diff --git a/.gitattributes b/.gitattributes
index d17a54413e49a934da781aba16a38819b0d295f9..460e4de9ae607a5257780fd80064a3c9e580a72b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2762,3 +2762,5 @@ dataset/bedroom_supplies/storage/4ed349f6cf9b5b6783906e538450ed91/mesh/storage_b
 dataset/bedroom_supplies/storage/4ed349f6cf9b5b6783906e538450ed91/storage_box_005.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/jewelry_box_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/5a7f2f2bf7475dbab25e5d6ef9932127/mesh/jewelry_box_007.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mesh/storage_bin_021.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/storage_bin_021.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mesh/material.mtl b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1b23aa0df9f968634b969852bda489cd457b2f0f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_021_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_021_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mesh/material_0.png b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a978af2dd6b28d0ac71aefaa395f6ce529c9b76f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d1e48e1d9b554795f6ed5c14e43c8b7304611b6895b177db03b0ea1ab2204ef
+size 10492538
diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mesh/storage_bin_021.glb b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mesh/storage_bin_021.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9adc58159068b258c325a53d798efcf4e79eb7af
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mesh/storage_bin_021.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbbed9267fc2841445c56ba695bea012401be6a6eacbae02c906cea7a2a26605
+size 13786840
diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mesh/storage_bin_021.mtl b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mesh/storage_bin_021.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0e4e65e07e3ea99b6222fcb9f958d00a914d4ecf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mesh/storage_bin_021.mtl
@@ -0,0 +1,6 @@
+newmtl storage_bin_021_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/5c63a24d0686572480b05c44bd72b33b/mesh/storage_bin_021.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mesh/storage_bin_021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eddb7ef3984c19c3f33f76813cf47832540ba9e9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mesh/storage_bin_021.obj
@@ -0,0 +1,113072 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl storage_bin_021_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mesh/storage_bin_021_collision.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mesh/storage_bin_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64fe8da9c6d607c45a4c54fa2cd982f4c574a957
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mesh/storage_bin_021_collision.obj
@@ -0,0 +1,13131 @@
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mesh/storage_bin_021_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mesh/storage_bin_021_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a978af2dd6b28d0ac71aefaa395f6ce529c9b76f
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+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/material_0.png
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021.obj
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index 0000000000000000000000000000000000000000..0ba8d3f9e18471ecfa2c4b9e86b4113986c2f72c
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+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021.obj
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d95de836e8696dacc93ad68f4736adce27066005
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision.obj
@@ -0,0 +1,13131 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_0.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19855e82096f3036eec2062cd3d890ac0a2a236d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_0.obj
@@ -0,0 +1,673 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_1.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10e550790477122059f66d8996450a340a9159eb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_1.obj
@@ -0,0 +1,382 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_10.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8eba504c827e917ca6219a2b0d27910851f0272
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_10.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_11.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..802039ae5a1045e33d7d0c9fdbb118c8d8e9c1de
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_11.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_12.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7553222bf2bf52f4448dfb33db99789db9c87be5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_12.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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+v -0.03659008 -0.03346368 0.02825904
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+
diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_13.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1ab3d8fe79c66d92dfca48a0cb2128ca125c599
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_13.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.00002494 -0.02608342 -0.01650195
+v 0.00002494 -0.02608343 -0.01269909
+v 0.00002494 -0.02247450 -0.01650193
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+v 0.03126094 -0.02169253 -0.01650193
+v 0.03126094 -0.02608344 -0.01211155
+f 1 2 3
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+f 1 8 5
+f 1 5 2
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+f 2 6 3
+f 3 6 7
+f 4 7 6
+f 4 6 8
+f 5 8 6
+
diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_14.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2fe88b07404ce0561d97acb71b3085ee54137c5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_14.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_15.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..effb141538d23091c3928bc3e54eee5d6245b245
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_15.obj
@@ -0,0 +1,187 @@
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_16.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..508622e527d55388b6741414f796664079e274c5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_16.obj
@@ -0,0 +1,322 @@
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+
diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_17.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51505f8a70403ef116e2815ac85bdced368d5ad7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_17.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.00002357 0.03358451 0.02834112
+v 0.00002357 0.03555684 0.02830239
+v -0.01607501 0.03555684 0.02850491
+v -0.01607501 0.03362474 0.02846792
+v 0.00002357 0.03262947 0.02798716
+v 0.00002357 0.03639980 0.02795018
+v -0.01607501 0.03744392 0.02783044
+v -0.01607501 0.03167827 0.02763319
+v -0.00096299 0.03168019 0.02763495
+v 0.00002357 0.03168019 0.02763495
+v 0.00002357 0.03724946 0.02759447
+v -0.01607501 0.03775428 0.02722113
+v -0.01481581 0.03167827 0.02763319
+v -0.01607501 0.03069258 0.02646914
+v -0.01283639 0.03069258 0.02646738
+v 0.00002357 0.03118495 0.02703971
+v 0.00002357 0.03806465 0.02596199
+v -0.01607501 0.03826485 0.02596199
+v -0.01607501 0.02875670 0.01436382
+v 0.00002357 0.02875670 0.01436382
+v 0.00002357 0.03069450 0.02644977
+v -0.01607501 0.03827444 0.02582815
+v 0.00002357 0.03817098 0.02402838
+v -0.01607501 0.02859674 0.01099496
+v 0.00002357 0.02866091 0.01230693
+v -0.01607501 0.03835969 0.02402838
+v -0.01607501 0.03803497 0.02209477
+v -0.01607501 0.03835682 0.02401077
+v 0.00002357 0.03488445 0.01051422
+v -0.01607501 0.02857471 0.01051419
+v 0.00002357 0.02857854 0.01051419
+v -0.00492184 0.02863793 0.01183322
+v -0.01607501 0.03490361 0.01051422
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
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+f 1 16 21
+f 1 21 20
+f 1 20 25
+f 1 25 31
+f 1 31 29
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+f 27 29 33
+f 29 31 30
+f 29 30 33
+
diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_18.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16a209b1b6360efeddbc0187bbb26e81851d5e72
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_18.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v 0.01544683 0.03427702 0.02842460
+v 0.01544683 0.03360353 0.02839893
+v 0.01544683 0.03555695 0.02839302
+v 0.00002508 0.03555695 0.02830221
+v 0.00002508 0.03358532 0.02834168
+v 0.00002508 0.03168076 0.02763493
+v 0.01544683 0.03223354 0.02788959
+v 0.01544683 0.03614231 0.02821139
+v 0.00002508 0.03640002 0.02795081
+v 0.00299771 0.03168076 0.02763493
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+v 0.01487163 0.03069399 0.02646424
+v 0.01544683 0.03167980 0.02763295
+v 0.01544683 0.03733889 0.02770602
+v 0.00002508 0.03724979 0.02759546
+v 0.01544683 0.03069399 0.02646424
+v 0.00002508 0.02875690 0.01436458
+v 0.00101847 0.02875594 0.01436458
+v 0.01289239 0.02875499 0.01436458
+v 0.01544683 0.03815321 0.02596086
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+v 0.01544683 0.02875499 0.01436458
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+v 0.01544683 0.03813981 0.02323848
+v 0.00002508 0.03481359 0.00825654
+v 0.01544683 0.03482700 0.00825654
+f 1 2 7
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+f 1 27 22
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+f 28 31 32
+f 31 33 32
+
diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_19.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4359367f9e37bf175e5af17bcc27a0439f933a07
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_19.obj
@@ -0,0 +1,118 @@
+# https://github.com/mikedh/trimesh
+v -0.04423953 0.00077312 -0.01290999
+v -0.04731936 0.01478755 0.00659951
+v -0.04731936 0.01583612 0.00641356
+v -0.04423640 0.01583619 -0.01290993
+v -0.03681974 0.00077312 -0.01290999
+v -0.04731936 0.00077300 0.02004100
+v -0.04731936 0.01203781 0.00858036
+v -0.04731936 0.01394534 0.00674908
+v -0.04731936 0.01776967 0.00647016
+v -0.04422909 0.01759869 -0.01290993
+v -0.03665479 0.01976650 -0.01290992
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+v -0.03905393 0.00077302 0.01436119
+v -0.04731936 0.00077297 0.02821104
+v -0.04416750 0.01976650 -0.01290992
+v -0.04417480 0.01956943 -0.01290992
+v -0.04422805 0.01780878 -0.01290992
+v -0.04731936 0.01941503 0.00695527
+v -0.03888897 0.01976640 0.01437339
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+v -0.04648520 0.00077297 0.02838891
+v -0.04731936 0.00909094 0.02821107
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+v -0.04731936 0.01976635 0.02807770
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+v -0.04252631 0.00077297 0.02772997
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+f 30 38 39
+f 31 40 32
+f 31 34 40
+f 33 39 38
+f 33 38 35
+f 34 37 40
+
diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_2.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b84c68622f5147d03978df044f64b4841534fc6e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_2.obj
@@ -0,0 +1,541 @@
+# https://github.com/mikedh/trimesh
+v 0.04879590 0.02411794 0.02402819
+v 0.04829573 0.02569725 0.02402819
+v 0.04819784 0.02569724 0.02595904
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+
diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_20.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42f2402f5aed400a39219f2f212fe33fe9791de5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_20.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v 0.04681951 -0.01987530 0.02822661
+v 0.04654020 -0.01987530 0.02834156
+v 0.04681951 -0.02134787 0.02818300
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+
diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_21.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6315150119e8667c78e3bc36b8b22a799705eedd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_21.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
+v -0.04746519 -0.00288829 0.02818554
+v -0.04746519 -0.00091556 0.02818473
+v -0.04846493 -0.00388421 0.02797719
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+v -0.04746519 -0.01768617 0.02809725
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+
diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_22.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16cd421fcb60e80194edb62720936701c0172f7b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_22.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.03284719 0.02583517 -0.01290990
+v -0.03665401 0.01976709 -0.01290992
+v -0.04269790 0.02583517 -0.01290990
+v -0.03651517 0.02583507 0.01445267
+v -0.03888683 0.01976699 0.01435970
+v -0.04416708 0.01976709 -0.01290992
+v -0.04270640 0.02582091 -0.01290990
+v -0.04731936 0.02390901 0.01247655
+v -0.04731936 0.02583504 0.02130240
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+v -0.04416708 0.01978135 -0.01290992
+v -0.04731936 0.01976701 0.00733620
+v -0.04277016 0.02569734 -0.01290990
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_23.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..289c0f1c8bb28a74c057da8c8290c1982c824d06
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_23.obj
@@ -0,0 +1,286 @@
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_24.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fccf8ee269447c8a3d02910d0e1e6bac6305c2a6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_24.obj
@@ -0,0 +1,268 @@
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+
diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_25.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f5dd9a7572128ff12d2664f12a980960db201f3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_25.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.03664463 -0.01987516 -0.01211109
+v 0.03697137 0.00077311 -0.01211102
+v 0.04410678 -0.01987516 -0.01211109
+v 0.03872060 -0.01987525 0.01435924
+v 0.03903638 0.00077302 0.01435931
+v 0.04425022 0.00077311 -0.01211102
+v 0.04413666 -0.01965890 -0.01211109
+v 0.04682128 -0.01987523 0.00760685
+v 0.04111435 -0.01987530 0.02596083
+v 0.04148990 0.00077297 0.02707110
+v 0.04126676 0.00077297 0.02596090
+v 0.04682128 -0.01575810 0.00623894
+v 0.04425122 0.00055280 -0.01211102
+v 0.04682128 0.00077300 0.01941469
+v 0.04682128 -0.01031510 0.00859020
+v 0.04682128 -0.01239488 0.00715090
+v 0.04682128 -0.01364396 0.00672664
+v 0.04420440 -0.01829259 -0.01211109
+v 0.04682128 -0.01769842 0.00662353
+v 0.04682128 -0.01926282 0.00721432
+v 0.04682128 -0.01949121 0.00734516
+v 0.04682128 -0.01981864 0.00756323
+v 0.04682128 -0.01987530 0.02822881
+v 0.04137335 -0.01987530 0.02700759
+v 0.04142116 -0.01987530 0.02715033
+v 0.04188337 0.00077297 0.02733279
+v 0.04423328 -0.01768623 -0.01211108
+v 0.04424424 -0.01631992 -0.01211108
+v 0.04424823 -0.01571559 -0.01211108
+v 0.04424923 -0.01434726 -0.01211107
+v 0.04425122 -0.00388367 -0.01211103
+v 0.04682128 0.00077297 0.02832800
+v 0.04682128 -0.01938011 0.02826053
+v 0.04657623 -0.01987530 0.02832793
+v 0.04244221 -0.01987530 0.02779662
+v 0.04258167 0.00077297 0.02779669
+v 0.04654036 0.00077297 0.02839144
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+v 0.04682128 -0.00360488 0.02832799
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+v 0.04654036 -0.01965904 0.02834776
+v 0.04654036 -0.01987530 0.02833983
+v 0.04258167 -0.01987530 0.02787593
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+v 0.04527625 0.00077297 0.02837162
+v 0.04456102 -0.00585647 0.02835971
+v 0.04654036 -0.00782913 0.02839141
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+v 0.04654036 -0.01374307 0.02838743
+v 0.04682128 -0.01543479 0.02831209
+v 0.04654036 -0.01768637 0.02837156
+v 0.04632420 -0.01987530 0.02834776
+v 0.04434486 -0.01987530 0.02831208
+v 0.04456102 -0.01987530 0.02835173
+v 0.04682128 -0.01346415 0.02831606
+v 0.04654036 -0.01571573 0.02838345
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+f 1 27 18
+f 1 18 7
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+f 38 46 47
+f 38 47 39
+f 39 47 49
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+f 50 56 51
+f 51 56 54
+f 51 54 52
+
diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_26.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a25a0982097048ef5c91dec0b987c3cb286040c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_26.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
+v -0.03277348 -0.02362524 -0.01505404
+v -0.04304844 -0.02362524 -0.01505404
+v -0.03553025 -0.01895816 -0.01505402
+v -0.03885936 -0.01895827 0.01436213
+v -0.03749320 -0.02362535 0.01436211
+v -0.04310740 -0.02349092 -0.01505404
+v -0.04312753 -0.02362525 -0.01458644
+v -0.04396017 -0.01895816 -0.01505402
+v -0.04121635 -0.01895832 0.02595856
+v -0.04144068 -0.01895832 0.02705954
+v -0.04029599 -0.02362540 0.02595854
+v -0.04340652 -0.02264203 -0.01505403
+v -0.04320087 -0.02345575 -0.01458219
+v -0.04676439 -0.02362535 0.01436211
+v -0.04746473 -0.02330371 0.01436211
+v -0.04746473 -0.02329091 0.01423034
+v -0.04746473 -0.02316664 0.01298483
+v -0.04746473 -0.02312918 0.01269153
+v -0.04746473 -0.02309537 0.01242797
+v -0.04746473 -0.02286143 0.01140351
+v -0.04746473 -0.02278011 0.01116120
+v -0.04746473 -0.01895825 0.00757771
+v -0.04392134 -0.01965902 -0.01505402
+v -0.04100208 -0.02362540 0.02742085
+v -0.04252642 -0.01895832 0.02777794
+v -0.04351725 -0.02223997 -0.01505403
+v -0.04746473 -0.02362538 0.02070019
+v -0.04746473 -0.02111612 0.00904001
+v -0.04746473 -0.01989075 0.00810057
+v -0.04746473 -0.01895832 0.02799049
+v -0.04387533 -0.02007159 -0.01505402
+v -0.04252642 -0.02360393 0.02813075
+v -0.04252642 -0.02362540 0.02813075
+v -0.04450520 -0.01895832 0.02834331
+v -0.04366105 -0.02150667 -0.01505403
+v -0.04746473 -0.02362540 0.02768865
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+v -0.04711960 -0.01895832 0.02812227
+v -0.04450520 -0.02360393 0.02837305
+v -0.04450520 -0.02362540 0.02836880
+v -0.04648397 -0.01895832 0.02836031
+v -0.04650123 -0.02362540 0.02816475
+v -0.04746473 -0.02361809 0.02769291
+v -0.04746473 -0.02163201 0.02791396
+v -0.04648397 -0.02163201 0.02830079
+v -0.04648397 -0.01966055 0.02835606
+v -0.04648397 -0.02360393 0.02817751
+v -0.04648685 -0.02362540 0.02816900
+v -0.04746473 -0.02360393 0.02769716
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+f 44 49 47
+
diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_27.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcce1a7d340c39fab171c03b9f4c0d0a63c89e7b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_27.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v -0.03064337 -0.03336634 -0.01505156
+v -0.03064337 -0.03342054 -0.01463690
+v -0.03064337 -0.02457278 -0.01505153
+v -0.02867087 -0.03342920 -0.01505156
+v -0.01584212 -0.03446854 -0.01179709
+v -0.03064337 -0.03353975 -0.01270180
+v -0.03064337 -0.02731260 0.01061740
+v 0.00002193 -0.02747842 0.01061740
+v 0.00002193 -0.02495426 -0.01505153
+v -0.01326616 -0.03361669 -0.01505156
+v -0.01283984 -0.03426045 -0.01285008
+v -0.03064337 -0.03377278 -0.00690405
+v -0.03064337 -0.03370342 -0.00883663
+v -0.03064337 -0.03362755 -0.01076921
+v -0.01481834 -0.03447613 -0.01183981
+v -0.00294132 -0.03564336 0.00082880
+v -0.03064337 -0.03413482 0.01061737
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+v -0.03052027 -0.03414241 0.01061737
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+v -0.03064337 -0.03406002 0.00469397
+v -0.03064337 -0.03402533 0.00276139
+v -0.03064337 -0.03398522 0.00082881
+v -0.03064337 -0.03393862 -0.00110629
+v -0.03064337 -0.03389201 -0.00303636
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+v -0.00096281 -0.03446420 -0.01180714
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+v 0.00002193 -0.03445987 -0.01178452
+v -0.01283383 -0.03486853 0.01061737
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+f 40 43 41
+
diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_28.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1ba18a902ea0ef5bded11e595b8655584002348
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_28.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.04395986 -0.01895815 -0.01505402
+v -0.04403112 -0.01768729 -0.01505401
+v -0.03552946 -0.01895815 -0.01505402
+v -0.04746356 -0.01895824 0.00757778
+v -0.04746356 -0.01856038 0.00702496
+v -0.04746356 -0.01680858 0.00628078
+v -0.04405332 -0.01571532 -0.01505401
+v -0.03577363 0.00077313 -0.01505395
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+v -0.03885909 -0.01895826 0.01436052
+v -0.04746356 -0.01895831 0.02798978
+v -0.04746356 -0.01578686 0.00631480
+v -0.04405799 0.00077313 -0.01505395
+v -0.04405799 -0.00585740 -0.01505397
+v -0.04405566 -0.01374335 -0.01505400
+v -0.03933692 0.00077301 0.01587022
+v -0.04147957 0.00077297 0.02701177
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+v -0.04746356 -0.01362175 0.00672305
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+v -0.04214783 0.00077297 0.02747104
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+v -0.04648453 -0.01895831 0.02836400
+v -0.04746356 -0.01571548 0.02814288
+v -0.04746356 -0.01173091 0.00821569
+v -0.04746356 0.00077300 0.02015249
+v -0.04252636 0.00077297 0.02773044
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+v -0.04450545 -0.01895831 0.02834273
+v -0.04648453 -0.01768745 0.02837251
+v -0.04746356 -0.01374351 0.02816415
+v -0.04746356 0.00077297 0.02818121
+v -0.04379045 0.00077297 0.02812593
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+v -0.04450545 -0.00979957 0.02834702
+v -0.04648453 -0.01374351 0.02838528
+v -0.04648453 -0.01571548 0.02838102
+v -0.04746356 -0.01177154 0.02817267
+v -0.04746356 -0.00288898 0.02818545
+v -0.04648453 -0.00191169 0.02838957
+v -0.04648453 0.00077297 0.02838533
+v -0.04576954 0.00077297 0.02837257
+v -0.04746356 -0.00782953 0.02818118
+f 1 2 7
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+
diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_29.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6155a83bb71bed4cb3a08653e0c390cbb5c44f4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_29.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_3.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ccb695d2f9d703c451ed2bd625ce0e5d836928c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_3.obj
@@ -0,0 +1,784 @@
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_30.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc64f4a1e61ca5438975dc92458943946a05dcf6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_30.obj
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_31.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea8099a3863709c4758ec221a5032d53a44fcf52
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_31.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_32.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e5da7973936b2364861a1abf7439938ccdca6d6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_32.obj
@@ -0,0 +1,304 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_33.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a8c79c87bbe6b4957b4793b2ba8a17e7a7f452a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_33.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_34.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfec19768f55110c5b165b1af01c39bfea57eb27
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_34.obj
@@ -0,0 +1,574 @@
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+
diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_35.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62fd2eb1a10512a1fe5992bc6dd585331d7acb98
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_35.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v 0.04682455 0.02411500 0.01786838
+v 0.04633140 0.02411500 0.01786838
+v 0.04687923 0.02407852 0.01786838
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+v 0.04633140 0.02154225 0.00762665
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+
diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_36.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd1f5542fdea19e46d10cff9bdeb7f8f7aae6eac
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_36.obj
@@ -0,0 +1,289 @@
+# https://github.com/mikedh/trimesh
+v -0.01481157 -0.03346404 0.02838772
+v -0.01481157 -0.03149267 0.02811728
+v -0.01877647 -0.03346405 0.02959998
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+
diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_37.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d21394429c97b10214d2c6bfb075f1e1094ee42a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_37.obj
@@ -0,0 +1,100 @@
+# https://github.com/mikedh/trimesh
+v 0.04633140 0.01932046 0.00650091
+v 0.04633140 0.01819120 0.00630810
+v 0.04633140 0.01375587 0.00650089
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+v 0.04991172 0.00134134 -0.00227779
+v 0.04956754 0.00077308 -0.00188873
+v 0.04991172 0.00077308 -0.00229070
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_38.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba4142ca9120f3d3cf856cde07d9232006d62616
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_38.obj
@@ -0,0 +1,238 @@
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_39.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd92d17b8990f307d767838cda9aa1e6e4b72623
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_39.obj
@@ -0,0 +1,601 @@
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_4.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39ce9fc5d5551e72e5ec6e4f6c206d81968ea6ad
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_4.obj
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_40.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28a9f65cb23e9dbf675c82f6d8ac40975cdef5fc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_40.obj
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_41.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6a979aac76906e8048ba5f5eb2ddfca990e5d36
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_41.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_42.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffc1fc932d9e7ecba6fdbb67032b3879941071b1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_42.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v 0.04682128 -0.00851399 0.01886032
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+
diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_43.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..433e6ba33478b5aacad51d122abb3dcdc01040ce
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_43.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_44.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ff9fe2b85a758a50f57df0b2e19330ac6c67a28
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_44.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v 0.05052076 -0.01258868 0.01886030
+v 0.05106003 -0.01276462 0.01886030
+v 0.05052076 -0.01208598 0.01831641
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+v 0.05134427 -0.01289162 0.01886030
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+v 0.05211199 -0.01825066 0.01886028
+v 0.05173920 -0.01311519 0.01886030
+v 0.05247859 -0.01334802 0.01865828
+v 0.05373599 -0.01445396 0.01886030
+v 0.05422124 -0.01396845 0.01802447
+v 0.05554948 -0.01457962 0.01738177
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+v 0.05655540 -0.00826410 0.00752049
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+v 0.05623839 -0.00816091 0.00752049
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+
diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_45.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e25421175469251fad01a789a8c320cac78037c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_45.obj
@@ -0,0 +1,55 @@
+# https://github.com/mikedh/trimesh
+v 0.04682198 -0.02476616 0.02070758
+v 0.04682198 -0.02318483 0.01886026
+v 0.05368076 -0.01690949 0.01886029
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+
diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_5.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54d41fdee05a88d9067915bf2b5dfd040131b2f3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_5.obj
@@ -0,0 +1,352 @@
+# https://github.com/mikedh/trimesh
+v -0.03213378 0.03358471 0.02834776
+v -0.03213378 0.03407933 0.02832502
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_6.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfbc6c993c26bfd9b04cb140764558e15248cfc7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_6.obj
@@ -0,0 +1,433 @@
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_7.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fe9c25ab21978ca16155bcda0166e3ba3e9762a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_7.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_8.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d254815d3ebf8659c86dea7339327de6a586cf78
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_8.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_9.obj b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b1561eaa6cad3f2216d3ee3add18705c9816f88
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/mesh/storage_bin_021_collision_9.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/storage_bin_021.xml b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/storage_bin_021.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d85cd1e7c31c44d75a19829b0a8215e1a7fd0537
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/mjcf/storage_bin_021.xml
@@ -0,0 +1,106 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="storage_bin_021">
+  <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" />
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+    <mesh name="collision_mesh_0_0" file="mesh/storage_bin_021_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/storage_bin_021_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/storage_bin_021_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_4" file="mesh/storage_bin_021_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  </asset>
+  <worldbody>
+    <body name="storage_bin_021">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/storage_bin_021.urdf b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/storage_bin_021.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..60cf15ba77ee87714f83a65462e8f03c5d020e6c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/storage_bin_021.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_021">
+   <link name="storage_bin_021">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_021.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_021_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.5500" />
+         <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>5c63a24d0686572480b05c44bd72b33b</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>handled storage bin</name>
+         <color>white,beige</color>
+         <shape>cuboid</shape>
+         <material>plastic</material>
+         <description>small rectangular plastic storage bin with lid, side handles, and cartoon print</description>
+         <min_height>0.0523</min_height>
+         <max_height>0.0523</max_height>
+         <real_height>0.0523</real_height>
+         <min_mass>0.3</min_mass>
+         <max_mass>0.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611140006</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.059972 -0.039318 -0.022284</min>
+            <max>0.060028 0.041441 0.030000</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>12</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>NO: {"summary":"Decorative print is mislabeled as functional parts; main body and handles are fine.","merge_groups":[]}</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/storage_bin_021.usd b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/storage_bin_021.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/storage_bin_021.usd
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new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/video.mp4 b/dataset/bedroom_supplies/storage/5c63a24d0686572480b05c44bd72b33b/video.mp4
new file mode 100644
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