diff --git a/.gitattributes b/.gitattributes
index d29fa55b072c090ac56d52c6501aa5dcefc8c0ab..91f4e9a4c4ddafbbe1705d4a79a43025eba0121c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2732,5 +2732,6 @@ dataset/bedroom_supplies/storage/2a403c213198553f8643e2f260693788/jewelry_box_01
 dataset/bedroom_supplies/storage/2a403c213198553f8643e2f260693788/mesh/jewelry_box_013.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/2affd27cfc035d6b818b6d07f124f85c/mesh/remote_holder_018.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/2affd27cfc035d6b818b6d07f124f85c/remote_holder_018.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/glasses_case_040.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/2b945e24cdef52f4928597290486cb89/mesh/glasses_case_040.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/325c49a222a657048d6a9708a9e07f91.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mesh/plastic_bucket.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mesh/plastic_bucket_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/325c49a222a657048d6a9708a9e07f91.urdf b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/325c49a222a657048d6a9708a9e07f91.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ce8222c187737b30a6d9932ea50d7a9f81703250
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/325c49a222a657048d6a9708a9e07f91.urdf
@@ -0,0 +1,58 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="plastic_bucket">
+   <link name="plastic_bucket">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/plastic_bucket.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/plastic_bucket_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.6000" />
+         <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>0.300000</scale>
+         <version>v0.1.7</version>
+         <category>plastic bucket</category>
+         <description>orange plastic bucket with a handle and a flat lid</description>
+         <min_height>0.25</min_height>
+         <max_height>0.35</max_height>
+         <real_height>0.3</real_height>
+         <min_mass>0.4</min_mass>
+         <max_mass>0.8</max_mass>
+         <generate_time>20260120040653</generate_time>
+         <gs_model>mesh/plastic_bucket_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.9658918380737305</ImageAestheticChecker>
+         <overall>YES</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>6</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <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>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/325c49a222a657048d6a9708a9e07f91.usd b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/325c49a222a657048d6a9708a9e07f91.usd
new file mode 100644
index 0000000000000000000000000000000000000000..dc1bf611d2a7cf3c2d7b001486682775b8696f88
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/325c49a222a657048d6a9708a9e07f91.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9eb81c362de091550997d3b599dd3a1a27146a3e41155f82db99c25ecc45cc4f
+size 569149
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mesh/material.mtl b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mesh/material_0.png b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..94e8d0caabc6e9885c72fa9365a84e1d229b6994
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d6ec9bd6ebc231efe08388dd347725c88585f0287229d29cf5c79077aa7832a
+size 1839779
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mesh/plastic_bucket.glb b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mesh/plastic_bucket.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3f55fae9f2577dbbfbf48a44264d3f45cf75c3b1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mesh/plastic_bucket.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f43c24b08408ffb1955e2959d7ff978fb9b14b340b5f54e7d80f37f09afdde4d
+size 2241680
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mesh/plastic_bucket.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mesh/plastic_bucket.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcebdeac6996bb23377074ff9b85d537c7f5aefa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mesh/plastic_bucket.obj
@@ -0,0 +1,36918 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+v 0.01010889 -0.14991330 -0.01989595
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mesh/plastic_bucket_collision.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mesh/plastic_bucket_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0a29a2320435bbebaabec8872a11d2e89d02c08
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mesh/plastic_bucket_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mesh/plastic_bucket_gs.ply b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mesh/plastic_bucket_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..64e09c066da541da0c435313dbec2a91bb9ae6fd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mesh/plastic_bucket_gs.ply
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+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/325c49a222a657048d6a9708a9e07f91.xml b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/325c49a222a657048d6a9708a9e07f91.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0a4df594b3605b53ef70d7d92f936ea09acdd5bd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/325c49a222a657048d6a9708a9e07f91.xml
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+<?xml version='1.0' encoding='utf-8'?>
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+    <mesh name="collision_mesh_0_4" file="mesh/plastic_bucket_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_7" file="mesh/plastic_bucket_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/material_0.png
new file mode 100644
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+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d6ec9bd6ebc231efe08388dd347725c88585f0287229d29cf5c79077aa7832a
+size 1839779
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cfb610f1a1ef6a90055a53d8b36d9dd86699a70
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket.obj
@@ -0,0 +1,36918 @@
+# https://github.com/mikedh/trimesh
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+usemtl material_0
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3970d54c8d3394540077373b6be142983495d6ac
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision.obj
@@ -0,0 +1,10944 @@
+# https://github.com/mikedh/trimesh
+
+o plastic_bucket_collision.obj
+v 0.03468425 0.06337899 -0.01246460
+v 0.00632179 0.07642884 -0.00739010
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_0.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7f35adc49ddb52e71d9629de3db1d74aa0ea786
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_1.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b9a9bf557ca68858862d716463f3449d2d04607
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_1.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.00632179 0.08601639 0.03388533
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+
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_10.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..877e1d5630031b80e260edbf464ce5de18d2b069
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_10.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_11.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5805a69bcf96dd7805423896db34860ed2e78011
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_11.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_12.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa07478879b456ce49574514ef371399fce4e052
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_12.obj
@@ -0,0 +1,295 @@
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_13.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b911f7629d3d91ad7ee5cff124cd226cecf391f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_13.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_14.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d639237eca6a7fe69ede2cbe03ef66cb57ac819d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_14.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_15.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d788cd2a5e143f76e42df011d94a82791da2e811
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_15.obj
@@ -0,0 +1,340 @@
+# https://github.com/mikedh/trimesh
+v 0.06050709 -0.05187422 0.03767747
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_16.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5ef7bbe31c48e6ba8f2137e17718f847f1ba920
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_16.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
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+v -0.03973858 0.07991663 -0.00543075
+v -0.04491650 0.07522615 -0.00540138
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_17.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98538b0da4ca0d50199af81574db9dfaae232764
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_17.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
+v -0.00236171 -0.09214399 0.03708159
+v 0.00250541 -0.09214399 0.03702607
+v -0.00236171 -0.09094305 0.03774778
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+v 0.00632179 -0.08693524 0.03680403
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+v -0.00335750 -0.07889846 0.01739223
+v -0.00335750 -0.09184421 0.00140380
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+
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_18.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ec182128a978be992606e02278d1b0bef6411ba
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_18.obj
@@ -0,0 +1,136 @@
+# https://github.com/mikedh/trimesh
+v 0.06514406 -0.00006151 -0.12415663
+v 0.06513619 -0.00006151 -0.12428959
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_19.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d3661764ff7aab17e78fd59342a9e570c83d8f0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_19.obj
@@ -0,0 +1,253 @@
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_2.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..649c37a9512e667671a775679142d4f54b79d871
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_2.obj
@@ -0,0 +1,1039 @@
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_20.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bccd86cb56296ff1eb8667b6ed8dee6699ffae0b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_20.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.03266131 -0.04320938 -0.13956048
+v -0.04225322 -0.04320939 -0.13623600
+v -0.05311782 -0.04320938 -0.13956048
+v -0.03271122 -0.04274412 -0.13956048
+v -0.05335800 -0.04320939 -0.13623600
+v -0.05543547 0.00000089 -0.13623584
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+v -0.05442793 -0.04084499 -0.13956047
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+v -0.05335488 -0.04320939 -0.13629327
+v -0.06452205 0.00000089 -0.13623584
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+v -0.06435672 0.00000090 -0.13956032
+v -0.05454334 -0.04106072 -0.13623599
+v -0.05673623 -0.03667455 -0.13623597
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+v -0.06376406 -0.01204943 -0.13623588
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+v -0.06331799 -0.01495098 -0.13629316
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+v -0.06183320 -0.02187072 -0.13623592
+v -0.06283450 -0.01746763 -0.13623590
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+
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_21.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7bc308a6190d868be49b065aba6e07b89f2be13
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_21.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.00632671 -0.06868051 -0.12414061
+v 0.03966414 -0.05187374 -0.09166514
+v 0.03930944 -0.05187373 -0.09662897
+v 0.03796943 -0.05187365 -0.11645104
+v 0.03765907 -0.05187363 -0.12141488
+v 0.03749649 -0.05187362 -0.12414055
+v 0.00632671 -0.07775923 -0.12414065
+v 0.00632671 -0.06872073 -0.12338717
+v 0.04527046 -0.05187402 -0.01730742
+v 0.04483201 -0.05187400 -0.02227125
+v 0.04441326 -0.05187398 -0.02722400
+v 0.04402899 -0.05187396 -0.03218783
+v 0.04809826 -0.05187362 -0.12414055
+v 0.00737605 -0.07763859 -0.12414065
+v 0.00912002 -0.08589332 -0.01094765
+v 0.00632671 -0.08611115 -0.01094765
+v 0.00632671 -0.07075847 -0.08671246
+v 0.04531973 -0.05187402 -0.01678666
+v 0.04764995 -0.05248357 -0.12414055
+v 0.05664568 -0.05187404 -0.01094752
+v 0.05471451 -0.05514829 -0.01094753
+v 0.01224833 -0.07666001 -0.12414064
+v 0.01224833 -0.08539397 -0.01094764
+v 0.00632671 -0.07622475 -0.01094761
+v 0.00632671 -0.07082550 -0.08563770
+v 0.04573355 -0.05187403 -0.01294191
+v 0.04630995 -0.05416593 -0.12414056
+v 0.05343362 -0.05678373 -0.01094754
+v 0.04598973 -0.05187404 -0.01094752
+v 0.01444554 -0.07600985 -0.12414064
+v 0.01595304 -0.08454609 -0.01094764
+v 0.01398738 -0.08502533 -0.01094764
+v 0.04581730 -0.05187403 -0.01227711
+v 0.04574833 -0.05187403 -0.01282003
+v 0.00632671 -0.07109027 -0.08174864
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+v 0.05028068 -0.06053051 -0.01094755
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+v 0.03244686 -0.06760139 -0.12141494
+v 0.03564414 -0.06502421 -0.12414060
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+
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_22.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9eb7a7e035c3c0e3e088519cdbd4f18ccdcf40e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_22.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.04225293 -0.04320939 -0.13623600
+v -0.04441883 -0.04320943 -0.12415414
+v -0.05336015 -0.04320939 -0.13623600
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+v -0.05411720 -0.04320943 -0.12415414
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+v -0.05452933 -0.04109033 -0.13623599
+v -0.06452336 0.00000089 -0.13623584
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+v -0.05469955 -0.04136104 -0.13133513
+v -0.05454501 -0.04106072 -0.13623599
+v -0.06477198 0.00000087 -0.13133498
+v -0.06452784 -0.00214355 -0.13623585
+v -0.06502284 0.00000085 -0.12637853
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+v -0.05485858 -0.04185171 -0.12415413
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+v -0.06477422 -0.00214357 -0.13133499
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+v -0.06502956 -0.00435571 -0.12415400
+v -0.05833477 -0.03415370 -0.12847666
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+v -0.06250305 -0.02171849 -0.12415406
+v -0.06181991 -0.02192993 -0.13623592
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+f 1 13 7
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+f 1 15 23
+f 1 23 31
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+
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_23.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ac6f96af7d4b3fbeaf17aa5bf25cc3f1b64958d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_23.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
+v -0.06832189 0.03468672 0.03715968
+v -0.06566307 0.04226283 0.03773870
+v -0.07060837 0.03468672 0.03701738
+v -0.06629468 0.03468673 0.03663465
+v -0.04491651 0.06816052 0.03695371
+v -0.06079223 0.05213273 0.03764060
+v -0.06586441 0.04714639 0.03689966
+v -0.06917691 0.04226284 0.03640407
+v -0.07203432 0.03468673 0.03610472
+v -0.04491651 0.06753981 0.03655136
+v -0.05849196 0.03468679 0.01924016
+v -0.05841198 0.03494577 0.01944624
+v -0.04491651 0.07204107 0.03700770
+v -0.04646105 0.07216028 0.03703224
+v -0.05135395 0.06721094 0.03706166
+v -0.05608964 0.06206840 0.03700767
+v -0.06072052 0.05674499 0.03655132
+v -0.06423988 0.05213274 0.03613422
+v -0.06847359 0.04546922 0.03555520
+v -0.07300517 0.03497037 0.03485840
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_24.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..047d6e804f05aeda8badaa8dc53e107f401fb581
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_24.obj
@@ -0,0 +1,256 @@
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_25.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20ff1d7bbb54eadd73f6db70bcaf1a8ebf09b28c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_25.obj
@@ -0,0 +1,142 @@
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+
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_26.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f763bffcb539110e66f7530966467fc3057e94b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_26.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.00335750 0.07745287 -0.13626881
+v -0.00335750 0.06685763 -0.13626884
+v -0.00335750 0.07722489 -0.13949505
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+v -0.03489221 0.06513504 -0.13626885
+v -0.03557629 0.06429908 -0.13949509
+v -0.03487786 0.06514454 -0.13629286
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+
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_27.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7ad197cb6892b58590bd9acb5735de769f2f08f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_27.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.00632179 -0.06822827 -0.13134301
+v -0.00335750 -0.05580728 -0.13966694
+v -0.00335750 -0.06822826 -0.13262452
+v 0.00632179 -0.06822819 -0.15123201
+v 0.00632179 -0.05580728 -0.13968458
+v 0.00310041 -0.05580728 -0.13967871
+v -0.00335750 -0.05580723 -0.15135737
+v -0.00335750 -0.06822819 -0.15129668
+v 0.00250541 -0.06822819 -0.15129864
+v 0.00632179 -0.06627659 -0.15134762
+v 0.00632179 -0.05580723 -0.15135737
+v -0.00295861 -0.05580723 -0.15135934
+v -0.00335750 -0.05641035 -0.15135738
+v -0.00335750 -0.06627659 -0.15133587
+v -0.00236266 -0.06822819 -0.15129864
+v 0.00250541 -0.06627659 -0.15134370
+v -0.00236266 -0.06134347 -0.15135153
+v 0.00632179 -0.06520898 -0.15134957
+v 0.00632179 -0.05641035 -0.15135738
+v 0.00632179 -0.06027708 -0.15135544
+v -0.00335750 -0.06033666 -0.15135152
+v -0.00335750 -0.06526856 -0.15133979
+v -0.00236266 -0.06627659 -0.15133782
+v -0.00335750 -0.06134347 -0.15134956
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+
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_28.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a878ac188cc3331d517d132b7abff1555aa2f42
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_28.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
+v -0.07540138 0.00000025 0.03804704
+v -0.06832301 0.03468672 0.03716346
+v -0.07053192 0.02745811 0.03750902
+v -0.07053192 0.03239149 0.03753865
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+v -0.07833692 0.00772798 0.03596861
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+
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_29.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fdb28df29d4285ad49a82455a8dac0d4812d4a2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_29.obj
@@ -0,0 +1,82 @@
+# https://github.com/mikedh/trimesh
+v 0.00632179 0.06450385 -0.13902452
+v -0.00335750 0.06483655 -0.13902452
+v 0.00632179 0.07690030 -0.13902448
+v 0.00632179 0.07806840 0.01738349
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+v -0.00335750 0.07852956 0.01738349
+v 0.00518767 0.07703927 -0.13902448
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+v 0.00632179 0.07872327 0.02078551
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+v -0.00236266 0.07859745 -0.12140509
+v -0.00237403 0.08601345 -0.01240525
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+
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_3.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ae4eebd1dd559008077f82c8418540371e114aa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_3.obj
@@ -0,0 +1,163 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_30.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..715095edd940d493615ae838054e567cc311ecb5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_30.obj
@@ -0,0 +1,262 @@
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_31.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51db440370df9a9019737c6635a052e370412245
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_31.obj
@@ -0,0 +1,244 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_32.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42c77c2b6e202a7c34af37102b343a0acfe1c4d4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_32.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_33.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb6984c739ebbef89b6e37deb5a41d82c9f38bb7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_33.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_34.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8450f8c901f1f0de5da429c2da6c8f1375ebd0c6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_34.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
+v -0.04444229 -0.07738519 -0.00242900
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_35.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e7d915a3e9e37cbac2e51f5ff8537b769c2f138
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_35.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_36.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f9f7eb43b03283267e6a9bdc510a3b59fce1491
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_36.obj
@@ -0,0 +1,274 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_37.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..873db9d54cff4423232e34a0edd423fbe64bd81b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_37.obj
@@ -0,0 +1,265 @@
+# https://github.com/mikedh/trimesh
+v 0.03370857 -0.08530200 -0.00243089
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_38.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdfc8d99119e131db9df0c539b35b7c1252ca0cc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_38.obj
@@ -0,0 +1,169 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_39.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19fb983c17f0781d6ace0e2c009affa34d2415ef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_39.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_4.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c46f06bdd29dbf7f574e8b251a9be3dc99c9b21e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_4.obj
@@ -0,0 +1,226 @@
+# https://github.com/mikedh/trimesh
+v -0.03403610 0.04510353 -0.13949397
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+
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_40.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8d29cad5fc8fd9cfbe3fe0997be911d70fe5d4f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_40.obj
@@ -0,0 +1,106 @@
+# https://github.com/mikedh/trimesh
+v -0.00335900 -0.09406686 0.03572405
+v -0.00335900 -0.09101833 0.03754058
+v -0.01697093 -0.08993748 0.03677968
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+v -0.00335900 -0.09406676 0.00735109
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+v -0.00616420 -0.09406685 0.03226786
+v -0.01873868 -0.09063445 -0.00242805
+v -0.01697093 -0.09091159 -0.00242805
+v -0.01210135 -0.09099473 -0.00242805
+v -0.00335900 -0.09039355 -0.00314072
+v -0.00740494 -0.09406681 0.02235474
+v -0.01873868 -0.08308359 0.03569730
+v -0.00335900 -0.07889872 0.01739823
+v -0.00839421 -0.07836576 0.02029715
+v -0.01873868 -0.09084989 0.03226788
+v -0.01697093 -0.09136791 0.02731130
+v -0.01873868 -0.09026564 -0.00356939
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+v -0.01697093 -0.08949390 -0.00584137
+v -0.00335900 -0.08530479 -0.01720126
+v -0.01873868 -0.07476720 0.01739825
+v -0.00335900 -0.07756413 0.00252856
+v -0.01873868 -0.08936386 -0.00573956
+v -0.00723328 -0.08486349 -0.01720126
+v -0.00335900 -0.07632546 -0.01720123
+v -0.00335900 -0.07717185 -0.00242800
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+v -0.01873868 -0.08185546 -0.01720125
+v -0.01696943 -0.08250568 -0.01720125
+v -0.01401967 -0.08345008 -0.01720126
+v -0.01164210 -0.08401076 -0.01720126
+v -0.00335900 -0.07686698 -0.00738992
+f 1 2 3
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+f 1 24 29
+f 1 29 36
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+f 30 36 31
+
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_41.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7a9c956937d441fc698fece3f2ae94c5a79ee22
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_41.obj
@@ -0,0 +1,73 @@
+# https://github.com/mikedh/trimesh
+v -0.00335783 0.09491573 0.03492731
+v -0.00335783 0.10558250 0.02226719
+v -0.00416251 0.09491573 0.03404967
+v -0.00335783 0.09491583 0.00709850
+v -0.00514156 0.10444002 0.02114407
+v -0.00335783 0.10661975 0.01740152
+v -0.00575196 0.10508106 0.01740152
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+v -0.00347307 0.09491583 0.00745157
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+v -0.00662540 0.09491577 0.02364917
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+v -0.00335783 0.10699704 0.01244170
+v -0.00630790 0.10555179 0.01244170
+v -0.00663104 0.09491579 0.01888102
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+v -0.00562477 0.10492973 0.00344340
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+v -0.00623185 0.10553169 0.00748524
+v -0.00335783 0.10550925 0.00235392
+v -0.00335783 0.10240823 0.00101896
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+
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_42.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a40883abe6d0baaaed8b24aa5f8605a494044852
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_42.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.00632179 -0.09467912 0.02236557
+v 0.00632179 -0.09467912 0.02184095
+v 0.02198018 -0.09014965 -0.00242977
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+v 0.02509256 -0.08872009 -0.00517209
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+v 0.02483253 -0.08865783 0.03519965
+v 0.02198018 -0.08918091 0.03604381
+v 0.00632179 -0.09398074 0.03263854
+v 0.00632179 -0.09064004 -0.00242977
+v 0.01224630 -0.09112745 -0.00242977
+v 0.01224630 -0.08960873 -0.00594948
+v 0.01711458 -0.08952551 -0.00585886
+v 0.02198018 -0.08912726 -0.00553932
+v 0.01595381 -0.08454733 -0.01094764
+v 0.02391570 -0.08115030 -0.01094763
+v 0.02644635 -0.08001795 -0.01094762
+v 0.03370857 -0.08422043 -0.00542961
+v 0.03370857 -0.08529929 -0.00242975
+v 0.03171943 -0.08631276 -0.00242976
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+v 0.03171943 -0.08540641 0.03227135
+v 0.03370857 -0.08420275 0.03437936
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+
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_43.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a3613cb968f89e47a3197b82f06fc9d489d37a0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_43.obj
@@ -0,0 +1,148 @@
+# https://github.com/mikedh/trimesh
+v -0.01901166 0.07257863 -0.01240778
+v -0.01901166 0.08242393 -0.01240775
+v -0.00335750 0.07654692 -0.01240777
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+v -0.00335750 0.07704538 -0.00344093
+v -0.00335750 0.07735801 0.00151829
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+v -0.01434575 0.08420801 -0.01240774
+v -0.01901166 0.08977234 -0.00558939
+v -0.00335750 0.08594837 -0.01240773
+v -0.00335750 0.07779089 0.00748801
+v -0.01901166 0.07469495 0.01739664
+v -0.01217139 0.08483113 -0.01240774
+v -0.01697062 0.08996911 -0.00579541
+v -0.01901166 0.09073652 -0.00243040
+v -0.01697062 0.09112132 -0.00243040
+v -0.01210091 0.09005000 -0.00590824
+v -0.00723426 0.08981387 -0.00573655
+v -0.00335750 0.08962803 -0.00555996
+v -0.00718676 0.08570131 -0.01240774
+v -0.00335750 0.07853205 0.01739666
+v -0.00335750 0.07882064 0.01973647
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+v -0.01901166 0.08326113 0.03621329
+v -0.00723426 0.08569694 -0.01240774
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+
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_44.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edd416c9e1cd9162d226720550e71312575ebadc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_44.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
+v 0.06088523 0.04977971 0.03714519
+v 0.06508430 0.04977972 0.03644019
+v 0.06093555 0.05213147 0.03755156
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+v 0.04976318 0.04977979 0.01739526
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+v 0.06515036 0.05213149 0.03226892
+v 0.06386075 0.05534259 0.00252652
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+v 0.05513234 0.06622152 0.03226897
+v 0.06681426 0.04977986 -0.00242812
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+v 0.03659035 0.08252638 0.03226903
+v 0.03489499 0.08464549 -0.00242799
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+v 0.04001881 0.07013102 -0.01246457
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+
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_45.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14fc2cb47f69b716b7304b627db0189025a04aa3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_45.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v 0.03468425 0.06337899 -0.01246460
+v 0.00632179 0.07642884 -0.00739010
+v 0.00632179 0.07613536 -0.01234688
+v 0.00632179 0.07612917 -0.01246455
+v 0.03468425 0.07421989 -0.01246456
+v 0.03468425 0.06521402 0.01739868
+v 0.00632179 0.07807234 0.01739873
+v 0.00632179 0.08567251 -0.01246452
+v 0.03215784 0.07604576 -0.01246455
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+v 0.03468425 0.08405669 -0.00518869
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+v 0.00632179 0.07872728 0.02079641
+v 0.01224637 0.09000698 -0.00587507
+v 0.01711596 0.08986178 -0.00570347
+v 0.00737677 0.08560145 -0.01246452
+v 0.00632179 0.08972584 -0.00563483
+v 0.02789902 0.07848334 -0.01246454
+v 0.02442868 0.08913576 -0.00491411
+v 0.03171918 0.08623783 -0.00242837
+v 0.03468425 0.08474872 -0.00242838
+v 0.03468425 0.08451392 -0.00374234
+v 0.02552253 0.07984270 -0.01246454
+v 0.02546423 0.07987360 -0.01246454
+v 0.03468425 0.07690752 0.03681892
+v 0.00632179 0.08726339 0.03688270
+v 0.00632179 0.08999154 -0.00497294
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+v 0.01711596 0.09090600 -0.00242836
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+v 0.01236019 0.08483835 -0.01246452
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+v 0.03468425 0.08372289 0.03226910
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+v 0.00632179 0.09150212 0.03686801
+v 0.00632179 0.09378216 0.03345562
+v 0.01224637 0.09257109 0.03226913
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+
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_5.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..981bba305991161a71179f86750bfb4535807cae
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_5.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.00632179 0.06692150 -0.15137568
+v 0.00250541 0.01265547 -0.15137224
+v -0.00335750 -0.00706697 -0.15136991
+v -0.00236266 0.01265547 -0.15137104
+v -0.00236266 0.02252320 -0.15137101
+v -0.00335750 0.02846731 -0.15136978
+v -0.00335750 0.06692150 -0.15136359
+v -0.00236266 0.07186187 -0.15105528
+v 0.00632179 0.06799039 -0.15130798
+v 0.00632179 0.00386966 -0.15137228
+v -0.00335750 -0.02579872 -0.15136877
+v -0.00335750 0.07186187 -0.15101539
+v 0.00250541 0.07186187 -0.15105771
+v -0.00236266 0.07529016 -0.14971448
+v 0.00632179 0.07186187 -0.15089569
+v 0.00632179 -0.00706697 -0.15137112
+v 0.00250541 -0.03172979 -0.15136880
+v -0.00335750 -0.03667017 -0.15136760
+v -0.00335750 0.07525106 -0.14967459
+v 0.00250541 0.07529016 -0.14971448
+v 0.00632179 0.07260488 -0.15060552
+v -0.00236266 0.07664582 -0.14620716
+v 0.00632179 -0.03667017 -0.15136760
+v -0.00335750 -0.04159752 -0.15136640
+v -0.00335750 0.07654155 -0.14620716
+v 0.00632179 0.07509463 -0.14955005
+v 0.00250541 0.07663278 -0.14620716
+v -0.00335750 0.07665885 -0.14519644
+v -0.00236266 0.07720632 -0.14125146
+v 0.00632179 -0.04052863 -0.15136640
+v 0.00250541 -0.04159752 -0.15136640
+v -0.00335750 -0.04553419 -0.15136521
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+v 0.00250541 0.07719329 -0.14125146
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+v 0.00632179 -0.04546901 -0.15136401
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+v -0.00335750 -0.05580607 -0.13966694
+v 0.00632179 0.06449688 -0.13902452
+v -0.00251615 -0.05580607 -0.13966815
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+f 1 9 15
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+
diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_6.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d01994dfd3164bf880a26575529ea7824ac4a1f1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_6.obj
@@ -0,0 +1,154 @@
+# https://github.com/mikedh/trimesh
+v -0.00208167 -0.10007121 0.07193502
+v -0.00207917 -0.09997205 0.07193502
+v 0.00228382 -0.10006790 0.07193502
+v 0.00193986 -0.09935723 0.07689432
+v -0.00169387 -0.09935723 0.07689432
+v -0.00206601 -0.09516916 0.08680813
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+v -0.00195951 -0.09553932 0.07193504
+v 0.00228131 -0.09997205 0.07193502
+v 0.00331692 -0.09587650 0.07689433
+v 0.00226753 -0.09516916 0.08680813
+v 0.00110724 -0.09876556 0.08064111
+v -0.00088943 -0.09876556 0.08064111
+v -0.00111874 -0.09410480 0.09176741
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+v -0.00284413 -0.09094470 0.09176743
+v -0.00308346 -0.08108102 0.10663580
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_7.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a3b88643f8369663b8bb528dc7d2e74c3fe7c99
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_7.obj
@@ -0,0 +1,178 @@
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_8.obj b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71989b110d9e171578b5042e868dc79fa7ae7c69
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/mjcf/mesh/plastic_bucket_collision_8.obj
@@ -0,0 +1,343 @@
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/textures/material_0.png b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/textures/material_0.png
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diff --git a/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/video.mp4 b/dataset/bedroom_supplies/storage/325c49a222a657048d6a9708a9e07f91/video.mp4
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