diff --git a/.gitattributes b/.gitattributes
index 92af204ded867220ed5d38f5a4e5ca95ce9afa6b..e70142f5b8d9dc3cca1691ccaf2069c0a8e32729 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2806,5 +2806,5 @@ dataset/bedroom_supplies/storage/9d3cdaa1c3c35891be06a182627700d7/mesh/wicker_ba
 dataset/bedroom_supplies/storage/9bdbff06616158c5a74eb809d7acd718/9bdbff06616158c5a74eb809d7acd718.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9bdbff06616158c5a74eb809d7acd718/mesh/wicker_basket.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9bdbff06616158c5a74eb809d7acd718/mesh/wicker_basket_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/mesh/pill_organizer_004.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/a01ca156b3f15497868c985c34dd1a09/pill_organizer_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mesh/storage_bin_030.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/storage_bin_030.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mesh/material.mtl b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..71b7c9cb82d067dbe7fee300bf027d0a0523ee9d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_030_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_030_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mesh/material_0.png b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..463dedc700b6302398b60a42e6a9e001c0e9e662
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fc33207113702115f98a05563a99f5378d0c6a846e55fe864d03612983ff7f6
+size 8460446
diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mesh/storage_bin_030.glb b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mesh/storage_bin_030.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a69db41a7880e5ae3f9e34b8cbd51ff0f597156b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mesh/storage_bin_030.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22c449f5f575b9b1ba75178e6d7883025dfcb6b7aab1b175dd6ccdfeaa8dc7f7
+size 11860644
diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mesh/storage_bin_030.mtl b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mesh/storage_bin_030.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ecd790b0549c862d1802719c3cc527f3bbddd86d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mesh/storage_bin_030.mtl
@@ -0,0 +1,6 @@
+newmtl storage_bin_030_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/a261ebc4fb1257a995b3ad58b4961d26/mesh/storage_bin_030.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mesh/storage_bin_030.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91ab843d40df9e422080c97adaba81a3e55d332d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mesh/storage_bin_030.obj
@@ -0,0 +1,111788 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl storage_bin_030_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mesh/storage_bin_030_collision.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mesh/storage_bin_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e4a498dda186030628224953fe8fd60f4227885
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mesh/storage_bin_030_collision.obj
@@ -0,0 +1,7311 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mesh/storage_bin_030_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mesh/storage_bin_030_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..463dedc700b6302398b60a42e6a9e001c0e9e662
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+version https://git-lfs.github.com/spec/v1
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+size 8460446
diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..463dedc700b6302398b60a42e6a9e001c0e9e662
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+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 8460446
diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030.obj
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index 0000000000000000000000000000000000000000..98e3f771d3f286ff83f106a50933f3af8171ff79
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+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030.obj
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diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efe87b987868f9ded2f15f3a2b2fa087ae10b239
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision.obj
@@ -0,0 +1,7311 @@
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diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_0.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d1cae23dd559edec23f6fdf07f6c44a36e793a2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_0.obj
@@ -0,0 +1,355 @@
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diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_1.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf15225fcffe67d64a12bebf37f71157e840935a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_10.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..180634edf07b14b6a13b6e5e371bf51d988e26fc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_10.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_11.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e30e35a921bef80cb117f0b741649b9642fa04d9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_11.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_12.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5eebafce8e7a33960b980cb933d866ae41e74b28
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_12.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_13.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d9231b82be6cf7529b45d96ced2eb76a1cb7f42
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_13.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v -0.00014369 0.02860612 -0.01401034
+v -0.00014369 -0.00005934 -0.01411941
+v -0.00014369 0.02860614 -0.01771810
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+v -0.02282213 -0.00005934 -0.01411784
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+v -0.04865417 -0.00005934 -0.01412255
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+
diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_14.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f5e4e1f6e2e7776ba98aa3896d4889a35b12f42
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_14.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+v -0.05684441 -0.00005935 -0.01197209
+v -0.05324067 -0.00005935 -0.01094828
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+
diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_15.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..579d7910f20c09561fcc91b92e2bd76279c7b9d1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_15.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
+v -0.05688825 -0.00103584 -0.01091181
+v -0.05688331 -0.00005935 -0.01091181
+v -0.05684976 -0.00103584 -0.01197224
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diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_16.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15a9c6e46e53c18ff74f4fe072743889426162ff
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_16.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_17.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ce15ce826fd5d70f91f22c4a7a7770e9dd1df38
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_17.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_18.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f2b02ee59dd3be3bf143629d0947ee4bb040d39
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_18.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
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+v -0.00009120 -0.02872559 -0.01400478
+v -0.00009120 -0.00005932 -0.01772096
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+
diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_19.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f226e323f56e28f1befa9677691c217d9cffad54
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_19.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_2.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f3893b447a4381ef27c2e93643a6ebce68a34f7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_2.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
+v 0.05075119 -0.03377156 0.01647727
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+
diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_20.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f943291346a203cf47d98e2fff49caf53563a7cc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_20.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v 0.05645061 0.02248937 0.02631133
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+v 0.05805914 0.02444982 0.02588876
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+v 0.05181500 0.01268712 0.01695283
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+
diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_21.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe5d719b41ed33fe4865321bce933a98aae29256
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_21.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.05286214 0.02443874 -0.00975353
+v 0.04871774 0.02975691 -0.00975351
+v 0.05649813 0.02443874 -0.00975353
+v 0.05315857 0.02443868 0.00617265
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+v 0.04871774 0.03362628 -0.00975350
+v 0.04871774 0.03013421 0.00617267
+v 0.05649732 0.02445145 -0.00975353
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+
diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_22.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d7737bbaed3292491edf6abc2d604a2f83beb35
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_22.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.05468721 0.01280131 -0.00975435
+v 0.05468721 0.01280131 -0.00977074
+v 0.05122110 0.01280131 -0.00975435
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+
diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_23.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..177ce2d3fcddaa212e1add1606a70f7b284915e2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_23.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_24.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..412ad6e7801055af12cf1611884249b9aa655f0b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_24.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_25.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..476a15cc4b6187a6621f68e311b13a9dda95ad80
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_25.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_26.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19299b0cdb0fa22a3897575982d2ed7d85dd9570
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_26.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_27.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b228bd305a29ebd8c5fc5b9278dcc52f6a082f94
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_27.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
+v 0.02346113 0.03486350 0.01471650
+v 0.00096298 0.03491114 0.01471650
+v 0.02346113 0.03135260 0.01471649
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+v 0.02346113 0.03490148 0.01116663
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+v 0.01483287 0.02971901 0.01471648
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+
diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_3.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..327386e1d38b9a62c5c2754fa4c567335960d42c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_3.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
+v -0.05579195 0.02860689 0.01571321
+v -0.05987975 0.02860688 0.01934745
+v -0.05969742 0.03033159 0.01956020
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diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_4.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f259b2692be3b36c8db16b8bdb07311766753345
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_4.obj
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diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_5.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b1bc23469312be80cbd28f870bb2b7a7628abec
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_5.obj
@@ -0,0 +1,235 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_6.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1c7b520d116ed91fd1dcd8bacd4f10a0c4923ad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_6.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.05075119 -0.00005934 -0.01400137
+v 0.05075119 -0.01083758 -0.01259368
+v 0.05075119 -0.00005932 -0.01771934
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+
diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_7.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0ff4f59d4c1dfbefd068985c56dc3534ffb7085
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_7.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_8.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4aeeeac242adbefb30f664a374a86523c8bbb79d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_8.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_9.obj b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..940485b5f02c061a751f72c73bd8c5cbf00dcec0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/mesh/storage_bin_030_collision_9.obj
@@ -0,0 +1,277 @@
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diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/storage_bin_030.xml b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/storage_bin_030.xml
new file mode 100644
index 0000000000000000000000000000000000000000..79383618e15926a5af64c33c125db17b919879fb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/mjcf/storage_bin_030.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="storage_bin_030">
+  <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_030.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/storage_bin_030_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/storage_bin_030_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/storage_bin_030_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/storage_bin_030_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/storage_bin_030_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/storage_bin_030_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_20" file="mesh/storage_bin_030_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_030_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  </asset>
+  <worldbody>
+    <body name="storage_bin_030">
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+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/storage_bin_030.urdf b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/storage_bin_030.urdf
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/storage_bin_030.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_030">
+   <link name="storage_bin_030">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_030.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_030_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>a261ebc4fb1257a995b3ad58b4961d26</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>wavy bin</name>
+         <color>brown</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular brown plastic storage bin with scalloped rim and rounded corners</description>
+         <min_height>0.0438</min_height>
+         <max_height>0.0438</max_height>
+         <real_height>0.0438</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611140400</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.060030 -0.037531 -0.017337</min>
+            <max>0.059970 0.037422 0.026503</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_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/a261ebc4fb1257a995b3ad58b4961d26/storage_bin_030.usd b/dataset/bedroom_supplies/storage/a261ebc4fb1257a995b3ad58b4961d26/storage_bin_030.usd
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