diff --git a/.gitattributes b/.gitattributes
index 87dd56a5b5d089a1a3d1754a2ac3ae172b799237..8b8ef8a1a9e3596bdc4c0dbb4bb8ce424e8522a2 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2792,7 +2792,5 @@ dataset/bedroom_supplies/storage/7e9356b96ed0585eb8d8d0f4c88f262b/mesh/jewelry_b
 dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mesh/storage_bin_015.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/storage_bin_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/855d2342d4205a288c869c2cd5f1c388/855d2342d4205a288c869c2cd5f1c388.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/827465aed052542b94152f54e6dd952f/jewelry_box_008.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/827465aed052542b94152f54e6dd952f/mesh/jewelry_box_008.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/7aeb0a4268995a18977975cb4b608f3a/mesh/storage_bin_017.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/7aeb0a4268995a18977975cb4b608f3a/storage_bin_017.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mesh/storage_bin_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/storage_bin_014.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mesh/material.mtl b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7340981f0775d7907f1e70067e955ac3c8e28406
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_014_geometry_Looks_material_0
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+map_Kd storage_bin_014_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mesh/material_0.png b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7b39a65265e936f9cf2401197d61d51f144b5cf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mesh/storage_bin_014.glb b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mesh/storage_bin_014.glb
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mesh/storage_bin_014.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13361972
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mesh/storage_bin_014.mtl b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mesh/storage_bin_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abe6245b35bdf3d420dc7575f983b81ce1c598c3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mesh/storage_bin_014.mtl
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+newmtl storage_bin_014_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mesh/storage_bin_014.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mesh/storage_bin_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42ef31179570cddfe8059c9f83c17abf126f91cf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mesh/storage_bin_014.obj
@@ -0,0 +1,112764 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mesh/storage_bin_014_collision.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mesh/storage_bin_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8128ef9cdd24ec327c008bd3674ec922f28b776e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mesh/storage_bin_014_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mesh/storage_bin_014_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mesh/storage_bin_014_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014.obj
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diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f53647881e300f3636a955d4840aa609a0c6594
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision.obj
@@ -0,0 +1,6397 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_0.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfac2a7799e8913ae8fe1a1199cc7b2fcc961039
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_0.obj
@@ -0,0 +1,238 @@
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+
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_1.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1d2f6646922247571909a34df7daf5da42d8a2c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_1.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00009142 -0.02084123 -0.01750255
+v 0.00009142 -0.02488537 -0.01425076
+v 0.00009142 -0.02084121 -0.02078640
+v -0.00887616 -0.02084123 -0.01749921
+v 0.00009142 -0.02826203 -0.01425077
+v -0.01086006 -0.02084123 -0.01749854
+v -0.01483629 -0.02084123 -0.01749720
+v -0.03271670 -0.02084123 -0.01749253
+v -0.03470481 -0.02084123 -0.01749253
+v -0.03507548 -0.02084123 -0.01749320
+v -0.03669293 -0.02084123 -0.01749787
+v -0.03702147 -0.02084123 -0.01749921
+v -0.03669293 -0.02511609 -0.01425076
+v 0.00009142 -0.02157426 -0.02085385
+v -0.04293948 -0.02084121 -0.02086921
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+v -0.00092791 -0.02824660 -0.01447116
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+v -0.00864870 -0.02839167 -0.01425077
+v -0.01063682 -0.02841173 -0.01425077
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+
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_10.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3eae1e470efe81668099fa997d5f1c45a4111b63
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_10.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.05668034 -0.00696216 0.03301880
+v 0.05472385 -0.00720147 0.02656190
+v 0.05301888 -0.00724165 0.02656190
+v 0.05077111 -0.00743381 0.02656190
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+v 0.05020642 -0.00900781 0.02656190
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+v 0.05958724 -0.00779982 0.03301880
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+v 0.05975923 -0.00851606 0.03301880
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+v 0.05669923 -0.01121946 0.03301879
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+v 0.05258046 -0.01208681 0.03301879
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+
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_11.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bc694f2529939b2374cce642d2570b9a3d190aa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_11.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
+v -0.04293949 -0.02640935 0.02640748
+v -0.05060194 -0.02057865 0.02632655
+v -0.04861518 -0.02446742 0.02661388
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+
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_12.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce6c158a0a5b853a4c4140e4d1549fee355b20f3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_12.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v -0.05440706 -0.00733814 0.02663497
+v -0.05636590 -0.00748898 0.02663497
+v -0.05847045 -0.00750029 0.03219773
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+v -0.05096991 -0.00899497 0.03219773
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+v -0.05644213 -0.01155118 0.03219772
+v -0.05651643 -0.01153425 0.03219772
+v -0.05651547 -0.01154473 0.03217213
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+f 26 41 27
+f 27 41 40
+
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_13.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ab33f73229b0db05e888b0891cdbad6ee17183c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_13.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v 0.05239805 -0.02152253 0.02254383
+v 0.05233710 -0.02252558 0.02254383
+v 0.05215605 -0.02058128 -0.01252053
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+v 0.05190404 -0.02419386 0.02449076
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+v 0.05211420 -0.02058128 -0.01317728
+v 0.05211420 -0.02057565 -0.01317728
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+v 0.05135272 -0.02152255 0.02598303
+v 0.05190677 -0.02152254 0.02568769
+v 0.05207690 -0.02152254 0.02505814
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+
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_14.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5015852f32c340b64e2c58e517003f2a65e1bab
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_14.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v -0.05205693 -0.02086845 -0.01473159
+v -0.05191055 -0.02186929 -0.01563348
+v -0.05200338 -0.02186930 -0.01473159
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+v -0.04820377 0.00002520 -0.01473151
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+v -0.04293949 -0.01669356 -0.01759798
+v -0.04817789 -0.00892463 -0.01473154
+v -0.04293949 0.00002521 -0.01766171
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+v -0.04293949 -0.01475186 -0.01760234
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+v -0.04861524 -0.02186927 -0.02111986
+v -0.04729872 -0.02186927 -0.02110297
+f 1 2 3
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+
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_15.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..969b274b021559552e24befc1480286f35b5b064
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_15.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.04293949 0.02665701 0.01260153
+v -0.04408322 0.02689466 0.01260153
+v -0.04293949 0.02335118 0.01260152
+v -0.04293949 0.02764477 0.00334054
+v -0.04515519 0.02710547 0.01260153
+v -0.04293949 0.02785242 0.00139264
+v -0.04851917 0.02027195 0.01260150
+v -0.04769067 0.02027206 -0.01631963
+v -0.04293949 0.02435638 -0.01631961
+v -0.04642883 0.02724364 0.01260153
+v -0.04293949 0.02802376 -0.00055525
+v -0.05181592 0.02027195 0.01260150
+v -0.05171236 0.02027206 -0.01631963
+v -0.04293949 0.02814067 -0.01631960
+v -0.04662960 0.02726417 0.01260153
+v -0.04293949 0.02814694 -0.00250031
+v -0.05170600 0.02166313 0.01260151
+v -0.05185317 0.02027196 0.01091408
+v -0.05178231 0.02216618 -0.01631962
+v -0.05180865 0.02027206 -0.01605633
+v -0.04464192 0.02824016 -0.01631960
+v -0.04293949 0.02833805 -0.01447080
+v -0.04804223 0.02719390 0.01260153
+v -0.04464192 0.02792191 0.00111235
+v -0.04464192 0.02801271 -0.00083554
+v -0.04293949 0.02820538 -0.00444821
+v -0.05188496 0.02027197 0.00896619
+v -0.05168965 0.02183367 0.01260151
+v -0.05221927 0.02027205 -0.01252011
+v -0.05166875 0.02317916 -0.01631961
+v -0.05180502 0.02216618 -0.01623752
+v -0.05213115 0.02027205 -0.01447083
+v -0.04662960 0.02820621 -0.01631960
+v -0.04464192 0.02827568 -0.01447080
+v -0.04820939 0.02717890 0.01260153
+v -0.04662960 0.02768030 0.00306308
+v -0.04662960 0.02760923 0.00501097
+v -0.04464192 0.02805535 -0.00278061
+v -0.05154339 0.02280481 0.01260151
+v -0.05198944 0.02216617 -0.01447082
+v -0.05157791 0.02387633 -0.01631961
+v -0.05171327 0.02352972 -0.01601101
+v -0.04862273 0.02778064 -0.01631960
+v -0.04920323 0.02684966 0.01260153
+v -0.05118455 0.02397571 0.01260152
+v -0.05171872 0.02351787 -0.01447081
+v -0.05145709 0.02418978 -0.01631961
+v -0.05134535 0.02448901 -0.01447081
+v -0.04868814 0.02775380 -0.01631960
+v -0.05010077 0.02597958 0.01260153
+v -0.04982097 0.02722480 -0.01631960
+v -0.05114185 0.02410914 0.01260152
+v -0.05065947 0.02605943 -0.01631960
+v -0.05020161 0.02587851 0.01260153
+v -0.05061586 0.02612259 -0.01631960
+v -0.05029972 0.02569455 0.01260152
+f 1 2 5
+f 1 5 10
+f 1 10 15
+f 1 15 23
+f 1 23 35
+f 1 35 44
+f 1 44 50
+f 1 50 54
+f 1 54 56
+f 1 56 52
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+f 1 45 39
+f 1 39 28
+f 1 28 17
+f 1 17 12
+f 1 12 7
+f 1 7 3
+f 1 3 9
+f 1 9 14
+f 1 14 22
+f 1 22 26
+f 1 26 16
+f 1 16 11
+f 1 11 6
+f 1 6 4
+f 1 4 2
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+f 5 6 10
+f 6 11 10
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+f 19 20 31
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+f 22 34 26
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+f 25 36 37
+f 25 37 35
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+f 25 33 36
+f 26 34 33
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+f 29 40 32
+f 30 31 42
+f 30 42 41
+f 31 32 40
+f 31 40 42
+f 33 43 35
+f 33 35 36
+f 35 37 36
+f 35 43 44
+f 39 45 46
+f 39 46 40
+f 40 46 42
+f 41 42 47
+f 42 46 48
+f 42 48 47
+f 43 49 44
+f 44 49 51
+f 44 51 50
+f 45 52 46
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+f 47 48 53
+f 48 52 53
+f 50 51 54
+f 51 55 54
+f 52 56 53
+f 53 56 54
+f 53 54 55
+
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_16.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e51b8ed862d26e34e5009cb1474c05def04d03e8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_16.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.05223399 0.02021818 -0.01057167
+v 0.05221611 0.02021819 -0.01252089
+v 0.05221611 0.02022322 -0.01252089
+v 0.05191672 0.02233211 -0.01247265
+v 0.05175674 0.02132821 0.01267435
+v 0.05187471 0.02022313 0.01085563
+v 0.05187471 0.02021810 0.01085563
+v 0.05203022 0.02021819 -0.01447012
+v 0.05203022 0.02022322 -0.01447012
+v 0.05186488 0.02234885 -0.01463184
+v 0.05175495 0.02319023 -0.01408990
+v 0.05175495 0.02319023 -0.01308833
+v 0.05159677 0.02230019 0.01267435
+v 0.05160928 0.02223573 0.01267435
+v 0.05183986 0.02022312 0.01267434
+v 0.05183986 0.02021809 0.01267434
+v 0.05180769 0.02021820 -0.01567881
+v 0.05180769 0.02022323 -0.01567881
+v 0.05179338 0.02182394 -0.01564475
+v 0.05173262 0.02311908 -0.01538939
+v 0.05136351 0.02400567 -0.01631151
+v 0.05132776 0.02409943 -0.01631151
+v 0.05144484 0.02394622 -0.01463183
+v 0.05113293 0.02410937 0.01267436
+v 0.04856439 0.02021809 0.01267434
+v 0.05180590 0.02021820 -0.01568448
+v 0.05159319 0.02224170 -0.01631152
+v 0.05159230 0.02232374 -0.01631152
+v 0.05158694 0.02237649 -0.01631152
+v 0.05057525 0.02592451 -0.01631150
+v 0.05027764 0.02584152 0.01267436
+v 0.04310467 0.02480591 0.01267436
+v 0.04768676 0.02021820 -0.01631153
+v 0.05160303 0.02021820 -0.01631153
+v 0.05160303 0.02022323 -0.01631153
+v 0.05050644 0.02606097 -0.01631150
+v 0.04950994 0.02674820 0.01267437
+v 0.04987190 0.02707733 -0.01631150
+v 0.04984508 0.02712002 -0.01631150
+v 0.04310467 0.02805171 0.01267437
+v 0.04310467 0.02468798 -0.01631151
+v 0.04945364 0.02681350 0.01267437
+v 0.04876458 0.02778894 -0.01631150
+v 0.04406452 0.02802492 0.01267437
+v 0.04310467 0.02811869 0.01085566
+v 0.04310467 0.02851730 -0.01631150
+v 0.04938750 0.02685034 0.01267437
+v 0.04864482 0.02783917 -0.01631150
+v 0.04846072 0.02733591 0.01267437
+v 0.04478128 0.02800483 0.01267437
+v 0.04310467 0.02817145 0.00890644
+v 0.04310467 0.02875003 -0.01477367
+v 0.04467136 0.02861274 -0.01631149
+v 0.04676802 0.02850725 -0.01631150
+v 0.04676802 0.02780139 0.01267437
+v 0.04478128 0.02873161 -0.01447008
+v 0.04310467 0.02877012 -0.01447008
+v 0.04478128 0.02861023 -0.01631149
+v 0.04665898 0.02852400 -0.01631150
+f 1 2 3
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+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 16
+f 1 16 25
+f 1 25 33
+f 1 33 34
+f 1 34 26
+f 1 26 17
+f 1 17 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 13
+f 5 13 24
+f 5 24 31
+f 5 31 37
+f 5 37 42
+f 5 42 47
+f 5 47 49
+f 5 49 55
+f 5 55 50
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+f 5 16 15
+f 5 15 6
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+f 21 34 33
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+f 21 30 22
+f 22 30 23
+f 23 30 24
+f 24 30 31
+f 25 32 33
+f 26 34 35
+f 26 35 27
+f 30 36 31
+f 31 36 38
+f 31 38 39
+f 31 39 37
+f 32 40 45
+f 32 45 51
+f 32 51 57
+f 32 57 52
+f 32 52 46
+f 32 46 41
+f 32 41 33
+f 37 39 42
+f 39 43 42
+f 40 44 45
+f 42 43 47
+f 43 48 49
+f 43 49 47
+f 44 50 45
+f 45 50 51
+f 46 52 53
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+f 49 54 55
+f 50 55 56
+f 50 56 51
+f 51 56 57
+f 52 57 53
+f 53 57 58
+f 54 59 55
+f 55 59 56
+f 56 59 58
+f 56 58 57
+
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_17.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdd2d8cef17a35e97c6f7098e6b203b432a9dc65
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_17.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v 0.05074067 0.01558627 0.02656000
+v 0.05014370 0.01437447 0.02655999
+v 0.05267532 0.01447324 0.02655999
+v 0.05074244 0.02072596 0.02636156
+v 0.04959699 0.01245041 0.02655999
+v 0.04902560 0.02072596 0.02611824
+v 0.05394598 0.01363182 0.02655999
+v 0.05192845 0.02072597 0.02571043
+v 0.05399007 0.01360143 0.02655999
+v 0.05571044 0.01198317 0.02655998
+v 0.05690350 0.01075998 0.02655998
+v 0.04960581 0.01138677 0.02655998
+v 0.04822669 0.02072597 0.02449246
+v 0.04918961 0.00132392 0.02604611
+v 0.05225382 0.02072597 0.02449246
+v 0.05709308 0.01044278 0.02655998
+v 0.04961286 0.00132392 0.02614942
+v 0.05074244 0.00132392 0.02642401
+v 0.04998586 0.00961086 0.02655998
+v 0.04817643 0.02072598 0.02056125
+v 0.04840746 0.00132395 0.01864993
+v 0.04856265 0.00132393 0.02449238
+v 0.04873372 0.00132393 0.02491650
+v 0.05244518 0.02072598 0.02254453
+v 0.05716892 0.00866877 0.02655997
+v 0.05255275 0.01257962 0.01267432
+v 0.05180147 0.02072601 0.01267435
+v 0.05110221 0.00132392 0.02626632
+v 0.05610548 0.00736011 0.02655997
+v 0.05322644 0.00712079 0.02655997
+v 0.05115247 0.00700303 0.02655997
+v 0.04816056 0.02072599 0.01866225
+v 0.04844185 0.00132396 0.01670064
+v 0.05258714 0.00856626 0.01267430
+v 0.05259331 0.01050931 0.01267431
+v 0.05259155 0.01063847 0.01267431
+v 0.05255540 0.01245046 0.01267432
+v 0.05712307 0.00860609 0.02655997
+v 0.05206071 0.00132393 0.02584493
+v 0.05218681 0.00132393 0.02547655
+v 0.05252189 0.00132393 0.02449238
+v 0.05256245 0.00132393 0.02396224
+v 0.05267091 0.00132394 0.02254445
+v 0.05209069 0.00132397 0.01267427
+v 0.04844538 0.02072601 0.01267435
+v 0.04844449 0.02072601 0.01268794
+v 0.04862879 0.00132397 0.01475270
+v 0.04883072 0.00132397 0.01267427
+f 1 2 5
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+f 1 12 19
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+f 1 30 29
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+f 1 38 25
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+f 1 16 11
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+f 16 27 24
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+f 18 30 31
+f 18 31 19
+f 20 32 21
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+f 32 46 33
+f 33 46 45
+f 33 45 47
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+
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_18.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbd9c1e7f1deb7be4e18b69453f7a0d7e074aa1e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_18.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.05074102 0.01558652 0.02656173
+v 0.05267612 0.01447390 0.02656172
+v 0.05014388 0.01437558 0.02656172
+v 0.05091702 0.01261167 0.03038337
+v 0.05098437 0.01270579 0.03038337
+v 0.05152404 0.01355959 0.02985661
+v 0.05284494 0.01331084 0.03038337
+v 0.05293473 0.01329068 0.03038337
+v 0.05471628 0.01275285 0.03038337
+v 0.05670346 0.01212427 0.03038336
+v 0.05800549 0.01167973 0.03038336
+v 0.05800729 0.01168141 0.03033810
+v 0.05394673 0.01363187 0.02656172
+v 0.05783219 0.01158308 0.02905935
+v 0.04959613 0.01245034 0.02656172
+v 0.05097180 0.01041668 0.03038336
+v 0.04960600 0.01138645 0.02656171
+v 0.05803333 0.01165115 0.03038336
+v 0.05876876 0.01050660 0.03038336
+v 0.05876158 0.01050744 0.03033810
+v 0.05399073 0.01360246 0.02656172
+v 0.05809440 0.01051669 0.02840202
+v 0.05745236 0.01116964 0.02776077
+v 0.05115229 0.00700235 0.02656170
+v 0.05097898 0.01041164 0.03038336
+v 0.04998584 0.00960995 0.02656171
+v 0.05876607 0.01045365 0.03038336
+v 0.05783039 0.00925532 0.02715917
+v 0.05783039 0.00987466 0.02715918
+v 0.05571122 0.01198394 0.02656171
+v 0.05690370 0.01075871 0.02656171
+v 0.05274706 0.00930153 0.03038335
+v 0.05322747 0.00712084 0.02656170
+v 0.05600126 0.00746874 0.02783820
+v 0.05669987 0.00804857 0.03038335
+v 0.05471628 0.00860572 0.03038335
+v 0.05846346 0.00873850 0.03038335
+v 0.05809260 0.00896624 0.02839003
+v 0.05716860 0.00866792 0.02656170
+v 0.05709317 0.01044190 0.02656171
+v 0.05610542 0.00735865 0.02656170
+v 0.05675913 0.00806202 0.03038335
+v 0.05712280 0.00860657 0.02656170
+f 1 2 13
+f 1 13 21
+f 1 21 30
+f 1 30 31
+f 1 31 40
+f 1 40 39
+f 1 39 43
+f 1 43 41
+f 1 41 33
+f 1 33 24
+f 1 24 26
+f 1 26 17
+f 1 17 15
+f 1 15 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
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+f 1 10 11
+f 1 11 12
+f 1 12 2
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+f 4 25 32
+f 4 32 36
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+f 4 19 18
+f 4 18 11
+f 4 11 10
+f 4 10 9
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+f 4 8 7
+f 4 7 5
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+f 4 17 16
+f 5 7 6
+f 11 18 12
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+f 12 19 20
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+f 14 22 23
+f 14 23 21
+f 16 24 25
+f 16 17 26
+f 16 26 24
+f 19 27 20
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+f 20 29 22
+f 21 23 30
+f 22 29 23
+f 23 29 31
+f 23 31 30
+f 24 32 25
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+f 24 34 35
+f 24 35 36
+f 24 36 32
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+f 27 38 28
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+f 29 39 40
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+f 33 41 34
+f 34 41 42
+f 34 42 35
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+f 37 41 38
+f 38 41 43
+f 38 43 39
+
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_19.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8f3e11d19365639ea43e47c4a4c6fccf2354541
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_19.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v -0.05060148 0.01526730 0.02663368
+v -0.05270752 0.01435322 0.02663367
+v -0.05013326 0.01492329 0.02663367
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+v -0.05378166 0.01360623 0.02663367
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+
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_2.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db554d960dd8696029c8e289939234f0f76fad25
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_2.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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+v -0.04293948 -0.02893653 -0.01280196
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+v -0.00092791 -0.02878623 0.00890643
+v -0.03669293 -0.02915720 -0.00667633
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+v -0.04265306 -0.02763440 0.02578677
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diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_20.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..350174996af69af4bf9f28c77949b9e947791d62
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_20.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+v -0.04293949 -0.02523257 -0.01473225
+v -0.04293949 -0.02186927 -0.02092127
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+v -0.04293949 -0.02446758 -0.02107318
+v -0.04662957 -0.02186927 -0.02108899
+v -0.05191050 -0.02186929 -0.01563347
+v -0.05181467 -0.02252459 -0.01622459
+v -0.05196817 -0.02252460 -0.01473097
+v -0.04293949 -0.02863285 -0.01475062
+v -0.04490741 -0.02874251 -0.01473100
+v -0.04662957 -0.02854538 -0.01641954
+v -0.04293949 -0.02640992 -0.02050675
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+v -0.04662957 -0.02640992 -0.02077003
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+v -0.05180935 -0.02186929 -0.01615371
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+v -0.05172417 -0.02388968 -0.01600752
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+v -0.04986804 -0.02744874 -0.01473099
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+
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_21.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..420f92eb4d51843c9276cf7ac3dda8689ea3f120
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_21.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.05440587 -0.00733864 0.02663359
+v -0.05636559 -0.00748872 0.02663359
+v -0.05297091 -0.00734473 0.02663359
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+v -0.05724328 -0.00871162 0.02663359
+v -0.05186380 0.00013870 0.02578743
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+v -0.04899388 0.00013869 0.02606767
+v -0.05066197 -0.00786188 0.02663359
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+v -0.04960316 -0.00996088 0.02663358
+v -0.05730365 -0.00892253 0.02663359
+v -0.05200405 0.00013870 0.02535335
+v -0.05228175 0.00013870 0.02449342
+v -0.05245543 0.00013871 0.02254416
+v -0.05240064 0.00013871 0.02189166
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+v -0.05127496 0.00013874 0.01260143
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+v -0.05347895 -0.01375938 0.02663357
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+f 46 56 47
+
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_22.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2eb50ab606cad940569c6fb7be0f7cae8a5cd49
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_22.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v 0.04310378 -0.02073806 -0.02087116
+v 0.04676835 -0.02073806 -0.02106300
+v 0.04310378 -0.02073808 -0.01763858
+v 0.04310378 0.00009175 -0.02089593
+v 0.04875471 -0.02073806 -0.02111193
+v 0.04676835 0.00009175 -0.02105438
+v 0.04872880 -0.02073809 -0.01317728
+v 0.04310378 -0.01863798 -0.01760517
+v 0.04310378 0.00009173 -0.01765947
+v 0.05053921 -0.02057904 -0.02021719
+v 0.05053921 -0.02073807 -0.02021719
+v 0.04748465 0.00009175 -0.02106525
+v 0.04875471 -0.00115201 -0.02108544
+v 0.05053295 0.00009174 -0.02019924
+v 0.04310378 -0.01833417 -0.01760440
+v 0.05208792 -0.02073809 -0.01317728
+v 0.04876542 -0.01280866 -0.01317725
+v 0.04310378 -0.01444796 -0.01760515
+v 0.04310378 -0.01475176 -0.01760438
+v 0.04310378 -0.01639107 -0.01760050
+v 0.04310378 -0.01669487 -0.01760050
+v 0.04877971 -0.01086555 -0.01317724
+v 0.04892619 0.00009172 -0.01317720
+v 0.05060441 -0.02073807 -0.02006729
+v 0.04875471 0.00009175 -0.02108311
+v 0.04939598 0.00009175 -0.02076467
+v 0.05120638 0.00009174 -0.01836703
+v 0.05130195 -0.02073807 -0.01836711
+v 0.05201736 -0.02073809 -0.01447125
+v 0.05211471 -0.02057906 -0.01317728
+v 0.05222636 0.00009172 -0.01317720
+v 0.05202093 0.00009172 -0.01447117
+v 0.05182355 -0.02057905 -0.01572405
+v 0.05182087 -0.02073808 -0.01571861
+v 0.05203165 -0.02057906 -0.01447125
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+v 0.05222725 -0.00049958 -0.01317720
+v 0.05222725 -0.00115204 -0.01317720
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+f 10 24 11
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+f 29 35 30
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+f 35 38 39
+f 35 39 36
+
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_23.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b01f506c3abc5a68d4d26db5203206ee10888e3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_23.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.04877509 -0.02057565 -0.01317728
+v 0.04876615 -0.01280718 -0.01317725
+v 0.05211454 -0.02057565 -0.01317728
+v 0.04858432 -0.02057568 -0.00472798
+v 0.04878079 -0.01086506 -0.01317724
+v 0.04855545 -0.02057569 -0.00277951
+v 0.05218735 -0.01863758 -0.01317727
+v 0.05226911 -0.01863758 -0.01252188
+v 0.05215644 -0.02057565 -0.01252695
+v 0.04892681 0.00009171 -0.01317720
+v 0.04853674 -0.02057570 -0.00083103
+v 0.05222803 -0.00115245 -0.01317720
+v 0.05233257 -0.00115245 -0.01252181
+v 0.05246639 -0.00115246 -0.01057333
+v 0.05245785 -0.00309458 -0.01057334
+v 0.05235250 -0.01669345 -0.01057339
+v 0.05232280 -0.01863759 -0.01057340
+v 0.05212349 -0.02057566 -0.01057847
+v 0.05222681 0.00009171 -0.01317720
+v 0.04844074 -0.02057575 0.01267419
+v 0.04883773 0.00009161 0.01267427
+v 0.05222803 -0.00049901 -0.01317720
+v 0.05232972 0.00009171 -0.01252181
+v 0.05237812 0.00009170 -0.01181833
+v 0.05246069 0.00009170 -0.01057333
+v 0.05247208 0.00009170 -0.00986986
+v 0.05249771 -0.00115247 -0.00862486
+v 0.05249120 -0.00309459 -0.00862487
+v 0.05258557 -0.01073569 0.01267423
+v 0.05258313 -0.01086516 0.01267423
+v 0.05252781 -0.01280728 0.01267422
+v 0.05179321 -0.02020148 0.01085478
+v 0.05172243 -0.02057575 0.01267419
+v 0.05209746 0.00009161 0.01267427
+v 0.05248957 0.00009169 -0.00862486
+v 0.05259614 -0.00879357 0.01267424
+v 0.05219427 0.00009162 0.01151024
+v 0.05241392 0.00009163 0.00695790
+v 0.05236226 0.00009163 0.00890637
+v 0.05224878 0.00009162 0.01085485
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+f 31 33 32
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+f 35 38 36
+f 36 38 39
+f 36 39 40
+f 36 40 37
+
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_24.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6829e0e7e11526efa0859470f2f76f184885d189
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_24.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v 0.04765240 -0.02544756 -0.02129269
+v 0.04765240 -0.02536929 -0.02129269
+v 0.04778168 -0.02544756 -0.02129269
+v 0.04690133 -0.02622109 -0.02087565
+v 0.04478093 -0.02640967 -0.02069295
+v 0.04310466 -0.02640967 -0.02057141
+v 0.04310466 -0.02477010 -0.02102578
+v 0.04310466 -0.02446695 -0.02109569
+v 0.04875437 -0.02073806 -0.02111157
+v 0.04778168 -0.02536929 -0.02129269
+v 0.04676853 -0.02073806 -0.02106232
+v 0.04875437 -0.02252423 -0.02113937
+v 0.04856793 -0.02461995 -0.02116083
+v 0.05016504 -0.02602825 -0.01986361
+v 0.04871128 -0.02638549 -0.02040776
+v 0.04831640 -0.02757531 -0.01965310
+v 0.04676853 -0.02767636 -0.01981118
+v 0.04478093 -0.02764505 -0.01975955
+v 0.04310466 -0.02660252 -0.02042604
+v 0.04310466 -0.02073806 -0.02087087
+v 0.05053970 -0.02073807 -0.02021709
+v 0.05053794 -0.02252424 -0.02022186
+v 0.05045263 -0.02446696 -0.02017421
+v 0.05119842 -0.02446696 -0.01836699
+v 0.05039810 -0.02632927 -0.01836700
+v 0.04959603 -0.02730063 -0.01836700
+v 0.04860223 -0.02767992 -0.01836700
+v 0.04676853 -0.02796671 -0.01836700
+v 0.04478093 -0.02789341 -0.01836700
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+v 0.04817040 -0.02752908 -0.01487410
+v 0.04682042 -0.02735616 -0.01317730
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+f 1 7 8
+f 1 8 2
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+f 2 8 11
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+f 40 61 41
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+
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_25.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c8e3708e051da96118660912f0674aede7cb9c5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_25.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.05472307 -0.00720216 0.02655991
+v 0.05301779 -0.00724241 0.02655991
+v 0.05648132 -0.00747497 0.02655991
+v 0.05074257 0.00132202 0.02642401
+v 0.05077089 -0.00743472 0.02655991
+v 0.05657357 -0.00752417 0.02655991
+v 0.05110153 0.00132202 0.02626632
+v 0.04961364 0.00132202 0.02614942
+v 0.04966662 -0.01086497 0.02655990
+v 0.05020642 -0.00900897 0.02655991
+v 0.05735085 -0.00878088 0.02655991
+v 0.05206058 0.00132203 0.02584493
+v 0.04918983 0.00132202 0.02604611
+v 0.04961821 -0.01280818 0.02655989
+v 0.05737734 -0.00887033 0.02655991
+v 0.05209072 0.00132207 0.01267427
+v 0.05267163 0.00132204 0.02254445
+v 0.05252183 0.00132203 0.02449238
+v 0.05218662 0.00132203 0.02547655
+v 0.04873406 0.00132203 0.02491650
+v 0.04813762 -0.02152242 0.02449230
+v 0.04844269 -0.02152242 0.02511216
+v 0.04890577 -0.02152243 0.02602564
+v 0.04964926 -0.01382115 0.02655989
+v 0.05737734 -0.00893294 0.02655991
+v 0.05259673 -0.00879425 0.01267424
+v 0.04883088 0.00132207 0.01267427
+v 0.04856326 0.00132203 0.02449238
+v 0.04810383 -0.02152242 0.02318054
+v 0.04840707 0.00132205 0.01864993
+v 0.04981458 -0.02152243 0.02616021
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diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_26.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4c7e439127de49d4541e1ec3985f48b5ae01ec4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_26.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_27.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7857b0702f7a91904338e73caa1aa9143c5d6b9b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_27.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_28.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f92d1d575b838c019dbf795bd6f2a66e29d32fed
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_28.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_29.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21d2dc5ccc576352874c019b68c4cb111bc217da
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_29.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_3.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d1346825e2005117248a44375c488da4e15cbde
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_3.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_30.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5861f5476411821ffabf71f088d7c530b2848149
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_30.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_31.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a69f05172fc69b38d1ed696908e071a9fbd4f74
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_31.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_32.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce763de9feb6e00b9db285e3b62aac853b472044
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_32.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.04751707 0.00009172 -0.01631160
+v 0.04738554 0.01244961 -0.01631155
+v 0.05149311 0.00009172 -0.01631160
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+
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_33.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b133da8362075344b54eae49966b0144aeb4010d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_33.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.05112047 0.00002719 -0.01631970
+v -0.05180911 0.02027008 -0.01605633
+v -0.05171269 0.02027008 -0.01631963
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+
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_34.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faeb4e505a42d69d6b587d2fdb610aa6d1aac616
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_34.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_4.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3a0814426c8edb5ea50c65ac89b59b33aedc2f7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_4.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v 0.00009142 0.02605129 0.02639827
+v 0.00009142 0.02544759 0.02611531
+v 0.00009142 0.02688630 0.02622250
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+
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_5.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7168343f7425d07ac97f22b2eb5dead566dd375f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_5.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.04293948 -0.02084121 -0.02086947
+v 0.00009142 -0.02084121 -0.02078634
+v -0.04293948 -0.02084123 -0.01764051
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+v -0.04293948 0.02790900 -0.01836748
+v -0.03669293 -0.02084123 -0.01749743
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+
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_6.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e93071ea0885a8bde30753b8eb0f8da2b7d3b81
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_6.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.00009143 -0.02727357 -0.01719815
+v 0.00009143 -0.02719341 -0.01773801
+v 0.04310378 -0.02778959 -0.01836752
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+v 0.00009143 -0.02231871 -0.01719813
+v 0.00009143 -0.02709821 -0.01836752
+v 0.04310378 -0.02761925 -0.01944495
+v 0.04310378 -0.02783469 -0.01719815
+v 0.04293958 -0.02783970 -0.01719815
+v 0.01100029 -0.02200308 -0.01719813
+v 0.01696207 0.02333217 -0.01721551
+v 0.01540426 0.02333217 -0.01721589
+v 0.01497481 0.02333217 -0.01721627
+v 0.00028931 0.02333217 -0.01723383
+v 0.00009143 0.02333217 -0.01723421
+v 0.04310378 -0.02757917 -0.01966242
+v 0.00009143 -0.02622648 -0.02009736
+v 0.04310378 -0.02381669 -0.01719814
+v 0.01298755 -0.02194797 -0.01719813
+v 0.01739152 0.02333217 -0.01721551
+v 0.01497481 -0.02189787 -0.01719813
+v 0.01693260 -0.02185779 -0.01719813
+v 0.01894933 -0.02183274 -0.01719813
+v 0.02045240 -0.02182773 -0.01719813
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+v 0.04310378 -0.02660222 -0.02042623
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+v 0.00009143 -0.02446296 -0.02095730
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+v 0.04310378 0.02333217 -0.01754210
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+v 0.03882191 0.02333217 -0.01737041
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+v 0.03484319 0.02333217 -0.01727885
+v 0.03285593 0.02333217 -0.01725290
+v 0.03086867 0.02333217 -0.01723840
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+v 0.02093659 -0.02182773 -0.01719813
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+v 0.02440166 -0.02185278 -0.01719813
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+v 0.02831302 -0.02192292 -0.01719813
+v 0.03022870 -0.02197803 -0.01719813
+v 0.03208545 -0.02207823 -0.01719813
+v 0.04310378 0.02333219 -0.02099031
+v 0.04310378 -0.02446296 -0.02109541
+v 0.04310378 -0.02476857 -0.02102598
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+
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_7.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4ed02faf337d023ea543c0a678ce4245ae53322
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_7.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.04310378 0.00009174 -0.02089621
+v 0.04676873 0.00009174 -0.02105474
+v 0.04310378 0.00009172 -0.01765985
+v 0.04310378 0.02410732 -0.02105703
+v 0.04748425 0.00009174 -0.02106569
+v 0.04676873 0.02410732 -0.02117462
+v 0.04751670 0.00009172 -0.01631160
+v 0.04310378 0.02468522 -0.01631151
+v 0.04310378 0.02605046 -0.02093229
+v 0.04875471 0.00009174 -0.02108378
+v 0.04478109 0.02605046 -0.02098561
+v 0.04676873 0.02605046 -0.02103798
+v 0.04875471 0.02410732 -0.02113225
+v 0.05149282 0.00009172 -0.01631160
+v 0.04310378 0.02851565 -0.01631150
+v 0.04310378 0.02756084 -0.02002299
+v 0.04478109 0.02759435 -0.02006202
+v 0.05053269 0.00009173 -0.02019971
+v 0.04875471 0.02605046 -0.02072425
+v 0.04676873 0.02759993 -0.02008630
+v 0.05047778 0.02410731 -0.02019057
+v 0.05053934 0.02216418 -0.02021582
+v 0.05120660 0.00009173 -0.01836777
+v 0.05134305 0.02216418 -0.01836769
+v 0.05160347 0.02022103 -0.01631153
+v 0.04467127 0.02861336 -0.01631149
+v 0.04310378 0.02849890 -0.01641909
+v 0.04310378 0.02816947 -0.01836767
+v 0.04478109 0.02828114 -0.01836767
+v 0.05016162 0.02605045 -0.01986017
+v 0.04875471 0.02738496 -0.01982922
+v 0.04985128 0.02711694 -0.01948502
+v 0.04676873 0.02829231 -0.01836767
+v 0.05123240 0.02410731 -0.01836768
+v 0.05159182 0.02232331 -0.01631152
+v 0.05159348 0.02223955 -0.01631152
+v 0.04478109 0.02861057 -0.01631149
+v 0.04478109 0.02860220 -0.01641908
+v 0.04310378 0.02844864 -0.01672330
+v 0.05058178 0.02605045 -0.01836767
+v 0.04875471 0.02778419 -0.01836767
+v 0.04989787 0.02716440 -0.01836767
+v 0.04676873 0.02851006 -0.01641909
+v 0.05136385 0.02400400 -0.01631151
+v 0.05158766 0.02237356 -0.01631152
+v 0.04665891 0.02852403 -0.01631150
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+v 0.05057512 0.02592480 -0.01631150
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+v 0.04984962 0.02712251 -0.01641909
+v 0.04676873 0.02850727 -0.01631150
+v 0.04984463 0.02711972 -0.01631150
+v 0.05050690 0.02605881 -0.01631150
+v 0.04864488 0.02783723 -0.01631150
+v 0.04876469 0.02778698 -0.01631150
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+f 1 23 14
+f 1 14 7
+f 1 7 3
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+f 1 8 15
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+
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_8.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7d8c075559fac90ddb948b595b72b5dba3f1847
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_8.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v -0.05178299 0.02216421 -0.01632245
+v -0.05166872 0.02317781 -0.01632244
+v -0.05127398 0.02410857 -0.01836757
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+v -0.05088963 0.00002798 -0.01836766
+v -0.05112076 0.00002797 -0.01632253
+v -0.05157783 0.02387380 -0.01632244
+v -0.05037024 0.02410857 -0.02020985
+v -0.05147135 0.02414722 -0.01656567
+v -0.05061522 0.02605015 -0.01836756
+v -0.05006121 0.02605015 -0.01988728
+v -0.05041439 0.02216422 -0.02022649
+v -0.05031744 0.00002798 -0.02017194
+v -0.04723918 0.00002797 -0.01632253
+v -0.05145664 0.02418865 -0.01632244
+v -0.04861557 0.02605016 -0.02073811
+v -0.04861557 0.02410858 -0.02115237
+v -0.05067842 0.02605014 -0.01641935
+v -0.04983787 0.02723222 -0.01836756
+v -0.04973659 0.02713279 -0.01950723
+v -0.04861557 0.00002799 -0.02106125
+v -0.04964483 0.00002799 -0.02052348
+v -0.04293949 0.00002797 -0.01766173
+v -0.04293949 0.02435436 -0.01632244
+v -0.05065937 0.02605842 -0.01632243
+v -0.04861557 0.02738136 -0.01983502
+v -0.04662890 0.02757745 -0.02006922
+v -0.04662890 0.02605016 -0.02101697
+v -0.04662890 0.02410858 -0.02117565
+v -0.05061609 0.02612195 -0.01632243
+v -0.04982835 0.02722945 -0.01641935
+v -0.04861557 0.02779563 -0.01641935
+v -0.04861557 0.02779564 -0.01836756
+v -0.04662890 0.00002799 -0.02106172
+v -0.04293949 0.00002799 -0.02089925
+v -0.04293949 0.02813810 -0.01632243
+v -0.04662890 0.02815468 -0.01836756
+v -0.04464222 0.02753602 -0.02001317
+v -0.04464222 0.02605016 -0.02092956
+v -0.04293949 0.02438476 -0.02102078
+v -0.04293949 0.02410858 -0.02104405
+v -0.04982142 0.02722392 -0.01632243
+v -0.04868828 0.02775420 -0.01632243
+v -0.04862249 0.02777906 -0.01632243
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+v -0.04662890 0.02821543 -0.01641935
+v -0.04293949 0.02813810 -0.01641935
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+v -0.04293949 0.02626282 -0.02069203
+v -0.04293949 0.02605016 -0.02082362
+v -0.04293949 0.02753602 -0.01969108
+v -0.04464222 0.02824028 -0.01632243
+v -0.04293949 0.02791163 -0.01836756
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 24
+f 1 24 36
+f 1 36 48
+f 1 48 55
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+f 47 55 48
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+
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_9.obj b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b063efd88674011e49a547a3b1ac24ee9ced712f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/mesh/storage_bin_014_collision_9.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v -0.05060116 0.01526819 0.02663559
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diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/storage_bin_014.xml b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/storage_bin_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b9a64d50e17ba7f90942f0d836076070131a9916
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/mjcf/storage_bin_014.xml
@@ -0,0 +1,84 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="storage_bin_014">
+  <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_014.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/storage_bin_014_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/storage_bin_014_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/storage_bin_014_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/storage_bin_014_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/storage_bin_014_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/storage_bin_014_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/storage_bin_014_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/storage_bin_014_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/storage_bin_014_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/storage_bin_014_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/storage_bin_014_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/storage_bin_014_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/storage_bin_014_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/storage_bin_014_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_15" file="mesh/storage_bin_014_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/storage_bin_014_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/storage_bin_014_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/storage_bin_014_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/storage_bin_014_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/storage_bin_014_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/storage_bin_014_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/storage_bin_014_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/storage_bin_014_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/storage_bin_014_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/storage_bin_014_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/storage_bin_014_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/storage_bin_014_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/storage_bin_014_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_31" file="mesh/storage_bin_014_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/storage_bin_014_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/storage_bin_014_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/storage_bin_014_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="storage_bin_014">
+      <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_19" contype="1" conaffinity="1" rgba="1 1 1 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" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/storage_bin_014.urdf b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/storage_bin_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..de6d20c74d723ae50c4679101f5207484e967c78
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/storage_bin_014.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_014">
+   <link name="storage_bin_014">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_014.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_014_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.55</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7000" />
+         <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>86c8c22b1e6e515fb2b10391966f8c78</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>fabric storage bin</name>
+         <color>gray</color>
+         <shape>cuboid</shape>
+         <material>fabric</material>
+         <description>gray rectangular fabric storage bin with two loop handles</description>
+         <min_height>0.0618</min_height>
+         <max_height>0.0618</max_height>
+         <real_height>0.0618</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>1.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611135726</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059930 -0.029010 -0.020769</min>
+            <max>0.060070 0.028641 0.041058</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/86c8c22b1e6e515fb2b10391966f8c78/storage_bin_014.usd b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/storage_bin_014.usd
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+size 4886759
diff --git a/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/textures/material_0.png b/dataset/bedroom_supplies/storage/86c8c22b1e6e515fb2b10391966f8c78/textures/material_0.png
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