diff --git a/.gitattributes b/.gitattributes
index faff524a49f85046c5aa5dca28d9ea0bfc26054f..5454da98d8f79c29644049cc6a3ce84d6a35fa43 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2798,3 +2798,5 @@ dataset/bedroom_supplies/storage/90ce1e4ce54f531d884572502ac651a1/glasses_case_0
 dataset/bedroom_supplies/storage/90ce1e4ce54f531d884572502ac651a1/mesh/glasses_case_039.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/8e791ff86212505598749780ba150747/mesh/pill_organizer_027.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/8e791ff86212505598749780ba150747/pill_organizer_027.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mesh/storage_bin_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/storage_bin_008.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mesh/material.mtl b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..381438c86d7b1f1be5a45901272eb3bbca6abc50
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_008_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_008_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mesh/material_0.png b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a467d138d010fdff7fe97818988348be0a85b7d9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fc9d4ba9dd56bd88e21a605de3ee823e3762d3080334ffa84fb897d24a53a25
+size 21255071
diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mesh/storage_bin_008.glb b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mesh/storage_bin_008.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cf05357c8adcef7e989211d01d9e8123b80ca843
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mesh/storage_bin_008.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d189e34de2ba6d5051c08f75089c8978ac942c826fe84f8c83da012752e2f834
+size 24496388
diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mesh/storage_bin_008.mtl b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mesh/storage_bin_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..af1ae71082734c4d8321d5fd86490941cac06eb3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mesh/storage_bin_008.mtl
@@ -0,0 +1,6 @@
+newmtl storage_bin_008_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mesh/storage_bin_008.obj b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mesh/storage_bin_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76ba7b665f54c7f607e4a2edb6e1cc1b4dfbea0b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mesh/storage_bin_008.obj
@@ -0,0 +1,113214 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl storage_bin_008_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mesh/storage_bin_008_collision.obj b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mesh/storage_bin_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7043147874660be2ea15eaa39370b063bf012221
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mesh/storage_bin_008_collision.obj
@@ -0,0 +1,6640 @@
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diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mesh/storage_bin_008_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mesh/storage_bin_008_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a467d138d010fdff7fe97818988348be0a85b7d9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mesh/storage_bin_008_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fc9d4ba9dd56bd88e21a605de3ee823e3762d3080334ffa84fb897d24a53a25
+size 21255071
diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a467d138d010fdff7fe97818988348be0a85b7d9
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+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fc9d4ba9dd56bd88e21a605de3ee823e3762d3080334ffa84fb897d24a53a25
+size 21255071
diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008.obj b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008.obj
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index 0000000000000000000000000000000000000000..17d7ae57aabb437e227b5af55baedb7ccb7a4fd4
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+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008.obj
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diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision.obj b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dff91ec350b45328c430f73f40260f75f26745f1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision.obj
@@ -0,0 +1,6640 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_0.obj b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9225382c24ed87f90f35ba749471fda355b4be6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_0.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_1.obj b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..616f8d496c8ba560f5a7876ba81889c082a7ae7c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_1.obj
@@ -0,0 +1,235 @@
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+
diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_10.obj b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15c402582878224bde823ff06afeabef5362e02c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_10.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
+v 0.05383558 -0.02608589 -0.01901655
+v 0.04575740 -0.02814111 -0.01534856
+v 0.04748626 -0.02815440 -0.01534856
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+v 0.05383558 -0.02848038 -0.01534856
+v 0.05383558 -0.03310284 -0.01901657
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+
diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_11.obj b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88b42d9bf305d0cf89360424273bf0facb8fc6d6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_11.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v 0.00173545 0.02843270 -0.01851128
+v 0.00173545 0.02824580 -0.00569709
+v 0.00173545 0.03359384 -0.01851126
+v 0.05459472 0.02825133 -0.01851128
+v 0.04179901 0.02783316 -0.00569709
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+v 0.04460859 0.02787272 -0.00569709
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+v 0.04311325 0.02784229 -0.00569709
+v 0.00173545 0.03392672 -0.00785974
+v 0.01212518 0.03388715 -0.00569707
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+
diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_12.obj b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..483f29b9c32b9ec1ce403b9b0aad7f9cfc292ba9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_12.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v -0.05060066 -0.03377071 0.02306492
+v -0.05060066 -0.03370443 0.02499707
+v -0.05118538 -0.03369222 0.02499707
+v -0.05118538 -0.03375326 0.02306492
+v -0.05118538 -0.03373146 0.02113277
+v -0.05060066 -0.03375501 0.02170604
+v -0.05060066 -0.03327011 0.02653430
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+v -0.05316420 -0.03326487 0.02653855
+v -0.05316420 -0.03362507 0.02499707
+v -0.05316420 -0.03363378 0.02306492
+v -0.05316420 -0.03362680 0.02113277
+v -0.05119349 -0.03312081 -0.01534459
+v -0.05093722 -0.03313302 -0.01534459
+v -0.05060066 -0.03313563 -0.01534459
+v -0.05060066 -0.03225491 0.02750250
+v -0.05118538 -0.03227148 0.02750675
+v -0.05316420 -0.03231596 0.02750250
+v -0.05514220 -0.03317940 0.02639417
+v -0.05514220 -0.03338348 0.02499707
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+v -0.05298578 -0.03301615 -0.01534459
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+v -0.05060066 -0.02874430 -0.01534458
+v -0.05060066 -0.03127460 0.02799935
+v -0.05118538 -0.03129117 0.02800785
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+
diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_13.obj b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21f031e8b68c764ce89df35158d188e21ad3a9a9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_13.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.05383152 0.00076623 -0.01903362
+v 0.05381794 0.00726601 -0.01903359
+v 0.05992514 0.00076623 -0.01903362
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+v 0.05997387 0.02582103 -0.01903353
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+v 0.05338331 0.00076615 0.00313015
+v 0.05381953 0.02582103 -0.01903353
+v 0.06007854 0.02582103 -0.01841888
+v 0.06025111 0.00076622 -0.01752204
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+v 0.05347359 0.00076614 0.00567070
+v 0.05351673 0.00138423 0.00567071
+v 0.05641134 0.02582087 0.02508457
+v 0.06019279 0.02582102 -0.01752195
+v 0.06020637 0.02491105 -0.01752195
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diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_14.obj b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7b5d70a709641681b2d89d7be59dada910efa83
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_14.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_15.obj b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..893710cfa209511500e771fbab7b5b5ef6dac5c9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_15.obj
@@ -0,0 +1,592 @@
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diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_16.obj b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2c25a319e2afc9b6d4a10bed0c9387f104d4508
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_16.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_17.obj b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77bd551ff0e845c337fa5ff7a7c563d49929d614
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_17.obj
@@ -0,0 +1,508 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_18.obj b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d86dd235eb9ae84adc39d3a095020ad400cb07e1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_18.obj
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diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_19.obj b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..637d87f956e37c101c2a0527539a83a5fc421588
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_19.obj
@@ -0,0 +1,259 @@
+# https://github.com/mikedh/trimesh
+v -0.05070941 0.03208503 0.02800204
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+v -0.05316444 0.03440910 0.02113314
+v -0.05447279 0.03382923 -0.01903000
+v -0.05734032 0.03285446 0.02499833
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+v -0.05816052 0.03187355 0.02499833
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+v -0.05867335 0.02883452 0.02499832
+v -0.05384450 0.02649547 0.02519641
+v -0.05070941 0.02919359 0.02499832
+v -0.05882544 0.02687348 0.02499831
+v -0.05884456 0.02649547 0.02499831
+v -0.05855629 0.02649546 0.02621914
+v -0.05070941 0.03455668 0.02306804
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+v -0.05316444 0.03400046 -0.01752354
+v -0.05544429 0.03340702 -0.01752354
+v -0.05316444 0.03391840 -0.01903000
+v -0.05521894 0.03347569 -0.01903000
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+v -0.05070941 0.03393418 -0.01903000
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+v -0.05750754 0.02687364 -0.01903002
+v -0.05749719 0.02649563 -0.01903002
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+
diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_2.obj b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70587570998018198ba0511105c0110d251082a3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_2.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v 0.06048973 0.00076377 -0.01534917
+v 0.05559977 0.00076377 -0.01534917
+v 0.06050155 0.00048096 -0.01534917
+v 0.06047331 0.00076377 -0.01550728
+v 0.05383558 0.00076378 -0.01903214
+v 0.05383558 -0.02847788 -0.01534927
+v 0.06054491 -0.00058037 -0.01534917
+v 0.06050681 -0.00058037 -0.01571597
+v 0.06031896 0.00076377 -0.01695384
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+v 0.05383558 -0.03308587 -0.01534929
+v 0.06054294 -0.00254002 -0.01534918
+v 0.06050681 -0.00254002 -0.01570245
+v 0.06029663 -0.02214646 -0.01752442
+v 0.06029335 -0.00058037 -0.01752434
+v 0.06025131 0.00076377 -0.01752434
+v 0.05429732 0.00076379 -0.02259973
+v 0.05565100 -0.02802870 -0.02261907
+v 0.05383558 -0.02802870 -0.02262476
+v 0.05383558 -0.03309252 -0.01542194
+v 0.05390586 -0.03308254 -0.01534929
+v 0.06051535 -0.01994393 -0.01534924
+v 0.06045755 -0.02214646 -0.01559141
+v 0.05998727 -0.02802871 -0.01945673
+v 0.05984934 -0.00058036 -0.01945663
+v 0.05982832 0.00076378 -0.01945663
+v 0.05996823 0.00076378 -0.01884696
+v 0.05565100 0.00076379 -0.02256768
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+v 0.05693770 -0.02944603 -0.02244600
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+v 0.05667892 -0.03294281 -0.01645041
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+
diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_20.obj b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33e46417a54a2087afae1acf7fdcaf20e6286f7b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_20.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.03996229 0.02587184 0.00663139
+v 0.03996229 0.02587184 0.01140143
+v 0.03996229 0.02687184 0.00663139
+v 0.03996229 0.02687184 0.01140143
+v 0.04699716 0.02587184 0.00663139
+v 0.04699716 0.02587184 0.01140143
+v 0.04699716 0.02687184 0.00663139
+v 0.04699716 0.02687184 0.01140143
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_21.obj b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9289c94eef63bb168aa8d4c1ad055e275ca28157
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_21.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v 0.05520508 0.02642536 -0.01851128
+v 0.05459473 0.02825081 -0.01851128
+v 0.06005827 0.02642536 -0.01851128
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+
diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_22.obj b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..150aa1f39cb5d478fb12395d3dfd30f1f15c3475
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_22.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.05381562 0.02562311 -0.01903353
+v 0.05381562 0.02562311 0.02751026
+v 0.05381562 0.02662311 -0.01903353
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+v 0.06137057 0.02562311 0.02751026
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+v 0.06137057 0.02662311 0.02751026
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+
diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_3.obj b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bb48b3d44104991d4a61f2e2a1687bee4123160
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_3.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_4.obj b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7d92c641c3e239b2f85ffdf297f12576a2f583c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_4.obj
@@ -0,0 +1,874 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_5.obj b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3505e143ae1842e29a41c9ec122b2912f36d5987
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_6.obj b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a55406a2a9d24f845f01d8185c92fee060c817c0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_6.obj
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diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_7.obj b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7ca310f3f0322ab3ebcc3d032cccf99725f39db
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_7.obj
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+f 100 112 113
+f 101 104 102
+f 103 104 114
+f 103 114 105
+f 104 113 110
+f 104 110 115
+f 104 115 114
+f 105 114 116
+f 106 108 118
+f 106 118 117
+f 107 116 114
+f 107 114 117
+f 107 117 118
+f 107 118 108
+f 110 113 111
+f 111 113 112
+
diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_8.obj b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39faa7b904dc558fbf28c45faef848b2a08af255
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_8.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.05118519 -0.02802961 -0.02262799
+v -0.05140888 -0.02974398 -0.02249404
+v -0.05140888 -0.02802961 -0.02262728
+v -0.05118519 -0.02606691 -0.02262086
+v -0.01162346 -0.02606691 -0.02261802
+v 0.00024766 -0.02606691 -0.02261588
+v 0.00025286 -0.02606902 -0.02261588
+v -0.00172913 -0.02802961 -0.02260875
+v -0.05140888 -0.03072391 -0.02230166
+v -0.00172913 -0.02939013 -0.02247837
+v -0.05140888 -0.02606691 -0.02261944
+v 0.00173545 -0.02606691 -0.02261517
+v 0.00173545 -0.02606902 -0.02261517
+v 0.00173545 -0.02753647 -0.02260804
+v 0.00173545 -0.02802961 -0.02260519
+v -0.05140888 -0.03177139 -0.02144379
+v 0.00173545 -0.02936762 -0.02247552
+v -0.00370591 -0.03038062 -0.02211213
+v -0.00370591 -0.03160748 -0.02114596
+v 0.00173545 -0.02903136 -0.02250830
+v -0.05140888 -0.02606692 -0.01901192
+v 0.00173545 -0.02606692 -0.01906750
+v -0.05140888 -0.03190435 -0.02133477
+v 0.00173545 -0.03010134 -0.02216343
+v 0.00173545 -0.03034756 -0.02205798
+v -0.00172913 -0.03158356 -0.02112458
+v 0.00173545 -0.03247628 -0.01945727
+v -0.05140888 -0.03288500 -0.02025031
+v -0.05140888 -0.02868034 -0.01534883
+v -0.04524963 -0.02841513 -0.01534882
+v -0.04326764 -0.02836378 -0.01534882
+v -0.01978030 -0.02822871 -0.01534882
+v -0.01953060 -0.02822730 -0.01534882
+v -0.01755382 -0.02821886 -0.01534882
+v -0.01557703 -0.02821534 -0.01534882
+v -0.01384474 -0.02821675 -0.01534882
+v -0.01359505 -0.02821745 -0.01534882
+v -0.01186796 -0.02822238 -0.01534882
+v -0.00989117 -0.02823012 -0.01534882
+v -0.00964147 -0.02823152 -0.01534882
+v -0.00766469 -0.02824348 -0.01534882
+v 0.00173545 -0.02831664 -0.01534882
+v 0.00173545 -0.03123534 -0.02133476
+v 0.00173545 -0.03152939 -0.02109180
+v 0.00173545 -0.03288571 -0.01752490
+v -0.00172913 -0.03251990 -0.01945727
+v -0.05140888 -0.03308198 -0.01939314
+v -0.05140888 -0.03310801 -0.01534884
+v 0.00173545 -0.03290471 -0.01534884
+v 0.00173545 -0.03290119 -0.01607776
+v -0.00707685 -0.03302852 -0.01534884
+v -0.00751903 -0.03302008 -0.01577351
+v -0.00964147 -0.03304259 -0.01559181
+v -0.05118519 -0.03325293 -0.01752490
+v -0.05118519 -0.03310519 -0.01927842
+v -0.05140888 -0.03310378 -0.01928341
+v -0.05140888 -0.03314248 -0.01580985
+v -0.05119039 -0.03312068 -0.01534884
+v 0.00173545 -0.03290541 -0.01559181
+v -0.00943339 -0.03304400 -0.01534884
+v -0.04895350 -0.03315022 -0.01534884
+v -0.05093549 -0.03313334 -0.01534884
+v -0.05140888 -0.03324589 -0.01752490
+v -0.05140888 -0.03323463 -0.01772797
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 16
+f 2 16 23
+f 2 23 28
+f 2 28 47
+f 2 47 56
+f 2 56 64
+f 2 64 63
+f 2 63 57
+f 2 57 48
+f 2 48 29
+f 2 29 21
+f 2 21 11
+f 2 11 3
+f 2 8 10
+f 2 10 9
+f 3 11 4
+f 4 11 21
+f 4 21 22
+f 4 22 12
+f 4 12 6
+f 4 6 5
+f 6 12 7
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 10
+f 9 10 17
+f 9 17 18
+f 9 18 19
+f 9 19 16
+f 10 15 20
+f 10 20 17
+f 12 22 42
+f 12 42 49
+f 12 49 59
+f 12 59 50
+f 12 50 45
+f 12 45 27
+f 12 27 44
+f 12 44 43
+f 12 43 25
+f 12 25 24
+f 12 24 17
+f 12 17 20
+f 12 20 15
+f 12 15 14
+f 12 14 13
+f 16 19 23
+f 17 24 18
+f 18 24 25
+f 18 25 19
+f 19 25 26
+f 19 26 27
+f 19 27 28
+f 19 28 23
+f 21 29 30
+f 21 30 31
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 35
+f 21 35 22
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 39
+f 22 39 40
+f 22 40 41
+f 22 41 42
+f 25 43 26
+f 26 43 44
+f 26 44 27
+f 27 45 46
+f 27 46 28
+f 28 46 47
+f 29 48 58
+f 29 58 62
+f 29 62 61
+f 29 61 60
+f 29 60 51
+f 29 51 49
+f 29 49 42
+f 29 42 41
+f 29 41 40
+f 29 40 39
+f 29 39 38
+f 29 38 37
+f 29 37 36
+f 29 36 35
+f 29 35 34
+f 29 34 33
+f 29 33 32
+f 29 32 31
+f 29 31 30
+f 45 50 51
+f 45 51 52
+f 45 52 53
+f 45 53 54
+f 45 54 55
+f 45 55 46
+f 46 55 47
+f 47 55 56
+f 48 57 58
+f 49 51 59
+f 50 59 51
+f 51 60 53
+f 51 53 52
+f 53 60 54
+f 54 61 62
+f 54 62 63
+f 54 63 64
+f 54 64 56
+f 54 56 55
+f 54 60 61
+f 57 63 62
+f 57 62 58
+
diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_9.obj b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d8b592c4ad4fe5a7e7f0fff968ec4ef34ee0c78
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/mesh/storage_bin_008_collision_9.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.00173545 -0.00446365 -0.01907565
+v 0.00173545 -0.02606622 -0.01906831
+v 0.00173545 -0.00446364 -0.02261331
+v -0.05140888 -0.00446365 -0.01902089
+v -0.05140888 -0.02606622 -0.01901250
+v 0.00173545 -0.02606621 -0.02261516
+v 0.00173545 -0.02018556 -0.02261548
+v 0.00025286 -0.00446364 -0.02261367
+v -0.05140888 -0.00446364 -0.02261331
+v -0.05140888 -0.02606621 -0.02261940
+v 0.00024766 -0.02606621 -0.02261587
+v -0.00370591 -0.02606621 -0.02261657
+v -0.00964147 -0.02606621 -0.02261763
+v -0.01162346 -0.02606621 -0.02261799
+v -0.01161826 -0.00446364 -0.02261579
+v -0.05118519 -0.00446364 -0.02261791
+v -0.05118519 -0.02606621 -0.02262117
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 16
+f 1 16 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 17
+f 2 17 14
+f 2 14 13
+f 2 13 12
+f 2 12 11
+f 2 11 6
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 9 16 10
+f 10 16 17
+f 14 17 15
+f 15 17 16
+
diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/storage_bin_008.xml b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/storage_bin_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..104f6c05545e81b55e9d91bae293681c568bd451
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/mjcf/storage_bin_008.xml
@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="storage_bin_008">
+  <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_008.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/storage_bin_008_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/storage_bin_008_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/storage_bin_008_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/storage_bin_008_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/storage_bin_008_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/storage_bin_008_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/storage_bin_008_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/storage_bin_008_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/storage_bin_008_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/storage_bin_008_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/storage_bin_008_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/storage_bin_008_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/storage_bin_008_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/storage_bin_008_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/storage_bin_008_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/storage_bin_008_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/storage_bin_008_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/storage_bin_008_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/storage_bin_008_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/storage_bin_008_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/storage_bin_008_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/storage_bin_008_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/storage_bin_008_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="storage_bin_008">
+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/storage_bin_008.urdf b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/storage_bin_008.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b2a3035ad27e711e94073a95a20ea74f8ba07cf2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/storage_bin_008.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_008">
+   <link name="storage_bin_008">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_008.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_008_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.7000" />
+         <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>911d1e3167b55d158de4719e7f03dcec</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>patterned storage bin</name>
+         <color>brown,white</color>
+         <shape>cuboid</shape>
+         <material>fabric</material>
+         <description>rectangular dark woven storage bin with white zigzag pattern</description>
+         <min_height>0.0504</min_height>
+         <max_height>0.0504</max_height>
+         <real_height>0.0504</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>1.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611135459</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.058743 -0.033864 -0.022337</min>
+            <max>0.061257 0.034685 0.028073</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>2</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/storage_bin_008.usd b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/storage_bin_008.usd
new file mode 100644
index 0000000000000000000000000000000000000000..bf786942dab66d8d506538b5d1aaa9074e5f07a2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/storage_bin_008.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfce3ef46789d5b291033a9be7fe669d005356486bc8b1ee6c08ee68506f5991
+size 4853978
diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/textures/material_0.png b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a467d138d010fdff7fe97818988348be0a85b7d9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fc9d4ba9dd56bd88e21a605de3ee823e3762d3080334ffa84fb897d24a53a25
+size 21255071
diff --git a/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/video.mp4 b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..be63594bd4d85ee18be243097710adc9693c7a28
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/911d1e3167b55d158de4719e7f03dcec/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a69588816817751bd0a02736d3ca9aa1ef80776965794cef7a02dbc3c6a1f23e
+size 871991