diff --git a/.gitattributes b/.gitattributes
index bd01aaba43a8038dab410c77db9d51e63baf263c..b00c3d7340737b9678856a12e7e22d09424dd64a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2760,3 +2760,5 @@ dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/basket_020.usd
 dataset/bedroom_supplies/storage/548decc8f1fb5030b49b9ebe234b18e5/mesh/basket_020.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/jewelry_box_014.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/5bfcf2020b245442a6b476a9bda63a93/mesh/jewelry_box_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mesh/storage_bin_027.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/storage_bin_027.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mesh/material.mtl b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee824207ce5fa7600304795a28d4be6deb641edf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_027_geometry_Looks_material_0
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+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd storage_bin_027_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mesh/material_0.png b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6fe27a35bf0e8e090fcfb830492b56e88f38ba0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mesh/storage_bin_027.glb b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mesh/storage_bin_027.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8a053e9cc3bdb4e8d3df70c43474f2796b625a08
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mesh/storage_bin_027.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12453820
diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mesh/storage_bin_027.mtl b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mesh/storage_bin_027.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..54d8496145ea7fcb5d0945be87b54e5acd8dea6c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mesh/storage_bin_027.mtl
@@ -0,0 +1,6 @@
+newmtl storage_bin_027_geometry_Looks_material_0
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+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mesh/storage_bin_027.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mesh/storage_bin_027.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f5d4f3d6be973366eaa86ab1b400a64c4e3c14d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mesh/storage_bin_027.obj
@@ -0,0 +1,107048 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl storage_bin_027_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mesh/storage_bin_027_collision.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mesh/storage_bin_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f71fdf2f3d2e565e4cb6f84be41467b0297479a6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mesh/storage_bin_027_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027.obj
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b6ac2d24fa59a1d48e1f9197982812c373793d7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision.obj
@@ -0,0 +1,13146 @@
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+
diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_0.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e56ea2c358c16d863c3a440207345fdd610bd17f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_0.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_1.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bfbdaafd6d389a2baef1a1c2f2de091c3d002a8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_1.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.04270525 0.02684292 0.01246931
+v -0.04270525 0.02691723 0.01406320
+v -0.04270525 0.03365963 0.01246933
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+
diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_10.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c895d9d69750bd9306920f4b1074596d566f8fb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_10.obj
@@ -0,0 +1,541 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_11.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..463837423d4625f40c9fc1a8900ed05f96fa57c2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_11.obj
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_12.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..caf27ca852f1f857ff2e923f8c22cc5c7c68871f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_12.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_13.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35fce5990331592d0434ec308276046b83c1b177
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_13.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_14.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..084b817adeb9728f49bae92c224ca44363b90315
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_14.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_15.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d5bd233fbf091267705dc2070778120cd4b0d8a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_15.obj
@@ -0,0 +1,469 @@
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_16.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e2e66fca48426d5b901a52025238eb3496ee139
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_16.obj
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_17.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b0957d681a709f76f166f431d8b9951dfd17006
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_17.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_18.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ef0d91424045102dccbe62c24c523cb995efd54
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_18.obj
@@ -0,0 +1,385 @@
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_19.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b38f8aa51ebed951456661679e2535521a115f9b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_19.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_2.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7485321e405b5bf1f2fa29630884459481bcf79c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_2.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_20.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eef9f341721e3ff4009981f0ab39c9c32bd2137
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_20.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_21.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da156acbb0f7a0ac931a1e9c34d61de93296d79f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_21.obj
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_22.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70d266b78b4c54f67ce97a9d756325c7566d358a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_22.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_23.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb6dc3ad7e5003f9edb2a1069ae2a23e2063fc4e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_23.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_24.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06d2d678c4b63e1ee6a9a18f78398b2c756dd356
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_24.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_25.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8d1c027e865fec32217887b50681df20d64e116
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_25.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_26.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c71d0dffbf70b59114ad2c8744617304e51a6fe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_26.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_27.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ca2ecb3e71753b2db1fa9b6bcf68c9067ba218c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_27.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_28.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c3931285f802e0c8e71270d9b8ad7ab95a65320
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_28.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v -0.05617316 0.01640463 0.02633706
+v -0.05617316 0.01658132 0.02633706
+v -0.05613189 0.01640307 0.02633706
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_29.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08bda9a0822a1e4038032a87601c445fa2c6aa8f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_29.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.05648897 -0.01865596 0.03796019
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+
diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_3.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62dbc9e286e29be97f992c0bb05c573618763d68
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_3.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.04270657 0.03424496 0.02633464
+v -0.04270657 0.03365994 0.01246933
+v -0.04426891 0.03410175 0.02633464
+v -0.04270657 0.02764157 0.02633461
+v -0.04406587 0.03340147 0.01246933
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+
diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_30.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02ff1c6305fe6e994b09ec43e2e24f396cb29e17
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_30.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v 0.04236590 -0.01977273 -0.01715535
+v 0.04236590 -0.02444644 -0.01405433
+v 0.04236590 -0.01977269 -0.02612163
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+v -0.00002052 -0.02579402 -0.01405433
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+v 0.04068554 -0.02061915 -0.02612519
+v 0.04068554 -0.01977269 -0.02612399
+v -0.00002052 -0.01977269 -0.02612518
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+v 0.04236590 -0.03269811 -0.01449045
+v -0.00002052 -0.03303565 -0.01405436
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+v 0.01106152 -0.02257561 -0.02611573
+v -0.00002052 -0.02061915 -0.02612755
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+
diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_31.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec6083b28afabed517339a251dbb6fd254bec8c8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_31.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
+v 0.05626014 -0.01865592 0.02632087
+v 0.04972000 -0.01865592 0.02632087
+v 0.05627738 -0.01866197 0.02632087
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+
diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_32.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af89b7ca351c82b6702f19131c94ed1cb448ed03
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_32.obj
@@ -0,0 +1,565 @@
+# https://github.com/mikedh/trimesh
+v 0.04453864 -0.03829362 0.03215232
+v 0.04453864 -0.03825517 0.03021083
+v 0.04463848 -0.03824555 0.03021083
+v 0.04463848 -0.03827824 0.03215232
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+v 0.04463848 -0.03822059 0.03409609
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+v 0.04453864 -0.03410310 0.02632330
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_33.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..449ec1bf53ea5b4142734fa0f8c0fb38f910c03e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_33.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_34.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..762e2bd2642300d221b128f2a4d49c42daa26531
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_34.obj
@@ -0,0 +1,505 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_35.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2fae6ed9620a5348e383167924fcf55bfcd6466
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_35.obj
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_36.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c4142b9c32edcac560753779a2e50a8acc7a172
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_36.obj
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_37.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b5a611f318bde24c9d8f875077a1e6654518d99
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_37.obj
@@ -0,0 +1,247 @@
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_38.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e9963f32dbc0bb2a6cfa2677f465a665f1250aa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_38.obj
@@ -0,0 +1,637 @@
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_39.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..104f87482a19b24b304d1a38b2e0f59f644873b2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_39.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v -0.00002052 0.01899284 -0.01812710
+v -0.00002052 -0.00004840 -0.01823294
+v -0.00002052 0.01899287 -0.02612480
+v -0.04339141 0.01899283 -0.01681861
+v -0.00002052 -0.00004837 -0.02611848
+v -0.04339141 -0.00004841 -0.01744329
+v -0.00474563 0.01899287 -0.02612753
+v -0.04339141 0.01899287 -0.02611568
+v -0.00180358 -0.00004837 -0.02611940
+v -0.04339141 -0.00004837 -0.02611757
+v -0.04227062 -0.00004837 -0.02612760
+v -0.04227062 0.01899287 -0.02613392
+v -0.04339141 0.01852131 -0.02611841
+v -0.04339141 0.00678083 -0.02611846
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 12
+f 1 12 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 10
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+f 2 9 5
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+f 7 9 11
+f 7 11 12
+f 8 12 13
+f 10 14 12
+f 10 12 11
+f 12 14 13
+
diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_4.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43aa481d6a17910f2c2c1ba9fd71c200f9192c65
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_4.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.00002052 -0.03303493 -0.01405436
+v -0.00002052 -0.02579423 -0.01405433
+v 0.00162664 -0.03303493 -0.01405436
+v -0.00002052 -0.03304924 -0.01372983
+v -0.00002052 -0.02757064 0.01246911
+v 0.04236590 -0.02444625 -0.01405433
+v 0.01545534 -0.03303398 -0.01405436
+v -0.00002052 -0.03309884 -0.01254593
+v 0.03476074 -0.03419125 0.01246908
+v 0.03450765 -0.03419125 0.01246908
+v -0.00002052 -0.03411779 0.01246908
+v 0.04236590 -0.02713181 0.01246911
+v 0.04236590 -0.03271725 -0.01405436
+v 0.02335093 -0.03303206 -0.01405436
+v -0.00002052 -0.03397754 0.00882913
+v 0.03520053 -0.03302825 -0.01405436
+v 0.03673567 -0.03302729 -0.01405436
+v 0.03717962 -0.03302348 -0.01405436
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+v 0.03673567 -0.03414832 0.01246908
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+v 0.03871061 -0.03300726 -0.01405436
+v 0.03915455 -0.03298723 -0.01405436
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+v 0.03940764 -0.03333260 -0.00558534
+v 0.03871061 -0.03393556 0.00882913
+v 0.03871061 -0.03400998 0.01077373
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+v 0.04236590 -0.03293096 -0.00895010
+v 0.04236590 -0.03325058 -0.00088091
+v 0.04236590 -0.03340418 0.00300051
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+
diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_40.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6de6acd3b3fe192d98d5e4cf82a170b0b99f5f30
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_40.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.04571292 0.02295368 -0.01033653
+v 0.04227527 0.02562646 -0.01033652
+v 0.04571292 0.03195658 -0.01033649
+v 0.04571292 0.02543809 0.01246930
+v 0.04227527 0.02701063 0.01246931
+v 0.04227527 0.02700011 0.01235323
+v 0.04227527 0.03283593 -0.01033649
+v 0.04463781 0.03234892 -0.01033649
+v 0.04571292 0.03197972 -0.00976501
+v 0.04571292 0.03285267 0.01246933
+v 0.04227527 0.03369837 0.01246933
+v 0.04266291 0.03279070 -0.01033649
+v 0.04227527 0.03308205 -0.00441403
+v 0.04463781 0.03241518 -0.00865776
+v 0.04516375 0.03306515 0.01246933
+v 0.04436693 0.03240993 -0.01033649
+v 0.04358458 0.03318719 0.00426093
+v 0.04370067 0.03321244 0.00555793
+v 0.04536498 0.03298836 0.01246933
+v 0.04227527 0.03329870 0.00137002
+v 0.04266291 0.03365209 0.01246933
+v 0.04266291 0.03285591 -0.00865776
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+v 0.04379320 0.03323767 0.00688619
+v 0.04227527 0.03321457 -0.00088467
+v 0.04227527 0.03314200 -0.00282682
+v 0.04405903 0.03331235 0.01077497
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+
diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_41.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc6f6c61c201f898c24dd27389289ab4d4f1e859
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_41.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_42.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9191c0e9b4ef46bef1664bf52f46ed99f71e2cdd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_42.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_5.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..697ebd3098a12f10c2a7f7183f860092b5cff1ce
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_5.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_6.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76009083d14295b76ef48955f68aaaa599e6526c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_6.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_7.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bd75264e7e25cd95c3f9a66cc5d33c8b5915eee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_7.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_8.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..424f497e715856310e02404ff277f718ce6dadc7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_8.obj
@@ -0,0 +1,286 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_9.obj b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cba7ff01a57c9873f8f7dafb703a1d2be8283be7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/mesh/storage_bin_027_collision_9.obj
@@ -0,0 +1,202 @@
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diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/storage_bin_027.xml b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/storage_bin_027.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c4e7f3ba5e6e81d7509f24cc9e128fc1fb06d75c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/mjcf/storage_bin_027.xml
@@ -0,0 +1,100 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="storage_bin_027">
+  <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_027.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/storage_bin_027_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/storage_bin_027_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/storage_bin_027_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/storage_bin_027_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/storage_bin_027_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/storage_bin_027_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/storage_bin_027_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/storage_bin_027_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/storage_bin_027_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/storage_bin_027_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/storage_bin_027_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/storage_bin_027_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/storage_bin_027_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/storage_bin_027_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/storage_bin_027_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/storage_bin_027_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/storage_bin_027_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/storage_bin_027_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/storage_bin_027_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/storage_bin_027_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/storage_bin_027_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/storage_bin_027_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/storage_bin_027_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/storage_bin_027_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/storage_bin_027_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/storage_bin_027_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/storage_bin_027_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/storage_bin_027_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/storage_bin_027_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/storage_bin_027_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/storage_bin_027_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/storage_bin_027_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/storage_bin_027_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/storage_bin_027_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/storage_bin_027_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/storage_bin_027_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/storage_bin_027_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/storage_bin_027_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/storage_bin_027_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/storage_bin_027_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/storage_bin_027_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/storage_bin_027_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/storage_bin_027_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="storage_bin_027">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <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" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" 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/5a3b9d1b899450f8ab9fb357157e1fa4/storage_bin_027.urdf b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/storage_bin_027.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..feba3c8249db38e6aeaf452f1829a46a1e252d5a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/storage_bin_027.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_027">
+   <link name="storage_bin_027">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_027.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_027_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3500" />
+         <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>5a3b9d1b899450f8ab9fb357157e1fa4</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>lidded bin</name>
+         <color>beige,brown</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>rectangular beige plastic storage bin with dark brown lid</description>
+         <min_height>0.0638</min_height>
+         <max_height>0.0638</max_height>
+         <real_height>0.0638</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611140242</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059803 -0.038476 -0.025801</min>
+            <max>0.060197 0.038333 0.037978</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</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/5a3b9d1b899450f8ab9fb357157e1fa4/storage_bin_027.usd b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/storage_bin_027.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/storage_bin_027.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2941811bd972c4b239c768de64c206c429e322790a7e0772abfb1f2433ef8cec
+size 4703560
diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/textures/material_0.png b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6fe27a35bf0e8e090fcfb830492b56e88f38ba0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a9f012315a021f9219dd842f01be51b735fa588605a0b72291705788ef55b05
+size 9463601
diff --git a/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/video.mp4 b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..50cee390d17c30460f486fe742aac7d40b40d11e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5a3b9d1b899450f8ab9fb357157e1fa4/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d307398be51881dcc5a107442ffa37c3cb49a0287faefd3e5eeb8943c08a5b51
+size 301008