.05439172 0.03216737 0.02936673
+v -0.05637363 0.03197093 0.02933106
+v -0.05769443 0.03169399 0.02916162
+v -0.05803759 0.03043210 0.02934591
+v -0.05828410 0.02847264 0.02939346
+v -0.05847599 0.02719410 0.02930428
+v -0.05661734 0.02719410 0.02933996
+v -0.04561670 0.03094574 0.02927457
+v -0.04561670 0.03375895 0.02860871
+v -0.04845020 0.03347784 0.02905460
+v -0.04561670 0.03406923 0.02798149
+v -0.04646969 0.03405812 0.02798149
+v -0.05007775 0.03342231 0.02900407
+v -0.05139855 0.03336539 0.02894759
+v -0.05241262 0.03328487 0.02884355
+v -0.05439172 0.03314676 0.02857006
+v -0.05643106 0.03299822 0.02795175
+v -0.05835413 0.03197025 0.02784474
+v -0.05938221 0.03146772 0.02710752
+v -0.05902924 0.03043211 0.02842737
+v -0.05927436 0.02847264 0.02883461
+v -0.05934159 0.02746758 0.02895054
+v -0.05934859 0.02719410 0.02895648
+v -0.05619715 0.02719410 0.02889406
+v -0.04561670 0.03004480 0.02798147
+v -0.04845020 0.03397691 0.02798148
+v -0.04561670 0.03416709 0.02714321
+v -0.04561670 0.03428440 0.02603739
+v -0.04646969 0.03426357 0.02603739
+v -0.04845020 0.03418514 0.02603739
+v -0.05061559 0.03374438 0.02817173
+v -0.05241262 0.03370759 0.02787149
+v -0.05439172 0.03358057 0.02759801
+v -0.05581057 0.03346049 0.02728588
+v -0.05682043 0.03321409 0.02603738
+v -0.05949706 0.03043211 0.02745531
+v -0.05848719 0.03210421 0.02610277
+v -0.05938221 0.03146772 0.02679540
+v -0.05981080 0.02847265 0.02603736
+v -0.05965253 0.02847265 0.02786255
+v -0.05946484 0.02719410 0.02867409
+v -0.05530074 0.02719411 0.02787445
+v -0.04561670 0.02982269 0.02603737
+v -0.05043211 0.03406714 0.02603739
+v -0.04561670 0.03327457 -0.00072230
+v -0.05439172 0.03287963 -0.00072230
+v -0.05241262 0.03390611 0.02603738
+v -0.05439172 0.03368816 0.02603738
+v -0.05583018 0.03346605 0.02603738
+v -0.05483432 0.03270333 -0.00072230
+v -0.05626858 0.03212583 -0.00072230
+v -0.05950966 0.03042795 0.02610276
+v -0.05733447 0.03133662 0.00238113
+v -0.05725883 0.03112146 -0.00072231
+v -0.05756137 0.03014277 -0.00072231
+v -0.05992565 0.02719411 0.02603736
+v -0.05987103 0.02719411 0.02667053
+v -0.05783590 0.02847275 -0.00072232
+v -0.05797456 0.02719421 -0.00072232
+v -0.05967634 0.02719411 0.02808550
+v -0.05523771 0.02719411 0.02724128
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+v -0.05478530 0.02719416 0.01437867
+v -0.05477690 0.02719416 0.01370389
+v -0.05479651 0.02719421 -0.00072232
+v -0.04561670 0.03035933 -0.00072231
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+f 54 56 55
+f 59 62 61
+f 60 63 66
+
diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_15.obj b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75a450d9776a5f05f042d4deb7564a2dfa922fbc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_15.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v -0.05838669 0.02259376 -0.01697309
+v -0.05818741 0.02719358 -0.01697307
+v -0.05801404 0.02719359 -0.01866629
+v -0.05819636 0.02259377 -0.01866631
+v -0.05826090 0.00006471 -0.01697317
+v -0.05491031 0.02719358 -0.01697307
+v -0.05780439 0.02719359 -0.01934525
+v -0.05791934 0.02455374 -0.01934526
+v -0.05798530 0.02259377 -0.01934527
+v -0.05783313 0.00006472 -0.01934535
+v -0.05803947 0.00006472 -0.01866639
+v -0.05817186 0.00006472 -0.01769927
+v -0.05511195 0.00006471 -0.01697317
+v -0.05357422 0.01671651 -0.01843970
+v -0.05357422 0.02719094 -0.01870902
+v -0.05357422 0.02719359 -0.01931391
+v -0.05460267 0.00496464 -0.01697315
+v -0.05357422 0.02719359 -0.01934525
+v -0.05357422 0.00006472 -0.01934535
+v -0.05357422 0.00006472 -0.01900703
+v -0.05357422 0.00496465 -0.01835522
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 17
+f 1 17 6
+f 1 6 2
+f 2 6 16
+f 2 16 18
+f 2 18 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 11
+f 5 11 10
+f 5 10 19
+f 5 19 20
+f 5 20 13
+f 6 14 15
+f 6 15 16
+f 6 17 14
+f 7 18 19
+f 7 19 10
+f 7 10 9
+f 7 9 8
+f 13 20 17
+f 14 17 21
+f 14 21 20
+f 14 20 19
+f 14 19 18
+f 14 18 16
+f 14 16 15
+f 17 20 21
+
diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_16.obj b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..810fe74a80810b949c37ead5c5abecb0f19bb346
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_16.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.03854488 0.03395211 -0.01477927
+v -0.04052588 0.03393037 -0.01672291
+v -0.04250688 0.03393300 -0.01672291
+v -0.04052588 0.03395145 -0.01477927
+v -0.03854488 0.03395013 -0.01464822
+v -0.03656387 0.03393299 -0.01464822
+v -0.03656387 0.03393365 -0.01477927
+v -0.04250688 0.03372542 -0.01866608
+v -0.04448342 0.03373531 -0.01866608
+v -0.04561670 0.03373992 -0.01866608
+v -0.00003577 0.03355274 -0.01672291
+v -0.00003577 0.03350661 -0.01732158
+v -0.00003577 0.03344665 -0.01809637
+v -0.04448342 0.03392048 -0.01672291
+v -0.04052588 0.03394881 -0.01464822
+v -0.04561670 0.03391126 -0.01672291
+v -0.04250688 0.03392838 -0.01477927
+v -0.00003577 0.03355603 -0.01464822
+v -0.00003577 0.03355932 -0.01477927
+v -0.00003577 0.03355670 -0.01563360
+v -0.04250688 0.03356396 -0.01934523
+v -0.00003577 0.03323839 -0.01906842
+v -0.04448342 0.03357384 -0.01934523
+v -0.04529546 0.03357780 -0.01934523
+v -0.04561670 0.03362327 -0.01915947
+v -0.04250688 0.03392377 -0.01464822
+v -0.04561670 0.03385259 -0.01477927
+v -0.04448342 0.03388422 -0.01477927
+v -0.00003577 0.03062004 -0.01464823
+v -0.04129330 0.03355143 -0.01934523
+v -0.00003577 0.03308682 -0.01934523
+v -0.00289127 0.03311977 -0.01934523
+v -0.04052588 0.03354287 -0.01934523
+v -0.04561670 0.03357911 -0.01934523
+v -0.04448342 0.03387764 -0.01464822
+v -0.04561670 0.03384402 -0.01464822
+v -0.00003577 0.02834771 -0.01934525
+v -0.02467785 0.03060751 -0.01464823
+v -0.02665885 0.02722011 -0.01934525
+v -0.02467785 0.02725306 -0.01934525
+v -0.04561670 0.02864691 -0.01934524
+v -0.04561670 0.03089947 -0.01464823
+v -0.02652500 0.03061938 -0.01464823
+v -0.02665885 0.03062070 -0.01464823
+v -0.02785459 0.02728733 -0.01934525
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 7 11
+f 2 11 12
+f 2 12 13
+f 2 13 8
+f 3 10 14
+f 3 14 4
+f 4 15 5
+f 4 14 16
+f 4 16 17
+f 4 17 15
+f 5 15 26
+f 5 26 35
+f 5 35 36
+f 5 36 42
+f 5 42 44
+f 5 44 43
+f 5 43 38
+f 5 38 29
+f 5 29 18
+f 5 18 6
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+f 6 19 7
+f 7 19 20
+f 7 20 11
+f 8 21 23
+f 8 23 9
+f 8 13 22
+f 8 22 21
+f 9 23 24
+f 9 24 25
+f 9 25 10
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+f 10 34 41
+f 10 41 42
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+f 10 36 27
+f 10 27 16
+f 10 16 14
+f 11 20 19
+f 11 19 18
+f 11 18 29
+f 11 29 37
+f 11 37 31
+f 11 31 22
+f 11 22 13
+f 11 13 12
+f 15 17 26
+f 16 27 28
+f 16 28 17
+f 17 28 26
+f 21 22 30
+f 21 30 33
+f 21 33 32
+f 21 32 31
+f 21 31 37
+f 21 37 40
+f 21 40 39
+f 21 39 45
+f 21 45 41
+f 21 41 34
+f 21 34 24
+f 21 24 23
+f 22 31 32
+f 22 32 33
+f 22 33 30
+f 24 34 25
+f 26 28 35
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+f 27 35 28
+f 29 38 39
+f 29 39 40
+f 29 40 37
+f 38 43 39
+f 39 43 44
+f 39 44 42
+f 39 42 45
+f 41 45 42
+
diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_17.obj b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..398833f967fb7252fc4f19532358787211c99b98
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_17.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.04561670 0.03089997 -0.01464777
+v -0.04561670 0.03066793 -0.01088783
+v -0.04561670 0.03384406 -0.01464776
+v -0.02665885 0.03062109 -0.01464777
+v -0.04561670 0.03055593 -0.00894512
+v -0.04561670 0.03428432 0.02603662
+v -0.04448342 0.03387797 -0.01464776
+v -0.02652500 0.03061975 -0.01464777
+v -0.04561670 0.03046579 -0.00700241
+v -0.04561670 0.03416696 0.02714427
+v -0.04448342 0.03431109 0.02603662
+v -0.04250688 0.03392393 -0.01464776
+v -0.02467785 0.03060815 -0.01464777
+v -0.04561670 0.03040108 -0.00505971
+v -0.04561670 0.03406924 0.02797933
+v -0.04250688 0.03433920 0.02603662
+v -0.04052588 0.03394892 -0.01464776
+v -0.00003577 0.03062064 -0.01464777
+v -0.00003577 0.03044571 -0.00894512
+v -0.00003577 0.03042028 -0.00809275
+v -0.04561670 0.03038457 -0.00422464
+v -0.00003577 0.03039395 -0.00700241
+v -0.00003577 0.03037609 -0.00615005
+v -0.04561670 0.03375912 0.02861102
+v -0.04448342 0.03408308 0.02797933
+v -0.04052588 0.03435393 0.02603662
+v -0.03854488 0.03435972 0.02603662
+v -0.01873930 0.03437802 0.02603662
+v -0.03854488 0.03395025 -0.01464776
+v -0.00003577 0.03355581 -0.01464776
+v -0.04561670 0.02982267 0.02603660
+v -0.00003577 0.02988782 0.02603660
+v -0.01675829 0.02997800 0.01631874
+v -0.04561670 0.03351415 0.02908264
+v -0.03260186 0.03357439 0.02914322
+v -0.03260186 0.03416964 0.02797933
+v -0.01477729 0.03437891 0.02603662
+v -0.03062086 0.03417098 0.02797933
+v -0.03656387 0.03393330 -0.01464776
+v -0.00091026 0.03438070 0.02603662
+v -0.00003577 0.03438070 0.02603662
+v -0.03062086 0.03002213 0.02797931
+v -0.04561670 0.03004444 0.02797931
+v -0.00003577 0.03016938 0.02797931
+v -0.00685328 0.03009709 0.02797931
+v -0.00883428 0.03008683 0.02797931
+v -0.04561670 0.03287339 0.02927302
+v -0.03260186 0.03239060 0.02954127
+v -0.03062086 0.03239060 0.02955425
+v -0.03062086 0.03357573 0.02914322
+v -0.00883428 0.03416875 0.02797933
+v -0.00685328 0.03416250 0.02797933
+v -0.00003577 0.03412636 0.02797933
+v -0.03062086 0.03089089 0.02935954
+v -0.04561670 0.03094622 0.02927301
+v -0.03260186 0.03089758 0.02935089
+v -0.00003577 0.03054866 0.02852448
+v -0.00685328 0.03096273 0.02928599
+v -0.00883428 0.03095291 0.02929464
+v -0.04561670 0.03239060 0.02940715
+v -0.00883428 0.03239060 0.02946772
+v -0.00883428 0.03356323 0.02912591
+v -0.00003577 0.03351906 0.02907831
+v -0.00685328 0.03355654 0.02911725
+v -0.00003577 0.03103278 0.02921676
+v -0.00685328 0.03239060 0.02945041
+v -0.00003577 0.03239060 0.02934224
+v -0.00003577 0.03162981 0.02927302
+f 1 2 5
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+f 1 31 43
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+f 1 55 60
+f 1 60 47
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+f 43 56 55
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+f 45 59 46
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+f 47 60 48
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+f 49 62 50
+f 50 62 51
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+f 57 65 58
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+f 61 64 62
+f 63 66 67
+f 65 68 66
+f 66 68 67
+
diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_18.obj b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8155258686d46679af70a37ae1cac3ac6d3e319b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_18.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.05357422 0.00006206 -0.01935035
+v -0.05357422 0.00006206 -0.01835035
+v -0.05357422 0.01084749 -0.01935035
+v -0.05357422 0.01084749 -0.01835035
+v -0.04909853 0.00006206 -0.01935035
+v -0.04909853 0.00006206 -0.01835035
+v -0.04909853 0.01084749 -0.01935035
+v -0.04909853 0.01084749 -0.01835035
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_19.obj b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee1550376061e9a18126c6933c7857473a072eba
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_19.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.04561670 0.03390895 -0.01674653
+v -0.04561670 0.03091777 -0.01674654
+v -0.04561670 0.03374000 -0.01866630
+v -0.05241105 0.03387280 -0.01866630
+v -0.05439180 0.03386622 -0.01866630
+v -0.05043152 0.03388593 -0.01674653
+v -0.04561670 0.02864711 -0.01934524
+v -0.05501172 0.02719358 -0.01674655
+v -0.04561670 0.03367097 -0.01895833
+v -0.05241105 0.03371699 -0.01934523
+v -0.05439180 0.03373474 -0.01934523
+v -0.05577982 0.03355461 -0.01934523
+v -0.05585885 0.03359603 -0.01866630
+v -0.05439180 0.03375971 -0.01674653
+v -0.05241105 0.03387542 -0.01674653
+v -0.04561670 0.03357894 -0.01934523
+v -0.05178990 0.02719359 -0.01934525
+v -0.05821254 0.02719358 -0.01674655
+v -0.05669487 0.03280189 -0.01934523
+v -0.05684923 0.03299976 -0.01866630
+v -0.05566621 0.03351187 -0.01674653
+v -0.05780380 0.02719359 -0.01934525
+v -0.05823230 0.02847289 -0.01674655
+v -0.05820513 0.03043195 -0.01866631
+v -0.05801372 0.02719359 -0.01866632
+v -0.05771735 0.03193083 -0.01934523
+v -0.05778404 0.03202024 -0.01866630
+v -0.05769018 0.03186574 -0.01674653
+v -0.05767784 0.03187757 -0.01674653
+v -0.05665658 0.03284527 -0.01674653
+v -0.05567732 0.03350464 -0.01674653
+v -0.05787665 0.02719359 -0.01910970
+v -0.05801743 0.03043195 -0.01934524
+v -0.05815080 0.03043194 -0.01674654
+f 1 2 7
+f 1 7 16
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+f 1 9 3
+f 1 3 4
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+f 1 14 21
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+f 24 33 25
+f 25 33 32
+f 27 34 28
+
diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_2.obj b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c5379c200559bda48302746c88f351d0c540395
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_2.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.05405276 0.00502627 -0.01735516
+v 0.05404031 0.02851507 -0.00701468
+v 0.05418473 0.02851510 -0.01735508
+v 0.05735199 0.00502627 -0.01735516
+v 0.05591278 0.00502611 0.02603782
+v 0.05460056 0.02851494 0.02612502
+v 0.05766386 0.02851510 -0.01735508
+v 0.05761344 0.00912808 -0.01735515
+v 0.05741299 0.00502627 -0.01713964
+v 0.05617485 0.00502611 0.02797750
+v 0.05475556 0.02851494 0.02782626
+v 0.05770308 0.02851510 -0.01676354
+v 0.05804047 0.02063567 -0.01477802
+v 0.05784563 0.02259461 -0.01672229
+v 0.05776533 0.02259461 -0.01735510
+v 0.05769561 0.01084330 -0.01735514
+v 0.05760597 0.00502627 -0.01616750
+v 0.05620348 0.00502611 0.02801877
+v 0.05708992 0.00502610 0.02925228
+v 0.05485702 0.02851494 0.02795465
+v 0.05816808 0.02063567 -0.01283376
+v 0.06000569 0.02851494 0.02603790
+v 0.06001254 0.02847126 0.02603790
+v 0.06018372 0.02651232 0.02603790
+v 0.06028643 0.02455339 0.02603789
+v 0.05818489 0.01867673 -0.01283377
+v 0.05799627 0.01280222 -0.01477805
+v 0.05781077 0.01280223 -0.01672232
+v 0.05785123 0.02063568 -0.01672229
+v 0.05776844 0.02143810 -0.01735510
+v 0.05771615 0.01280223 -0.01735513
+v 0.05778462 0.01084330 -0.01672233
+v 0.05777716 0.00502626 -0.01482394
+v 0.05852290 0.00502610 0.02934399
+v 0.05852290 0.01671993 0.02949077
+v 0.05692434 0.01671993 0.02938530
+v 0.05646431 0.02851493 0.02937158
+v 0.05830254 0.01867672 -0.01088950
+v 0.06033935 0.02259445 0.02603788
+v 0.05982704 0.02851494 0.02785836
+v 0.05983015 0.02847126 0.02786752
+v 0.06002623 0.02455339 0.02797757
+v 0.06008786 0.02259445 0.02797756
+v 0.05814442 0.01476116 -0.01283379
+v 0.05828698 0.01672008 -0.01088951
+v 0.05795581 0.01084329 -0.01477806
+v 0.06039786 0.00502611 0.02603782
+v 0.05778276 0.00502626 -0.01477808
+v 0.05855714 0.00502610 0.02933482
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+v 0.05647552 0.02850803 0.02937617
+v 0.05961538 0.00502610 0.02904134
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+v 0.05795021 0.00502626 -0.01283382
+v 0.05794523 0.00502626 -0.01289343
+v 0.06016256 0.00502611 0.02791789
+v 0.05845443 0.02847125 0.02939910
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+v 0.06014949 0.01671994 0.02797754
+v 0.06014451 0.01867658 0.02797755
+v 0.05943984 0.02851493 0.02883049
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diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_20.obj b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..477ce82b77337e63068898ae68ef1d3542fa3d25
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_20.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.05357422 0.01084909 -0.01939259
+v -0.05357422 0.01084909 -0.01839259
+v -0.05357422 0.02719359 -0.01939259
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+v -0.04922504 0.01084909 -0.01839259
+v -0.04922504 0.02719359 -0.01939259
+v -0.04922504 0.02719359 -0.01839259
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+f 4 8 3
+f 7 5 3
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+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_21.obj b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b957c8858a66493da38671ccb4e42f3f493fe894
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_21.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.04561794 0.03327457 -0.00072230
+v -0.05439198 0.03287999 -0.00072230
+v -0.04561794 0.03035932 -0.00072231
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+
diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_3.obj b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76566098367291ada463aec04fbca30e1a492d52
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_3.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v -0.05791567 -0.02838262 0.00475746
+v -0.05759974 -0.03047436 0.00475745
+v -0.05980542 -0.02838270 0.02603793
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+v -0.00289085 -0.02986190 0.01243285
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diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_4.obj b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..899c94360454924543a3cd88093e3a2b3b78c105
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_4.obj
@@ -0,0 +1,337 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_5.obj b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eebce72bb048d55ed64248e57a6b965d6aa8a8b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_5.obj
@@ -0,0 +1,304 @@
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diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_6.obj b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7f985b3d1914a43770c6af2fa8c1db2e7485ef4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_6.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_7.obj b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ab9de7bda54001c26db1b75c26d9199b80e7f7d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_7.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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+v -0.05241033 0.00006207 -0.02256638
+v -0.05821958 0.00006205 -0.01727090
+v -0.00003577 -0.02833739 -0.02248526
+v -0.00288903 -0.02838194 -0.02251129
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+
diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_8.obj b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dddf40c8bcaf0fef786a810a097f61159e14274
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_8.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
+v -0.00003576 -0.03331310 0.00476514
+v -0.00003576 -0.03424554 0.02603587
+v -0.00003576 -0.03038181 0.00476515
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+v 0.03276521 -0.03344906 0.02916020
+v -0.00003576 -0.03398980 0.02798066
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+v 0.04465226 -0.03418809 0.02603587
+v 0.04267304 -0.03421018 0.02603587
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+v 0.03870873 -0.03422344 0.02603587
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+v -0.00003576 -0.02996537 0.01243217
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+v 0.03276521 -0.03225766 0.02965005
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+
diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_9.obj b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e93721d368ec7e268327d45b3ced004cbb97050b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/mesh/storage_bin_012_collision_9.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
+v 0.05740358 0.00502627 -0.01716303
+v 0.05760749 0.00264298 -0.01716304
+v 0.05755651 0.00222822 -0.01778891
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diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/storage_bin_012.xml b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/storage_bin_012.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d01f80e27106d604d9c93dd7ac462d37f5b80886
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/mjcf/storage_bin_012.xml
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="storage_bin_012">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/storage_bin_012.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/storage_bin_012_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/storage_bin_012_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/storage_bin_012_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/storage_bin_012_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/storage_bin_012_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/storage_bin_012_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/storage_bin_012_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/storage_bin_012_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/storage_bin_012_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/storage_bin_012_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/storage_bin_012_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/storage_bin_012_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/storage_bin_012_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/storage_bin_012_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/storage_bin_012_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/storage_bin_012_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/storage_bin_012_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/storage_bin_012_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/storage_bin_012_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/storage_bin_012_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/storage_bin_012_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/storage_bin_012_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="storage_bin_012">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/storage_bin_012.urdf b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/storage_bin_012.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ef90c7e4488c65e83571c27337c0e634edd086c1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/storage_bin_012.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_012">
+   <link name="storage_bin_012">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_012.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_012_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <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>96b1f94f891e5320ab2b9c0c75753f8c</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>chevron bin</name>
+         <color>black,gray</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular open-top storage bin with black gray chevron pattern</description>
+         <min_height>0.0520</min_height>
+         <max_height>0.0520</max_height>
+         <real_height>0.0520</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611135640</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059915 -0.034075 -0.022204</min>
+            <max>0.060085 0.034211 0.029789</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>1</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/storage_bin_012.usd b/dataset/bedroom_supplies/storage/96b1f94f891e5320ab2b9c0c75753f8c/storage_bin_012.usd
new file mode 100644
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new file mode 100644
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