diff --git a/.gitattributes b/.gitattributes
index 79af95787d7095e7efd25de49a858bb4e5112ef1..7c89880c295bbd61a52b9484c30b1b1c2def2c09 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2789,9 +2789,5 @@ dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/glasses_case_0
 dataset/bedroom_supplies/storage/7bd4e9121e2b5837b34cfd64d95e6cf8/mesh/glasses_case_006.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/7e9356b96ed0585eb8d8d0f4c88f262b/jewelry_box_036.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/7e9356b96ed0585eb8d8d0f4c88f262b/mesh/jewelry_box_036.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/7dd5c17aeb965c03bed3858e52fd4583/glasses_case_035.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/7dd5c17aeb965c03bed3858e52fd4583/mesh/glasses_case_035.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/basket_018.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/7db5d48e4772590e80741d1129d75ec8/mesh/basket_018.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/mesh/remote_holder_013.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/84f973a56f1c51bf863f643b5513b119/remote_holder_013.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mesh/storage_bin_015.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/storage_bin_015.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mesh/material.mtl b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..64ef4aa0a36e97a8d05a58796d046fe82fda5b1f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_015_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_015_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mesh/material_0.png b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e996b5bed496a83b1924dc866a3947f823c17e0d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d23e621c565ab5a7d36452f7396c6d5a4c677a80b7cb2e827446008a1bb1749
+size 8733116
diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mesh/storage_bin_015.glb b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mesh/storage_bin_015.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1b41583dbe6f513af555050947966e71831efae8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mesh/storage_bin_015.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e02b7d7afa84396805a16aa84b6451770971a44a4aaa2020eddcc9525e3de044
+size 11919028
diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mesh/storage_bin_015.mtl b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mesh/storage_bin_015.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5649d495a1c78bae693a4fd927b279dfd5efafeb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mesh/storage_bin_015.mtl
@@ -0,0 +1,6 @@
+newmtl storage_bin_015_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/84216e42679e5f1aa48151f333f9187f/mesh/storage_bin_015.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mesh/storage_bin_015.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cab6b14a49ac67232bab8e25cae6bbbdbfaa94a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mesh/storage_bin_015.obj
@@ -0,0 +1,108972 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl storage_bin_015_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mesh/storage_bin_015_collision.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mesh/storage_bin_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b33df0e844dd2cc3376e5104026c1598cc10c079
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mesh/storage_bin_015_collision.obj
@@ -0,0 +1,18451 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mesh/storage_bin_015_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mesh/storage_bin_015_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015.obj
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69f1063eabe53c7b0549e8598ac045330925ae03
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision.obj
@@ -0,0 +1,18451 @@
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_0.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20a4807070865aae473fd5156a43e0a05f5027c1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_1.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed6d7aa73160baabf223bb72d69ed5071949e264
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_10.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08c5bf38bffccb285ac6ee2e15a96069e174eb48
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_10.obj
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_11.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47e3e8ccc3db55b7e0a35c1eeb1ddada9005f686
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_11.obj
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_12.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff07e84150e5288d065d65f70e2177de450331f9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_12.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
+v 0.00317848 0.03758735 -0.02193904
+v -0.00274765 0.03755047 -0.02234681
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+
diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_13.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba6d918bfaea2735594d1d6cdf273b502def3c9f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_13.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.04492391 0.02711202 -0.01533373
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+
diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_14.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..507842172695a9999aeca3af33046af11dbeb859
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_14.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
+v 0.05450219 0.02309557 0.03605354
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_15.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e14d32fb08f9d29df178f5fe3a3cf747038a410
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_15.obj
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_16.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..589c2a5fcb9dda0778e97ef9c0fdfd3f3a253f43
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_16.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_17.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f924254c38b54444d6a38a67966ce5ecaaa0a9ff
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_17.obj
@@ -0,0 +1,262 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_18.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19abaecf29d88fff97a086dc2a87ac46c9c7c2db
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_18.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_19.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15e21adf5f5d8fb9cb813a495f0b988c16f34adb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_19.obj
@@ -0,0 +1,445 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_2.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b95a3c4285156031adad461652676e137e4320f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_2.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_20.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a3ca68c377451081959de5bc7b283b55a861620
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_20.obj
@@ -0,0 +1,403 @@
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_21.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d20cc308c717e1b2f2e57556c413f4273b9a7631
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_21.obj
@@ -0,0 +1,430 @@
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_22.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb1c073865ddc5f85d73f224f20cdc76a5f76f34
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_22.obj
@@ -0,0 +1,610 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_23.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a013186653acaae1331e257379b48d8fab8ab808
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_23.obj
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_24.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b059ff2a897e525d33ad43cddba4f435853790bb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_24.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_25.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ef79d08ae8cb8ff5a608b0c59ee9a6545019787
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_25.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_26.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2efe626bc9971ca2894567923302c804fc312bcf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_26.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_27.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..524d13e0842a7fd076d02a2fc4348252b78c09e0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_27.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_28.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..135394bc36c07792a24622568c3600237bf93d73
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_28.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
+v 0.04877891 0.00214756 -0.00616054
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_29.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc82cb6c92650cc72521c50071df935a7f0bbc8c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_29.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_3.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e1762b5c05a303bf480e791b1f9ad8cde9d4c50
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_3.obj
@@ -0,0 +1,316 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_30.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f3c09de9da21d537fd782494b297fd478edd0fe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_30.obj
@@ -0,0 +1,289 @@
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_31.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0192495fcfff62995bc1b0a8b8cf6b428781d9d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_31.obj
@@ -0,0 +1,478 @@
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_32.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36bb3b8fd6ec46c99a52d1383831c9ca2c2d6669
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_32.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_33.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c33a48a66db1b2e1d460a97ec5eafd19d05e6356
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_33.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_34.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b578314caaee606a89f0de54f5460ea2304a4a56
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_34.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_35.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb66cb36941435c729df37e613708231cea425d7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_35.obj
@@ -0,0 +1,517 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_36.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89d0991c1cb492084e10258be99ec77b4f62d05d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_36.obj
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_37.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad420ce87d49eea7e7890eb8fbade474265e8a8b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_37.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_38.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d75df1f2a7c65fbd54fb0916082a7d1d3e4b86c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_38.obj
@@ -0,0 +1,343 @@
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_39.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02ab66088047aa3586328f0b788dcf6edf6e0d22
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_39.obj
@@ -0,0 +1,484 @@
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_4.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31a1dacf042fc60f81eb27d0e55a23c3947b1005
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_4.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_40.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16fbf5e57da5d64585bf1b37083af6a03328e7a4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_40.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_41.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..166010ab3d27ba4a2bda01b2d0dfc49f58d5e789
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_41.obj
@@ -0,0 +1,256 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_42.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..834f744ddf69fea9c1c43397b27f4f88aa41aa0f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_42.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_43.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a09ee90c62ccb0a02536fc4a6d5700094fa24c9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_43.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_44.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2fdaefaae35732a2e603af8716044fe4760d6e0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_44.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_45.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c65962eadd4ac67c367d05b467f5b6e4b284ec8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_45.obj
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_46.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6361bd61e3ccb3a1188d07af50f231974052c7e8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_46.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_47.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db0475cdfd4c1c0ddf6c158b88e4e46d994d0539
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_47.obj
@@ -0,0 +1,628 @@
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+
diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_48.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5932b8a6b1fc8ed50b8a522601e80ddf23b5abf3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_48.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.00275132 0.03285171 0.01090842
+v -0.00274691 0.03305406 0.01495842
+v -0.00275132 0.03305406 0.01495445
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+v -0.00274691 0.04064619 0.02443848
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+
diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_49.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..223f9a88d5d6c026596f5721ebf7a40885ca113f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_49.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.05450201 -0.01105008 0.01803161
+v 0.05321386 -0.01151638 0.01803161
+v 0.05517265 -0.01111055 0.01803161
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+
diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_5.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..203891ce181b60bd377ab3e238384870dd9412f9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_5.obj
@@ -0,0 +1,661 @@
+# https://github.com/mikedh/trimesh
+v -0.04194076 -0.04471870 0.02869733
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_6.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83995b13e13f0f784250a764509bb963c8889222
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_6.obj
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_7.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe16a575f119e535f6226210eaf714c8600385dc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_7.obj
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_8.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..305ccc8f4eb190c936450e3b4c15f6858a313d59
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_8.obj
@@ -0,0 +1,421 @@
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_9.obj b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..800b7880cfca29051481e99d37b9b48fa7e2aedc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/mesh/storage_bin_015_collision_9.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/storage_bin_015.xml b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/storage_bin_015.xml
new file mode 100644
index 0000000000000000000000000000000000000000..da6c1a2e7c6458c169a530eed97336e1555c35a4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/mjcf/storage_bin_015.xml
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\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/storage_bin_015.urdf b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/storage_bin_015.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5f7083fbeb369f697e0d4e73d423072f0b78319a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/storage_bin_015.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_015">
+   <link name="storage_bin_015">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_015.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_015_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6500" />
+         <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>84216e42679e5f1aa48151f333f9187f</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>bear storage bin</name>
+         <color>beige,brown</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>small beige plastic storage bin with bear face and ear handles</description>
+         <min_height>0.0880</min_height>
+         <max_height>0.0880</max_height>
+         <real_height>0.0880</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.9</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611135746</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059783 -0.045406 -0.031757</min>
+            <max>0.060217 0.045288 0.056230</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/storage_bin_015.usd b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/storage_bin_015.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/storage_bin_015.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:811e665eb7968ba386f99f31842b560762f5e535b60159224d92a28dad9e3bba
+size 4820387
diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/textures/material_0.png b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..e996b5bed496a83b1924dc866a3947f823c17e0d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/textures/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d23e621c565ab5a7d36452f7396c6d5a4c677a80b7cb2e827446008a1bb1749
+size 8733116
diff --git a/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/video.mp4 b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4dea03bf236ad28ed920dc224c13b6b2e1eda0be
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/84216e42679e5f1aa48151f333f9187f/video.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfa5ea62f30d8b4cbfc7fa90f5bc96b2f17da7c0569be64fef2c371ccc2f413b
+size 286645