diff --git a/.gitattributes b/.gitattributes
index 9b889ec892e75391f06446372880f1bb4058f519..fe7d0e6706a94fc8587678a35a180aa52b166517 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2798,3 +2798,5 @@ dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/mesh/remote_ho
 dataset/bedroom_supplies/storage/87117ba1cb055a08a2efce3d562d248d/remote_holder_029.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/mesh/remote_holder_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/9319faf136a95db8937c06aa8b3f8f46/remote_holder_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mesh/storage_bin_003.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/storage_bin_003.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mesh/material.mtl b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..32b9d4974a6960d217f8c8184b1e751237f7de3c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_003_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_003_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mesh/material_0.png b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..212756dd35611b980033c8866b4c9dac9ee5bb3c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69626505315ab549e6788de54fafac34b4a3e9544c63ab72674f75d0f2152b95
+size 10783177
diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mesh/storage_bin_003.glb b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mesh/storage_bin_003.glb
new file mode 100644
index 0000000000000000000000000000000000000000..fecf8589999f7d244d9bbb3d5cd79d0145266e55
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mesh/storage_bin_003.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d56f8104224b84963912226cfe15adc7973283cfcb38e95fda8f3fd0902e2531
+size 13176852
diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mesh/storage_bin_003.mtl b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mesh/storage_bin_003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..30183be263274332f0428b375271a6db9328c675
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mesh/storage_bin_003.mtl
@@ -0,0 +1,6 @@
+newmtl storage_bin_003_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/9a1c2febe4705074a73bb85170f1323b/mesh/storage_bin_003.obj b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mesh/storage_bin_003.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07752026d1978eb0698e9b96ae67a7451d07c033
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mesh/storage_bin_003.obj
@@ -0,0 +1,108598 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl storage_bin_003_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mesh/storage_bin_003_collision.obj b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mesh/storage_bin_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d35b3b28b313d804b078228d0f71d5734206db3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mesh/storage_bin_003_collision.obj
@@ -0,0 +1,5363 @@
+# https://github.com/mikedh/trimesh
+
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diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003.obj b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003.obj
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diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision.obj b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21a3a8e5d72b4ec758c43b8c1ab7993079d4afe5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision.obj
@@ -0,0 +1,5363 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_0.obj b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74e5c2716979cf44655648acfcc350bfc19862e7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_0.obj
@@ -0,0 +1,364 @@
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diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_1.obj b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40e0cae5c65ba01639c0828a4015b4bdafd1470f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_1.obj
@@ -0,0 +1,463 @@
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diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_10.obj b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3eee54d4fb565f689e293b463bf45e4df6ff1f54
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_10.obj
@@ -0,0 +1,367 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_11.obj b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd98b4b2dbc4ccc983fea0ed862c8a2c29219c40
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_11.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_12.obj b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea8791cb875a87ad19a9aca694dcdb4ecdb0253e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_12.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.06028868 0.03374000 0.01853408
+v 0.05196252 0.03374000 0.01853408
+v 0.06029063 0.03227191 0.01853408
+v 0.06028966 0.03374001 0.01656386
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+
diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_13.obj b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e074cf41603ef5b63766b075b59be51b21ccb1fb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_13.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v -0.05626620 -0.00604504 0.03326993
+v -0.05539276 -0.00604504 0.03320639
+v -0.05823940 -0.00604504 0.03319505
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+
diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_14.obj b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33a157d80db9181b7074a07fddfe6ecb735f1b21
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_14.obj
@@ -0,0 +1,229 @@
+# https://github.com/mikedh/trimesh
+v 0.05625865 -0.00604269 0.03327209
+v 0.05823195 -0.00604269 0.03317865
+v 0.05516027 -0.00604269 0.03318991
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diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_15.obj b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..406ab2ed035958d5bcd02f684d8ec2f9599e2b04
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_15.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.06029487 -0.03201080 -0.00703472
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+v -0.05254662 -0.03201080 -0.00703472
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+
diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_16.obj b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84f936848910dbde2628f3a24ebff23b8f2c6a3d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_16.obj
@@ -0,0 +1,214 @@
+# https://github.com/mikedh/trimesh
+v -0.06029693 0.02097023 -0.00364122
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+
diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_17.obj b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90cb8400c612e2d2da490544b25c2b3aad8151dc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_17.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v 0.05625882 0.00092610 0.03327320
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+
diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_18.obj b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53e66613f3dcafff315f8fa068d24c5d7dfd99fa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_18.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_19.obj b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a9d160bc3029361521ee79b0c24b236a55ec988
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_19.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_2.obj b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad06aa8d28eac489dfece9e17e115f3f2903da3d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_2.obj
@@ -0,0 +1,475 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_20.obj b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bb2991715b6385de259a97c5490fdca858e97a9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_20.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.05196180 0.03374000 0.01853408
+v 0.05196343 0.03373999 0.02222074
+v 0.06028916 0.03374000 0.01853408
+v 0.05259094 0.01517609 0.01853402
+v 0.06028753 0.03373999 0.02222074
+v 0.05258768 0.01660041 0.02222068
+v 0.06029080 0.03227280 0.01853408
+v 0.05263256 0.01464018 0.01853401
+v 0.06029161 0.02995051 0.02222073
+v 0.05283982 0.01312058 0.01853401
+v 0.05286594 0.01464017 0.02222067
+v 0.06029488 0.02639447 0.01853406
+v 0.06029325 0.02835469 0.02222072
+v 0.05292713 0.01279189 0.01853401
+v 0.05322008 0.01356120 0.02222067
+v 0.06029814 0.01660042 0.01993564
+v 0.06029569 0.01802475 0.01853403
+v 0.06029651 0.01660041 0.02222068
+v 0.05347386 0.01170578 0.01853400
+v 0.05426049 0.01080068 0.01853400
+v 0.05343469 0.01340400 0.02222067
+v 0.06024265 0.01464018 0.01853401
+v 0.06029569 0.01660042 0.01853402
+v 0.06026060 0.01623837 0.02222068
+v 0.05625808 0.00940732 0.01853399
+v 0.05429232 0.01300624 0.02222067
+v 0.05980119 0.01264659 0.01853401
+v 0.06000192 0.01464017 0.02222067
+v 0.05746578 0.00989321 0.01853400
+v 0.05823690 0.01285618 0.02222067
+v 0.05661141 0.01262991 0.02222067
+v 0.05625808 0.01259657 0.02222067
+v 0.05946336 0.01340639 0.02222067
+v 0.05833319 0.01031717 0.01853400
+v 0.05990237 0.01437102 0.02222067
+f 1 2 5
+f 1 5 3
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+f 1 7 12
+f 1 12 17
+f 1 17 23
+f 1 23 22
+f 1 22 27
+f 1 27 34
+f 1 34 29
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+f 1 25 20
+f 1 20 19
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+f 1 14 10
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+f 3 5 7
+f 4 8 6
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+f 7 9 13
+f 7 13 12
+f 10 14 11
+f 11 14 15
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+f 14 19 15
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+f 27 35 33
+f 29 34 33
+f 29 33 30
+
diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_21.obj b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d02aa9ced6b679e07cf4afed6f7775a779184d71
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_21.obj
@@ -0,0 +1,199 @@
+# https://github.com/mikedh/trimesh
+v -0.05259614 0.02097014 0.01841265
+v -0.05259539 0.02097017 0.01222349
+v -0.06029583 0.02097014 0.01841265
+v -0.05259539 0.02010543 0.01841264
+v -0.05259539 0.02097018 0.00792109
+v -0.05259312 0.01659896 0.01841263
+v -0.06029583 0.02092783 0.01841265
+v -0.06029658 0.02097016 0.01459597
+v -0.06030186 0.00092571 0.00065679
+v -0.06029884 0.00092567 0.01222341
+v -0.05259916 0.02097022 -0.00171561
+v -0.05259463 0.01659901 0.00644016
+v -0.05259840 0.01659904 -0.00364124
+v -0.05259916 0.01900544 -0.00364123
+v -0.05259463 0.01072051 0.00836575
+v -0.05259463 0.01463951 0.00644015
+v -0.05262859 0.01463946 0.01841262
+v -0.05268065 -0.00604498 0.01607894
+v -0.05259765 -0.00604497 0.01415116
+v -0.05259765 -0.00604494 0.00644008
+v -0.06029356 0.01659896 0.01841263
+v -0.06029734 0.00092566 0.01415118
+v -0.06029583 -0.00299334 0.01415117
+v -0.06029734 0.02097021 0.00110157
+v -0.06030035 0.00876105 0.00065682
+v -0.06029960 0.00288521 -0.00319874
+v -0.06029960 0.00092572 -0.00319875
+v -0.06029884 -0.00344018 -0.00364131
+v -0.06029960 -0.00604492 -0.00127100
+v -0.06030035 -0.00604492 0.00065677
+v -0.06030035 -0.00604493 0.00150948
+v -0.06029960 0.01072054 -0.00127094
+v -0.06029809 -0.00103383 0.01222341
+v -0.05259992 0.02097022 -0.00363906
+v -0.05259690 0.01072055 -0.00319871
+v -0.05259765 0.01312695 -0.00364125
+v -0.05259992 0.02096494 -0.00364122
+v -0.05292136 0.01273286 0.01841262
+v -0.05429243 -0.00604499 0.01800455
+v -0.05303455 -0.00604498 0.01734397
+v -0.05260067 -0.00604491 -0.00364132
+v -0.06028602 0.01504935 0.01841263
+v -0.06029356 -0.00604497 0.01415116
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+v -0.06029960 -0.00604493 0.00343725
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+v -0.05262633 0.02097022 -0.00364122
+v -0.05259765 0.01072055 -0.00364126
+v -0.05426526 0.01039521 0.01841261
+v -0.05626639 -0.00604499 0.01836506
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+v -0.06024828 -0.00604498 0.01500387
+v -0.06019019 -0.00604498 0.01607894
+v -0.05965746 -0.00604498 0.01747133
+v -0.05626639 0.00876891 0.01841260
+v -0.05736657 -0.00604499 0.01823553
+v -0.05830299 0.00980022 0.01841261
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+v -0.05982271 0.01260857 0.01841262
+v -0.05989892 0.01282277 0.01841262
+v -0.05903040 -0.00604499 0.01776492
+v -0.05823961 -0.00604499 0.01813191
+f 1 2 5
+f 1 5 11
+f 1 11 34
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+f 1 52 51
+f 1 51 45
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+f 1 24 8
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+f 1 3 7
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+f 56 59 66
+f 56 66 67
+f 56 67 65
+f 61 65 67
+
diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_22.obj b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f5197b3f5cd80e75a6930cc27f49914b19fa630
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_22.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.06029588 0.02096895 0.01841265
+v -0.06029513 0.02051756 0.02186308
+v -0.06029513 0.02096894 0.02230797
+v -0.05259610 0.02096895 0.01841265
+v -0.06029362 0.01659847 0.01841263
+v -0.06029437 0.01659847 0.01993586
+v -0.06029437 0.01659846 0.02186306
+v -0.06029437 0.02096893 0.02379093
+v -0.06029362 0.01659845 0.02379091
+v -0.05259610 0.02096894 0.02141883
+v -0.05259535 0.02051757 0.01993588
+v -0.05258931 0.01659846 0.02186306
+v -0.05259007 0.01659847 0.01993586
+v -0.05259535 0.02010560 0.01841264
+v -0.06028608 0.01505090 0.01841263
+v -0.06029362 0.02078742 0.02494277
+v -0.06029362 0.02096893 0.02494277
+v -0.06029211 0.01659845 0.02494275
+v -0.05259686 0.02096893 0.02379093
+v -0.05259082 0.01659845 0.02379091
+v -0.05260440 0.01542822 0.02494275
+v -0.05259761 0.02096893 0.02494277
+v -0.05262854 0.01464012 0.01841262
+v -0.05259384 0.01659847 0.01841263
+v -0.06025212 0.01464012 0.01841262
+v -0.06020309 0.01464010 0.02494274
+v -0.05259309 0.01659845 0.02494275
+v -0.05267532 0.01464010 0.02494274
+v -0.05292126 0.01273550 0.01841262
+v -0.05284733 0.01343404 0.02494274
+v -0.05989829 0.01282625 0.01841262
+v -0.05974590 0.01278563 0.02494274
+v -0.05298766 0.01293370 0.02494274
+v -0.05426567 0.01039741 0.01841261
+v -0.05982285 0.01261131 0.01841262
+v -0.05935359 0.01133838 0.01841261
+v -0.05830341 0.00980155 0.01841261
+v -0.05881115 0.01160703 0.02494273
+v -0.05433583 0.01126074 0.02494273
+v -0.05622192 0.00880684 0.01841260
+v -0.05626644 0.00877102 0.01841260
+v -0.05800768 0.01108759 0.02494273
+v -0.05626644 0.01068756 0.02494273
+v -0.05670175 0.01075563 0.02494273
+f 1 2 3
+f 1 3 8
+f 1 8 17
+f 1 17 22
+f 1 22 19
+f 1 19 10
+f 1 10 4
+f 1 4 14
+f 1 14 24
+f 1 24 23
+f 1 23 29
+f 1 29 34
+f 1 34 40
+f 1 40 41
+f 1 41 37
+f 1 37 36
+f 1 36 35
+f 1 35 31
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+f 1 25 15
+f 1 15 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 3
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+f 4 11 12
+f 4 12 13
+f 4 13 14
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+f 9 15 18
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+f 10 12 11
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+f 12 21 13
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+f 13 21 23
+f 13 23 24
+f 13 24 14
+f 15 25 26
+f 15 26 18
+f 16 18 26
+f 16 26 32
+f 16 32 38
+f 16 38 42
+f 16 42 44
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+f 16 43 39
+f 16 39 33
+f 16 33 30
+f 16 30 28
+f 16 28 21
+f 16 21 27
+f 16 27 22
+f 16 22 17
+f 20 27 21
+f 20 22 27
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+f 23 28 30
+f 23 30 29
+f 25 31 26
+f 26 31 32
+f 29 30 33
+f 29 33 34
+f 31 35 32
+f 32 35 36
+f 32 36 37
+f 32 37 38
+f 33 39 34
+f 34 39 40
+f 37 41 42
+f 37 42 38
+f 39 43 41
+f 39 41 40
+f 41 43 44
+f 41 44 42
+
diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_23.obj b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa071fd145fbebb4e5ac8cafb1c99e969799bc4d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_23.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v -0.05626614 -0.00103391 0.03327240
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diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_3.obj b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..362c2d4fbffa2671d7b2d013789ad07f4afb76fb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_3.obj
@@ -0,0 +1,331 @@
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diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_4.obj b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77772b0262f485f4061d4c2e422484e845752c6b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_4.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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+v 0.01480239 -0.03434029 -0.01846129
+v 0.01282784 -0.03238086 -0.01846507
+v 0.00001048 -0.03337126 -0.01846223
+v 0.00001048 -0.03924600 -0.01835514
+v 0.00001048 -0.03825916 -0.01843381
+v 0.00098544 -0.03825916 -0.01843381
+v 0.05030988 -0.03825916 -0.01843287
+v 0.05030988 -0.03823422 -0.01843381
+v 0.00001048 -0.03434029 -0.01846129
+f 1 2 6
+f 1 6 11
+f 1 11 22
+f 1 22 31
+f 1 31 39
+f 1 39 45
+f 1 45 44
+f 1 44 53
+f 1 53 54
+f 1 54 46
+f 1 46 35
+f 1 35 27
+f 1 27 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 20
+f 1 20 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 12
+f 2 12 6
+f 3 7 8
+f 4 9 19
+f 4 19 29
+f 4 29 37
+f 4 37 49
+f 4 49 55
+f 4 55 51
+f 4 51 50
+f 4 50 42
+f 4 42 41
+f 4 41 40
+f 4 40 34
+f 4 34 33
+f 4 33 26
+f 4 26 13
+f 4 13 10
+f 4 10 5
+f 6 12 13
+f 6 13 14
+f 6 14 11
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 9 20 21
+f 9 21 19
+f 10 13 12
+f 11 14 23
+f 11 23 24
+f 11 24 25
+f 11 25 22
+f 13 26 23
+f 13 23 14
+f 15 27 16
+f 16 27 28
+f 16 28 21
+f 16 21 17
+f 17 21 18
+f 18 21 20
+f 19 21 30
+f 19 30 29
+f 21 28 30
+f 22 25 31
+f 23 26 24
+f 24 32 25
+f 24 26 33
+f 24 33 34
+f 24 34 32
+f 25 32 31
+f 27 35 36
+f 27 36 28
+f 28 36 48
+f 28 48 38
+f 28 38 30
+f 29 30 38
+f 29 38 37
+f 31 32 39
+f 32 34 40
+f 32 40 41
+f 32 41 42
+f 32 42 43
+f 32 43 44
+f 32 44 45
+f 32 45 39
+f 35 46 36
+f 36 47 55
+f 36 55 48
+f 36 46 47
+f 37 38 48
+f 37 48 49
+f 42 50 43
+f 43 50 51
+f 43 51 52
+f 43 52 53
+f 43 53 44
+f 46 54 47
+f 47 52 51
+f 47 51 55
+f 47 54 52
+f 48 55 49
+f 52 54 53
+
diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_5.obj b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8b13b06f105c52cea0172c2a9850e7735370a22
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_5.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.05030411 -0.04243889 -0.00703476
+v -0.04046969 -0.04246034 0.00451524
+v -0.04046969 -0.04246418 0.01222444
+v -0.05030411 -0.04243889 -0.00699533
+v -0.05030411 -0.03466881 -0.00703473
+v -0.04242476 -0.04243812 -0.00703476
+v -0.02270668 -0.04247104 0.00258695
+v -0.02270668 -0.04247334 0.00451524
+v -0.02270668 -0.04247794 0.01029616
+v -0.03849493 -0.04246267 0.01607707
+v -0.05030411 -0.04243750 0.02957113
+v -0.05030411 -0.03469189 0.02957116
+v 0.00000555 -0.03475520 -0.00703473
+v -0.00494366 -0.04243124 -0.00703476
+v -0.00691350 -0.04245956 0.00065867
+v -0.00494366 -0.04246875 0.00451524
+v -0.00888826 -0.04247032 0.01607707
+v -0.02270668 -0.04247642 0.01222444
+v -0.02270668 -0.04247489 0.01414879
+v -0.04244446 -0.04243750 0.02957113
+v -0.00494366 -0.04220052 0.03149942
+v -0.01086303 -0.04219823 0.03149942
+v -0.03257557 -0.04218676 0.03149943
+v -0.04244446 -0.04218141 0.03149943
+v -0.05030411 -0.04217606 0.03149943
+v -0.05030411 -0.03479204 0.03149945
+v 0.00000555 -0.03485855 0.03149945
+v 0.00000555 -0.03481956 0.03052939
+v 0.00000555 -0.03478133 0.02957116
+v 0.00000555 -0.04242895 -0.00703476
+v -0.00096952 -0.04242971 -0.00703476
+v -0.00099414 -0.04246263 0.00644353
+v -0.00296890 -0.04246646 0.00644353
+v -0.00099414 -0.04246264 0.00836787
+v 0.00000555 -0.04242909 0.02957113
+v -0.01876208 -0.04243367 0.02957113
+v -0.00296890 -0.04220052 0.03149942
+v 0.00000555 -0.04188938 0.03214219
+v -0.00494366 -0.04158436 0.03276918
+v -0.00691350 -0.04158359 0.03276918
+v -0.05030411 -0.04216383 0.03152703
+v -0.05030411 -0.03510701 0.03267456
+v 0.00000555 -0.03512841 0.03267456
+v 0.00000555 -0.03499233 0.03208306
+v 0.00000555 -0.04244046 0.00644353
+v 0.00000555 -0.04243971 0.00934187
+v 0.00000555 -0.04219976 0.03149942
+v 0.00000555 -0.04158436 0.03276918
+v -0.01086303 -0.04021902 0.03315957
+v 0.00000555 -0.04089557 0.03296635
+v -0.05030411 -0.04021902 0.03313197
+v -0.05030411 -0.04152932 0.03275341
+v -0.05030411 -0.04155607 0.03274552
+v -0.04244446 -0.04156142 0.03274946
+v -0.01283779 -0.04158053 0.03276524
+v -0.03455033 -0.04156678 0.03275341
+v -0.05030411 -0.03627817 0.03305706
+v -0.01283779 -0.03630187 0.03306495
+v 0.00000555 -0.03630187 0.03306495
+v 0.00000555 -0.04021902 0.03315957
+v -0.00494366 -0.03826044 0.03325028
+v -0.05030411 -0.03826044 0.03323845
+v -0.05030411 -0.03630187 0.03306101
+v 0.00000555 -0.03727198 0.03315564
+v 0.00000555 -0.03826044 0.03324633
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 25
+f 1 25 41
+f 1 41 53
+f 1 53 52
+f 1 52 51
+f 1 51 62
+f 1 62 63
+f 1 63 57
+f 1 57 42
+f 1 42 26
+f 1 26 12
+f 1 12 5
+f 1 5 13
+f 1 13 30
+f 1 30 31
+f 1 31 14
+f 1 14 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 10 11
+f 3 11 4
+f 3 9 10
+f 5 12 13
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 10 19 11
+f 11 20 37
+f 11 37 21
+f 11 21 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 19 17
+f 11 17 20
+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 12 29 13
+f 13 29 28
+f 13 28 27
+f 13 27 44
+f 13 44 43
+f 13 43 59
+f 13 59 64
+f 13 64 65
+f 13 65 60
+f 13 60 50
+f 13 50 48
+f 13 48 38
+f 13 38 47
+f 13 47 35
+f 13 35 46
+f 13 46 45
+f 13 45 30
+f 14 31 15
+f 15 31 30
+f 15 30 16
+f 16 30 32
+f 16 32 33
+f 16 33 17
+f 17 19 18
+f 17 33 34
+f 17 34 35
+f 17 35 36
+f 17 36 20
+f 20 36 37
+f 21 37 38
+f 21 38 39
+f 21 39 22
+f 22 39 40
+f 22 40 23
+f 23 41 24
+f 23 40 41
+f 24 41 25
+f 26 42 43
+f 26 43 44
+f 26 44 27
+f 30 45 32
+f 32 45 34
+f 32 34 33
+f 34 45 46
+f 34 46 35
+f 35 47 37
+f 35 37 36
+f 37 47 38
+f 38 48 39
+f 39 49 40
+f 39 48 50
+f 39 50 49
+f 40 49 51
+f 40 51 52
+f 40 52 53
+f 40 53 54
+f 40 54 56
+f 40 56 55
+f 40 55 41
+f 41 56 54
+f 41 54 53
+f 41 55 56
+f 42 57 58
+f 42 58 59
+f 42 59 43
+f 49 50 60
+f 49 60 61
+f 49 61 62
+f 49 62 51
+f 57 63 58
+f 58 61 59
+f 58 63 61
+f 59 61 64
+f 60 65 61
+f 61 65 64
+f 61 63 62
+
diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_6.obj b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b687cba818e4eff5b29868b53b028b97a9444e3c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_6.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.00001048 -0.04243069 -0.00878475
+v 0.00493455 -0.04245148 0.00258782
+v 0.00493455 -0.04246064 0.01029845
+v 0.00493455 -0.04246564 0.01607526
+v 0.00001048 -0.04244070 0.00644314
+v 0.00001048 -0.03405882 -0.00878472
+v 0.01480239 -0.04243318 -0.00878475
+v 0.01677694 -0.04246642 0.00258782
+v 0.00001048 -0.04242917 0.02957093
+v 0.00001048 -0.04243988 0.00934388
+v 0.03848718 -0.04247477 0.01607526
+v 0.00001048 -0.03478186 0.02957096
+v 0.05030988 -0.03469223 0.02957096
+v 0.05030988 -0.03399658 -0.00878471
+v 0.05030988 -0.04243567 -0.00878475
+v 0.03453807 -0.04246310 0.00258782
+v 0.00001048 -0.04220011 0.03150064
+v 0.01480239 -0.04243249 0.02957093
+v 0.04046173 -0.04246145 0.00451342
+v 0.05030988 -0.04243249 0.02957093
+v 0.00001048 -0.03481921 0.03052553
+v 0.05030988 -0.03479266 0.03150067
+v 0.00001048 -0.03485823 0.03150067
+v 0.00098544 -0.04220011 0.03150064
+v 0.00001048 -0.04188887 0.03214252
+v 0.05030988 -0.04212210 0.03150065
+v 0.01085821 -0.04219181 0.03150065
+v 0.00888366 -0.04219513 0.03150065
+v 0.05030988 -0.03479681 0.03151713
+v 0.00001048 -0.03499185 0.03208082
+v 0.00001048 -0.03512880 0.03267332
+v 0.00493455 -0.04158262 0.03276793
+v 0.00098544 -0.04158428 0.03276793
+v 0.00001048 -0.04158428 0.03276793
+v 0.05030988 -0.04150460 0.03271032
+v 0.00888366 -0.04157930 0.03276381
+v 0.05030988 -0.03510805 0.03267332
+v 0.00001048 -0.03630154 0.03306419
+v 0.05030988 -0.03512299 0.03268154
+v 0.00888366 -0.04021898 0.03315470
+v 0.00493455 -0.04021898 0.03315881
+v 0.00001048 -0.04089541 0.03296543
+v 0.05030988 -0.04023641 0.03308886
+v 0.00001048 -0.03826026 0.03324934
+v 0.01677694 -0.03630154 0.03306419
+v 0.05030988 -0.03630154 0.03306008
+v 0.05030988 -0.04021898 0.03309298
+v 0.05030988 -0.03826026 0.03323699
+v 0.00001048 -0.04021898 0.03315881
+v 0.05030988 -0.03632727 0.03306419
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 9
+f 1 9 17
+f 1 17 25
+f 1 25 34
+f 1 34 42
+f 1 42 49
+f 1 49 44
+f 1 44 38
+f 1 38 31
+f 1 31 30
+f 1 30 23
+f 1 23 21
+f 1 21 12
+f 1 12 6
+f 1 6 14
+f 1 14 15
+f 1 15 7
+f 1 7 8
+f 1 8 2
+f 2 8 3
+f 3 8 4
+f 4 9 10
+f 4 10 5
+f 4 8 11
+f 4 11 9
+f 6 12 13
+f 6 13 14
+f 7 15 8
+f 8 15 16
+f 8 16 11
+f 9 11 18
+f 9 18 17
+f 11 16 19
+f 11 19 15
+f 11 15 20
+f 11 20 18
+f 12 21 13
+f 13 22 29
+f 13 29 37
+f 13 37 39
+f 13 39 46
+f 13 46 50
+f 13 50 48
+f 13 48 47
+f 13 47 43
+f 13 43 35
+f 13 35 26
+f 13 26 20
+f 13 20 15
+f 13 15 14
+f 13 21 23
+f 13 23 22
+f 15 19 16
+f 17 18 20
+f 17 20 24
+f 17 24 25
+f 20 26 27
+f 20 27 28
+f 20 28 24
+f 22 23 30
+f 22 30 31
+f 22 31 29
+f 24 28 32
+f 24 32 25
+f 25 32 33
+f 25 33 34
+f 26 35 36
+f 26 36 27
+f 27 36 28
+f 28 36 32
+f 29 31 37
+f 31 38 39
+f 31 39 37
+f 32 36 40
+f 32 40 41
+f 32 41 33
+f 33 42 34
+f 33 41 42
+f 35 43 36
+f 36 43 40
+f 38 44 45
+f 38 45 39
+f 39 45 46
+f 40 43 47
+f 40 47 48
+f 40 48 41
+f 41 44 49
+f 41 49 42
+f 41 48 44
+f 44 48 50
+f 44 50 45
+f 45 50 46
+
diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_7.obj b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1a76e20b61cbfea9798756bb94ceffc037145aa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_7.obj
@@ -0,0 +1,61 @@
+# https://github.com/mikedh/trimesh
+v 0.05033512 0.03374014 -0.01842022
+v 0.05033512 0.03374014 -0.01845983
+v 0.05017254 0.03374010 -0.00884296
+v 0.05033512 0.03373621 -0.00883447
+v 0.05033512 0.03031329 -0.01846078
+v 0.04688161 0.03374014 -0.01846077
+v 0.00001048 0.03374010 -0.00888445
+v 0.05033512 -0.00604253 -0.00967861
+v 0.05033512 -0.00603861 -0.01846280
+v 0.04441341 -0.00495214 -0.01846374
+v 0.00888318 -0.00604250 -0.01846751
+v 0.01282935 0.03227205 -0.01846360
+v 0.02122418 0.03374014 -0.01846172
+v 0.00001048 0.03374014 -0.01846172
+v 0.00001048 -0.00604253 -0.00985496
+v 0.04945819 -0.00604250 -0.01846186
+v 0.04441341 -0.00604250 -0.01846374
+v 0.00001048 -0.00604250 -0.01846657
+v 0.00001048 -0.00495214 -0.01846657
+v 0.00001048 0.03227205 -0.01846266
+v 0.01085380 0.03227205 -0.01846360
+f 1 2 6
+f 1 6 13
+f 1 13 14
+f 1 14 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 7 14 20
+f 7 20 19
+f 7 19 18
+f 7 18 15
+f 7 15 8
+f 8 16 9
+f 8 15 18
+f 8 18 11
+f 8 11 17
+f 8 17 16
+f 9 16 17
+f 9 17 10
+f 10 17 11
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 12 21 14
+f 12 14 13
+f 14 21 20
+
diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_8.obj b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..400d92259ddbef2e7402edc207e15a1b4555a669
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_8.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v 0.00000556 0.03452807 -0.00716901
+v 0.00000556 -0.00604488 -0.00985456
+v 0.00000556 0.03452811 -0.01846021
+v -0.04965537 0.03452807 -0.00705730
+v -0.04965537 -0.00604488 -0.00973838
+v 0.00000556 -0.00604485 -0.01846706
+v 0.00000556 0.03423025 -0.01846132
+v -0.04639358 0.03423025 -0.01846244
+v -0.04965537 0.03442485 -0.01846132
+v -0.04965537 0.03452811 -0.01846021
+v -0.04965537 -0.00604485 -0.01846482
+v 0.00000556 -0.00494871 -0.01846706
+v -0.01086385 -0.00604485 -0.01846817
+v -0.01481106 -0.00494871 -0.01846929
+v 0.00000556 0.03324134 -0.01846245
+v -0.04965537 0.03423025 -0.01846244
+v -0.02271033 0.03227229 -0.01846357
+v -0.04965537 -0.00367386 -0.01846481
+v -0.04924218 -0.00604485 -0.01846594
+v -0.03652070 -0.00604485 -0.01846817
+v -0.01678466 0.01855866 -0.01846585
+v -0.01481106 0.01855866 -0.01846585
+v -0.03652070 -0.00494871 -0.01846817
+v -0.04639358 0.03227229 -0.01846357
+v -0.00494304 0.02835241 -0.01846359
+f 1 2 6
+f 1 6 12
+f 1 12 15
+f 1 15 7
+f 1 7 3
+f 1 3 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 19
+f 2 19 20
+f 2 20 13
+f 2 13 6
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 10 9
+f 4 9 16
+f 4 16 18
+f 4 18 11
+f 4 11 5
+f 6 13 14
+f 6 14 12
+f 7 15 8
+f 8 16 9
+f 8 15 17
+f 8 17 24
+f 8 24 16
+f 11 18 19
+f 12 14 15
+f 13 20 14
+f 14 21 22
+f 14 22 15
+f 14 20 23
+f 14 23 24
+f 14 24 21
+f 15 22 25
+f 15 25 17
+f 16 19 18
+f 16 24 19
+f 17 25 22
+f 17 22 21
+f 17 21 24
+f 19 24 23
+f 19 23 20
+
diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_9.obj b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec3e627905a3915defab409fa4b973bf9ac39f8d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/mesh/storage_bin_003_collision_9.obj
@@ -0,0 +1,301 @@
+# https://github.com/mikedh/trimesh
+v -0.05034422 -0.04243924 -0.00703476
+v -0.05626534 -0.04243728 0.01415017
+v -0.05626534 -0.04243519 -0.00127104
+v -0.05231825 -0.04241883 -0.00703476
+v -0.05030411 -0.04243822 -0.00703476
+v -0.05030411 -0.04243822 -0.00699531
+v -0.05030411 -0.04243734 0.02957138
+v -0.05626534 -0.04243836 0.02957138
+v -0.05823937 -0.04210956 0.00065810
+v -0.05823937 -0.04210649 -0.00127103
+v -0.05626534 -0.04227696 -0.00319622
+v -0.05427076 -0.04219221 -0.00703475
+v -0.05030411 -0.03466895 -0.00703473
+v -0.05030411 -0.04243224 0.02961083
+v -0.05030411 -0.04217603 0.03150052
+v -0.05231825 -0.04217603 0.03150052
+v -0.05429228 -0.04217399 0.03150052
+v -0.05626534 -0.04216378 0.03150052
+v -0.05823937 -0.04209946 0.02957139
+v -0.05948170 -0.04148993 0.00065810
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diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/storage_bin_003.xml b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/storage_bin_003.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f0a4cee4b853b5a17a354db6dd0b1d0c61ae3cd5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/mjcf/storage_bin_003.xml
@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="storage_bin_003">
+  <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_003.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/storage_bin_003_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/storage_bin_003_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/storage_bin_003_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/storage_bin_003_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/storage_bin_003_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/storage_bin_003_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/storage_bin_003_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/storage_bin_003_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/storage_bin_003_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/storage_bin_003_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/storage_bin_003_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/storage_bin_003_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/storage_bin_003_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_20" file="mesh/storage_bin_003_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/storage_bin_003_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/storage_bin_003_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/storage_bin_003_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="storage_bin_003">
+      <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" />
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+      <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" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/storage_bin_003.urdf b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/storage_bin_003.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..615779306399c777a0daed3cb88692bec0afd176
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/storage_bin_003.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_003">
+   <link name="storage_bin_003">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_003.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_003_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="2.5000" />
+         <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>9a1c2febe4705074a73bb85170f1323b</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>wooden crate</name>
+         <color>brown,black</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>rectangular wooden storage bin with side handles and printed lettering</description>
+         <min_height>0.0515</min_height>
+         <max_height>0.0515</max_height>
+         <real_height>0.0515</real_height>
+         <min_mass>1.5</min_mass>
+         <max_mass>3.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611135254</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.060004 -0.042269 -0.018062</min>
+            <max>0.059996 0.042158 0.033423</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>6</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_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/storage_bin_003.usd b/dataset/bedroom_supplies/storage/9a1c2febe4705074a73bb85170f1323b/storage_bin_003.usd
new file mode 100644
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new file mode 100644
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