diff --git a/.gitattributes b/.gitattributes
index 08dbb576510ec46c9e8ec55e832cbc9290bb48ab..afa43a3ffc9f92989b139ec49a6b734f81025226 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2711,7 +2711,5 @@ dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/basket.gl
 dataset/bedroom_supplies/storage/1b55e3ce75a35111b880ea7ea86b08ea/mesh/basket_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/glasses_case_033.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/1e00b570ce6d5dbda2a020319d43b29d/mesh/glasses_case_033.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/basket_029.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/19634cde897b56b083794ed7df300741/mesh/basket_029.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/mesh/storage_box_034.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/1c76ffce54b85348bf23b86edc528922/storage_box_034.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mesh/storage_bin_020.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/storage_bin_020.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mesh/material.mtl b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b0b0e52660edb7f457fa7ed7ce0d5605970024d4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_020_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd storage_bin_020_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mesh/material_0.png b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..c804a46ef2d2e7d1ea13aaf5ceeac76ac64361c3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:015878ade136d70ff18a86caa298a790f0b1500aec4fa9ca0c60f3c768cdfe2f
+size 14260969
diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mesh/storage_bin_020.glb b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mesh/storage_bin_020.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d83b791cdc1b8125c1f7c8de137907df8bdcf7fa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mesh/storage_bin_020.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14f42fc84c28f8893722e447abbacdb78977006e3ee73d45f055e26f0ae0b9c4
+size 17506628
diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mesh/storage_bin_020.mtl b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mesh/storage_bin_020.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..16fadbc87cd6f7a0647a24d5f943b75caa01edfd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mesh/storage_bin_020.mtl
@@ -0,0 +1,6 @@
+newmtl storage_bin_020_geometry_Looks_material_0
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+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/19958fc10a655fceb30a627f37d53582/mesh/storage_bin_020.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mesh/storage_bin_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3bb7b1ad1e647e9876316929e85256c4e9340e0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mesh/storage_bin_020.obj
@@ -0,0 +1,110326 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl storage_bin_020_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mesh/storage_bin_020_collision.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mesh/storage_bin_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62ed8ad832ebfe24605340da5d7bff8cd1df75dd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mesh/storage_bin_020_collision.obj
@@ -0,0 +1,8353 @@
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diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020.obj
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diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8c3af3613f015dd81ddcb5912b7fa59fa0644e0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision.obj
@@ -0,0 +1,8353 @@
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diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_0.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aa6344f54606294d78b8f3ea370293bd2e86239
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_0.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_1.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb59d27fbca9de86197164c8590c075462fb1cc7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_1.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.00014710 -0.02424683 -0.01935595
+v 0.00014710 -0.02497838 -0.01931232
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+
diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_10.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ac57869713e564ba693a2eb1d369c1b32d59178
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_10.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.04884764 -0.00080510 -0.00884580
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+v 0.04566580 -0.00080510 -0.00884580
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+
diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_11.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d0534b7d9efe558ac2482da00e79fcc83ce7cd0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_11.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_12.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0bd9a4bd0d718d9e2d4edecc70cbdfbcbfead77
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_12.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_13.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4612f7ced79b7650ac48ac72aded3b3ba3c4553
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_13.obj
@@ -0,0 +1,355 @@
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diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_14.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5cceaf2fd36b03a68a69205e6bf74ba7e400a68
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_14.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_15.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69c9c2006d682c04d24aa1326909ac5dc11ef23a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_15.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_16.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..396485dece5e2cbb58d9f7c43f6e0c4efbdfa7aa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_16.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_17.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddd1a7c530c0dab6e54a680755124e1c3c44635a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_17.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_18.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ab6b9ae582db925a11e87819f91effe543a4582
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_18.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_19.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f44fd85836c9c54bff5558250993aa2145c55ec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_19.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_2.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7a12090353d8d55a685be42ce7984eeca9cc283
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_2.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_20.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52b41dafe26f7d3440ef91126e2f2eae8da25d65
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_20.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_21.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8555232f23545472d2798a6b6c16324d060e7e0c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_21.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.04905528 0.00001717 0.00914367
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diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_22.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7afef3101e167c35871307baf12ddafe4e0b7ed3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_22.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_23.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb9cf69d03f3ab0ec810945a4d8dd64d88bc9125
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_23.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_24.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e21f1e29e7e183821a6fb3da857dea578c4d20e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_24.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_25.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e58064e673c2437e53a0d59cb9f9447d31617d54
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_25.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_26.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a71d5bdf7c270d099ef172889171f01f49f37074
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_26.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.05902430 0.00555993 0.03803062
+v 0.06018546 0.00555993 0.03830258
+v 0.05768412 0.00555993 0.03817219
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+v 0.06038401 0.00555993 0.03873102
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+
diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_27.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edc4559fa4d256447b1e04aab22db92ef3af5698
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_27.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
+v 0.05218316 0.00001704 0.04427621
+v 0.05205856 0.00001704 0.04419278
+v 0.05218316 0.00001704 0.04397692
+v 0.05218316 0.00096963 0.04425502
+v 0.05206791 0.00194363 0.04417690
+v 0.05205856 0.00001704 0.04414776
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+v 0.05218316 0.01006286 0.03074716
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diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_28.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99e4426cdc7b5a64a414a8860405704975017bea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_28.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_29.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e4333a635f07ef6e2cefadd10c28c5da92dae72
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_29.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.05505022 -0.00304544 0.04490013
+v 0.05488032 -0.00304544 0.04489921
+v 0.05505022 -0.00447655 0.04445898
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+
diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_3.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34e6d82ec75a63eac979bae55815193c9fece682
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_3.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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+v -0.04269383 0.02736341 -0.01084610
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+
diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_30.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..337374f82228158c61684c6f35349a73fa0d53c4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_30.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.05218313 -0.00260756 0.04434418
+v 0.05218313 0.00001704 0.04427550
+v 0.05205851 0.00001704 0.04419201
+v 0.05202085 -0.00291078 0.04424273
+v 0.05202942 -0.00408886 0.04422475
+v 0.05218313 -0.00391361 0.04431036
+v 0.05218313 0.00001704 0.04397641
+v 0.04985876 -0.00872884 0.03896909
+v 0.05205851 0.00001704 0.04414762
+v 0.04905528 -0.00912106 0.03419008
+v 0.04905528 -0.00937003 0.03493937
+v 0.04905528 -0.01011833 0.03593596
+v 0.05164790 -0.00678996 0.04275892
+v 0.05184417 -0.00796804 0.04240804
+v 0.05218313 -0.00415006 0.04425646
+v 0.04980793 -0.01005992 0.03877357
+v 0.05218313 -0.00949937 0.03354752
+v 0.05112643 -0.00920033 0.03354752
+v 0.05101865 -0.00919894 0.03354752
+v 0.04906570 -0.00917947 0.03354752
+v 0.04905528 -0.00917947 0.03354752
+v 0.04905528 -0.01067468 0.03592011
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+v 0.05218313 -0.00953278 0.04073823
+v 0.04954766 -0.01069138 0.03724855
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+v 0.04938690 -0.01257184 0.03354750
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+
diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_31.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0dee8a642c084794943f61c85ff11d96d914dbe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_31.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.05032367 -0.00472694 0.02083063
+v -0.05032367 -0.00472694 0.02516384
+v -0.05032367 0.00495376 0.02083063
+v -0.05032367 0.00495376 0.02516384
+v -0.04932367 -0.00472694 0.02083063
+v -0.04932367 -0.00472694 0.02516384
+v -0.04932367 0.00495376 0.02083063
+v -0.04932367 0.00495376 0.02516384
+f 2 4 1
+f 5 2 1
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+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/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_32.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3372468d3dcd6ee40dcfe1244352b60ceb1c3d3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_32.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v -0.04827398 0.01897863 -0.01156340
+v -0.04809656 0.02036708 -0.01156340
+v -0.04495659 0.01897863 -0.01156340
+v -0.04912456 0.01897850 0.02363468
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+v -0.04269802 0.02356027 -0.01156338
+v -0.04269802 0.02349254 -0.01100410
+v -0.04269802 0.02319766 -0.00826253
+v -0.04269802 0.02240140 -0.00045821
+v -0.04269802 0.02237166 0.00021804
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+v -0.04269802 0.02230558 0.00212252
+v -0.04490689 0.01897860 -0.00374444
+v -0.04907548 0.01897850 0.02374800
+v -0.04784113 0.02230632 0.02526866
+v -0.04884648 0.02036695 0.02363468
+v -0.04742528 0.02351071 -0.01156338
+v -0.04838093 0.02230632 0.02363469
+v -0.04269802 0.02741671 -0.01156337
+v -0.04269802 0.02229979 0.00353717
+v -0.04489116 0.01897859 0.00005720
+v -0.04489808 0.01897860 -0.00178879
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+v -0.04685844 0.02447874 -0.01156338
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+v -0.04279176 0.02738614 -0.01156337
+v -0.04433061 0.02643285 0.02363471
+v -0.04269802 0.02693999 0.02363471
+v -0.04269802 0.02230062 0.00407817
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+v -0.04269802 0.02326279 0.02437675
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+
diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_33.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38d9e557d877832c84589a9495ac99b2f91855e9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_33.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.04905528 -0.01929093 0.02363802
+v 0.04905528 -0.01770342 0.01385882
+v 0.05065794 -0.01610465 0.01581513
+v 0.05218313 -0.01593789 0.02696327
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+f 1 16 2
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+f 3 19 4
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+f 4 21 20
+f 4 20 8
+f 4 8 7
+f 4 7 6
+f 4 6 5
+f 8 20 9
+f 9 20 21
+f 9 21 10
+f 10 21 29
+f 10 29 41
+f 10 41 31
+f 10 31 22
+f 10 22 15
+f 10 15 14
+f 10 14 13
+f 10 13 12
+f 10 12 11
+f 16 23 24
+f 16 24 17
+f 17 25 18
+f 17 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 19
+f 22 31 30
+f 23 32 24
+f 24 33 25
+f 24 32 34
+f 24 34 33
+f 25 33 35
+f 25 35 26
+f 26 35 36
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 40
+f 26 40 27
+f 29 42 30
+f 29 30 41
+f 30 31 41
+f 30 42 44
+f 30 44 43
+f 33 34 45
+f 33 45 46
+f 33 46 35
+f 35 46 36
+f 36 47 37
+f 36 46 48
+f 36 48 49
+f 36 49 47
+f 37 47 50
+f 37 50 51
+f 37 51 52
+f 37 52 53
+f 37 53 54
+f 37 54 38
+f 42 55 44
+f 43 44 55
+f 43 55 51
+f 43 51 49
+f 47 49 50
+f 49 51 50
+
diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_34.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62d4327cbf7cb08fd49feaaf2ece6b5ac6349378
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_34.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.04890261 -0.00484960 0.00914408
+v 0.04890261 -0.00484960 0.02518660
+v 0.04890261 0.00001717 0.00914408
+v 0.04890261 0.00001717 0.02518660
+v 0.04990261 -0.00484960 0.00914408
+v 0.04990261 -0.00484960 0.02518660
+v 0.04990261 0.00001717 0.00914408
+v 0.04990261 0.00001717 0.02518660
+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/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_35.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cce75dcf2ab883108ba66acbdbe54a2ec577363
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_35.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.04962856 -0.01629000 0.02756683
+v -0.04857894 -0.01614588 0.02756683
+v -0.04887083 -0.01590760 0.02950664
+v -0.04962856 -0.01616097 0.02846545
+v -0.04962856 -0.01241698 0.02756684
+v -0.04803821 -0.01455952 0.02756684
+v -0.04885226 -0.01462458 0.03147312
+v -0.04904243 -0.01398150 0.03341845
+v -0.04912793 -0.01566202 0.03082743
+v -0.04962856 -0.01582071 0.03026085
+v -0.04962856 -0.01597316 0.02950664
+v -0.04875554 -0.01317920 0.02756684
+v -0.04962856 -0.01109599 0.03456358
+v -0.04921123 -0.01151951 0.03405310
+v -0.04803494 -0.01454808 0.02756684
+v -0.04925258 -0.01174323 0.03647395
+v -0.04922746 -0.01366570 0.03453321
+v -0.04962856 -0.01565214 0.03080996
+v -0.04962856 -0.01372033 0.03464727
+v -0.04962856 -0.01103772 0.03537482
+v -0.04919813 -0.01143678 0.03537482
+v -0.04925258 -0.01148881 0.03647395
+v -0.04962856 -0.01101172 0.03696327
+v -0.04962856 -0.01186810 0.03672505
+v -0.04962856 -0.01097529 0.03664962
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 10
+f 1 10 18
+f 1 18 19
+f 1 19 24
+f 1 24 23
+f 1 23 25
+f 1 25 20
+f 1 20 13
+f 1 13 5
+f 1 5 12
+f 1 12 15
+f 1 15 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 3 6 7
+f 5 13 14
+f 5 14 12
+f 6 15 8
+f 6 8 7
+f 8 16 17
+f 8 17 9
+f 8 15 16
+f 9 18 10
+f 9 17 19
+f 9 19 18
+f 12 14 15
+f 13 20 14
+f 14 20 21
+f 14 21 15
+f 15 21 22
+f 15 22 16
+f 16 22 23
+f 16 23 24
+f 16 24 17
+f 17 24 19
+f 20 25 21
+f 21 25 23
+f 21 23 22
+
diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_36.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d47387810cd0e6cb6dbdc32be8903ced6264697e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_36.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.04962882 -0.01750108 0.02363732
+v -0.05138923 -0.01566794 0.01459401
+v -0.04962882 -0.01739728 0.02174313
+v -0.04962882 -0.01749232 0.02403810
+v -0.05233964 -0.01507906 0.02925048
+v -0.05171196 -0.01260821 0.01581427
+v -0.05145213 -0.01454633 0.01442833
+v -0.05091364 -0.01454633 0.01345213
+v -0.04962882 -0.01513401 0.01209081
+v -0.04962882 -0.01584425 0.01248040
+v -0.04962882 -0.01661075 0.01388201
+v -0.05233964 -0.01501528 0.02754884
+v -0.05233964 -0.01498152 0.02724882
+v -0.05233964 -0.01445384 0.02569720
+v -0.05233964 -0.01357856 0.02458442
+v -0.04962882 -0.01735728 0.02494265
+v -0.05146195 -0.01563924 0.02950573
+v -0.05233964 -0.01505531 0.02950573
+v -0.05176929 -0.01067008 0.01581428
+v -0.05154396 -0.01067007 0.01421788
+v -0.05233964 -0.01257698 0.02368435
+v -0.05233964 -0.01134657 0.02290519
+v -0.05233964 -0.01067010 0.02262083
+v -0.05110579 -0.01067007 0.01324168
+v -0.05104236 -0.01260820 0.01335362
+v -0.04962882 -0.00958471 0.01066459
+v -0.04962882 -0.01034746 0.01079669
+v -0.04991944 -0.01454632 0.01218710
+v -0.04962882 -0.01454632 0.01182438
+v -0.04962882 -0.01581930 0.03025803
+v -0.05029366 -0.01603062 0.02950573
+v -0.05131811 -0.01553421 0.03054462
+v -0.05233964 -0.01480398 0.03132380
+v -0.05233964 -0.00866821 0.02299252
+v -0.05170533 -0.00873071 0.01581429
+v -0.05154742 -0.00873070 0.01424923
+v -0.05108960 -0.00873070 0.01327079
+v -0.04962882 -0.00873069 0.01053698
+v -0.04962882 -0.01565175 0.03080882
+v -0.05029366 -0.01563799 0.03078643
+v -0.05233964 -0.01420254 0.03341055
+v -0.05233964 -0.01439760 0.03282169
+v -0.05210078 -0.01494277 0.03130141
+v -0.05233964 -0.00823432 0.02366645
+v -0.05144524 -0.00759283 0.01450224
+v -0.04962882 -0.00679131 0.01075193
+v -0.04962882 -0.01423505 0.03341055
+v -0.05029366 -0.01451764 0.03341055
+v -0.05029366 -0.01525163 0.03176264
+v -0.05233964 -0.01014622 0.03341056
+v -0.05233964 -0.00731403 0.02545093
+v -0.05233964 -0.00728652 0.02553154
+v -0.04962882 -0.00488945 0.01385966
+v -0.04962882 -0.00538335 0.01190278
+v -0.04962882 -0.00641619 0.01105643
+v -0.04962882 -0.01183052 0.03341056
+v -0.04962882 -0.00472694 0.02516211
+v -0.04967712 -0.00472694 0.02513749
+v -0.05233964 -0.00746283 0.02781532
+v -0.05021616 -0.01117031 0.03341056
+v -0.05233964 -0.00745033 0.02770560
+v -0.05001896 -0.00472694 0.02363736
+v -0.04962882 -0.00472693 0.02082966
+v -0.05020979 -0.01117406 0.03341056
+v -0.04999534 -0.00472694 0.02374707
+v -0.04999879 -0.00472694 0.02373139
+f 1 2 3
+f 1 3 11
+f 1 11 10
+f 1 10 9
+f 1 9 29
+f 1 29 27
+f 1 27 26
+f 1 26 38
+f 1 38 46
+f 1 46 55
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+f 1 47 39
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+f 1 16 4
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+f 17 33 18
+f 19 23 34
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+f 19 36 20
+f 20 36 24
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+f 24 38 25
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+f 27 29 28
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+f 34 45 35
+f 35 45 36
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+f 36 46 37
+f 37 46 38
+f 39 47 48
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+f 39 49 40
+f 40 49 41
+f 41 49 48
+f 41 48 47
+f 41 47 56
+f 41 56 64
+f 41 64 60
+f 41 60 50
+f 44 51 45
+f 45 51 52
+f 45 52 53
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+f 45 54 55
+f 45 55 46
+f 50 57 58
+f 50 58 59
+f 50 60 57
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+f 52 62 53
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+f 56 57 64
+f 57 60 64
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+f 57 62 66
+f 57 66 65
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+f 58 65 59
+f 59 65 66
+f 59 66 62
+f 59 62 61
+
diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_37.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88ba2fb6905f4888c1c815b6d775d3bfe80bd074
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_37.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.04572153 -0.00837101 -0.00884219
+v 0.04566577 -0.00080510 -0.00884216
+v 0.04891656 -0.00837101 -0.00884219
+v 0.04549498 -0.00837105 0.00212233
+v 0.04884755 -0.00080510 -0.00884216
+v 0.04561592 -0.00080513 0.00016779
+v 0.04891831 -0.00755265 -0.00884219
+v 0.04895665 -0.00837101 -0.00801749
+v 0.04549916 -0.00837105 0.00408055
+v 0.04886916 -0.00080510 -0.00782491
+v 0.04890890 -0.00291061 -0.00765780
+v 0.04886324 -0.00173455 -0.00884217
+v 0.04562813 -0.00080514 0.00212236
+v 0.04890959 -0.00561304 -0.00884218
+v 0.04897164 -0.00837101 -0.00765782
+v 0.04577555 -0.00837112 0.02167901
+v 0.04592578 -0.00080521 0.02167904
+v 0.04887195 -0.00080510 -0.00765779
+v 0.04887509 -0.00097100 -0.00765779
+v 0.04894027 -0.00484949 -0.00765781
+v 0.04905528 -0.00080516 0.00930489
+v 0.04888973 -0.00367416 -0.00884217
+v 0.04896362 -0.00678910 -0.00765781
+v 0.04898802 -0.00837102 -0.00606291
+v 0.04579577 -0.00837112 0.02204231
+v 0.04599304 -0.00080522 0.02346650
+v 0.04593100 -0.00080521 0.02183163
+v 0.04905528 -0.00080522 0.02518493
+v 0.04905528 -0.00837108 0.01042384
+v 0.04588918 -0.00837113 0.02363722
+v 0.04600489 -0.00080522 0.02355006
+v 0.04899847 -0.00080522 0.02531208
+v 0.04905528 -0.00837114 0.02826572
+v 0.04591811 -0.00837113 0.02382250
+v 0.04613315 -0.00080522 0.02444379
+v 0.04892842 -0.00080522 0.02546830
+v 0.04712718 -0.00080522 0.02546830
+v 0.04621785 -0.00080522 0.02453461
+v 0.04799817 -0.00837114 0.02702322
+v 0.04606658 -0.00837113 0.02468354
+v 0.04611120 -0.00423714 0.02458182
+v 0.04610179 -0.00552947 0.02462178
+f 1 2 5
+f 1 5 12
+f 1 12 22
+f 1 22 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 24
+f 1 24 29
+f 1 29 33
+f 1 33 39
+f 1 39 40
+f 1 40 34
+f 1 34 30
+f 1 30 25
+f 1 25 16
+f 1 16 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 13
+f 2 13 17
+f 2 17 27
+f 2 27 26
+f 2 26 31
+f 2 31 35
+f 2 35 38
+f 2 38 37
+f 2 37 36
+f 2 36 32
+f 2 32 28
+f 2 28 21
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+f 2 18 10
+f 2 10 5
+f 3 7 8
+f 4 9 6
+f 5 10 11
+f 5 11 12
+f 6 9 13
+f 7 14 8
+f 8 14 15
+f 9 16 17
+f 9 17 13
+f 10 18 19
+f 10 19 11
+f 11 20 12
+f 11 19 21
+f 11 21 20
+f 12 20 22
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 18 21 19
+f 20 23 22
+f 20 21 23
+f 21 28 33
+f 21 33 29
+f 21 29 24
+f 21 24 23
+f 25 30 26
+f 26 30 31
+f 28 32 33
+f 30 34 35
+f 30 35 31
+f 32 36 33
+f 33 36 37
+f 33 37 38
+f 33 38 35
+f 33 35 39
+f 34 40 35
+f 35 40 41
+f 35 41 39
+f 39 41 42
+f 39 42 40
+f 40 42 41
+
diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_38.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44046b39e822c9f971a25b5fc78ff35033da091a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_38.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.04534237 -0.01654889 -0.00884147
+v 0.04572147 -0.00837181 -0.00884144
+v 0.04857155 -0.01654889 -0.00884147
+v 0.04497897 -0.01654893 0.00212157
+v 0.04891644 -0.00837181 -0.00884144
+v 0.04549490 -0.00837185 0.00212160
+v 0.04857960 -0.01648725 -0.00884147
+v 0.04884964 -0.01654890 -0.00570291
+v 0.04494396 -0.01654893 0.00408098
+v 0.04895669 -0.00837181 -0.00801735
+v 0.04897359 -0.00872963 -0.00765791
+v 0.04891564 -0.00872963 -0.00884144
+v 0.04549932 -0.00837185 0.00408101
+v 0.04868182 -0.01531132 -0.00884147
+v 0.04885608 -0.01648726 -0.00570291
+v 0.04905528 -0.01654896 0.01196245
+v 0.04532386 -0.01654899 0.01972557
+v 0.04577580 -0.00837192 0.02168063
+v 0.04897158 -0.00837181 -0.00765791
+v 0.04896474 -0.01066924 -0.00765792
+v 0.04891242 -0.00949331 -0.00884144
+v 0.04900498 -0.01066925 -0.00570289
+v 0.04874339 -0.01454764 -0.00884146
+v 0.04883515 -0.01454764 -0.00765793
+v 0.04895387 -0.01454765 -0.00570290
+v 0.04905528 -0.01634483 0.01174328
+v 0.04905528 -0.01654902 0.02621310
+v 0.04899573 -0.01260805 -0.00570290
+v 0.04537497 -0.01654900 0.02161923
+v 0.04537779 -0.01654900 0.02168060
+v 0.04579593 -0.00837192 0.02204007
+v 0.04898808 -0.00837182 -0.00606233
+v 0.04892409 -0.01260804 -0.00765793
+v 0.04889632 -0.01066924 -0.00884145
+v 0.04899331 -0.00872964 -0.00570288
+v 0.04905528 -0.00837188 0.01042827
+v 0.04905528 -0.00930766 0.01047649
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+v 0.04905528 -0.01367357 0.01097618
+v 0.04905528 -0.01454771 0.01110769
+v 0.04880819 -0.01337171 -0.00884146
+v 0.04905528 -0.01599667 0.02731773
+v 0.04726322 -0.01654901 0.02586242
+v 0.04554480 -0.01654901 0.02357425
+v 0.04588929 -0.00837193 0.02363565
+v 0.04884320 -0.01260804 -0.00884146
+v 0.04888022 -0.01143291 -0.00884145
+v 0.04905528 -0.00837194 0.02826898
+v 0.04905528 -0.01101441 0.03537456
+v 0.04712156 -0.01654901 0.02579667
+v 0.04905528 -0.01067580 0.03591811
+v 0.04555084 -0.01654901 0.02363562
+v 0.04591827 -0.00837193 0.02382414
+v 0.04799807 -0.00837194 0.02702407
+v 0.04905528 -0.00912203 0.03418665
+v 0.04589010 -0.01654901 0.02492874
+v 0.04905528 -0.01011945 0.03593126
+v 0.04885326 -0.01066940 0.03537456
+v 0.04587722 -0.01654901 0.02488929
+v 0.04804798 -0.00963114 0.03280585
+v 0.04606677 -0.00837193 0.02468330
+v 0.04905528 -0.00937099 0.03493623
+v 0.04804798 -0.00988730 0.03280585
+f 1 2 5
+f 1 5 12
+f 1 12 21
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+f 1 34 47
+f 1 47 46
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+f 1 41 23
+f 1 23 14
+f 1 14 7
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diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_39.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9361b0736b68d9dde6cc8c812b87dbf2cd43b1f6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_39.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_4.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbedd40ece55ec2b05676ca0d06b435e0c275f06
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_4.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_40.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b692156c844dff33bacff209e54207b00245761
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_40.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_5.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9405331e9d45f308b07777a49201b4d3e9fba381
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_5.obj
@@ -0,0 +1,349 @@
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diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_6.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bb9be845cac9625ce6b1d74e762aa02c300c359
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_6.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_7.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49a204aabf836445aeedc1bf9e1925406534d5dc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_7.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_8.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0609f5bf603786e84f76cae143f45ce197fd5aa6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_8.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_9.obj b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1db524538320a5f6241705c1cc7d70c0724caf42
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/mesh/storage_bin_020_collision_9.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/storage_bin_020.xml b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/storage_bin_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..349f46b0d4e414dcaa623563cfc05442d16f0751
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/mjcf/storage_bin_020.xml
@@ -0,0 +1,96 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="storage_bin_020">
+  <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_020.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/storage_bin_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/storage_bin_020_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/storage_bin_020_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/storage_bin_020_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/storage_bin_020_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/storage_bin_020_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/storage_bin_020_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/storage_bin_020_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/storage_bin_020_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_20" file="mesh/storage_bin_020_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_22" file="mesh/storage_bin_020_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/storage_bin_020_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/storage_bin_020_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_26" file="mesh/storage_bin_020_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/storage_bin_020_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_37" file="mesh/storage_bin_020_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_40" file="mesh/storage_bin_020_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="storage_bin_020">
+      <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" />
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+      <geom type="mesh" mesh="collision_mesh_0_40" 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/19958fc10a655fceb30a627f37d53582/storage_bin_020.urdf b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/storage_bin_020.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7388b5ed17dc1ef5970a1e897eff3a720e8abf15
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/storage_bin_020.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_020">
+   <link name="storage_bin_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_020.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_020_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.55</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>19958fc10a655fceb30a627f37d53582</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>fabric storage bin</name>
+         <color>white,orange</color>
+         <shape>cuboid</shape>
+         <material>fabric</material>
+         <description>rectangular fabric storage bin with two handles and abstract dot pattern</description>
+         <min_height>0.0651</min_height>
+         <max_height>0.0651</max_height>
+         <real_height>0.0651</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611135944</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059607 -0.028807 -0.019369</min>
+            <max>0.060393 0.028806 0.045706</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>8</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/storage_bin_020.usd b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/storage_bin_020.usd
new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/video.mp4 b/dataset/bedroom_supplies/storage/19958fc10a655fceb30a627f37d53582/video.mp4
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