diff --git a/.gitattributes b/.gitattributes
index 1ecb0548f053b271d97c1c6c620503a0c4896f33..43414feba0546a3e28f2bbc12cddd37703514922 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2810,5 +2810,5 @@ dataset/bedroom_supplies/storage/a57cfa626b62575d92095bb568a12eba/mesh/basket_02
 dataset/bedroom_supplies/storage/a9ee9ba5e1fe5f8ab4a4915ac49a35aa/a9ee9ba5e1fe5f8ab4a4915ac49a35aa.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/a9ee9ba5e1fe5f8ab4a4915ac49a35aa/mesh/plastic_bin.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/a9ee9ba5e1fe5f8ab4a4915ac49a35aa/mesh/plastic_bin_gs.ply filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/mesh/storage_bin_002.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/acb3b8395c3259d4a3a7da806e83f748/storage_bin_002.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mesh/storage_bin_023.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/storage_bin_023.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mesh/material.mtl b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..95ddb9c40532af5f540d62e7248e49dbee9e575f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_023_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_023_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mesh/material_0.png b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b642ba40761fba9054b857b71a67b5e01a12d3c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04a5fda7595e8fdf6850b04976c12cae3ce3b521960540a7be6d229347d4bfe2
+size 9330977
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mesh/storage_bin_023.glb b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mesh/storage_bin_023.glb
new file mode 100644
index 0000000000000000000000000000000000000000..54e9fe693df15d22cd9af29624dc890961d926f1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mesh/storage_bin_023.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9fdc7434132339237be44906c10c2ef88fff4590ac6a4ded1bbe0a666c909c1
+size 12301952
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mesh/storage_bin_023.mtl b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mesh/storage_bin_023.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b6d2f6b1d8f16cd30b71a5627e2cdf9e8541d69e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mesh/storage_bin_023.mtl
@@ -0,0 +1,6 @@
+newmtl storage_bin_023_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/aa33a33af12559d2b4ee0c539e7c7563/mesh/storage_bin_023.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mesh/storage_bin_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f910108cb947c8b4b1ab327872ee3e6006b9e07
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mesh/storage_bin_023.obj
@@ -0,0 +1,111126 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl storage_bin_023_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mesh/storage_bin_023_collision.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mesh/storage_bin_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eff75d32882e5b2172ffb5ee4a862fc64e51d6e5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mesh/storage_bin_023_collision.obj
@@ -0,0 +1,15935 @@
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mesh/storage_bin_023_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mesh/storage_bin_023_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b642ba40761fba9054b857b71a67b5e01a12d3c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mesh/storage_bin_023_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9330977
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b642ba40761fba9054b857b71a67b5e01a12d3c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 9330977
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023.obj
new file mode 100644
index 0000000000000000000000000000000000000000..142b0e37b3e0b0665064f41999c4dc9091756bd6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..112082cae4c4bff231ce205c0cd73c2afab447f6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision.obj
@@ -0,0 +1,15935 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_0.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8da04b3ef778d2fb0991726da0c573cfe35da33
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_0.obj
@@ -0,0 +1,160 @@
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_1.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..693a7fe0e97298847bd9c7ec4f4bc3bb6f814f9f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_10.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23de1e118d98a308486fdaec6ae2df401d152819
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_10.obj
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+
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_11.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b94290f08e3d564bbb97eeffeaf0c0987a6dcb48
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_11.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.00004633 0.04299937 0.01219104
+v -0.03916590 0.04263876 0.01219306
+v 0.00004633 0.04874546 0.01219106
+v 0.03870971 0.04270785 0.01219104
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+v -0.03839599 0.04862504 0.01219308
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+
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_12.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3025437b225321c58f52e66243058600b07e5c21
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_12.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v 0.05432222 -0.03451608 0.03218592
+v 0.04889536 -0.03451608 0.03218592
+v 0.05430258 -0.03498161 0.03218592
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+
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_13.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab9f25284d309145b9e9fc054b641b4686004f5f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_13.obj
@@ -0,0 +1,253 @@
+# https://github.com/mikedh/trimesh
+v 0.05370394 0.03266460 0.01218784
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_14.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a1e3b4b823d32bbaf319a61bf723e35fbb4a2e3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_14.obj
@@ -0,0 +1,346 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_15.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f51d29a19db6a38031a6e158f65b2b526d560856
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_15.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_16.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92d82040e1eeeca2510602fd12492d42f479317c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_16.obj
@@ -0,0 +1,526 @@
+# https://github.com/mikedh/trimesh
+v -0.03916590 0.04384010 0.03276873
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_17.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81808d721bf0ced2f0f570165dcd241c269b8b2b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_17.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.03443898 0.04609344 -0.02041144
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_18.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a62de3b03581dae3b4304ad3f22417e99cb8528
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_18.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_19.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..042ddd1b53e84addd670e9fa3fe485520a407c99
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_19.obj
@@ -0,0 +1,544 @@
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_2.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be961816aa601a595819840c3683dc987cdbaeda
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_2.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_20.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..221c15de782ea4a744bfa9c3751901b735d3eb3e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_20.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_21.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66f83db5916d618bd315726576f1b2348d79e919
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_21.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_22.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9e98e5885b3a3fe2e64218905748258d59a91a7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_22.obj
@@ -0,0 +1,490 @@
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_23.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecd4015a598a3fef725fdcda7610a0b7c2a1ebb6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_23.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_24.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5bd58b5dbcfe1911661a5756346ae61560a9db4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_24.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_25.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35699bd93732eb98f7a35e93621ca06d289ee833
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_25.obj
@@ -0,0 +1,79 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_26.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a350628dc8129c0e607bebfc838e85771f6c967
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_26.obj
@@ -0,0 +1,550 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_27.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da1a7b17f7b18842c5a9de564b3df692e5c96895
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_27.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_28.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..429824435f44b353c475ce39669bc17e481cb672
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_28.obj
@@ -0,0 +1,325 @@
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_29.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7aa5f887fa552a151b4df8b761367518120da572
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_29.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_3.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02333aff0d5d91332d60dda3b88dee355a390f0a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_3.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_30.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f29ca3dbc4ade3b0e40136b2ebc0c62efdcf42e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_30.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_31.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a58b02af822157450f77f70cc9abb05690c5f74
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_31.obj
@@ -0,0 +1,475 @@
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_32.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45fbc02370048c380fd07a017d52bca6d98adbfe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_32.obj
@@ -0,0 +1,334 @@
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+
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_33.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2dfa41f1ef45166b2dce903c314f95e13c8c6f2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_33.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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+v -0.04648373 -0.00688205 -0.01903115
+v -0.05252973 -0.00688205 -0.01904493
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+v -0.03792583 -0.02263356 -0.02228012
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+
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_34.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93574325015ee3b195b25bc2b1811f30046597e3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_34.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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+v 0.05539654 -0.03451612 0.04442180
+v 0.05553855 -0.03451612 0.04442566
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+
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_35.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb589e48dc95a6ff1e6d821a394fac3d0255b4ae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_35.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.05234437 -0.03426841 -0.01903125
+v -0.04604282 -0.03426841 -0.01903125
+v -0.05249604 -0.03426842 -0.01709058
+v -0.05341926 -0.02994396 -0.01903123
+v -0.04648460 -0.00688205 -0.01903115
+v -0.04828282 -0.00688216 0.01219085
+v -0.04787993 -0.03426852 0.01219075
+v -0.05260260 -0.03426842 -0.01513767
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_36.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ed681c9b22829142d7ceb275631702c90c690ac
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_36.obj
@@ -0,0 +1,451 @@
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_37.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cb6f226a0743e50960b489bf434dcebeabf8174
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_37.obj
@@ -0,0 +1,181 @@
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+
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_38.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40b7ad8f2fc48cc826e18db7d166b70163f6a4fd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_38.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v 0.03994428 0.00006405 -0.02228168
+v 0.03994428 -0.03513953 -0.02226626
+v 0.03994428 0.00006407 -0.02821121
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+
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_39.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8dd16b8f5da07211cfb86e2559eea2eb5c9be1e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_39.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_4.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d66c38f924346702715c6f91fe023fb45ba0cc6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_4.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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+v -0.04228067 -0.04268946 0.03171550
+v -0.04037472 -0.04887296 0.03171548
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+
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_40.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b83dfb070a7a82af0d9e91977b38eb29d58be83
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_40.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.05440614 0.03549337 0.04444966
+v 0.05447455 0.03464352 0.04444651
+v 0.05447455 0.03549337 0.04444651
+v 0.05331588 0.03549337 0.04442440
+v 0.05439846 -0.03450927 0.04444625
+v 0.05440614 -0.03450927 0.04444625
+v 0.05447455 -0.03450927 0.04444309
+v 0.05447455 0.03549341 0.03393150
+v 0.05232892 0.03549337 0.04405495
+v 0.05334101 -0.03450927 0.04442098
+v 0.05447455 -0.03450923 0.03380493
+v 0.05432587 0.03068906 0.02780877
+v 0.05426026 0.03068907 0.02585734
+v 0.05419186 0.03068907 0.02390591
+v 0.05390498 0.03068910 0.01609701
+v 0.05383239 0.03068911 0.01414558
+v 0.05375771 0.03068912 0.01219415
+v 0.05370326 0.03266296 0.01219416
+v 0.05356227 0.03464364 0.01219417
+v 0.05346804 0.03549349 0.01219417
+v 0.05447455 0.00820927 0.02464788
+v 0.05099435 0.03549337 0.04307924
+v 0.05234357 -0.03450927 0.04399786
+v 0.05235335 -0.03450927 0.04400417
+v 0.05358042 -0.03450915 0.01219391
+v 0.05358181 -0.03449544 0.01219391
+v 0.05371304 -0.03252160 0.01219392
+v 0.05378772 -0.03252161 0.01414535
+v 0.05383728 -0.03054778 0.01414536
+v 0.05390847 -0.03054779 0.01609679
+v 0.05419186 -0.03054782 0.02390569
+v 0.05426026 -0.03054782 0.02585712
+v 0.05432657 -0.03054783 0.02780855
+v 0.05439009 -0.03054784 0.02975999
+v 0.05447455 -0.00881506 0.02520041
+v 0.05377376 0.02871529 0.01219415
+v 0.04734385 0.03549349 0.01219417
+v 0.05447455 0.00692080 0.02462577
+v 0.05378144 0.02476076 0.01219413
+v 0.05377935 0.02674145 0.01219414
+v 0.05035499 0.03549338 0.04147199
+v 0.05105298 -0.03450927 0.04302845
+v 0.04759862 -0.03450915 0.01219391
+v 0.05376190 -0.03054777 0.01219393
+v 0.05447455 -0.00684122 0.02468255
+v 0.04813677 0.03549343 0.02857611
+v 0.04769354 -0.03450916 0.01418323
+v 0.04769913 -0.03450916 0.01430007
+v 0.05447455 0.00243855 0.02460997
+v 0.05378842 0.00302800 0.01219405
+v 0.05378493 0.01488473 0.01219409
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+v 0.04847948 0.03549341 0.03171166
+v 0.05049040 -0.03450926 0.04147173
+v 0.05104810 -0.03450927 0.04301582
+v 0.05377585 -0.02857393 0.01219394
+v 0.05378144 -0.02659324 0.01219394
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+v 0.05447455 0.00110895 0.02460996
+v 0.04819819 0.03549342 0.02975075
+v 0.04846762 -0.03450922 0.02975681
+v 0.05378842 0.00105417 0.01219404
+v 0.04873007 -0.03450923 0.03169877
+v 0.04873216 -0.03450923 0.03171140
+v 0.05378702 -0.01078885 0.01219400
+f 1 2 3
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+f 1 53 41
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+
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_41.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c47c768e5dad32c303f3114cae56ac9269921773
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_41.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
+v -0.05483758 0.01247989 0.03089155
+v -0.05483758 0.00883135 0.02599139
+v -0.05727076 0.00994495 0.03089154
+v -0.05483758 -0.01246896 0.03089145
+v -0.05531546 0.00821593 0.02660557
+v -0.05774458 0.00905846 0.03089153
+v -0.05483758 0.00698511 0.02548312
+v -0.05755100 -0.00940408 0.03089147
+v -0.05715542 -0.00975819 0.03073925
+v -0.05483758 -0.00871539 0.02597111
+v -0.05779211 0.00698509 0.03089153
+v -0.05539342 0.00698510 0.02647411
+v -0.05483758 0.00696557 0.02548259
+v -0.05766808 -0.00873493 0.03089147
+v -0.05532908 -0.00809997 0.02658848
+v -0.05483758 -0.00686180 0.02546603
+v -0.05540848 0.00500941 0.02645548
+v -0.05779791 0.00500940 0.03089152
+v -0.05483758 0.00500942 0.02545863
+v -0.05773386 -0.00771901 0.03089147
+v -0.05540617 -0.00684227 0.02645809
+v -0.05483758 -0.00684226 0.02546550
+v -0.05540965 0.00303372 0.02645440
+v -0.05541051 0.00105803 0.02645333
+v -0.05541283 -0.00486658 0.02645065
+v -0.05778921 -0.00684228 0.03089147
+v -0.05483758 0.00303373 0.02545596
+v -0.05483758 -0.00489100 0.02545540
+v -0.05483758 0.00105804 0.02545435
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 18
+f 1 18 26
+f 1 26 20
+f 1 20 14
+f 1 14 8
+f 1 8 4
+f 1 4 10
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+
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_42.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f3df06f11fb972059591433b65084fbaeea4569
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_42.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v 0.05225256 0.02212770 -0.02040991
+v 0.05214227 0.00006621 -0.02040999
+v 0.05219069 0.02212771 -0.02080013
+v 0.04578795 0.02212770 -0.02040991
+v 0.05204811 0.00006622 -0.02099688
+v 0.04578795 0.00006621 -0.02040999
+v 0.05215841 0.02212771 -0.02099680
+v 0.02477190 0.02212771 -0.02228562
+v 0.02477190 0.00896208 -0.02228334
+v 0.05184634 0.00006622 -0.02172136
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+v 0.02477190 0.00499684 -0.02228335
+v 0.02477190 0.00006622 -0.02228415
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+v 0.05163919 0.00006622 -0.02245672
+v 0.05171452 0.02212771 -0.02259656
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+v 0.02478804 0.00006624 -0.02821677
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+v 0.04653584 0.00006624 -0.02750240
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+v 0.04453162 0.02212773 -0.02813973
+v 0.04453162 0.00006624 -0.02798746
+v 0.04604621 0.00006624 -0.02766875
+v 0.04601124 0.02212773 -0.02790343
+v 0.04486789 0.02212773 -0.02808999
+v 0.04554852 0.00006624 -0.02783743
+v 0.04504276 0.00006624 -0.02791205
+f 1 2 3
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+f 1 16 21
+f 1 21 26
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+f 44 48 45
+f 45 48 49
+f 46 50 51
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+f 46 52 47
+f 48 51 49
+f 49 51 50
+
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_43.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30d4215656354076810dcf58b40f79af54a4ee85
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_43.obj
@@ -0,0 +1,547 @@
+# https://github.com/mikedh/trimesh
+v -0.05410862 -0.02857552 -0.02294880
+v -0.05408961 -0.02857552 -0.02203587
+v -0.05407694 -0.02660202 -0.02294880
+v -0.05410387 -0.02857551 -0.02490137
+v -0.05330075 -0.03384897 -0.02615324
+v -0.05330075 -0.03384898 -0.02573265
+v -0.05364925 -0.03034745 -0.02203588
+v -0.05405793 -0.02660202 -0.02203587
+v -0.05407219 -0.02660201 -0.02490137
+v -0.05385834 -0.02589275 -0.02203587
+v -0.05362865 -0.02507647 -0.02294879
+v -0.05366350 -0.02857550 -0.02685242
+v -0.05351935 -0.03043453 -0.02700433
+v -0.05343856 -0.03252749 -0.02651810
+v -0.05282078 -0.03450597 -0.02682344
+v -0.05216022 -0.03647699 -0.02685245
+v -0.05152660 -0.03804484 -0.02685246
+v -0.05156145 -0.03810707 -0.02550291
+v -0.05304255 -0.03252749 -0.02749439
+v -0.05109257 -0.03752474 -0.02203591
+v -0.05355579 -0.02658707 -0.02703256
+v -0.05362548 -0.02508392 -0.02490136
+v -0.05347816 -0.02527056 -0.02650204
+v -0.05361915 -0.02507896 -0.02203586
+v -0.05211112 -0.02263510 -0.02203585
+v -0.05322788 -0.02723660 -0.02784321
+v -0.05322947 -0.02857550 -0.02784550
+v -0.05322155 -0.02969789 -0.02783711
+v -0.05316928 -0.03101439 -0.02775696
+v -0.05129850 -0.03759191 -0.02788370
+v -0.05098960 -0.03903035 -0.02685246
+v -0.04980948 -0.04035434 -0.02203592
+v -0.05033380 -0.03927924 -0.02203591
+v -0.05071398 -0.03847291 -0.02203591
+v -0.04946890 -0.04166335 -0.02637234
+v -0.04946890 -0.04166336 -0.02562047
+v -0.04928990 -0.04129256 -0.02203592
+v -0.05181015 -0.03450349 -0.02826688
+v -0.05149967 -0.03647699 -0.02804475
+v -0.05319462 -0.02592010 -0.02780352
+v -0.05190044 -0.02263510 -0.02310526
+v -0.05184816 -0.02263509 -0.02330372
+v -0.05102286 -0.02263509 -0.02478456
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_44.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a2f7e74d0d3ead9f14a1d66f00d7a78ef38d8db
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_44.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_45.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd7704b4558760c2d38ae29dd9d29488fef6f207
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_45.obj
@@ -0,0 +1,181 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_46.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42eedef8c4ac54e26debd25e27a57165d0fe855e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_46.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_47.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77462dbc5bfa295e60211bc5b9906ef3d5809d5c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_47.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
+v 0.04453270 0.04847237 0.04443858
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+
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_48.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6819f8dbfce98663bf4ac8861038514f842ba0a7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_48.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
+v 0.03994428 -0.02069088 -0.02821811
+v 0.04058376 -0.02069088 -0.02821734
+v 0.03994428 -0.02069090 -0.02227898
+v 0.03994428 0.00006407 -0.02821112
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_49.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68be9673779103cbc9576dec9182fdb2001017ac
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_49.obj
@@ -0,0 +1,463 @@
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_5.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..052b6c6472fa2afaf46d23d272bc5d953c462905
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_5.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_50.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c86afafce1bac050df7d42592f31f34bd910689
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_50.obj
@@ -0,0 +1,394 @@
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_51.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73a411850bbe9624046824fee0962cbd563395b0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_51.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_52.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..197c52dbd97119c2fc6d3bfc8b09cca1cd52dabc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_52.obj
@@ -0,0 +1,292 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_53.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fde90a30e06d567512ead11f8a97ef7c3890068d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_53.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_54.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19251b9a3a00c39703a0c071a3ad5a90c4d37f29
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_54.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_55.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3897728a5164b14c8a13264686fe38a704dbd0d8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_55.obj
@@ -0,0 +1,226 @@
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_56.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1ba4f1f2e29dce18696c6a8ba904b31b0ce95f2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_56.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.03807556 -0.03976497 -0.02152810
+v 0.03807556 -0.04168589 -0.01254091
+v 0.03807556 -0.04715012 -0.02152812
+v 0.02480458 -0.03998534 -0.02152810
+v 0.03807556 -0.04779656 -0.01254094
+v 0.02480458 -0.04199900 -0.01254707
+v 0.02610764 -0.04199900 -0.01254091
+v 0.03807556 -0.04756148 -0.01966998
+v 0.03609563 -0.04809771 -0.02152813
+v 0.02480458 -0.04726397 -0.02152812
+v 0.03807556 -0.04767995 -0.01761917
+v 0.03663349 -0.04786910 -0.01254094
+v 0.03268402 -0.04912610 -0.02099585
+v 0.03465875 -0.04877075 -0.02099585
+v 0.03465875 -0.04877351 -0.02152813
+v 0.02480458 -0.04215418 -0.01254091
+v 0.02480458 -0.04745955 -0.02057618
+v 0.02873586 -0.04876984 -0.02152813
+v 0.03465875 -0.04790492 -0.01254094
+v 0.03268402 -0.04792144 -0.01254094
+v 0.03071059 -0.04792971 -0.01254094
+v 0.03071059 -0.04913345 -0.02099585
+v 0.03268402 -0.04913712 -0.02152813
+v 0.03412090 -0.04887910 -0.02152813
+v 0.02480458 -0.04794256 -0.01254094
+v 0.02480458 -0.04765239 -0.01904357
+v 0.03071059 -0.04914446 -0.02152813
+v 0.02873586 -0.04877718 -0.02099585
+v 0.02480458 -0.04792236 -0.01317088
+v 0.02480458 -0.04785348 -0.01513988
+v 0.02480458 -0.04777544 -0.01709128
+v 0.02939064 -0.04793430 -0.01254094
+v 0.02873586 -0.04793613 -0.01254094
+v 0.02741590 -0.04793889 -0.01254094
+f 1 2 5
+f 1 5 11
+f 1 11 8
+f 1 8 3
+f 1 3 9
+f 1 9 15
+f 1 15 24
+f 1 24 23
+f 1 23 27
+f 1 27 18
+f 1 18 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 16
+f 2 16 25
+f 2 25 34
+f 2 34 33
+f 2 33 32
+f 2 32 21
+f 2 21 20
+f 2 20 19
+f 2 19 12
+f 2 12 5
+f 3 8 9
+f 4 10 17
+f 4 17 26
+f 4 26 31
+f 4 31 30
+f 4 30 29
+f 4 29 25
+f 4 25 16
+f 4 16 6
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 11
+f 6 16 7
+f 8 11 15
+f 8 15 9
+f 10 18 17
+f 12 19 13
+f 13 20 21
+f 13 21 22
+f 13 22 27
+f 13 27 23
+f 13 23 24
+f 13 24 14
+f 13 19 20
+f 14 24 15
+f 17 18 26
+f 18 27 28
+f 18 28 25
+f 18 25 29
+f 18 29 30
+f 18 30 31
+f 18 31 26
+f 21 32 22
+f 22 32 33
+f 22 33 34
+f 22 34 25
+f 22 25 27
+f 25 28 27
+
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_57.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af003dd797787dba0cba394889f14449789a1550
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_57.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.05539654 0.03550023 0.04442898
+v 0.05552418 0.03550023 0.04442609
+v 0.05539654 0.03550026 0.03524219
+v 0.05539654 0.01488547 0.04442504
+v 0.05557160 0.01488547 0.04442215
+v 0.05554631 0.03266711 0.04442415
+v 0.05553446 0.03464263 0.04442512
+v 0.05654293 0.02674057 0.04426595
+v 0.05654688 0.02871608 0.04426114
+v 0.05654254 0.03069160 0.04424764
+v 0.05653345 0.03266711 0.04422643
+v 0.05652159 0.03464263 0.04419075
+v 0.05651171 0.03550023 0.04415506
+v 0.05557160 0.01488950 0.04442215
+v 0.05722736 0.03550026 0.03457766
+v 0.05725305 0.01488550 0.03457661
+v 0.05539654 0.01488550 0.03541861
+v 0.05655874 0.01488547 0.04427169
+v 0.05555540 0.03069160 0.04442317
+v 0.05655874 0.01488950 0.04427169
+v 0.05801217 0.02674057 0.04328988
+v 0.05800941 0.02871608 0.04328507
+v 0.05800190 0.03069160 0.04327157
+v 0.05798372 0.03266711 0.04325036
+v 0.05794144 0.03464263 0.04321469
+v 0.05790311 0.03550023 0.04317900
+v 0.05754824 0.03550026 0.03457766
+v 0.05723724 0.03464266 0.03457669
+v 0.05755377 0.01488550 0.03457661
+v 0.05802284 0.01488547 0.04329562
+v 0.05802284 0.01488950 0.04329562
+v 0.05801691 0.02279156 0.04329180
+v 0.05801454 0.02476707 0.04329084
+v 0.05884361 0.02674058 0.04147278
+v 0.05883966 0.02871609 0.04147279
+v 0.05884677 0.02476708 0.04147277
+v 0.05882503 0.03069161 0.04147279
+v 0.05879263 0.03266712 0.04147280
+v 0.05871360 0.03464264 0.04147281
+v 0.05863891 0.03550024 0.04147281
+v 0.05756286 0.03464266 0.03457669
+v 0.05827140 0.03550026 0.03530777
+v 0.05856185 0.03266714 0.03539746
+v 0.05856383 0.03069163 0.03536080
+v 0.05757432 0.03266714 0.03457668
+v 0.05757630 0.03069163 0.03457764
+v 0.05853933 0.01884056 0.03534244
+v 0.05853972 0.01686505 0.03534532
+v 0.05854051 0.01488550 0.03534917
+v 0.05885467 0.01488548 0.04147273
+v 0.05885467 0.01686503 0.04147274
+v 0.05885349 0.01884054 0.04147275
+v 0.05802205 0.01686502 0.04329370
+v 0.05885151 0.02081606 0.04147276
+v 0.05915421 0.02871609 0.03952066
+v 0.05914236 0.03069161 0.03952066
+v 0.05915698 0.02674058 0.03952065
+v 0.05911549 0.03266712 0.03952067
+v 0.05904238 0.03464264 0.03952068
+v 0.05896848 0.03550024 0.03952068
+v 0.05878196 0.03550024 0.04062695
+v 0.05861797 0.03550026 0.03569261
+v 0.05870886 0.03484041 0.03573697
+v 0.05941226 0.03266714 0.03637353
+v 0.05942530 0.03069163 0.03633687
+v 0.05942846 0.02871611 0.03632915
+v 0.05943122 0.02279159 0.03632141
+v 0.05943241 0.02081608 0.03631948
+v 0.05943360 0.01884056 0.03631850
+v 0.05943241 0.01488550 0.03632523
+v 0.05943320 0.01686505 0.03632139
+v 0.05916093 0.01488548 0.03952156
+v 0.05916212 0.01686503 0.03952061
+v 0.05916251 0.01884054 0.03952062
+v 0.05916132 0.02081606 0.03952063
+v 0.05915856 0.02476708 0.03952064
+v 0.05931149 0.02871610 0.03828322
+v 0.05930635 0.03069162 0.03824560
+v 0.05929371 0.03266713 0.03813759
+v 0.05931702 0.01884055 0.03832658
+v 0.05931386 0.02476709 0.03830056
+v 0.05927435 0.03484040 0.03757144
+v 0.05938183 0.03431171 0.03692234
+v 0.05921665 0.03550025 0.03757144
+v 0.05938183 0.03431172 0.03646806
+v 0.05941226 0.03266713 0.03716152
+v 0.05942530 0.03069162 0.03726953
+v 0.05942846 0.02871610 0.03730715
+v 0.05943043 0.02476710 0.03632431
+v 0.05943360 0.01884055 0.03735051
+v 0.05943241 0.01488549 0.03734374
+v 0.05943320 0.01686504 0.03735146
+v 0.05931623 0.01488549 0.03831884
+v 0.05931702 0.01686504 0.03832753
+f 1 2 13
+f 1 13 26
+f 1 26 40
+f 1 40 61
+f 1 61 60
+f 1 60 84
+f 1 84 62
+f 1 62 42
+f 1 42 27
+f 1 27 15
+f 1 15 3
+f 1 3 17
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+f 1 4 5
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+f 2 5 14
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+f 14 20 19
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+f 16 41 45
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+f 22 35 23
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+f 23 37 24
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+f 24 38 25
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+f 25 39 26
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+f 27 44 41
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+f 32 53 54
+f 34 55 35
+f 34 36 55
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+f 39 61 40
+f 41 44 45
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+f 42 63 43
+f 43 64 65
+f 43 65 44
+f 43 63 64
+f 44 46 45
+f 44 65 66
+f 44 66 67
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+f 44 68 69
+f 44 69 47
+f 44 47 46
+f 47 69 48
+f 48 69 49
+f 49 69 71
+f 49 71 70
+f 50 72 73
+f 50 73 74
+f 50 74 51
+f 51 74 75
+f 51 75 52
+f 52 75 76
+f 52 76 57
+f 52 57 54
+f 52 54 53
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+f 55 78 56
+f 55 57 77
+f 56 78 79
+f 56 79 58
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+f 58 79 59
+f 59 82 60
+f 59 79 83
+f 59 83 82
+f 60 82 84
+f 62 84 85
+f 62 85 63
+f 63 85 64
+f 64 85 83
+f 64 83 86
+f 64 86 87
+f 64 87 65
+f 65 87 88
+f 65 88 66
+f 66 88 90
+f 66 90 69
+f 66 69 89
+f 66 89 67
+f 67 89 68
+f 68 89 69
+f 69 90 92
+f 69 92 71
+f 70 71 92
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+f 72 93 94
+f 72 94 73
+f 73 94 74
+f 74 94 80
+f 74 80 75
+f 75 80 76
+f 77 88 87
+f 77 87 78
+f 77 81 88
+f 78 87 79
+f 79 86 83
+f 79 87 86
+f 80 90 88
+f 80 88 81
+f 80 94 90
+f 82 83 84
+f 83 85 84
+f 90 94 92
+f 91 92 94
+f 91 94 93
+
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_58.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..885d14ca48140c09eaea8f90054a927fddebbbb9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_58.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.05443555 -0.03450927 0.03155613
+v 0.05443555 -0.03450927 0.04444691
+v 0.05443555 0.03549341 0.03155613
+v 0.05443555 0.03549341 0.04444691
+v 0.05543555 -0.03450927 0.03155613
+v 0.05543555 -0.03450927 0.04444691
+v 0.05543555 0.03549341 0.03155613
+v 0.05543555 0.03549341 0.04444691
+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/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_59.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..941801d6d4e7feaa8449c6678f585ea06428b608
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_59.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.05443555 -0.01568880 0.02460741
+v 0.05443555 -0.01568880 0.03155624
+v 0.05443555 0.01488316 0.02460741
+v 0.05443555 0.01488316 0.03155624
+v 0.05543555 -0.01568880 0.02460741
+v 0.05543555 -0.01568880 0.03155624
+v 0.05543555 0.01488316 0.02460741
+v 0.05543555 0.01488316 0.03155624
+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/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_6.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..853565ff14508a6549b7d7de9e46b1a2f004beb8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_6.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.00009799 -0.00688204 -0.02228468
+v -0.00009799 -0.03950784 -0.02202441
+v -0.00009799 -0.00688202 -0.02821564
+v -0.00286055 -0.00688204 -0.02228309
+v -0.03792583 -0.03950784 -0.02169871
+v -0.00009799 -0.03950782 -0.02805411
+v -0.00009799 -0.00763578 -0.02821644
+v -0.02944928 -0.02857505 -0.02980357
+v -0.02947150 -0.02724639 -0.02979560
+v -0.03050468 -0.02597840 -0.02976296
+v -0.03247847 -0.02585384 -0.02977091
+v -0.03792583 -0.02574844 -0.02977569
+v -0.00088676 -0.00688202 -0.02821644
+v -0.00483434 -0.00688204 -0.02228229
+v -0.00681183 -0.00688204 -0.02228150
+v -0.02260583 -0.00688204 -0.02227831
+v -0.02264286 -0.00688204 -0.02227831
+v -0.03792583 -0.00688204 -0.02227990
+v -0.03792583 -0.03950781 -0.02982990
+v -0.00009799 -0.03918524 -0.02808755
+v -0.02943817 -0.03950781 -0.02980600
+v -0.00009799 -0.00882072 -0.02821723
+v -0.02944187 -0.03449976 -0.02980519
+v -0.03050468 -0.02857505 -0.02982825
+v -0.00009799 -0.01079775 -0.02821804
+v -0.03050468 -0.02696532 -0.02980516
+v -0.03247847 -0.02684076 -0.02980675
+v -0.03792583 -0.02598799 -0.02978366
+v -0.03792583 -0.00688202 -0.02821723
+v -0.03050468 -0.00688202 -0.02821803
+v -0.03046395 -0.00688202 -0.02821803
+v -0.03792583 -0.02905095 -0.02983304
+v -0.03050468 -0.03950781 -0.02983069
+v -0.00009799 -0.03845064 -0.02816320
+v -0.02944187 -0.03845063 -0.02980599
+v -0.00009799 -0.01474862 -0.02821885
+v -0.00009799 -0.02067333 -0.02821967
+v -0.00009799 -0.02265036 -0.02821967
+v -0.00009799 -0.02462100 -0.02821889
+v -0.00009799 -0.03449977 -0.02821335
+v -0.00009799 -0.03529186 -0.02821176
+v -0.00009799 -0.03647680 -0.02820937
+v -0.00009799 -0.03726570 -0.02819107
+v -0.03247847 -0.02857505 -0.02983064
+v -0.03445226 -0.02857505 -0.02983223
+v -0.03642604 -0.02676411 -0.02980755
+v -0.03792583 -0.02673536 -0.02980755
+v -0.03792583 -0.02857505 -0.02983303
+v -0.03642604 -0.02857505 -0.02983303
+v -0.03792583 -0.02717612 -0.02981392
+f 1 2 6
+f 1 6 20
+f 1 20 34
+f 1 34 43
+f 1 43 42
+f 1 42 41
+f 1 41 40
+f 1 40 39
+f 1 39 38
+f 1 38 37
+f 1 37 36
+f 1 36 25
+f 1 25 22
+f 1 22 7
+f 1 7 3
+f 1 3 13
+f 1 13 31
+f 1 31 30
+f 1 30 29
+f 1 29 18
+f 1 18 17
+f 1 17 16
+f 1 16 15
+f 1 15 14
+f 1 14 4
+f 1 4 5
+f 1 5 2
+f 2 5 19
+f 2 19 33
+f 2 33 21
+f 2 21 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 29
+f 5 29 12
+f 5 12 28
+f 5 28 47
+f 5 47 50
+f 5 50 48
+f 5 48 32
+f 5 32 19
+f 6 21 20
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+f 8 24 9
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+f 9 24 26
+f 9 26 10
+f 10 26 11
+f 11 26 27
+f 11 27 12
+f 12 27 28
+f 12 29 30
+f 12 30 31
+f 12 31 13
+f 19 32 33
+f 20 21 34
+f 21 33 35
+f 21 35 36
+f 21 36 37
+f 21 37 38
+f 21 38 39
+f 21 39 40
+f 21 40 41
+f 21 41 42
+f 21 42 43
+f 21 43 34
+f 23 35 33
+f 23 33 24
+f 23 25 36
+f 23 36 35
+f 24 33 44
+f 24 44 27
+f 24 27 26
+f 27 44 45
+f 27 45 46
+f 27 46 28
+f 28 46 47
+f 32 48 49
+f 32 49 33
+f 33 49 45
+f 33 45 44
+f 45 49 46
+f 46 49 50
+f 46 50 47
+f 48 50 49
+
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_7.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0b013ab63decfbb581aeb339af3ea8a226992b8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_7.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v -0.00009799 -0.04287278 0.01219072
+v -0.03792583 -0.04271203 0.01219072
+v -0.00009799 -0.04863150 0.01219070
+v -0.00009799 -0.03951104 -0.02202138
+v -0.03792583 -0.04852181 0.01219070
+v -0.03792583 -0.03951104 -0.02169641
+v -0.00088676 -0.04863150 0.01219070
+v -0.03050468 -0.04917038 -0.02294695
+v -0.03050468 -0.04916658 -0.02489676
+v -0.00009799 -0.04858138 0.01023678
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_8.obj b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28160d1ee5ba407a5e9056de93734a82aeafeb4a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/mesh/storage_bin_023_collision_8.obj
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diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/storage_bin_023.xml b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/storage_bin_023.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4e58d953e794c847087c512f202bad64bbbdf96c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/mjcf/storage_bin_023.xml
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+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_51" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_52" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_53" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_54" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_55" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_56" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_57" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_58" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_59" 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/aa33a33af12559d2b4ee0c539e7c7563/storage_bin_023.urdf b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/storage_bin_023.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b3e09956f4a449f1e55ef8a6e9194063e49415a6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/storage_bin_023.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_023">
+   <link name="storage_bin_023">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_023.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_023_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.60</mu1>
+            <mu2>0.45</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>aa33a33af12559d2b4ee0c539e7c7563</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>duck storage bin</name>
+         <color>beige,yellow</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>beige plastic storage bin with duck cartoon prints and fitted lid</description>
+         <min_height>0.0739</min_height>
+         <max_height>0.0739</max_height>
+         <real_height>0.0739</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>1.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611140055</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059896 -0.053359 -0.029468</min>
+            <max>0.060104 0.053503 0.044447</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Blue marks several unrelated small areas; segmentation is not a coherent functional-part split.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/storage_bin_023.usd b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/storage_bin_023.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/storage_bin_023.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd997a3e0083c0084d7fb13e68b663c7b67ef05998e020b8aeb263ef5bbd0fed
+size 4687744
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/textures/material_0.png b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/textures/material_0.png
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04a5fda7595e8fdf6850b04976c12cae3ce3b521960540a7be6d229347d4bfe2
+size 9330977
diff --git a/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/video.mp4 b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/video.mp4
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/aa33a33af12559d2b4ee0c539e7c7563/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8eab5940d909f6b825a60abf9e56d1b6ad0c61a1572412a47543e6c161f914d
+size 451271