diff --git a/.gitattributes b/.gitattributes
index b7c07872b578591b2f6a669873980b05e2309afd..d962bbf6c4a524133e5cad42a3def6a1fb1ff41b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3980,5 +3980,5 @@ dataset/kitchen_supplies/storage/4e5a56a66ff856a59e6dbc5272eb3f89/mesh/storage_b
 dataset/kitchen_supplies/storage/4e5a56a66ff856a59e6dbc5272eb3f89/storage_bin_094.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/53f53fb19e2b5cbc92e202976a1ca4cc/drawer_036.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/53f53fb19e2b5cbc92e202976a1ca4cc/mesh/drawer_036.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/52d871e341105dcb82c77a019f468dd7/mesh/storage_bin_040.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/52d871e341105dcb82c77a019f468dd7/storage_bin_040.usd filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mesh/storage_bin_014.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/storage_bin_014.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mesh/material.mtl b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7340981f0775d7907f1e70067e955ac3c8e28406
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_014_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd storage_bin_014_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mesh/material_0.png b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..992cfdf2875f91ae0fd56c5331057c351118c3ab
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b439497f2afa723544f200678deaa5b2a69928e1b8e59d3ea26fcba29d814d15
+size 15545305
diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mesh/storage_bin_014.glb b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mesh/storage_bin_014.glb
new file mode 100644
index 0000000000000000000000000000000000000000..67a95036a1312fa16fa520a1b881dd48df16000a
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mesh/storage_bin_014.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e75065545d5174e7ed85b320760a0e733feba8cda88cdaa131b16e5fe797892b
+size 19150428
diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mesh/storage_bin_014.mtl b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mesh/storage_bin_014.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abe6245b35bdf3d420dc7575f983b81ce1c598c3
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mesh/storage_bin_014.mtl
@@ -0,0 +1,6 @@
+newmtl storage_bin_014_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mesh/storage_bin_014.obj b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mesh/storage_bin_014.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47ceee40fd1ca464832d7cd1b9aa04ec40afbb49
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mesh/storage_bin_014.obj
@@ -0,0 +1,162822 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl storage_bin_014_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mesh/storage_bin_014_collision.obj b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mesh/storage_bin_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2091920701b4ea386fc82b653018ed92f4f1c9ef
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mesh/storage_bin_014_collision.obj
@@ -0,0 +1,6614 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mesh/storage_bin_014_geometry_Looks_material_0.png b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mesh/storage_bin_014_geometry_Looks_material_0.png
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diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/material_0.png
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diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014.obj b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014.obj
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diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision.obj b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf5bcd32bc4bc1186d290004fc0739898d8a57ba
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision.obj
@@ -0,0 +1,6614 @@
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diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_0.obj b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1f828f4e73991d35d1edfd76c100d347a547703
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_0.obj
@@ -0,0 +1,391 @@
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diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_1.obj b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87c7b34aa2fadc31c36506912d0bdf23989d27d8
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_1.obj
@@ -0,0 +1,403 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_10.obj b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0fae546cedb0a99ffcdf1283bdb6023f31d66a7
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_10.obj
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+
diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_11.obj b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b72b835331dc5850ea2bc58e8c4f6d9244eb6517
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_11.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.02634359 -0.08153014 -0.09606201
+v 0.11327799 -0.04559435 -0.09607101
+v 0.11327799 -0.08153014 -0.09606201
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+
diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_12.obj b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63ef68badac91434feb1f8af19b00df16c881947
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_12.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v 0.07081281 0.15646331 -0.09612392
+v 0.08345396 0.15646335 -0.10566626
+v 0.07100023 0.15034096 -0.09612394
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+
diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_13.obj b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3665286ed883902e8da1b5713c16fa46f001700
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_13.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v 0.02634359 0.04007303 -0.09606097
+v 0.10717882 0.10797751 -0.09612092
+v 0.11332651 0.10213599 -0.09612094
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diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_14.obj b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8802aef46ebe3a33fd5b5dd05925d2dabf1a8aa
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_14.obj
@@ -0,0 +1,259 @@
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diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_15.obj b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eca53bc7da5645fe245408757cbe7a3cc1bc94f2
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_15.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_16.obj b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f98d0e849fc67b66f1e3ab2625a0cdae2511142e
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_16.obj
@@ -0,0 +1,379 @@
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diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_17.obj b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c54e4c32812c087b1587c018fdf90008766f9552
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_17.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_18.obj b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c9fd99b0dd8fba6b30d4ec778d04f1d66089c8e
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_18.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_19.obj b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cda6abc46a39fb261f7b6c5d65818b86605e3a6
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_19.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_2.obj b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3d6215cc814a8d73828e8fc30142fae82f32cf8
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_2.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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+v 0.00358040 -0.08234411 0.21618706
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+
diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_20.obj b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9f50ec26c6e5bddcbd7d80edc8a7ddee5c31e28
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_20.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.13278508 -0.05783549 -0.08219377
+v -0.13268731 -0.03947469 -0.08829848
+v -0.13268731 -0.08233651 -0.08829864
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+
diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_3.obj b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..008d9549633d64957c72196b82d9b37b13c6cb87
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_3.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
+v -0.01832747 -0.08227214 0.20473932
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diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_4.obj b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51a3730588050cee272aec61eb20229e121ac95a
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_4.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_5.obj b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2061948f1476b2e32ef535257fdcf39b868f7b78
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_5.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_6.obj b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..427ddd2e6b5d42d01bd4a184d03c380ec2acd8bf
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_6.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_7.obj b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c748f0f54105b39f5f6906d02dee2261b56c6130
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_7.obj
@@ -0,0 +1,415 @@
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diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_8.obj b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be3309fd8ebf9785db7bd4d1b0e02d8d7bf7af24
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_8.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_9.obj b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a7bf5f18d1b6b87c289e32ca5db9563d9b19549
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/mesh/storage_bin_014_collision_9.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/storage_bin_014.xml b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/storage_bin_014.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0d1502545bc8b30bd5f47f3468010a211ec03901
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/mjcf/storage_bin_014.xml
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+<?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" />
+    <mesh name="collision_mesh_0_14" file="mesh/storage_bin_014_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <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" />
+  </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" />
+      <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" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/storage_bin_014.urdf b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/storage_bin_014.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f4ac94362221c31b5b6b85829381796028faf5c0
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/storage_bin_014.urdf
@@ -0,0 +1,65 @@
+<?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>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="6.0000" />
+         <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>576d9a39554553719059beba9396a5c5</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>wooden storage chest</name>
+         <color>brown,golden</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>dark wooden storage bin with ornate metal latch and top handle</description>
+         <min_height>0.3257</min_height>
+         <max_height>0.3257</max_height>
+         <real_height>0.3257</real_height>
+         <min_mass>4.0</min_mass>
+         <max_mass>8.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609190027</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.131612 -0.185552 -0.106858</min>
+            <max>0.145093 0.186204 0.218836</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/storage_bin_014.usd b/dataset/kitchen_supplies/storage/576d9a39554553719059beba9396a5c5/storage_bin_014.usd
new file mode 100644
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--- /dev/null
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new file mode 100644
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