diff --git a/.gitattributes b/.gitattributes
index e41b0f9c76c14ebeca322523173d71d3ba961a28..bfcee23ab67fa676ba8137511734b13aa88b9646 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3972,3 +3972,5 @@ dataset/kitchen_supplies/storage/47e22f52962d5f55b4dd170f09ac3417/drawer_055.usd
 dataset/kitchen_supplies/storage/47e22f52962d5f55b4dd170f09ac3417/mesh/drawer_055.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/47fd24c169725c2fa5c4150eb00dec1a/drawer_060.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/47fd24c169725c2fa5c4150eb00dec1a/mesh/drawer_060.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mesh/storage_bin_008.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/storage_bin_008.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mesh/material.mtl b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..381438c86d7b1f1be5a45901272eb3bbca6abc50
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/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/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mesh/material_0.png b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0242a4c8739218d0f2e3972ca63e57b5161c9cbc
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3527754572570dede380515432e6568922111f2dc2437822c95d84afe2ad3304
+size 16601646
diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mesh/storage_bin_008.glb b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mesh/storage_bin_008.glb
new file mode 100644
index 0000000000000000000000000000000000000000..eeccf8f97e52cbf5eb2ceca5a0104d91fcf31dec
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mesh/storage_bin_008.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b905c559ae37732fca1759d729f4719c071c15876abadd250ea0835e8cadf35b
+size 20082680
diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mesh/storage_bin_008.mtl b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mesh/storage_bin_008.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..af1ae71082734c4d8321d5fd86490941cac06eb3
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/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/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mesh/storage_bin_008.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mesh/storage_bin_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dffdcfe9f5659471f3dd456dfd03ede14f6287f9
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mesh/storage_bin_008.obj
@@ -0,0 +1,134786 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl storage_bin_008_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mesh/storage_bin_008_collision.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mesh/storage_bin_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c9ff608c02b6b3167850d1ebe621d2e7a566471
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mesh/storage_bin_008_collision.obj
@@ -0,0 +1,8551 @@
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mesh/storage_bin_008_geometry_Looks_material_0.png b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mesh/storage_bin_008_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0242a4c8739218d0f2e3972ca63e57b5161c9cbc
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mesh/storage_bin_008_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3527754572570dede380515432e6568922111f2dc2437822c95d84afe2ad3304
+size 16601646
diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0242a4c8739218d0f2e3972ca63e57b5161c9cbc
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3527754572570dede380515432e6568922111f2dc2437822c95d84afe2ad3304
+size 16601646
diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d5286e900f6c53fe15e3e33de3af2416a640395
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad03974e63fddc03dcf7ed3a34c1f0d08733160a
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision.obj
@@ -0,0 +1,8551 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_0.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76917a84464632b83057b0e40d27e55d3b9c4b63
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_0.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_1.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a984845803a9c749f318992fc1ce30529fbeae7d
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_1.obj
@@ -0,0 +1,475 @@
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_10.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1e99774e5f0a701f0aec53b75023ee0d5006c09
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_10.obj
@@ -0,0 +1,127 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_11.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb306d83b95c993df72707c5f35deefe82089ade
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_11.obj
@@ -0,0 +1,406 @@
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_12.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62e6eb11cf5a07189f8a99ef036cc8c433876cdf
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_12.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_13.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bafcad4cfec318b4c08f110e8fe4eb032604921d
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_13.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_14.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69f05c5f29189abbf09ac2e35773616c3387ae3c
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_14.obj
@@ -0,0 +1,223 @@
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_15.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e36997d163266d13fb0a97f98fb0cb805745e18
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_15.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_16.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c77d067a2257d15ecf56a57dfd6a8910a44da810
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_16.obj
@@ -0,0 +1,553 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_17.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76e0fc59866dff5c4c61a66f4708d22af4f11d32
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_17.obj
@@ -0,0 +1,283 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_18.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac468a35a97868f8ddb501eadf6ade1d885627c9
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_18.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_19.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4bbe3a911b6052dcf022715309c796e7a5df66f
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_19.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
+v -0.05856960 -0.11186973 -0.08986085
+v -0.05856960 -0.17219398 -0.08986107
+v -0.05856960 -0.11186967 -0.10685988
+v -0.05857619 -0.11187045 0.10534497
+v -0.05857619 -0.13504678 0.10544968
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_2.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6d4811b8efa81c75039eed39ab527fa23a5255e
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_2.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_20.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df25d3b466ea0f40d93781087d35554c4835dc3f
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_20.obj
@@ -0,0 +1,346 @@
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_21.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aa2e6748fd9dd0dc0f0c4d93ddae237d4c55ef0
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_21.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_22.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..005eca608856dfcb61362d785dc0055ed2616ffd
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_22.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_23.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b63b582d52b0b186fbbae8ca06527bcda974b8eb
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_23.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_24.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ed09a9eae3638c4e5948545a075c28f3789f8e0
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_24.obj
@@ -0,0 +1,313 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_25.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fadc3ed1f89414a0e775c6463627d3ab6f77ac5f
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_25.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_26.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bbce237eed1753a8ea6006822368741dda4a753
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_26.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.06059641 0.10498715 -0.10726009
+v 0.06059641 0.10498715 -0.10626009
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+v 0.06729784 0.11503094 -0.10626009
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+
diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_27.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d27f98b2818b8871815cba53d24af715dea871e9
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_27.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
+v -0.12589114 0.14286989 -0.11500423
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_28.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..302719e35a940b83eef4d659db29b4feb217dcf1
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_28.obj
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_3.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b131aaa0d3d7c00a3e87ed40d3fff4a6d1d94b1
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_3.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_4.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47c9052b8bd01cf8a9b2f3e341678dd750106388
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_4.obj
@@ -0,0 +1,406 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_5.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a26df0f966e8b09c3ce59acade55d03f97f02fa5
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_5.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_6.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e83959acf4a40879d03035be31c452ecc69dad3
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_6.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_7.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95d7becb105fc97e02d85285d8aa78826eeaa42e
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_7.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_8.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bb4d04aad1890d4cd08ccc390883855cfed4ba0
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_8.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_9.obj b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19fe8a5d5cddd6f79dc183e9542409ea435556c2
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/mesh/storage_bin_008_collision_9.obj
@@ -0,0 +1,391 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/storage_bin_008.xml b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/storage_bin_008.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f3431d094a08383cd692c884ce505a22d4e1dc88
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/mjcf/storage_bin_008.xml
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+<?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" />
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+    <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" />
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+    <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" />
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+    <mesh name="collision_mesh_0_20" file="mesh/storage_bin_008_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_23" file="mesh/storage_bin_008_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/storage_bin_008_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/storage_bin_008_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_28" file="mesh/storage_bin_008_collision_28.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" />
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+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/storage_bin_008.urdf b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/storage_bin_008.urdf
new file mode 100644
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--- /dev/null
+++ b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/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="9.0000" />
+         <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>4cf402c944ef550ead21521ea792ef35</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>ornate chest</name>
+         <color>brown,golden</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>dark wooden ornate storage bin with gold trim and top handle</description>
+         <min_height>0.2934</min_height>
+         <max_height>0.2934</max_height>
+         <real_height>0.2934</real_height>
+         <min_mass>6.0</min_mass>
+         <max_mass>12.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609185750</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.125076 -0.191342 -0.126056</min>
+            <max>0.139787 0.192699 0.167320</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>0</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="None" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: part number exceeds palette size 20</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/storage_bin_008.usd b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/storage_bin_008.usd
new file mode 100644
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diff --git a/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/textures/material_0.png b/dataset/kitchen_supplies/storage/4cf402c944ef550ead21521ea792ef35/textures/material_0.png
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