diff --git a/.gitattributes b/.gitattributes
index f59a32763d57f9e764503e96a39fe260f3713727..9f4656a01cd521f8da3c810ddadf38cb7236d7b7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3938,5 +3938,5 @@ dataset/kitchen_supplies/storage/01a00e2557165f8b80a18530e057c7a5/mesh/storage_b
 dataset/kitchen_supplies/storage/01a00e2557165f8b80a18530e057c7a5/storage_bin_015.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/0aad7bc1f3775163aac60069f92a698d/drawer_062.usd filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/0aad7bc1f3775163aac60069f92a698d/mesh/drawer_062.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/0ec5ee10252e56168e3efad4afd3c5b3/drawer_073.usd filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/0ec5ee10252e56168e3efad4afd3c5b3/mesh/drawer_073.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mesh/storage_bin_053.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/storage_bin_053.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mesh/material.mtl b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8efaaa80955e64ba169b3cd95407dcc788a3b473
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_053_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_053_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mesh/material_0.png b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2a854ea8896518664fd56ed8775578bed142db7
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96fb31f738299c588425a0f9ef838aa0ed25fd4baa07d50f1667864fb1ace05a
+size 17953489
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mesh/storage_bin_053.glb b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mesh/storage_bin_053.glb
new file mode 100644
index 0000000000000000000000000000000000000000..86cfb2dacc31dcfa082464cc569268d87b41924b
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mesh/storage_bin_053.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73e90ae92d2d784907345bb7b76ff61d7bf15510e161a2896b6654922c312027
+size 20525112
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mesh/storage_bin_053.mtl b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mesh/storage_bin_053.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8f42cb04495e46f401131ac2710a5267606254bf
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mesh/storage_bin_053.mtl
@@ -0,0 +1,6 @@
+newmtl storage_bin_053_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/0c6deb1020d15ee592ab050fdfc6a5b6/mesh/storage_bin_053.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mesh/storage_bin_053.obj
new file mode 100644
index 0000000000000000000000000000000000000000..852a73cfd64ba8acc08af18c43916073caf68272
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mesh/storage_bin_053.obj
@@ -0,0 +1,180169 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl storage_bin_053_geometry_Looks_material_0
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diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mesh/storage_bin_053_collision.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mesh/storage_bin_053_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..746ea48a987713a56500a96599dbd9109c2abbb2
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mesh/storage_bin_053_collision.obj
@@ -0,0 +1,5619 @@
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diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mesh/storage_bin_053_geometry_Looks_material_0.png b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mesh/storage_bin_053_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2a854ea8896518664fd56ed8775578bed142db7
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mesh/storage_bin_053_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96fb31f738299c588425a0f9ef838aa0ed25fd4baa07d50f1667864fb1ace05a
+size 17953489
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/material_0.png b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2a854ea8896518664fd56ed8775578bed142db7
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96fb31f738299c588425a0f9ef838aa0ed25fd4baa07d50f1667864fb1ace05a
+size 17953489
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7fbf64490513a49d9089a8f2781530457fc122a
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e94bc3b14796df9d9b574870939fb0d816138f8a
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision.obj
@@ -0,0 +1,5619 @@
+# https://github.com/mikedh/trimesh
+
+o storage_bin_053_collision.obj
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diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_0.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfad65c9be40e8f7738842c8cd23ee4a6047e33e
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_0.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_1.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac66f221031b7ca13d06ee453cf3afa83467665c
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_1.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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+f 54 74 75
+f 54 75 55
+f 54 73 74
+f 55 75 76
+f 55 76 77
+f 55 77 56
+f 56 77 58
+f 56 58 57
+f 58 77 59
+f 59 77 78
+f 59 78 63
+f 60 79 61
+f 60 63 80
+f 60 80 79
+f 61 79 81
+f 61 81 82
+f 61 82 64
+f 61 64 62
+f 63 78 80
+f 64 82 65
+f 65 82 83
+f 65 83 66
+f 66 83 67
+f 67 84 85
+f 67 85 68
+f 67 83 86
+f 67 86 87
+f 67 87 84
+f 68 85 88
+f 68 88 69
+f 69 88 70
+f 70 88 89
+f 70 89 71
+f 72 90 74
+f 72 74 91
+f 72 91 73
+f 72 92 110
+f 72 110 121
+f 72 121 118
+f 72 118 107
+f 72 107 87
+f 72 87 106
+f 72 106 105
+f 72 105 117
+f 72 117 102
+f 72 102 114
+f 72 114 98
+f 72 98 115
+f 72 115 116
+f 72 116 113
+f 72 113 123
+f 72 123 122
+f 72 122 111
+f 72 111 93
+f 72 93 95
+f 72 95 90
+f 73 91 74
+f 74 90 75
+f 75 93 94
+f 75 94 76
+f 75 90 95
+f 75 95 93
+f 76 94 96
+f 76 96 97
+f 76 97 78
+f 76 78 77
+f 78 97 80
+f 79 98 81
+f 79 80 99
+f 79 99 98
+f 80 97 96
+f 80 96 100
+f 80 100 99
+f 81 98 82
+f 82 101 102
+f 82 102 103
+f 82 103 83
+f 82 98 101
+f 83 103 104
+f 83 104 86
+f 84 88 85
+f 84 87 88
+f 86 104 105
+f 86 105 106
+f 86 106 87
+f 87 107 108
+f 87 108 88
+f 88 108 89
+f 92 109 110
+f 93 111 112
+f 93 112 94
+f 94 112 96
+f 96 112 113
+f 96 113 100
+f 98 114 101
+f 98 99 115
+f 99 100 115
+f 100 113 116
+f 100 116 115
+f 101 114 102
+f 102 117 103
+f 103 117 105
+f 103 105 104
+f 107 118 108
+f 108 118 119
+f 109 120 110
+f 110 120 119
+f 110 119 121
+f 111 122 112
+f 112 122 123
+f 112 123 113
+f 118 121 119
+
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_10.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..529b491c91828f263dd4a70b506ae32e86c77a57
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_10.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
+v 0.08069160 -0.15027107 -0.10740257
+v 0.11929119 -0.12156476 -0.10731356
+v 0.10642804 -0.15027107 -0.10739516
+v 0.11285961 -0.15667464 -0.10668392
+v 0.07426003 -0.15667464 -0.10668392
+v 0.06139687 -0.15667464 -0.10667652
+v 0.06783858 -0.15027107 -0.10739516
+v 0.12107381 -0.12156476 -0.10730615
+v 0.11929119 -0.15027107 -0.10736552
+v 0.03567057 -0.15027107 -0.10737293
+v 0.02923899 -0.14386751 -0.10733587
+v 0.02279728 -0.14386751 -0.10732846
+v 0.01928270 -0.14386751 -0.10731364
+v 0.01928270 -0.14037248 -0.10703950
+v 0.01928270 -0.13746794 -0.10680979
+v 0.01928270 -0.12156477 -0.10428326
+v 0.11929119 -0.15667464 -0.10666910
+v 0.12275513 -0.15902062 -0.10510579
+v 0.11929119 -0.16103146 -0.10377959
+v 0.09998633 -0.16103146 -0.10377959
+v 0.06783858 -0.16103146 -0.10377219
+v 0.05496530 -0.16102748 -0.10376477
+v 0.02279728 -0.16102748 -0.10372773
+v 0.03567057 -0.15667464 -0.10663946
+v 0.02923899 -0.15027107 -0.10736552
+v 0.12275513 -0.12156476 -0.10729874
+v 0.12275513 -0.12466082 -0.10729875
+v 0.12275513 -0.15027107 -0.10727662
+v 0.12275513 -0.15371423 -0.10694321
+v 0.02279728 -0.15027107 -0.10735070
+v 0.01928270 -0.15027107 -0.10733589
+v 0.01928270 -0.12156484 -0.08404920
+v 0.12275513 -0.15667464 -0.10661725
+v 0.12275513 -0.16103546 -0.10376477
+v 0.09355476 -0.16103546 -0.10377219
+v 0.01928270 -0.16228826 -0.09843028
+v 0.06139687 -0.16103146 -0.10376477
+v 0.01928270 -0.16160201 -0.10131238
+v 0.01928270 -0.16102748 -0.10371292
+v 0.02279728 -0.15667464 -0.10660983
+v 0.12275513 -0.12156484 -0.08502719
+v 0.01928270 -0.15317562 -0.10700249
+v 0.01928270 -0.12936101 -0.03171183
+v 0.12275513 -0.16168978 -0.10090489
+v 0.09998633 -0.16228427 -0.09843028
+v 0.09355476 -0.16228826 -0.09843028
+v 0.06783858 -0.16229224 -0.09843028
+v 0.01989041 -0.16174589 -0.03171194
+v 0.01928270 -0.16174190 -0.03171194
+v 0.12275513 -0.16231620 -0.09210297
+v 0.12275513 -0.16232042 -0.03177864
+v 0.11929119 -0.16230844 -0.03171195
+v 0.01928270 -0.15864956 -0.10528362
+v 0.01928270 -0.15667464 -0.10658760
+v 0.12275513 -0.13038638 -0.03171183
+v 0.12275513 -0.16225235 -0.09843028
+v 0.12275513 -0.16228827 -0.09502954
+v 0.12275513 -0.16231642 -0.03171195
+v 0.12267410 -0.16231642 -0.03171195
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 3
+f 2 7 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 15
+f 2 15 16
+f 2 16 32
+f 2 32 41
+f 2 41 26
+f 2 26 8
+f 3 9 17
+f 3 17 4
+f 4 17 18
+f 4 18 19
+f 4 19 20
+f 4 20 5
+f 5 20 21
+f 5 21 6
+f 6 21 22
+f 6 22 23
+f 6 23 24
+f 6 24 25
+f 6 25 10
+f 6 10 7
+f 8 26 9
+f 9 26 27
+f 9 27 28
+f 9 28 29
+f 9 29 17
+f 10 25 12
+f 10 12 11
+f 12 25 30
+f 12 30 31
+f 12 31 13
+f 13 31 42
+f 13 42 54
+f 13 54 53
+f 13 53 39
+f 13 39 38
+f 13 38 36
+f 13 36 49
+f 13 49 43
+f 13 43 32
+f 13 32 16
+f 13 16 15
+f 13 15 14
+f 17 29 33
+f 17 33 18
+f 18 33 29
+f 18 29 28
+f 18 28 27
+f 18 27 26
+f 18 26 41
+f 18 41 55
+f 18 55 58
+f 18 58 51
+f 18 51 50
+f 18 50 57
+f 18 57 56
+f 18 56 44
+f 18 44 34
+f 18 34 19
+f 19 34 35
+f 19 35 20
+f 20 35 21
+f 21 36 37
+f 21 37 22
+f 21 35 36
+f 22 37 23
+f 23 38 39
+f 23 39 40
+f 23 40 24
+f 23 37 38
+f 24 40 30
+f 24 30 25
+f 30 40 42
+f 30 42 31
+f 32 43 41
+f 34 44 45
+f 34 45 46
+f 34 46 47
+f 34 47 35
+f 35 47 36
+f 36 48 49
+f 36 38 37
+f 36 47 50
+f 36 50 51
+f 36 51 52
+f 36 52 48
+f 39 53 40
+f 40 53 54
+f 40 54 42
+f 41 43 55
+f 43 49 48
+f 43 48 52
+f 43 52 59
+f 43 59 58
+f 43 58 55
+f 44 56 45
+f 45 56 57
+f 45 57 50
+f 45 50 46
+f 46 50 47
+f 51 58 59
+f 51 59 52
+
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_11.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d7ddce36d6a0a6f6262efd0b45ab733e9e54618
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_11.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
+v 0.20658955 0.01921891 -0.07749544
+v 0.20616437 0.12308036 -0.07749506
+v 0.23386383 0.01921891 -0.07749544
+v 0.20703480 0.01921857 0.01542267
+v 0.20658955 0.12310036 0.01542305
+v 0.20654938 0.12310069 -0.07376566
+v 0.23506903 0.12310070 -0.07749506
+v 0.20658285 0.12310039 0.00909469
+v 0.20657951 0.12310041 0.00277689
+v 0.23613362 0.12310070 -0.07749506
+v 0.24020451 0.01921867 -0.01058806
+v 0.20719884 0.01921855 0.02175104
+v 0.20678707 0.12310034 0.02148730
+v 0.23802512 0.12310034 0.02200497
+v 0.24036185 0.01921855 0.02175104
+v 0.20679711 0.12310034 0.02175142
+v 0.21016497 0.01921853 0.02791036
+v 0.20851116 0.12310033 0.02558647
+v 0.23710112 0.12310033 0.02381157
+v 0.23957847 0.01921853 0.02615659
+v 0.21304740 0.01921852 0.02915702
+v 0.20935815 0.12310032 0.02726629
+v 0.23502551 0.12310032 0.02730855
+v 0.23528998 0.01921853 0.02853369
+v 0.21579591 0.01921852 0.03034029
+v 0.21579591 0.12310031 0.02986525
+v 0.22865805 0.12310031 0.02986525
+v 0.22865805 0.01921852 0.03026633
+v 0.22223033 0.01921852 0.03041424
+v 0.22223033 0.12310031 0.03003428
+f 1 2 7
+f 1 7 10
+f 1 10 3
+f 1 3 11
+f 1 11 15
+f 1 15 20
+f 1 20 24
+f 1 24 28
+f 1 28 29
+f 1 29 25
+f 1 25 21
+f 1 21 17
+f 1 17 12
+f 1 12 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 5 8
+f 2 8 9
+f 2 9 6
+f 3 10 11
+f 4 12 5
+f 5 12 13
+f 5 13 16
+f 5 16 18
+f 5 18 22
+f 5 22 26
+f 5 26 30
+f 5 30 27
+f 5 27 23
+f 5 23 19
+f 5 19 14
+f 5 14 10
+f 5 10 7
+f 5 7 6
+f 5 6 9
+f 5 9 8
+f 10 14 11
+f 11 14 15
+f 12 16 13
+f 12 17 18
+f 12 18 16
+f 14 19 20
+f 14 20 15
+f 17 21 22
+f 17 22 18
+f 19 23 20
+f 20 23 24
+f 21 25 22
+f 22 25 26
+f 23 27 24
+f 24 27 28
+f 25 29 30
+f 25 30 26
+f 27 30 28
+f 28 30 29
+
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_12.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b7f4f90e2b8a5a464c4640438350f39db5be4c9
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_12.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.16624049 0.01921901 -0.10428051
+v 0.21578805 0.01921902 -0.10597533
+v 0.16624049 0.01921894 -0.08505590
+v 0.16624049 0.12310081 -0.10650052
+v 0.21920610 0.01921902 -0.10593103
+v 0.21578805 0.12310082 -0.10766976
+v 0.20658888 0.01921891 -0.07750601
+v 0.20615986 0.12308036 -0.07750563
+v 0.16624049 0.03542759 -0.08504699
+v 0.16624049 0.12310073 -0.08501419
+v 0.22222326 0.01921902 -0.10588675
+v 0.22222326 0.12310081 -0.10730659
+v 0.22865847 0.01921902 -0.10559444
+v 0.23386290 0.01921891 -0.07750601
+v 0.23506554 0.12310070 -0.07750563
+v 0.20615284 0.12310070 -0.07752039
+v 0.16624049 0.04823995 -0.08504103
+v 0.22865847 0.12310081 -0.10676330
+v 0.23489675 0.01921901 -0.10350693
+v 0.23807567 0.01921899 -0.09842839
+v 0.23612752 0.12310070 -0.07750563
+v 0.23505147 0.12310080 -0.10442776
+v 0.23658468 0.01921900 -0.10081117
+v 0.23599390 0.12310080 -0.10294849
+v 0.23808270 0.03542764 -0.09842833
+v 0.23807567 0.09305275 -0.09842812
+v 0.23805457 0.12310078 -0.09842801
+v 0.23808270 0.06104219 -0.09842824
+f 1 2 5
+f 1 5 11
+f 1 11 13
+f 1 13 19
+f 1 19 23
+f 1 23 20
+f 1 20 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 17
+f 1 17 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 4 10 16
+f 4 16 15
+f 4 15 21
+f 4 21 27
+f 4 27 24
+f 4 24 22
+f 4 22 18
+f 4 18 12
+f 4 12 6
+f 5 6 11
+f 6 12 13
+f 6 13 11
+f 7 14 21
+f 7 21 15
+f 7 15 8
+f 8 15 16
+f 8 16 10
+f 8 10 17
+f 8 17 9
+f 12 18 13
+f 13 18 19
+f 14 20 21
+f 18 22 19
+f 19 22 24
+f 19 24 23
+f 20 23 24
+f 20 24 25
+f 20 25 21
+f 21 26 27
+f 21 25 28
+f 21 28 26
+f 24 27 26
+f 24 26 28
+f 24 28 25
+
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_13.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a0e12d2a2ea9b98f670ebc6a31e53b387985e00
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_13.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.02291645 0.00053942 0.02827997
+v 0.11928579 0.00053942 0.02835703
+v 0.02291645 0.00053916 0.09807332
+v 0.02291645 0.12989534 0.02653614
+v 0.11943238 0.12989534 0.02657117
+v 0.12275513 0.00053942 0.02837104
+v 0.12275513 0.00053916 0.09803129
+v 0.02291645 0.02914283 0.09810145
+v 0.02291645 0.12989509 0.09631547
+v 0.12275513 0.12989534 0.02658518
+v 0.12275513 0.03543589 0.09804542
+v 0.11285531 0.10584978 0.09808771
+v 0.02291645 0.03554985 0.09803142
+v 0.11285531 0.12989508 0.09808080
+v 0.10642482 0.12989508 0.09807380
+v 0.09355407 0.12989508 0.09784263
+v 0.12275513 0.12989508 0.09806679
+v 0.12275513 0.12507083 0.09806677
+v 0.09999433 0.12989508 0.09796171
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 13
+f 1 13 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 16
+f 4 16 19
+f 4 19 15
+f 4 15 14
+f 4 14 17
+f 4 17 10
+f 4 10 5
+f 5 10 6
+f 6 10 17
+f 6 17 18
+f 6 18 11
+f 6 11 7
+f 7 11 12
+f 7 12 8
+f 8 12 14
+f 8 14 15
+f 8 15 13
+f 9 13 16
+f 11 18 12
+f 12 18 17
+f 12 17 14
+f 13 15 19
+f 13 19 16
+
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_14.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..385967288dc8a3422b613d87bdeeda761508076f
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_14.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v 0.12275513 0.15068381 0.09808503
+v 0.12275513 0.14772750 0.09808502
+v 0.12275513 0.15708849 0.09807235
+v 0.11285531 0.15708849 0.09811049
+v 0.10642482 0.15068381 0.09813589
+v 0.12275513 0.13147733 0.09807225
+v 0.12275513 0.16032490 0.09710611
+v 0.11285531 0.16316007 0.09630514
+v 0.09999433 0.15708849 0.09813592
+v 0.09999433 0.15068381 0.09814860
+v 0.09999433 0.13788202 0.09813585
+v 0.10642482 0.13147733 0.09809768
+v 0.12275513 0.12989510 0.09805954
+v 0.12275513 0.16312223 0.09626700
+v 0.10642482 0.16317143 0.09630514
+v 0.09355407 0.16317143 0.09631786
+v 0.08712359 0.15708849 0.09816135
+v 0.11928579 0.16634729 0.09385138
+v 0.11285531 0.16636242 0.09386409
+v 0.10642482 0.16637378 0.09387680
+v 0.09355407 0.15068381 0.09816132
+v 0.09355407 0.13788202 0.09813585
+v 0.09999433 0.13147733 0.09809768
+v 0.11285531 0.12989510 0.09807225
+v 0.12275513 0.12989536 0.02658219
+v 0.12275513 0.16632457 0.09374967
+v 0.03566992 0.16318278 0.09633057
+v 0.04853089 0.16317522 0.09633057
+v 0.03566992 0.15708849 0.09817406
+v 0.11928579 0.16752829 0.09068564
+v 0.11285531 0.16753208 0.09069835
+v 0.10642482 0.16753208 0.09071107
+v 0.02922966 0.16638514 0.09387680
+v 0.08712359 0.15068381 0.09816132
+v 0.02291645 0.15068381 0.09813589
+v 0.09355407 0.13147733 0.09807225
+v 0.10642482 0.12989510 0.09807225
+v 0.11943238 0.12989536 0.02656948
+v 0.02291645 0.13154973 -0.03171088
+v 0.12275513 0.13167086 -0.03171088
+v 0.12275513 0.16746395 0.09059663
+v 0.02922966 0.16318278 0.09633057
+v 0.02291645 0.15708849 0.09816135
+v 0.11928579 0.16855034 0.08500254
+v 0.11285531 0.16856170 0.08500254
+v 0.10642482 0.16856170 0.08500254
+v 0.03566992 0.16752452 0.09072378
+v 0.02922966 0.16752073 0.09072378
+v 0.02291645 0.16752073 0.09071107
+v 0.02291645 0.16637756 0.09387680
+v 0.02291645 0.12989511 0.09630502
+v 0.09355407 0.12989510 0.09784339
+v 0.02342463 0.12989536 0.02654405
+v 0.02291645 0.16227479 -0.03171076
+v 0.02291645 0.12989536 0.02654405
+v 0.12275513 0.16283880 -0.03171076
+v 0.12275513 0.16840271 0.08500254
+v 0.02291645 0.16323578 0.09627972
+v 0.02291645 0.16317901 0.09631786
+v 0.12275513 0.16850114 0.08160794
+v 0.12275513 0.16821737 0.04729321
+v 0.11928579 0.16818333 0.04073286
+v 0.03566992 0.16854656 0.08500254
+v 0.02291645 0.16753965 0.09060936
+v 0.02291645 0.16811898 0.04073286
+v 0.02571146 0.16230129 -0.03171076
+v 0.12219808 0.16283880 -0.03171076
+v 0.12275513 0.16815304 0.04073286
+v 0.02291645 0.16853520 0.08500254
+v 0.11928579 0.16283501 -0.03171076
+v 0.03566992 0.16236943 -0.03171076
+v 0.02922966 0.16233157 -0.03171076
+f 1 2 6
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diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_15.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..496498e091fbaed34fa422993d85a2b4c016b8fd
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_15.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_16.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10f60a333fb5bd94e0d581de923bc0e9f27ac790
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_16.obj
@@ -0,0 +1,289 @@
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+f 88 95 91
+f 90 93 96
+f 91 95 97
+f 92 97 96
+f 92 96 93
+f 94 96 97
+f 94 97 95
+
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_17.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca96e459b08de224da166839b26448e3ce6cfc61
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_17.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v -0.12516088 -0.14386553 -0.11675862
+v -0.12516088 -0.13746595 -0.11674194
+v -0.11873110 -0.15026907 -0.11670869
+v -0.12516088 -0.15026907 -0.11672534
+v -0.13050392 -0.15026908 -0.11547661
+v -0.13048883 -0.14386554 -0.11549324
+v -0.13044355 -0.13746596 -0.11548489
+v -0.12946249 -0.13106241 -0.11489381
+v -0.12516088 -0.13106241 -0.11557644
+v -0.11873110 -0.13106241 -0.11562639
+v -0.11230132 -0.13106241 -0.11560974
+v -0.11230132 -0.13746595 -0.11645889
+v -0.11230132 -0.15026907 -0.11661712
+v -0.12516088 -0.15667264 -0.11566812
+v -0.12974926 -0.15667264 -0.11500213
+v -0.13364336 -0.15026909 -0.11108109
+v -0.13356789 -0.14386555 -0.11108107
+v -0.13346223 -0.13746597 -0.11108104
+v -0.12845123 -0.12782475 -0.11427775
+v -0.13190762 -0.13106242 -0.11108102
+v -0.12516088 -0.12778488 -0.11432770
+v -0.11873110 -0.12776095 -0.11435268
+v -0.11230132 -0.12777292 -0.11433603
+v -0.10890531 -0.12781279 -0.11429440
+v 0.01928270 -0.12156079 -0.10428791
+v 0.01928270 -0.13746599 -0.10681038
+v 0.01928270 -0.14386557 -0.10730991
+v -0.11230132 -0.15608652 -0.11534343
+v 0.01928270 -0.14677228 -0.10732657
+v 0.01928270 -0.15026911 -0.10733490
+v 0.01928270 -0.15317584 -0.10700191
+v 0.01928270 -0.15667267 -0.10658570
+v -0.11883675 -0.15717902 -0.11523522
+v -0.12516088 -0.16007776 -0.11444437
+v -0.12879837 -0.16006979 -0.11444437
+v -0.13252645 -0.15667265 -0.11108112
+v -0.13421690 -0.15615035 -0.10448782
+v -0.13473008 -0.15026911 -0.10528699
+v -0.13454896 -0.13746600 -0.10475414
+v -0.13462442 -0.12156081 -0.09842721
+v -0.12516088 -0.12156078 -0.10703510
+v -0.13153028 -0.12156079 -0.10457927
+v -0.13302453 -0.12156080 -0.10195695
+v -0.11873110 -0.12156078 -0.10711835
+v -0.11230132 -0.12156078 -0.10715165
+v 0.01928270 -0.12156086 -0.08405018
+v -0.12107057 -0.15995017 -0.11431117
+v 0.01928270 -0.16102678 -0.10371363
+v -0.12516088 -0.16110250 -0.11108113
+v -0.12990019 -0.16054030 -0.11108113
+v -0.13424709 -0.15710731 -0.09842734
+v -0.13483573 -0.15366628 -0.10219847
+v -0.13088127 -0.16094304 -0.10475423
+v -0.13482064 -0.14683210 -0.10169064
+v -0.13483573 -0.14569176 -0.09842730
+v -0.13489610 -0.15026916 -0.09210041
+v -0.13491119 -0.15026928 -0.06048261
+v -0.13489610 -0.15026938 -0.03171191
+v -0.13485082 -0.14678052 -0.03171190
+v -0.13370373 -0.12465915 -0.03171182
+v -0.13349242 -0.12156105 -0.03171181
+v 0.01928270 -0.12936014 -0.03171184
+v 0.01570557 -0.12156105 -0.03171181
+v 0.01928270 -0.16160095 -0.10130774
+v -0.11873110 -0.16201164 -0.10475424
+v -0.12516088 -0.16203157 -0.10475424
+v 0.01928270 -0.16228678 -0.09842736
+v -0.13427727 -0.15722695 -0.09210044
+v -0.13485082 -0.15390554 -0.09842733
+v -0.13103219 -0.16098693 -0.09842735
+v -0.13486591 -0.15026914 -0.09842731
+v -0.12516088 -0.16215121 -0.09842736
+v -0.13486591 -0.15402518 -0.09210043
+v -0.13486591 -0.15411700 -0.06048263
+v -0.13486591 -0.15411710 -0.03171193
+v 0.01928270 -0.16174474 -0.03171195
+v -0.07369247 -0.16227880 -0.09842736
+v -0.11230132 -0.16225488 -0.09842736
+v -0.11873110 -0.16223095 -0.09842736
+v 0.00992481 -0.16229076 -0.09842736
+v -0.00294984 -0.16229475 -0.09842736
+v -0.10585645 -0.16213550 -0.03171196
+v -0.12516088 -0.16214745 -0.03171196
+v -0.13106238 -0.16099492 -0.09210045
+v -0.13430746 -0.15731877 -0.06048264
+v -0.13430746 -0.15728685 -0.06680953
+v -0.12516088 -0.16215123 -0.09210046
+v -0.13112275 -0.16100312 -0.03171195
+v -0.13433765 -0.15731887 -0.03171194
+v -0.13457914 -0.15587150 -0.03171193
+v -0.10585645 -0.16225490 -0.09210046
+v -0.12786259 -0.16162912 -0.03171195
+v -0.13109256 -0.16099501 -0.06680954
+v -0.13287359 -0.15899752 -0.03171194
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 3
+f 3 14 4
+f 3 13 14
+f 4 14 15
+f 4 15 5
+f 5 16 6
+f 5 15 16
+f 6 16 7
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 8 19 9
+f 8 18 20
+f 8 20 19
+f 9 21 10
+f 9 19 21
+f 10 21 22
+f 10 22 11
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 26
+f 11 26 12
+f 12 26 27
+f 12 27 13
+f 13 28 14
+f 13 27 29
+f 13 29 30
+f 13 30 31
+f 13 31 32
+f 13 32 28
+f 14 28 33
+f 14 33 34
+f 14 34 35
+f 14 35 15
+f 15 35 36
+f 15 36 16
+f 16 36 37
+f 16 37 38
+f 16 38 17
+f 17 38 18
+f 18 38 39
+f 18 39 40
+f 18 40 20
+f 19 41 21
+f 19 20 42
+f 19 42 41
+f 20 40 43
+f 20 43 42
+f 21 41 44
+f 21 44 22
+f 22 44 45
+f 22 45 23
+f 23 45 25
+f 23 25 24
+f 25 46 62
+f 25 62 76
+f 25 76 67
+f 25 67 64
+f 25 64 48
+f 25 48 32
+f 25 32 31
+f 25 31 30
+f 25 30 29
+f 25 29 27
+f 25 27 26
+f 25 45 44
+f 25 44 41
+f 25 41 42
+f 25 42 43
+f 25 43 40
+f 25 40 61
+f 25 61 63
+f 25 63 46
+f 28 47 33
+f 28 32 47
+f 32 48 47
+f 33 47 34
+f 34 47 48
+f 34 48 49
+f 34 49 35
+f 35 50 36
+f 35 49 50
+f 36 50 37
+f 37 51 52
+f 37 52 38
+f 37 50 53
+f 37 53 51
+f 38 52 54
+f 38 54 40
+f 38 40 39
+f 40 54 55
+f 40 55 56
+f 40 56 57
+f 40 57 58
+f 40 58 59
+f 40 59 60
+f 40 60 61
+f 46 63 62
+f 48 64 49
+f 49 65 66
+f 49 66 50
+f 49 64 67
+f 49 67 65
+f 50 66 53
+f 51 68 69
+f 51 69 52
+f 51 53 70
+f 51 70 68
+f 52 69 56
+f 52 56 71
+f 52 71 54
+f 53 66 72
+f 53 72 70
+f 54 71 55
+f 55 71 56
+f 56 69 73
+f 56 73 57
+f 57 73 74
+f 57 74 75
+f 57 75 58
+f 58 75 90
+f 58 90 89
+f 58 89 94
+f 58 94 88
+f 58 88 92
+f 58 92 83
+f 58 83 82
+f 58 82 76
+f 58 76 62
+f 58 62 63
+f 58 63 61
+f 58 61 60
+f 58 60 59
+f 65 67 66
+f 66 77 78
+f 66 78 79
+f 66 79 72
+f 66 67 80
+f 66 80 81
+f 66 81 77
+f 67 76 82
+f 67 82 83
+f 67 83 80
+f 68 70 84
+f 68 84 85
+f 68 85 86
+f 68 86 73
+f 68 73 69
+f 70 72 84
+f 72 87 88
+f 72 88 84
+f 72 79 87
+f 73 86 89
+f 73 89 74
+f 74 89 90
+f 74 90 75
+f 77 83 91
+f 77 91 78
+f 77 81 83
+f 78 91 83
+f 78 83 79
+f 79 83 87
+f 80 83 81
+f 83 92 87
+f 84 88 93
+f 84 93 85
+f 85 89 86
+f 85 93 94
+f 85 94 89
+f 87 92 88
+f 88 94 93
+
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_18.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e043ff97b4fb55bc6b3059037f8b33623969886
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_18.obj
@@ -0,0 +1,40 @@
+# https://github.com/mikedh/trimesh
+v 0.01561193 0.00053944 0.02170388
+v 0.01800808 -0.12895673 0.02170341
+v 0.01815691 -0.12895671 0.01542911
+v 0.01817179 -0.12895661 -0.00987202
+v 0.01815691 -0.12895653 -0.03171182
+v 0.01528451 0.00053964 -0.03171135
+v -0.13296393 0.00053944 0.02170388
+v -0.13384202 -0.12895673 0.02170341
+v -0.13385691 -0.12895653 -0.03171182
+v -0.13296393 0.00053964 -0.03171135
+v -0.13297881 0.00053947 0.01259046
+v -0.13385691 -0.12895666 0.00277593
+v -0.13387179 -0.12895654 -0.02884656
+v -0.13297881 0.00053951 0.00277640
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 14
+f 1 14 11
+f 1 11 7
+f 1 7 8
+f 1 8 2
+f 2 8 12
+f 2 12 13
+f 2 13 9
+f 2 9 5
+f 2 5 4
+f 2 4 3
+f 5 9 10
+f 5 10 6
+f 7 11 8
+f 8 11 12
+f 9 13 10
+f 10 13 14
+f 11 14 13
+f 11 13 12
+
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_19.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eeb5dd0354573dfdc5a1353a443b46b35851d23
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_19.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v -0.13489102 -0.15026963 -0.03171190
+v -0.13491625 -0.15026981 0.01542903
+v -0.13486580 -0.14835227 -0.03171189
+v -0.13486580 -0.15411742 -0.03171192
+v -0.13484058 -0.14677136 -0.02884663
+v -0.13484058 -0.14678114 -0.03171189
+v -0.13486580 -0.15414356 -0.02884666
+v -0.13486580 -0.15416319 -0.02252007
+v -0.13486580 -0.15419600 0.01542901
+v -0.13486580 -0.15408823 0.02170331
+v -0.13489102 -0.15030250 0.02170333
+v -0.13489102 -0.15026983 0.02170333
+v -0.13484058 -0.14674541 0.02170334
+v -0.13433614 -0.15731847 -0.03171193
+v -0.13385692 -0.12895979 -0.03171182
+v -0.13433614 -0.15734461 -0.02884667
+v -0.13433614 -0.15736424 -0.02252008
+v -0.13433614 -0.15739705 0.01542900
+v -0.13433614 -0.15726315 0.02170330
+v -0.13383169 -0.12895999 0.02170341
+v -0.13385692 -0.12895992 0.00277593
+v -0.13287325 -0.15900065 -0.03171193
+v 0.01815810 -0.12895979 -0.03171182
+v -0.13110768 -0.16100621 -0.03171194
+v -0.13110768 -0.16100952 -0.02252009
+v -0.13110768 -0.16100968 0.02170329
+v 0.01800677 -0.12895999 0.02170341
+v 0.01815810 -0.12895997 0.01542911
+v 0.12275512 -0.13038071 -0.01959720
+v 0.12275512 -0.13038394 -0.02884657
+v 0.12275512 -0.13038720 -0.03171183
+v -0.12515521 -0.16214945 -0.03171195
+v -0.12515521 -0.16215601 -0.02252010
+v -0.12515521 -0.16216269 0.01542898
+v -0.12515521 -0.16216271 0.02170328
+v 0.12275512 -0.13060298 0.02170340
+v 0.12275512 -0.13048864 0.01835188
+v 0.12275512 -0.13039064 0.01542910
+v 0.12275512 -0.13038736 0.01202529
+v 0.12275512 -0.13038073 -0.01327061
+v 0.12275512 -0.16231930 -0.03171195
+v 0.12267945 -0.16231930 -0.03171195
+v 0.12275512 -0.16232590 -0.00987215
+v 0.12275512 -0.16232268 -0.00014698
+v 0.11927444 -0.16231296 0.02170328
+v 0.12275512 -0.16231296 0.02170328
+f 1 2 3
+f 1 3 6
+f 1 6 15
+f 1 15 23
+f 1 23 31
+f 1 31 41
+f 1 41 42
+f 1 42 32
+f 1 32 24
+f 1 24 22
+f 1 22 14
+f 1 14 4
+f 1 4 2
+f 2 5 6
+f 2 6 3
+f 2 4 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 5
+f 4 14 16
+f 4 16 7
+f 5 13 15
+f 5 15 6
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 8 18 9
+f 9 18 10
+f 10 18 19
+f 10 19 26
+f 10 26 35
+f 10 35 45
+f 10 45 46
+f 10 46 36
+f 10 36 27
+f 10 27 20
+f 10 20 13
+f 10 13 12
+f 10 12 11
+f 13 20 21
+f 13 21 15
+f 14 22 16
+f 15 21 20
+f 15 20 27
+f 15 27 28
+f 15 28 23
+f 16 22 17
+f 17 22 24
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 18 26 19
+f 23 28 40
+f 23 40 29
+f 23 29 30
+f 23 30 31
+f 24 32 33
+f 24 33 25
+f 25 33 34
+f 25 34 35
+f 25 35 26
+f 27 36 37
+f 27 37 38
+f 27 38 39
+f 27 39 28
+f 28 39 40
+f 29 40 39
+f 29 39 38
+f 29 38 37
+f 29 37 36
+f 29 36 46
+f 29 46 44
+f 29 44 43
+f 29 43 41
+f 29 41 31
+f 29 31 30
+f 32 42 33
+f 33 42 43
+f 33 43 34
+f 34 43 35
+f 35 43 44
+f 35 44 45
+f 41 43 42
+f 44 46 45
+
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_2.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c62cd7dfa186b698585ade497df2573e0dd11162
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_2.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v 0.14340158 0.14815998 -0.07948071
+v 0.16624049 0.14769467 -0.07948071
+v 0.16624049 0.14832622 -0.09210607
+v 0.14340158 0.14873059 -0.09210606
+v 0.14340158 0.13119848 -0.07948077
+v 0.16624049 0.13119848 -0.07948077
+v 0.14340158 0.14864197 -0.09640954
+v 0.16624049 0.14820436 -0.09789201
+v 0.14340158 0.09214607 -0.08504964
+v 0.16624049 0.09214607 -0.08504964
+v 0.14340158 0.14835947 -0.09811465
+v 0.16624049 0.14791078 -0.09883416
+v 0.14340158 0.09214614 -0.10437595
+v 0.16624049 0.09214614 -0.10427819
+v 0.16624049 0.14720730 -0.10105514
+v 0.14340158 0.14759505 -0.10047138
+v 0.14340158 0.12507206 -0.10699592
+v 0.16624049 0.12507206 -0.10693620
+v 0.16624049 0.14400556 -0.10330870
+v 0.14340158 0.14526853 -0.10250232
+v 0.14340158 0.14722945 -0.10110401
+v 0.14340158 0.13147555 -0.10721854
+v 0.16432681 0.13147555 -0.10718597
+v 0.16624049 0.12957002 -0.10710994
+v 0.14340158 0.13964056 -0.10534508
+v 0.14340158 0.14419943 -0.10324897
+v 0.16624049 0.13787905 -0.10610803
+v 0.14340158 0.13787905 -0.10612432
+v 0.14502909 0.13787905 -0.10612432
+v 0.15146316 0.13787905 -0.10612160
+v 0.16432681 0.13787905 -0.10611074
+v 0.16624049 0.13147555 -0.10718053
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 11
+f 1 11 16
+f 1 16 21
+f 1 21 20
+f 1 20 26
+f 1 26 25
+f 1 25 28
+f 1 28 22
+f 1 22 17
+f 1 17 13
+f 1 13 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 14
+f 2 14 18
+f 2 18 24
+f 2 24 32
+f 2 32 27
+f 2 27 19
+f 2 19 15
+f 2 15 12
+f 2 12 8
+f 2 8 3
+f 3 7 4
+f 3 8 7
+f 5 9 10
+f 5 10 6
+f 7 8 11
+f 8 12 11
+f 9 13 14
+f 9 14 10
+f 11 12 15
+f 11 15 16
+f 13 17 18
+f 13 18 14
+f 15 19 20
+f 15 20 21
+f 15 21 16
+f 17 22 23
+f 17 23 24
+f 17 24 18
+f 19 25 26
+f 19 26 20
+f 19 27 25
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 22 31 27
+f 22 27 23
+f 23 27 32
+f 23 32 24
+f 25 27 31
+f 25 31 30
+f 25 30 29
+f 25 29 28
+
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_20.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f200ba6b090cbccab99f30730bf48ab88cb88021
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_20.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.13463736 -0.12156080 -0.09842938
+v -0.13302103 -0.12156079 -0.10194472
+v -0.13348497 -0.12156104 -0.03171181
+v -0.13462238 0.04821805 -0.09842875
+v -0.13152443 -0.12156078 -0.10457384
+v -0.13460743 0.11870248 -0.09842849
+v -0.13143464 0.11870250 -0.10403383
+v 0.01569589 -0.12156104 -0.03171181
+v -0.13324551 0.11870224 -0.03171092
+v -0.13460743 0.11870248 -0.09839156
+v -0.12516389 -0.12156077 -0.10703309
+v -0.12516389 0.11870251 -0.10650787
+v 0.01821018 -0.12156085 -0.08368859
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+
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_21.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d31fd78569cff2150e31454d4732e19f484789c0
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_21.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_22.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7ce8887faec9c80e79a674723b87df0e9f03855
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_22.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+v 0.12909234 0.16195045 -0.08373759
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+
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_23.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4ab09254ee6a528c0bb02b0d721cc6fb275e08e
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_23.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
+v -0.13490040 0.15067911 -0.03171080
+v -0.13488494 0.14909201 -0.03171080
+v -0.13490040 0.15067891 0.02175209
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diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_24.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed4b84857fbd29f9f3f81124fd8f802802b2876d
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_24.obj
@@ -0,0 +1,454 @@
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diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_25.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5de227c4f83253637f599f511702ea456a461841
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_25.obj
@@ -0,0 +1,421 @@
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+
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_26.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92ecaee76b985fc9e5a0c3a9039d64df2586d8de
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_26.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.13216284 0.12952174 -0.08373180
+v 0.12275715 0.12952500 -0.08373180
+v 0.13221135 0.12952174 -0.08373180
+v 0.12275715 0.13166779 -0.02344725
+v 0.12275715 0.16283788 -0.08373168
+v 0.14340158 0.12952500 -0.08373180
+v 0.14340158 0.13167431 -0.02344725
+v 0.12275715 0.16284092 -0.02344713
+v 0.12275715 0.16284112 -0.07945304
+v 0.12365447 0.16283788 -0.08373168
+v 0.14340158 0.14816625 -0.08373174
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+v 0.12573002 0.16284419 -0.02344713
+v 0.12573002 0.16284110 -0.07312656
+v 0.12573002 0.16283786 -0.07945304
+v 0.12573002 0.16283462 -0.08373168
+v 0.13069762 0.16155273 -0.08373169
+v 0.13070571 0.16155597 -0.07945305
+v 0.13071177 0.16155922 -0.07312657
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+v 0.13072187 0.16155917 -0.06047359
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+v 0.13073400 0.16156230 -0.02344714
+v 0.14340158 0.14817271 -0.06520081
+v 0.13072996 0.16156234 -0.03517947
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+f 22 23 24
+
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_27.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..758034f4f654d6b1adb27bef195c013affe53985
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_27.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
+v 0.20658067 -0.03502070 -0.07764664
+v 0.20657607 -0.00299511 -0.07764652
+v 0.23385703 -0.03502070 -0.07764664
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+v 0.20658067 0.01921892 -0.07764644
+v 0.20703573 0.01921857 0.01542416
+v 0.23387082 -0.03043348 -0.07764662
+v 0.25245497 -0.01579605 -0.00789773
+v 0.25203209 -0.02037796 -0.00750814
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+v 0.20718741 -0.03502107 0.02175492
+v 0.23386163 0.01921892 -0.07764644
+v 0.20718741 -0.02860746 0.02175494
+v 0.20719661 0.01921855 0.02175512
+v 0.23387541 -0.02860709 -0.07764662
+v 0.25245497 0.00340762 -0.00789766
+v 0.25353518 -0.00939308 -0.00354719
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+
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_28.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41d1f02628db9a01a00a0d5019b3eafbe8561994
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_28.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.12573002 -0.16805737 0.07235561
+v 0.12573002 -0.16804898 0.06602658
+v 0.13165961 -0.16701213 0.04705138
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+v 0.13170408 -0.16701225 0.07868466
+v 0.12573002 -0.16802813 0.07868465
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+v 0.13491745 -0.16614269 0.07868466
+v 0.13142114 -0.16694120 0.08500179
+v 0.12573002 -0.16784420 0.08500178
+v 0.12573002 -0.16698302 0.09043857
+v 0.12275715 -0.16749723 0.08792836
+v 0.12275715 -0.16788168 0.04412479
+v 0.12573002 -0.16764756 0.04072234
+v 0.12573002 -0.16232963 -0.02344833
+v 0.13071581 -0.16110891 -0.02344832
+v 0.13910697 -0.16227971 0.04111495
+v 0.13859364 -0.16302805 0.04705139
+v 0.13859364 -0.16304069 0.07235563
+v 0.13859364 -0.16303653 0.07868467
+v 0.13912920 -0.16229241 0.08457352
+v 0.13463452 -0.16605911 0.08500179
+v 0.13041064 -0.16667366 0.08957011
+v 0.12275715 -0.16703738 0.09052185
+v 0.12573002 -0.16587101 0.09360309
+v 0.12275715 -0.16768100 0.04072234
+v 0.12275715 -0.16231709 -0.02344833
+v 0.14340158 -0.14705383 -0.02344827
+v 0.14184743 -0.15994279 0.04348239
+v 0.14186765 -0.15997623 0.04705140
+v 0.14186360 -0.15997215 0.07235564
+v 0.14186765 -0.15997628 0.05969757
+v 0.14186158 -0.15996799 0.07868468
+v 0.14184137 -0.15993038 0.08218229
+v 0.13723553 -0.16190365 0.09133084
+v 0.13239728 -0.16516031 0.09153306
+v 0.12275715 -0.16643539 0.09222307
+v 0.12275715 -0.16588773 0.09368636
+v 0.13216284 -0.16183259 0.09574451
+v 0.12573002 -0.16266870 0.09629175
+v 0.12275715 -0.16416534 0.09513777
+v 0.12275715 -0.13038172 -0.02344821
+v 0.14340158 -0.13039009 -0.02344821
+v 0.14340158 -0.14824546 0.02175911
+v 0.14186360 -0.15667371 0.08243213
+v 0.14155439 -0.15667372 0.08558476
+v 0.13910697 -0.15667375 0.09133085
+v 0.14340158 -0.14766438 0.02574450
+v 0.14340158 -0.14507243 0.02771936
+v 0.14340158 -0.14387261 0.02833798
+v 0.13589359 -0.16064948 0.09495933
+v 0.13216284 -0.15667377 0.09698177
+v 0.12573002 -0.15667377 0.09808817
+v 0.12275715 -0.16268543 0.09629175
+v 0.12275715 -0.12534851 0.02787408
+v 0.14340158 -0.13038593 -0.01619124
+v 0.12491557 -0.12534851 0.02789788
+v 0.12573002 -0.12534851 0.02790977
+v 0.12675265 -0.12534851 0.02814771
+v 0.13180917 -0.12534852 0.02949203
+v 0.13492756 -0.12534853 0.03157395
+v 0.13527517 -0.12534853 0.03187137
+v 0.13836729 -0.12534854 0.03466709
+v 0.14104308 -0.12534856 0.04072250
+v 0.14132602 -0.12534872 0.08500194
+v 0.14188179 -0.15026908 0.08262251
+v 0.14157460 -0.15026910 0.08578703
+v 0.14340158 -0.13955409 0.02934922
+v 0.13912920 -0.15026912 0.09133088
+v 0.13614824 -0.15667376 0.09518538
+v 0.13216284 -0.14387287 0.09700561
+v 0.12573002 -0.13106360 0.09807637
+v 0.12275715 -0.15322898 0.09807629
+v 0.12275715 -0.15667377 0.09807627
+v 0.12275715 -0.15946222 0.09725539
+v 0.13146964 -0.12534877 0.09712465
+v 0.12275715 -0.12534877 0.09805259
+v 0.14340158 -0.13038598 -0.00193902
+v 0.14109361 -0.12534872 0.08569195
+v 0.14186562 -0.14649821 0.08244407
+v 0.14340158 -0.13253909 0.02704129
+v 0.14340158 -0.13108424 0.02335333
+v 0.14340158 -0.13078741 0.02175917
+v 0.14340158 -0.13049057 0.01703619
+v 0.14340158 -0.13039024 0.01543014
+v 0.14340158 -0.13746799 0.02962286
+v 0.13916154 -0.12534875 0.09133097
+v 0.13916356 -0.13106358 0.09133095
+v 0.13916154 -0.13746822 0.09133093
+v 0.13914739 -0.14387285 0.09133090
+v 0.13615632 -0.13746823 0.09519735
+v 0.13216284 -0.12534877 0.09700568
+v 0.12503683 -0.12534877 0.09806449
+v 0.12275715 -0.13402345 0.09806446
+v 0.12573002 -0.12534877 0.09806449
+v 0.13883616 -0.12534875 0.09174736
+v 0.13615228 -0.13106359 0.09519737
+v 0.13571979 -0.12534876 0.09538774
+v 0.13614824 -0.12534876 0.09518550
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 3
+f 2 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 5
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+f 5 14 6
+f 6 14 15
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+f 7 16 17
+f 7 17 29
+f 7 29 42
+f 7 42 43
+f 7 43 46
+f 7 46 59
+f 7 59 80
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+f 7 79 78
+f 7 78 99
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+f 7 82 60
+f 7 60 47
+f 7 47 32
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+f 7 31 18
+f 7 18 8
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+f 11 22 23
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+f 13 27 14
+f 14 27 28
+f 14 28 15
+f 15 28 16
+f 16 29 17
+f 16 28 30
+f 16 30 29
+f 18 31 19
+f 19 31 20
+f 20 32 47
+f 20 47 48
+f 20 48 33
+f 20 33 21
+f 20 31 32
+f 21 33 34
+f 21 34 22
+f 22 34 23
+f 23 34 35
+f 23 35 24
+f 24 36 25
+f 24 35 37
+f 24 37 36
+f 25 38 39
+f 25 39 26
+f 25 36 38
+f 26 39 40
+f 26 40 27
+f 27 40 41
+f 27 41 28
+f 28 41 30
+f 29 30 42
+f 30 43 42
+f 30 41 44
+f 30 44 45
+f 30 45 46
+f 30 46 43
+f 33 48 61
+f 33 61 83
+f 33 83 90
+f 33 90 89
+f 33 89 88
+f 33 88 87
+f 33 87 86
+f 33 86 91
+f 33 91 73
+f 33 73 55
+f 33 55 54
+f 33 54 53
+f 33 53 49
+f 33 49 35
+f 33 35 34
+f 35 49 37
+f 36 37 49
+f 36 49 38
+f 38 49 39
+f 39 50 51
+f 39 51 52
+f 39 52 40
+f 39 49 53
+f 39 53 54
+f 39 54 55
+f 39 55 50
+f 40 52 56
+f 40 56 41
+f 41 56 44
+f 44 57 58
+f 44 58 45
+f 44 56 57
+f 45 59 46
+f 45 58 59
+f 47 60 48
+f 48 60 62
+f 48 62 63
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+f 48 64 65
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+f 48 68 69
+f 48 69 70
+f 48 70 61
+f 50 71 72
+f 50 72 51
+f 50 55 73
+f 50 73 71
+f 51 72 52
+f 52 74 75
+f 52 75 56
+f 52 72 74
+f 56 75 57
+f 57 75 76
+f 57 76 58
+f 58 77 78
+f 58 78 79
+f 58 79 80
+f 58 80 59
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+f 58 81 77
+f 60 82 98
+f 60 98 100
+f 60 100 81
+f 60 81 97
+f 60 97 103
+f 60 103 104
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+f 60 101 92
+f 60 92 84
+f 60 84 70
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+f 60 66 65
+f 60 65 64
+f 60 64 63
+f 60 63 62
+f 61 70 83
+f 70 84 72
+f 70 72 85
+f 70 85 86
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+f 70 88 89
+f 70 89 90
+f 70 90 83
+f 71 85 72
+f 71 73 91
+f 71 91 85
+f 72 84 92
+f 72 92 93
+f 72 93 94
+f 72 94 95
+f 72 95 74
+f 74 95 75
+f 75 95 94
+f 75 94 96
+f 75 96 76
+f 76 97 81
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+f 77 99 78
+f 77 81 100
+f 77 100 98
+f 85 91 86
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+f 92 102 96
+f 92 96 93
+f 93 96 94
+f 96 102 97
+f 97 102 103
+f 101 104 102
+f 102 104 103
+
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_29.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e83ec792e3d9f646d40d013455e59d4f57e8347
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_29.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.12573002 -0.16232971 -0.02344834
+v 0.13071581 -0.16110935 -0.02344833
+v 0.12275715 -0.16231995 -0.02344834
+v 0.12275715 -0.16231990 -0.03810233
+v 0.12573002 -0.16232640 -0.04150309
+v 0.14340158 -0.14705722 -0.02885053
+v 0.14340158 -0.14705399 -0.02344828
+v 0.12573002 -0.16231647 -0.08376468
+v 0.13070975 -0.16110604 -0.04150308
+v 0.13071379 -0.16110606 -0.03517979
+v 0.14340158 -0.14706365 -0.05102045
+v 0.14340158 -0.14706369 -0.04150303
+v 0.12275715 -0.13038215 -0.02344822
+v 0.12275715 -0.16230997 -0.08376468
+v 0.12370297 -0.16231322 -0.08376468
+v 0.14340158 -0.13038867 -0.02344822
+v 0.12730842 -0.16192921 -0.08376467
+v 0.13069156 -0.16109940 -0.07312547
+v 0.14340158 -0.14704075 -0.08376462
+v 0.13858353 -0.12908347 -0.08376455
+v 0.12275715 -0.12908672 -0.08376455
+v 0.14340158 -0.12908672 -0.08376455
+v 0.13068146 -0.16109611 -0.08376467
+f 1 2 7
+f 1 7 16
+f 1 16 13
+f 1 13 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 5 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 12
+f 2 12 6
+f 3 13 21
+f 3 21 14
+f 3 14 4
+f 4 14 15
+f 4 15 5
+f 5 15 8
+f 6 12 11
+f 6 11 19
+f 6 19 22
+f 6 22 16
+f 6 16 7
+f 8 15 14
+f 8 14 21
+f 8 21 20
+f 8 20 22
+f 8 22 19
+f 8 19 23
+f 8 23 17
+f 8 17 9
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 10 19 11
+f 13 20 21
+f 13 16 20
+f 16 22 20
+f 17 23 18
+f 18 23 19
+
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_3.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0808f4dc28fe56a7135d4022ef59a52e13ec6da6
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_3.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.01822115 -0.12156078 -0.10428878
+v 0.11928635 -0.07980142 -0.10734445
+v 0.11928635 -0.08620919 -0.10734216
+v 0.11928635 -0.11184031 -0.10732368
+v 0.11928635 -0.11822388 -0.10731673
+v 0.11928635 -0.12156077 -0.10731210
+v 0.01822115 -0.12156085 -0.08369210
+v 0.01822115 -0.07525553 -0.10429326
+v 0.01827231 0.12546503 -0.10435522
+v 0.11928635 -0.06701004 -0.10734674
+v 0.12274490 -0.08620919 -0.10733519
+v 0.12274490 -0.11184031 -0.10731903
+v 0.12274490 -0.11822388 -0.10731208
+v 0.12107702 -0.12156077 -0.10730746
+v 0.12274490 -0.12156085 -0.08503193
+v 0.12275513 0.12546496 -0.08488241
+v 0.01827231 0.12546496 -0.08362618
+v 0.01822115 0.00337869 -0.08371951
+v 0.01822115 -0.07341783 -0.10429325
+v 0.11928635 0.12546504 -0.10732745
+v 0.11928635 0.11864620 -0.10733443
+v 0.11928635 0.11223842 -0.10733679
+v 0.11928635 0.07384012 -0.10734389
+v 0.11928635 0.00337877 -0.10734880
+v 0.11928635 -0.04140312 -0.10734896
+v 0.01822115 0.00337876 -0.10428600
+v 0.01822115 0.00826318 -0.10428366
+v 0.12274490 -0.04781090 -0.10734202
+v 0.12275513 0.00826319 -0.10733717
+v 0.12274490 -0.12156077 -0.10730281
+v 0.12275513 0.00826311 -0.08505236
+v 0.12275513 0.12546504 -0.10731816
+v 0.01822115 0.00826311 -0.08372181
+v 0.12254025 0.12546504 -0.10732048
+v 0.12275513 0.12162037 -0.10732746
+v 0.12275513 0.11864620 -0.10733211
+v 0.12275513 0.11521259 -0.10733445
+v 0.12275513 0.07384012 -0.10733925
+v 0.12274490 -0.00003065 -0.10734184
+v 0.12275513 0.07038234 -0.10733926
+v 0.12275513 0.12505396 -0.10732048
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 30
+f 1 30 15
+f 1 15 7
+f 1 7 18
+f 1 18 33
+f 1 33 27
+f 1 27 26
+f 1 26 19
+f 1 19 8
+f 1 8 9
+f 1 9 2
+f 2 10 11
+f 2 11 3
+f 2 9 10
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 5
+f 5 13 6
+f 6 13 14
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 8 19 9
+f 9 17 16
+f 9 16 32
+f 9 32 34
+f 9 34 20
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 25
+f 9 25 10
+f 9 19 26
+f 9 26 27
+f 9 27 33
+f 9 33 17
+f 10 25 28
+f 10 28 11
+f 11 28 29
+f 11 29 12
+f 12 29 13
+f 13 30 14
+f 13 29 30
+f 15 30 29
+f 15 29 31
+f 15 31 16
+f 16 31 29
+f 16 29 40
+f 16 40 38
+f 16 38 37
+f 16 37 36
+f 16 36 35
+f 16 35 41
+f 16 41 32
+f 17 33 18
+f 20 34 35
+f 20 35 36
+f 20 36 21
+f 21 36 37
+f 21 37 22
+f 22 37 23
+f 23 37 38
+f 23 38 24
+f 24 39 28
+f 24 28 25
+f 24 38 39
+f 28 39 38
+f 28 38 40
+f 28 40 29
+f 32 41 34
+f 34 41 35
+
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_30.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52a568db12aaf48b126631355f74fc1bd395c8ea
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_30.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v 0.20600154 -0.12247231 -0.07764696
+v 0.20657800 -0.03502070 -0.07764664
+v 0.23669186 -0.12247231 -0.07764696
+v 0.20650907 -0.12247266 0.01542224
+v 0.20703228 -0.03502105 0.01542256
+v 0.23385968 -0.03502070 -0.07764664
+v 0.23786044 -0.03502107 0.02174734
+v 0.23800456 -0.12247268 0.02192623
+v 0.20678478 -0.12247268 0.02174702
+v 0.20718892 -0.03502107 0.02174734
+v 0.23501886 -0.03502109 0.02728153
+v 0.23502200 -0.04781868 0.02729202
+v 0.23502513 -0.05422175 0.02729200
+v 0.23503140 -0.07983405 0.02729191
+v 0.23503140 -0.09264019 0.02729186
+v 0.23499694 -0.12247270 0.02732337
+v 0.20938511 -0.12247270 0.02732337
+v 0.20995531 -0.03502109 0.02737640
+v 0.22865899 -0.03502110 0.02980090
+v 0.22865899 -0.12247271 0.02988491
+v 0.23082385 -0.12247271 0.02902052
+v 0.21128994 -0.12247270 0.02815614
+v 0.21579512 -0.03502110 0.02989577
+v 0.22222705 -0.03502110 0.02993794
+v 0.22222705 -0.12247271 0.03004303
+v 0.22442325 -0.12247271 0.02999033
+v 0.21579512 -0.12247271 0.02987437
+v 0.21579512 -0.11184943 0.02989549
+v 0.21579512 -0.09264020 0.02991664
+v 0.21579512 -0.06063340 0.02990622
+v 0.21799131 -0.12247271 0.02993762
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 16
+f 1 16 21
+f 1 21 20
+f 1 20 26
+f 1 26 25
+f 1 25 31
+f 1 31 27
+f 1 27 22
+f 1 22 17
+f 1 17 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 18
+f 2 18 23
+f 2 23 24
+f 2 24 19
+f 2 19 11
+f 2 11 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 7 11 8
+f 8 11 12
+f 8 12 13
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 9 17 10
+f 10 17 18
+f 11 19 20
+f 11 20 12
+f 12 21 16
+f 12 16 13
+f 12 20 21
+f 13 16 14
+f 14 16 15
+f 17 22 18
+f 18 22 23
+f 19 24 25
+f 19 25 26
+f 19 26 20
+f 22 27 28
+f 22 28 29
+f 22 29 30
+f 22 30 23
+f 23 30 25
+f 23 25 24
+f 25 30 29
+f 25 29 28
+f 25 28 31
+f 27 31 28
+
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_4.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc62f3afbea8716c720db2d7175934ee4b0fdbd4
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_4.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.16624049 0.13788120 0.02881930
+v 0.16624049 0.13978287 0.02855295
+v 0.14340158 0.14428166 0.02856363
+v 0.14340158 0.13788120 0.02935202
+v 0.14340158 0.13663145 0.02871276
+v 0.16624049 0.13352710 0.02633685
+v 0.16624049 0.14428166 0.02790306
+v 0.14340158 0.14824010 0.02595336
+v 0.14340158 0.13334060 0.02676302
+v 0.16624049 0.13247085 0.02311928
+v 0.16624049 0.14533968 0.02716792
+v 0.16624049 0.14783921 0.02542064
+v 0.14340158 0.14882055 0.02314065
+v 0.16624049 0.13202463 0.02175553
+v 0.14340158 0.13201939 0.02175553
+v 0.15146316 0.13202115 0.02175553
+v 0.16624049 0.14857478 0.02175560
+v 0.14340158 0.14900532 0.02175560
+v 0.16624049 0.13167604 0.01542693
+v 0.14340158 0.13168127 0.01542693
+v 0.15789499 0.13167604 0.01542693
+v 0.16624049 0.14769667 -0.07947005
+v 0.14340158 0.14816206 -0.07947005
+v 0.16624049 0.13120054 -0.07947011
+v 0.14340158 0.13120054 -0.07947011
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 14
+f 1 14 19
+f 1 19 24
+f 1 24 22
+f 1 22 17
+f 1 17 12
+f 1 12 11
+f 1 11 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 13
+f 3 13 18
+f 3 18 23
+f 3 23 25
+f 3 25 20
+f 3 20 15
+f 3 15 9
+f 3 9 5
+f 3 5 4
+f 5 9 6
+f 6 9 10
+f 7 11 8
+f 8 11 12
+f 8 12 13
+f 9 14 10
+f 9 15 16
+f 9 16 14
+f 12 17 13
+f 13 17 18
+f 14 16 19
+f 15 20 21
+f 15 21 19
+f 15 19 16
+f 17 22 23
+f 17 23 18
+f 19 21 25
+f 19 25 24
+f 20 25 21
+f 22 24 25
+f 22 25 23
+
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_5.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93198bb06f909e99025cc0a70a2e2967edd31b84
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_5.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.16624049 -0.12247222 -0.10645476
+v 0.21578874 -0.12247222 -0.10729052
+v 0.16624049 -0.12247230 -0.08502665
+v 0.16624049 0.01920515 -0.10428067
+v 0.21578874 0.01920516 -0.10597542
+v 0.21607007 -0.12247222 -0.10729343
+v 0.20599865 -0.12247232 -0.07764696
+v 0.16624049 0.00530779 -0.08505230
+v 0.16624049 0.01920508 -0.08505805
+v 0.22222403 0.01920516 -0.10588836
+v 0.22836395 -0.12247222 -0.10672464
+v 0.22865934 0.01920516 -0.10559525
+v 0.23669114 -0.12247232 -0.07764696
+v 0.20657538 0.01920506 -0.07764644
+v 0.22865934 -0.12247222 -0.10670432
+v 0.23489771 0.01920515 -0.10350584
+v 0.23792194 -0.12247226 -0.09500361
+v 0.23807666 0.01920513 -0.09843031
+v 0.23386384 0.01920506 -0.07764644
+v 0.23505243 -0.12247223 -0.10437986
+v 0.23809073 -0.12247225 -0.09805357
+v 0.23807666 -0.04141864 -0.09843053
+v 0.23806964 -0.10544045 -0.09843077
+v 0.23804854 -0.11184817 -0.09843079
+v 0.23802040 -0.11824203 -0.09843081
+f 1 2 6
+f 1 6 11
+f 1 11 15
+f 1 15 20
+f 1 20 21
+f 1 21 17
+f 1 17 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 14
+f 4 14 19
+f 4 19 18
+f 4 18 16
+f 4 16 12
+f 4 12 10
+f 4 10 5
+f 5 10 6
+f 6 10 12
+f 6 12 11
+f 7 13 19
+f 7 19 14
+f 7 14 9
+f 7 9 8
+f 11 12 15
+f 12 16 15
+f 13 17 18
+f 13 18 19
+f 15 16 20
+f 16 18 20
+f 17 21 18
+f 18 21 22
+f 18 22 20
+f 20 23 24
+f 20 24 25
+f 20 25 21
+f 20 22 23
+f 21 25 24
+f 21 24 23
+f 21 23 22
+
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_6.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab8f6d2dcf88e983bfa913e9c2d8d82a32e839b1
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_6.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.06783295 0.15068476 -0.10738657
+v 0.05496664 0.15068476 -0.10737916
+v 0.09998850 0.15708942 -0.10675690
+v 0.10642166 0.15068476 -0.10737916
+v 0.11928798 0.12546868 -0.10732740
+v 0.05496664 0.15708942 -0.10672726
+v 0.04853348 0.14428010 -0.10734215
+v 0.02923401 0.15068476 -0.10734952
+v 0.07425588 0.16150679 -0.10383831
+v 0.09998850 0.16150679 -0.10385311
+v 0.11928798 0.16150314 -0.10385311
+v 0.11928798 0.15708942 -0.10674949
+v 0.11928798 0.15068476 -0.10736434
+v 0.12275513 0.12546868 -0.10731999
+v 0.01827003 0.12546867 -0.10434955
+v 0.01827003 0.13788275 -0.10679400
+v 0.01827003 0.14428010 -0.10729029
+v 0.02280085 0.14428010 -0.10730510
+v 0.04210032 0.14428010 -0.10733473
+v 0.03566717 0.15708942 -0.10669764
+v 0.02923401 0.16149216 -0.10379385
+v 0.06139979 0.16150314 -0.10383089
+v 0.02280085 0.15068476 -0.10733471
+v 0.06783295 0.16150679 -0.10383089
+v 0.06783295 0.16282430 -0.09842335
+v 0.09355535 0.16281334 -0.09842335
+v 0.09998850 0.16280967 -0.09842335
+v 0.11928798 0.16278771 -0.09842335
+v 0.12275513 0.16150314 -0.10383089
+v 0.12275513 0.15708942 -0.10667541
+v 0.12275513 0.15068476 -0.10726804
+v 0.12275513 0.14083988 -0.10729770
+v 0.12275513 0.13443887 -0.10731255
+v 0.12275513 0.12546860 -0.08487504
+v 0.01827003 0.12546860 -0.08362316
+v 0.01827003 0.14878532 -0.10731249
+v 0.02923401 0.15708942 -0.10668282
+v 0.02280085 0.16148850 -0.10377904
+v 0.01827003 0.16239978 -0.10001599
+v 0.02923401 0.16279869 -0.09842335
+v 0.06139979 0.16282065 -0.09842335
+v 0.01827003 0.15068476 -0.10731990
+v 0.11928798 0.16285357 -0.09209728
+v 0.12275513 0.16277673 -0.09842335
+v 0.12275513 0.16209602 -0.10131971
+v 0.12275513 0.13167179 -0.03171088
+v 0.01827003 0.12999559 -0.03171088
+v 0.02280085 0.15708942 -0.10666059
+v 0.01827003 0.16148484 -0.10376422
+v 0.01827003 0.16278405 -0.09842335
+v 0.02280085 0.16279137 -0.09842335
+v 0.12220284 0.16283871 -0.03171076
+v 0.01827003 0.15708942 -0.10663837
+v 0.12275513 0.16283871 -0.03171076
+v 0.12275513 0.16284245 -0.05415570
+v 0.12275513 0.16284254 -0.07945256
+v 0.12275513 0.16283893 -0.09209728
+v 0.12275513 0.16280600 -0.09550477
+v 0.01827003 0.16221288 -0.03171076
+v 0.01928256 0.16222753 -0.03171076
+v 0.02280085 0.16227510 -0.03171076
+v 0.02571572 0.16230071 -0.03171076
+v 0.02923401 0.16232999 -0.03171076
+v 0.03214887 0.16234829 -0.03171076
+v 0.03566717 0.16237025 -0.03171076
+v 0.11928798 0.16283505 -0.03171076
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 19
+f 2 19 8
+f 2 8 6
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 3 6 9
+f 4 12 13
+f 4 13 5
+f 5 13 14
+f 5 14 34
+f 5 34 35
+f 5 35 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 7
+f 6 8 20
+f 6 20 21
+f 6 21 22
+f 6 22 9
+f 8 18 23
+f 8 23 37
+f 8 37 20
+f 8 19 18
+f 9 22 24
+f 9 24 25
+f 9 25 10
+f 10 25 11
+f 11 26 27
+f 11 27 28
+f 11 28 29
+f 11 29 12
+f 11 25 26
+f 12 29 30
+f 12 30 13
+f 13 30 31
+f 13 31 32
+f 13 32 33
+f 13 33 14
+f 14 33 32
+f 14 32 31
+f 14 31 30
+f 14 30 29
+f 14 29 45
+f 14 45 44
+f 14 44 58
+f 14 58 57
+f 14 57 56
+f 14 56 55
+f 14 55 54
+f 14 54 46
+f 14 46 34
+f 15 35 47
+f 15 47 59
+f 15 59 50
+f 15 50 39
+f 15 39 49
+f 15 49 53
+f 15 53 42
+f 15 42 36
+f 15 36 17
+f 15 17 16
+f 17 36 18
+f 18 36 23
+f 20 37 21
+f 21 37 38
+f 21 38 39
+f 21 39 40
+f 21 40 41
+f 21 41 22
+f 22 41 25
+f 22 25 24
+f 23 36 42
+f 23 42 37
+f 25 41 43
+f 25 43 26
+f 26 43 27
+f 27 43 28
+f 28 43 44
+f 28 44 45
+f 28 45 29
+f 34 46 47
+f 34 47 35
+f 37 42 48
+f 37 48 38
+f 38 48 49
+f 38 49 39
+f 39 50 51
+f 39 51 40
+f 40 51 52
+f 40 52 41
+f 41 52 43
+f 42 53 48
+f 43 52 54
+f 43 54 55
+f 43 55 56
+f 43 56 57
+f 43 57 58
+f 43 58 44
+f 46 54 52
+f 46 52 66
+f 46 66 65
+f 46 65 64
+f 46 64 63
+f 46 63 62
+f 46 62 61
+f 46 61 60
+f 46 60 59
+f 46 59 47
+f 48 53 49
+f 50 59 60
+f 50 60 61
+f 50 61 62
+f 50 62 63
+f 50 63 64
+f 50 64 65
+f 50 65 66
+f 50 66 51
+f 51 66 52
+
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_7.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..932f6b76f2188ad60d9bdc21ed8d775f2d76a3ba
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_7.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.16624049 -0.13746717 0.02912728
+v 0.14340158 -0.13746717 0.02960944
+v 0.14340158 -0.13955009 0.02932817
+v 0.16624049 -0.14196536 0.02809597
+v 0.16624049 -0.13605839 0.02839065
+v 0.16624049 -0.13272913 0.02664952
+v 0.14340158 -0.13253839 0.02702454
+v 0.14340158 -0.14386699 0.02832365
+v 0.16624049 -0.14386699 0.02765398
+v 0.16624049 -0.13078970 0.02174757
+v 0.14340158 -0.13108431 0.02334138
+v 0.14340158 -0.14506992 0.02770756
+v 0.16624049 -0.14624452 0.02591284
+v 0.16624049 -0.13066883 0.01987251
+v 0.15789499 -0.13078781 0.02174757
+v 0.14340158 -0.13078781 0.02174757
+v 0.14340158 -0.14766460 0.02572534
+v 0.16624049 -0.14724914 0.02517621
+v 0.16624049 -0.13038556 0.01542592
+v 0.14340158 -0.13048942 0.01701972
+v 0.16432681 -0.13038556 0.01542592
+v 0.14502909 -0.13038745 0.01542592
+v 0.14340158 -0.14824811 0.02174751
+v 0.16624049 -0.14778355 0.02174751
+v 0.16624049 -0.14762492 0.02276541
+v 0.16624049 -0.12895754 -0.08380532
+v 0.14340158 -0.13038933 0.01542592
+v 0.14340158 -0.12895754 -0.08380532
+v 0.14340158 -0.14799086 -0.09194854
+v 0.16624049 -0.14762826 -0.09735945
+v 0.16624049 -0.12895746 -0.10708295
+v 0.14340158 -0.12895746 -0.10714991
+v 0.14340158 -0.14776423 -0.09764071
+v 0.16624049 -0.14657452 -0.10053367
+v 0.16624049 -0.13106304 -0.10716331
+v 0.14340158 -0.12944278 -0.10716331
+v 0.14340158 -0.14661795 -0.10062742
+v 0.16624049 -0.14432540 -0.10243552
+v 0.15789499 -0.13106304 -0.10717670
+v 0.16624049 -0.13296468 -0.10682849
+v 0.14502909 -0.13106304 -0.10719010
+v 0.14340158 -0.13106304 -0.10719010
+v 0.14340158 -0.14358326 -0.10317214
+v 0.16624049 -0.14337364 -0.10323912
+v 0.14340158 -0.13746667 -0.10605168
+v 0.16624049 -0.13746667 -0.10602490
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 13
+f 1 13 18
+f 1 18 25
+f 1 25 24
+f 1 24 30
+f 1 30 34
+f 1 34 38
+f 1 38 44
+f 1 44 46
+f 1 46 40
+f 1 40 35
+f 1 35 31
+f 1 31 26
+f 1 26 19
+f 1 19 14
+f 1 14 10
+f 1 10 6
+f 1 6 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 11
+f 2 11 16
+f 2 16 20
+f 2 20 27
+f 2 27 28
+f 2 28 32
+f 2 32 36
+f 2 36 42
+f 2 42 45
+f 2 45 43
+f 2 43 37
+f 2 37 33
+f 2 33 29
+f 2 29 23
+f 2 23 17
+f 2 17 12
+f 2 12 8
+f 2 8 3
+f 3 8 9
+f 3 9 4
+f 6 10 7
+f 7 10 11
+f 8 12 9
+f 9 12 13
+f 10 14 15
+f 10 15 11
+f 11 15 16
+f 12 17 18
+f 12 18 13
+f 14 19 15
+f 15 19 21
+f 15 21 16
+f 16 21 22
+f 16 22 20
+f 17 23 24
+f 17 24 25
+f 17 25 18
+f 19 26 28
+f 19 28 21
+f 20 22 27
+f 21 28 22
+f 22 28 27
+f 23 29 30
+f 23 30 24
+f 26 31 32
+f 26 32 28
+f 29 33 30
+f 30 33 34
+f 31 35 32
+f 32 35 36
+f 33 37 34
+f 34 37 38
+f 35 39 36
+f 35 40 39
+f 36 39 41
+f 36 41 42
+f 37 43 44
+f 37 44 38
+f 39 40 45
+f 39 45 41
+f 40 46 45
+f 41 45 42
+f 43 45 46
+f 43 46 44
+
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_8.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc5031ea9b6dee1d8d925d20dc758a7d8917b348
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_8.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.14340158 -0.12895566 -0.08380750
+v 0.14340158 -0.12895558 -0.10715173
+v 0.16624049 -0.12895566 -0.08381207
+v 0.16624049 0.09214054 -0.08504748
+v 0.14340158 0.09214054 -0.08504976
+v 0.14340158 0.09214061 -0.10437457
+v 0.16624049 -0.12895558 -0.10709231
+v 0.16624049 0.09214061 -0.10427859
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 7 8
+f 3 8 4
+f 4 8 6
+f 4 6 5
+f 6 8 7
+
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_9.obj b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03eae9c68a5304d35a4d31674de1f8d971b0762d
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/mesh/storage_bin_053_collision_9.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.12572970 0.12014467 0.09808497
+v 0.12721152 0.12014467 0.09784437
+v 0.12344142 0.12014467 0.09806435
+v 0.12572970 0.09945459 0.09808490
+v 0.13216124 0.10584665 0.09702633
+v 0.13216124 0.12014467 0.09702638
+v 0.12572970 -0.10542765 0.09807726
+v 0.13216124 -0.09903559 0.09701870
+v 0.12275695 0.12014467 0.09805747
+v 0.12275695 0.09945459 0.09805740
+v 0.12275695 -0.12534877 0.09804970
+v 0.12503611 -0.12534877 0.09807032
+v 0.13308238 0.12014468 0.09660706
+v 0.12572970 -0.12534877 0.09807032
+v 0.13146948 -0.12534877 0.09712858
+v 0.13216124 -0.12534877 0.09701173
+v 0.13571835 -0.12534876 0.09538947
+v 0.13615343 -0.09903558 0.09519709
+v 0.12275695 0.12014493 0.02836216
+v 0.12275695 -0.12534851 0.02786633
+v 0.13615889 0.12014468 0.09519789
+v 0.13614979 -0.12534876 0.09519012
+v 0.13916076 -0.12534875 0.09133381
+v 0.13916440 -0.09903557 0.09133391
+v 0.13918807 0.12014469 0.09133471
+v 0.13685611 0.12014468 0.09431115
+v 0.12424787 0.12014493 0.02836903
+v 0.12572970 0.12014493 0.02837590
+v 0.12572970 -0.12534851 0.02790070
+v 0.14132524 -0.12534872 0.08500975
+v 0.14135255 0.12014472 0.08501065
+v 0.13968686 0.12014470 0.08987743
+v 0.13019519 0.12014492 0.02948949
+v 0.12675095 -0.12534851 0.02814816
+v 0.14104308 -0.12534856 0.04073442
+v 0.14104490 -0.12465168 0.04073442
+v 0.14105582 -0.11823559 0.04073445
+v 0.14105036 0.10584686 0.04073527
+v 0.14104854 0.11865500 0.04073532
+v 0.14104672 0.12014488 0.04073532
+v 0.14105582 -0.09261930 0.04073454
+v 0.13155686 0.12014492 0.02983319
+v 0.13180990 -0.12534852 0.02949546
+v 0.13836706 -0.12534854 0.03466470
+v 0.14043324 0.12014489 0.03936053
+v 0.13477173 0.12014491 0.03166854
+v 0.13492828 -0.12534853 0.03156453
+v 0.13527416 -0.12534853 0.03186699
+v 0.13837980 0.12014490 0.03483057
+v 0.13756789 0.12014490 0.03410193
+f 1 2 6
+f 1 6 13
+f 1 13 21
+f 1 21 26
+f 1 26 25
+f 1 25 32
+f 1 32 31
+f 1 31 40
+f 1 40 45
+f 1 45 49
+f 1 49 50
+f 1 50 46
+f 1 46 42
+f 1 42 33
+f 1 33 28
+f 1 28 27
+f 1 27 19
+f 1 19 9
+f 1 9 3
+f 1 3 4
+f 1 4 2
+f 2 5 6
+f 2 4 7
+f 2 7 8
+f 2 8 5
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 7
+f 5 13 6
+f 5 8 13
+f 7 12 14
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 13
+f 9 19 20
+f 9 20 11
+f 9 11 10
+f 11 20 29
+f 11 29 34
+f 11 34 43
+f 11 43 47
+f 11 47 48
+f 11 48 44
+f 11 44 35
+f 11 35 30
+f 11 30 23
+f 11 23 22
+f 11 22 17
+f 11 17 16
+f 11 16 15
+f 11 15 14
+f 11 14 12
+f 13 18 21
+f 17 22 18
+f 18 22 23
+f 18 23 24
+f 18 24 25
+f 18 25 26
+f 18 26 21
+f 19 27 20
+f 20 27 28
+f 20 28 29
+f 23 30 24
+f 24 30 31
+f 24 31 32
+f 24 32 25
+f 28 33 34
+f 28 34 29
+f 30 35 36
+f 30 36 37
+f 30 37 31
+f 31 38 39
+f 31 39 40
+f 31 37 41
+f 31 41 38
+f 33 42 34
+f 34 42 43
+f 35 44 36
+f 36 44 37
+f 37 44 41
+f 38 45 39
+f 38 41 44
+f 38 44 45
+f 39 45 40
+f 42 46 43
+f 43 46 47
+f 44 48 49
+f 44 49 45
+f 46 50 47
+f 47 50 48
+f 48 50 49
+
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/storage_bin_053.xml b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/storage_bin_053.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c2456dda1f8c4c6f2733c5a6adb28bf274ea2f15
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/mjcf/storage_bin_053.xml
@@ -0,0 +1,76 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="storage_bin_053">
+  <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_053.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/storage_bin_053_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/storage_bin_053_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/storage_bin_053_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/storage_bin_053_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/storage_bin_053_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/storage_bin_053_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/storage_bin_053_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/storage_bin_053_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/storage_bin_053_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/storage_bin_053_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/storage_bin_053_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/storage_bin_053_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/storage_bin_053_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/storage_bin_053_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/storage_bin_053_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/storage_bin_053_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/storage_bin_053_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/storage_bin_053_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/storage_bin_053_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/storage_bin_053_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/storage_bin_053_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/storage_bin_053_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/storage_bin_053_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/storage_bin_053_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/storage_bin_053_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/storage_bin_053_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/storage_bin_053_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/storage_bin_053_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/storage_bin_053_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/storage_bin_053_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/storage_bin_053_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="storage_bin_053">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/storage_bin_053.urdf b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/storage_bin_053.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..50f4c9e84c911c859a6e95a1043b669280fadf5f
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/storage_bin_053.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_053">
+   <link name="storage_bin_053">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_053.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_053_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="13.0000" />
+         <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>0c6deb1020d15ee592ab050fdfc6a5b6</uuid>
+         <domain>kitchen_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>lidded storage bin</name>
+         <color>brown,gray</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>rectangular wood-textured storage bin with hinged lid and front latch</description>
+         <min_height>0.2191</min_height>
+         <max_height>0.2191</max_height>
+         <real_height>0.2191</real_height>
+         <min_mass>8.0</min_mass>
+         <max_mass>18.0</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260609191857</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.136152 -0.167302 -0.116431</min>
+            <max>0.253660 0.167723 0.102648</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/0c6deb1020d15ee592ab050fdfc6a5b6/storage_bin_053.usd b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/storage_bin_053.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0ef37a6c05182ccc76e1a3f4f5653ef0166f4e58
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/storage_bin_053.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c764224b56968774273826877fc645653358261c0cec85c18d6afa6dad6ec1ff
+size 5840785
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/textures/material_0.png b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2a854ea8896518664fd56ed8775578bed142db7
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 17953489
diff --git a/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/video.mp4 b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..96d983ff9574e3eecf86e549278dbea9ef567ec1
--- /dev/null
+++ b/dataset/kitchen_supplies/storage/0c6deb1020d15ee592ab050fdfc6a5b6/video.mp4
@@ -0,0 +1,3 @@
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+oid sha256:30ddf506a3a80d1b25c829df4b7c972efedcf1ccd444803105e4f9b3fafa44a8
+size 1378938