diff --git a/.gitattributes b/.gitattributes
index 7fb9ebd6f2582969f2605c54fca24c986cbf1326..c6666f92a6e9d7638c5d3cb4890c3298fd7ae25b 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2742,3 +2742,5 @@ dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/gray_bask
 dataset/bedroom_supplies/storage/3dfa72ce7ea15b4c994668be86284dba/mesh/gray_basket_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/mesh/storage_bin_009.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/41f4deee977c5517aa6f70dacdd99194/storage_bin_009.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mesh/storage_bin_028.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/storage_bin_028.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mesh/material.mtl b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c45a5481d36aa269c2514a343c3e3069431768cc
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_028_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_028_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mesh/material_0.png b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..59d9861f9b0774fa567347f05139e082c3c72b8e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6739edef9b7d8b94064f23b1626b8bd51d330178581b68efb2dc3bd62758ec24
+size 15709875
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mesh/storage_bin_028.glb b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mesh/storage_bin_028.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5ee23e839a261b6c3d31977b967ca9c5113231f6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mesh/storage_bin_028.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:954016a791db563afc25a83c757056fb44412fc59beeef7a1d1f262c747ac30e
+size 18654712
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mesh/storage_bin_028.mtl b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mesh/storage_bin_028.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3d6c57656e265ffd4993e429a72a081c1052a900
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mesh/storage_bin_028.mtl
@@ -0,0 +1,6 @@
+newmtl storage_bin_028_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/44e936d982b453179dec1b32bda057ea/mesh/storage_bin_028.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mesh/storage_bin_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b1bd1ec3caf5f9d51672819944a082495cbd7c6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mesh/storage_bin_028.obj
@@ -0,0 +1,103436 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl storage_bin_028_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mesh/storage_bin_028_collision.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mesh/storage_bin_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c89d2deab21c364fe14eea14edaca73f4f4d2852
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mesh/storage_bin_028_collision.obj
@@ -0,0 +1,8305 @@
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diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mesh/storage_bin_028_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mesh/storage_bin_028_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..59d9861f9b0774fa567347f05139e082c3c72b8e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mesh/storage_bin_028_geometry_Looks_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/44e936d982b453179dec1b32bda057ea/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..59d9861f9b0774fa567347f05139e082c3c72b8e
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+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/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/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8253d3afc48eb562638ac8f30f2505b0ea572c74
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+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028.obj
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diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fecc0e247c0a766bfe935f3c0e9a04848da54527
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision.obj
@@ -0,0 +1,8305 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_0.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d02fdb6899fd54eb5f3a79579933f0eb8c4dfcf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_0.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_1.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17387377fd18fea04cccfd8fc4af4f7fd8796bd0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_1.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_10.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09441ba43a6e8616eb8ba1afa3174426106297eb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_10.obj
@@ -0,0 +1,208 @@
+# https://github.com/mikedh/trimesh
+v -0.05291830 0.04829395 -0.00780125
+v -0.05293376 0.04829396 -0.00977677
+v -0.05291916 0.04829394 -0.00582574
+v -0.05515364 0.04134322 -0.03388168
+v -0.05295952 0.04829396 -0.01096389
+v -0.05301105 0.04829385 0.01981968
+v -0.05534514 0.04134293 0.04548319
+v -0.06128686 0.04134322 -0.03388168
+v -0.05395396 0.04829404 -0.03388165
+v -0.05302564 0.04829397 -0.01301190
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+v -0.05302564 0.04829384 0.02179519
+v -0.05304883 0.04829383 0.02377070
+v -0.05310551 0.04829383 0.02574621
+v -0.05568778 0.04134290 0.05535169
+v -0.06132035 0.04189297 -0.03388168
+v -0.06169047 0.04134290 0.05535169
+v -0.06116062 0.04829404 -0.03388165
+v -0.05404155 0.04829373 0.05089322
+v -0.05418238 0.04829372 0.05461770
+v -0.05421072 0.04829372 0.05529735
+v -0.05598147 0.04134289 0.05631226
+v -0.06139763 0.04386745 -0.03388167
+v -0.06143198 0.04134289 0.05621257
+v -0.06117951 0.04231107 0.05704629
+v -0.06168789 0.04231108 0.05535170
+v -0.06140278 0.04584125 -0.03388166
+v -0.06117264 0.04823484 -0.03388165
+v -0.06116577 0.04829404 -0.03345573
+v -0.05464783 0.04829371 0.05614917
+v -0.05634473 0.04134289 0.05742688
+v -0.06117865 0.04134289 0.05703722
+v -0.06049852 0.04428555 0.05804311
+v -0.06116234 0.04428555 0.05705535
+v -0.06164925 0.04428556 0.05535170
+v -0.06154791 0.04625936 0.05535171
+v -0.06137444 0.04625968 -0.03388166
+v -0.06123619 0.04781640 -0.03388165
+v -0.06117779 0.04823484 -0.03345573
+v -0.06129029 0.04823452 0.05535172
+v -0.06127569 0.04829372 0.05535172
+v -0.05532625 0.04829371 0.05731817
+v -0.05681618 0.04134289 0.05830589
+v -0.05680588 0.04134289 0.05828777
+v -0.05657487 0.04134289 0.05786186
+v -0.06081797 0.04134289 0.05753563
+v -0.06047018 0.04231107 0.05803404
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+v -0.05949721 0.04625934 0.05867746
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+v -0.06111253 0.04625935 0.05701005
+v -0.06098629 0.04823451 0.05678351
+v -0.06098028 0.04829371 0.05677445
+v -0.06126882 0.04829372 0.05540609
+v -0.05546279 0.04829371 0.05751753
+v -0.05683507 0.04134289 0.05831496
+v -0.05652249 0.04829371 0.05843279
+v -0.06045386 0.04134289 0.05802497
+v -0.05946372 0.04134288 0.05864119
+v -0.05780461 0.04428554 0.05868651
+v -0.05763629 0.04829370 0.05869559
+v -0.05938042 0.04823450 0.05865028
+v -0.06033106 0.04829371 0.05779846
+v -0.06036970 0.04823451 0.05777127
+v -0.06036112 0.04829371 0.05775314
+v -0.05769898 0.04134288 0.05860494
+v -0.05707467 0.04829370 0.05858685
+v -0.05740443 0.04829370 0.05867747
+v -0.05933319 0.04829370 0.05865028
+v -0.05937097 0.04829370 0.05864122
+f 1 2 5
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+f 1 41 54
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+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_11.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcb7870cbe6a1a7085ac77741b43bc06c947cd76
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_11.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v 0.05887436 -0.04370579 0.05535146
+v 0.05859801 -0.04370580 0.05629833
+v 0.05836742 -0.04457416 0.05705583
+v 0.05885911 -0.04457415 0.05535146
+v 0.05826514 -0.04655310 -0.03345621
+v 0.05829565 -0.04458155 -0.03345620
+v 0.05826334 -0.04370547 -0.03345620
+v 0.05837281 -0.04370580 0.05704681
+v 0.05831808 -0.04654843 0.05700171
+v 0.05766489 -0.04457416 0.05803877
+v 0.05766758 -0.04654843 0.05799367
+v 0.05875593 -0.04654842 0.05535145
+v 0.05809377 -0.04825623 -0.03345622
+v 0.05186245 -0.04370547 -0.03345620
+v 0.05797892 -0.04370580 0.05759690
+v 0.05819785 -0.04834512 0.05679429
+v 0.05823733 -0.04834512 0.05665000
+v 0.05763348 -0.04370580 0.05802976
+v 0.05707899 -0.04370580 0.05836341
+v 0.05667523 -0.04457417 0.05862493
+v 0.05667793 -0.04654844 0.05866099
+v 0.05754735 -0.04834512 0.05778625
+v 0.05664742 -0.04834513 0.05857080
+v 0.05851188 -0.04834511 0.05535144
+v 0.05807851 -0.04834479 -0.03345622
+v 0.05098854 -0.04834116 -0.03345622
+v 0.05001683 -0.04834484 -0.01889241
+v 0.04993608 -0.04834485 -0.01766598
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+v 0.04983918 -0.04834485 -0.01570010
+v 0.04980598 -0.04834486 -0.01473519
+v 0.04977638 -0.04834486 -0.01372519
+v 0.04975484 -0.04834486 -0.01271519
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+v 0.04979880 -0.04834496 0.01389644
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+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_12.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2961e5c62036f828c8f81b2dd93d755e4b393e90
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_12.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00157500 -0.00008682 -0.03545994
+v -0.00157500 -0.04874909 -0.03332756
+v -0.00157500 -0.00008680 -0.03989671
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+v -0.01030895 -0.04874909 -0.03330583
+v -0.00157500 -0.04874906 -0.04041554
+v -0.05186169 -0.00008680 -0.04019660
+v -0.01030895 -0.00008682 -0.03545559
+v -0.01228812 -0.04874909 -0.03330946
+v -0.01123945 -0.00008682 -0.03545559
+v -0.03405407 -0.00008682 -0.03545921
+v -0.03999158 -0.00008682 -0.03546211
+v -0.05186169 -0.04874906 -0.04070602
+v -0.05186169 -0.00008682 -0.03558235
+v -0.01822563 -0.04874909 -0.03334785
+v -0.04197075 -0.00008682 -0.03546790
+v -0.04394993 -0.00008682 -0.03547805
+v -0.05186169 -0.04874908 -0.03472416
+v -0.05186169 -0.04874432 -0.03468287
+v -0.04991698 -0.04874908 -0.03433734
+v -0.04592910 -0.04874908 -0.03409757
+v -0.04394993 -0.04874909 -0.03398457
+v -0.04197075 -0.04874909 -0.03388243
+v -0.03999158 -0.04874909 -0.03379189
+v -0.03801242 -0.04874909 -0.03371293
+v -0.03603324 -0.04874909 -0.03364557
+v -0.03405407 -0.04874909 -0.03358906
+v -0.03207490 -0.04874909 -0.03353908
+v -0.03009573 -0.04874909 -0.03350214
+v -0.02218397 -0.04874909 -0.03338624
+v -0.04592910 -0.00008682 -0.03549833
+v -0.02020480 -0.04874909 -0.03336161
+v -0.04487551 -0.00008682 -0.03548746
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+f 1 17 16
+f 1 16 12
+f 1 12 11
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+f 14 29 30
+f 14 30 31
+f 15 17 32
+f 17 33 32
+f 18 20 19
+f 30 32 31
+f 31 32 33
+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_13.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33e2847e346884a1cb04fb74b25ce9af03d03ec4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_13.obj
@@ -0,0 +1,193 @@
+# https://github.com/mikedh/trimesh
+v -0.05250587 -0.04874919 -0.00521033
+v -0.05251395 -0.04874920 -0.00323327
+v -0.05250587 -0.04874918 -0.00717873
+v -0.05569410 -0.04407426 0.05140476
+v -0.05569679 -0.04407427 0.05535022
+v -0.05262529 -0.04874928 0.01982378
+v -0.05250856 -0.04874918 -0.00780306
+v -0.05587277 -0.04407396 -0.02988891
+v -0.05612775 -0.04407428 0.05682434
+v -0.05388675 -0.04874941 0.05540222
+v -0.05273482 -0.04874931 0.02655273
+v -0.05271237 -0.04874930 0.02574629
+v -0.05268095 -0.04874930 0.02452364
+v -0.05266838 -0.04874930 0.02376923
+v -0.05264953 -0.04874929 0.02252056
+v -0.05262978 -0.04874929 0.02052616
+v -0.05251575 -0.04874918 -0.00913845
+v -0.05252114 -0.04874917 -0.00977145
+v -0.05255705 -0.04874917 -0.01174851
+v -0.05262978 -0.04874916 -0.01372557
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+v -0.05420728 -0.04874910 -0.02988893
+v -0.06115924 -0.04407396 -0.02988891
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+v -0.05680203 -0.04407428 0.05832448
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diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_14.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb75572a5c1693d8635e1c8be826c8edad73fa9d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_14.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_15.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fdc427530bb9be7a9e8fff05a295a4568b5dd10
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_15.obj
@@ -0,0 +1,343 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_16.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4213804916190ea50fef6c1a971d8512fb3e365
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_16.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v -0.00157007 -0.04834521 -0.04037289
+v 0.04423055 -0.04834521 -0.04048764
+v -0.00157007 -0.04834523 -0.03439475
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+v 0.04069777 -0.04834523 -0.03466190
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+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_17.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6cbde03d51ebb0ad5d049d21b233aaf4cb56389
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_17.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
+v -0.00157007 -0.05466350 -0.02586418
+v -0.00157007 -0.05469286 -0.02556643
+v -0.00157007 -0.04998400 -0.02586416
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+v -0.00157007 -0.04992024 0.01192759
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+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_18.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a9715b7b78e5176d2507ee952cd3aa6637ef87b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_18.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.00157007 0.04828930 -0.03394421
+v -0.00157007 -0.00008206 -0.03545961
+v -0.00157007 0.04828933 -0.04040618
+v -0.01030765 0.04828930 -0.03393497
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+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_19.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b53b096265f0bb61476a22e726c985101d2a13c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_19.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.05037445 0.04514227 -0.00187908
+v 0.05037445 0.04514227 0.00006640
+v 0.05037445 0.04614227 -0.00187908
+v 0.05037445 0.04614227 0.00006640
+v 0.05227922 0.04514227 -0.00187908
+v 0.05227922 0.04514227 0.00006640
+v 0.05227922 0.04614227 -0.00187908
+v 0.05227922 0.04614227 0.00006640
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_2.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aba0bd61f9a6c81c71f3f62f826c1610ed08b5c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_2.obj
@@ -0,0 +1,373 @@
+# https://github.com/mikedh/trimesh
+v -0.06037625 0.04829389 0.00837658
+v -0.06125875 0.04829372 0.05337449
+v -0.06090809 0.04966762 0.05140389
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+v -0.05919568 0.05181178 0.00837659
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+v -0.00157008 0.05450411 0.00837660
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+v -0.05546112 0.04829371 0.05752313
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+v -0.06035871 0.04829371 0.05776019
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+v -0.05968661 0.05218333 0.05337450
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+v -0.05384223 0.05519534 0.05402644
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+v -0.03840721 0.05449042 0.00837660
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+v -0.04790434 0.05444456 0.00837660
+v -0.04988558 0.05439733 0.00837660
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+v -0.05186682 0.05352433 0.05857019
+v -0.00157008 0.05336964 0.05845659
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+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_20.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f6f0e276fa7941a5ef97ec893a70a483df981fe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_20.obj
@@ -0,0 +1,121 @@
+# https://github.com/mikedh/trimesh
+v 0.05227922 0.00677086 -0.02976609
+v 0.04903638 0.01661557 -0.03555744
+v 0.04903638 -0.00004636 -0.03555966
+v 0.05227922 0.00436116 -0.02977147
+v 0.05227922 0.00831306 -0.02976930
+v 0.04903638 0.03835976 -0.03556382
+v 0.04903638 0.03638381 -0.03556060
+v 0.04903638 0.03441224 -0.03555845
+v 0.04903638 0.03243629 -0.03555738
+v 0.04903638 -0.00004634 -0.04021643
+v 0.05227922 -0.00004638 -0.02978332
+v 0.05227922 0.01269432 -0.02979079
+v 0.04903638 0.04033570 -0.03557564
+v 0.05227922 -0.00004634 -0.04047992
+v 0.04903638 0.04471260 -0.04036254
+v 0.05227922 0.04471260 -0.04075293
+v 0.05227922 0.01418833 -0.02980155
+v 0.04903638 0.04230727 -0.03560037
+v 0.05227922 0.01466588 -0.02980585
+v 0.05227922 0.01664183 -0.02982412
+v 0.04903638 0.04471258 -0.03564553
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+v 0.05227922 0.02956217 -0.03011660
+v 0.05227922 0.03046033 -0.03016607
+v 0.05227922 0.03141544 -0.03022521
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+v 0.05227922 0.03835974 -0.03085757
+v 0.05227922 0.04260519 -0.03137485
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+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_21.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c809c60dbd3ed1c2e552077586d2164502db7c93
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_21.obj
@@ -0,0 +1,130 @@
+# https://github.com/mikedh/trimesh
+v 0.05835824 -0.00004642 -0.02022481
+v 0.05832206 -0.00004641 -0.02162227
+v 0.05334529 -0.00004642 -0.02022481
+v 0.05835824 -0.00508072 -0.02022483
+v 0.05826377 -0.04370546 -0.03345620
+v 0.05828052 -0.00004641 -0.02270631
+v 0.05151418 -0.00004637 -0.03345604
+v 0.05278182 -0.04370551 -0.02022497
+v 0.05835757 -0.00705940 -0.02022484
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+v 0.05153964 -0.02679911 -0.03345614
+v 0.05155237 -0.02877351 -0.03345615
+v 0.05156978 -0.03074791 -0.03345615
+v 0.05159055 -0.03272231 -0.03345616
+v 0.05161870 -0.03469672 -0.03345617
+v 0.05174399 -0.04267553 -0.03345620
+v 0.05175069 -0.04286357 -0.03345620
+v 0.05804602 -0.04370551 -0.02022497
+v 0.05151819 -0.00903375 -0.03345607
+v 0.05152155 -0.01298256 -0.03345609
+v 0.05152758 -0.01890577 -0.03345611
+v 0.05830062 -0.03667117 -0.02022494
+v 0.05827717 -0.03864557 -0.02022495
+v 0.05823161 -0.04259863 -0.02359624
+v 0.05821419 -0.04370549 -0.02557004
+v 0.05825640 -0.04062424 -0.02162242
+v 0.05823295 -0.04062425 -0.02022496
+v 0.05813647 -0.04259865 -0.02022497
+v 0.05817734 -0.04259864 -0.02162243
+f 1 2 6
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+f 1 10 7
+f 1 7 3
+f 1 3 8
+f 1 8 33
+f 1 33 43
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+f 1 42 38
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+f 1 37 19
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+f 8 30 31
+f 8 31 32
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+f 8 35 36
+f 8 36 25
+f 19 37 20
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+f 21 42 39
+f 33 40 43
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+f 39 44 40
+f 39 42 44
+f 40 44 43
+f 42 43 44
+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_22.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..339c03845eaf5fcdb9a2c3811285bddfefc2118d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_22.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v 0.05227922 0.04564999 0.00128243
+v 0.04831179 0.04937096 0.00128244
+v 0.05227922 0.05370235 0.00128246
+v 0.05227922 0.04565187 0.00206551
+v 0.04831179 0.04910606 0.05102793
+v 0.04831179 0.04910607 0.05007020
+v 0.04831179 0.05429771 0.00128246
+v 0.05179610 0.05383141 0.00128246
+v 0.05206174 0.05515098 0.05038571
+v 0.05227922 0.05507468 0.05062232
+v 0.05227922 0.04568668 0.01390753
+v 0.04831179 0.04916446 0.05498278
+v 0.05227922 0.04569420 0.01587932
+v 0.05227922 0.04570550 0.01777224
+v 0.05227922 0.04572151 0.01973277
+v 0.05227922 0.04572246 0.01982854
+v 0.05227922 0.04574223 0.02180033
+v 0.04906597 0.05425437 0.00128246
+v 0.04831179 0.05526307 0.05368141
+v 0.04906597 0.05525554 0.05367578
+v 0.05153280 0.05390017 0.00128246
+v 0.05065706 0.05520749 0.05392366
+v 0.05206174 0.05515098 0.05047021
+v 0.05104464 0.05402640 0.00128246
+v 0.05227922 0.05507468 0.05068429
+v 0.05227922 0.04710427 0.05140537
+v 0.04831179 0.04926242 0.05596867
+v 0.05227922 0.04577142 0.02377776
+v 0.05227922 0.04581475 0.02574955
+v 0.05227922 0.04586090 0.02749036
+v 0.05227922 0.04586750 0.02772134
+v 0.05227922 0.04592778 0.02969876
+v 0.05227922 0.04600030 0.03166492
+v 0.05227922 0.04606342 0.03320292
+v 0.05227922 0.04608226 0.03363671
+v 0.05227922 0.04615290 0.03509021
+v 0.05227922 0.04625462 0.03697186
+v 0.04831179 0.05527249 0.05431239
+v 0.05065706 0.05520749 0.05499970
+v 0.05120814 0.05509162 0.05553490
+v 0.05227922 0.05487496 0.05542786
+v 0.05227922 0.04754607 0.05534896
+v 0.04831179 0.04966466 0.05688133
+v 0.04831179 0.05526684 0.05545603
+v 0.04921898 0.05524235 0.05553490
+v 0.04998094 0.05514343 0.05631798
+v 0.05227922 0.05408460 0.05741655
+v 0.05227922 0.04840235 0.05721372
+v 0.04831179 0.04991994 0.05732639
+v 0.04831179 0.05516227 0.05637432
+v 0.04866131 0.05516132 0.05636868
+v 0.04921898 0.05464227 0.05714613
+v 0.05104464 0.05442090 0.05732641
+v 0.05227922 0.05337903 0.05847568
+v 0.05227922 0.04945459 0.05810948
+v 0.04831179 0.05086666 0.05854891
+v 0.04831179 0.05049740 0.05808695
+v 0.04831179 0.05456880 0.05724191
+v 0.04906597 0.05353068 0.05857146
+v 0.05104464 0.05349583 0.05856019
+v 0.05227922 0.05226932 0.05871792
+v 0.05227922 0.04946212 0.05811511
+v 0.05227922 0.05035797 0.05863341
+v 0.04831179 0.05168716 0.05870666
+v 0.04831179 0.05351184 0.05855456
+v 0.04906597 0.05218360 0.05881933
+v 0.05104464 0.05218360 0.05883623
+v 0.04831179 0.05218360 0.05879116
+f 1 2 7
+f 1 7 18
+f 1 18 24
+f 1 24 21
+f 1 21 8
+f 1 8 3
+f 1 3 10
+f 1 10 25
+f 1 25 41
+f 1 41 47
+f 1 47 54
+f 1 54 61
+f 1 61 63
+f 1 63 62
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+f 1 37 36
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+f 1 16 15
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+f 1 4 5
+f 1 5 6
+f 1 6 2
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+f 7 19 20
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+f 9 23 25
+f 9 25 10
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+f 27 42 43
+f 38 44 39
+f 39 44 45
+f 39 45 46
+f 39 46 40
+f 40 46 41
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+f 42 48 43
+f 43 48 49
+f 44 50 51
+f 44 51 45
+f 45 51 46
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+f 46 52 53
+f 46 53 47
+f 47 53 54
+f 48 55 56
+f 48 56 57
+f 48 57 49
+f 50 58 52
+f 50 52 51
+f 52 58 59
+f 52 59 60
+f 52 60 53
+f 53 60 54
+f 54 60 61
+f 55 62 56
+f 56 63 64
+f 56 62 63
+f 58 65 59
+f 59 65 66
+f 59 66 67
+f 59 67 60
+f 60 67 61
+f 61 67 63
+f 63 67 66
+f 63 66 68
+f 63 68 64
+f 65 68 66
+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_23.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54636e70f39b678023a011ab3728ba9f26c1432e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_23.obj
@@ -0,0 +1,139 @@
+# https://github.com/mikedh/trimesh
+v -0.05946386 0.04134288 0.05864357
+v -0.05781897 0.04033320 0.05863571
+v -0.05769932 0.04134288 0.05860951
+v -0.06045381 0.04134289 0.05802537
+v -0.05939648 -0.00008241 0.05862770
+v -0.05787061 -0.00008241 0.05862770
+v -0.05681579 0.04134289 0.05831351
+v -0.06081780 0.04134289 0.05754077
+v -0.06115723 -0.00008240 0.05696696
+v -0.06074790 -0.00008240 0.05749085
+v -0.06038706 0.00084618 0.05795449
+v -0.06038580 -0.00008240 0.05795187
+v -0.05734478 -0.00008240 0.05843648
+v -0.05634475 0.04134289 0.05743337
+v -0.05688066 0.00084618 0.05826883
+v -0.05633593 -0.00008240 0.05728129
+v -0.06117927 0.04134289 0.05703783
+v -0.06168621 -0.00008239 0.05535074
+v -0.05688129 -0.00008240 0.05826621
+v -0.05629941 0.04033321 0.05731549
+v -0.05598139 0.04134289 0.05631486
+v -0.05576161 -0.00008239 0.05535074
+v -0.05568793 0.04134290 0.05535089
+v -0.06143180 0.04134289 0.05621794
+v -0.06095131 -0.00008231 0.03188291
+v -0.06169503 0.03835846 0.05535088
+v -0.06097587 0.04033330 0.03188306
+v -0.05564699 -0.00008238 0.05140320
+v -0.05527545 0.03243422 0.04548332
+v -0.05526474 0.03440898 0.04548333
+v -0.05526159 0.03638373 0.04548333
+v -0.05527608 0.03835849 0.04548334
+v -0.05531260 0.04033325 0.04548335
+v -0.05534472 0.04134293 0.04548335
+v -0.06169125 0.04134290 0.05535089
+v -0.06169440 0.04033322 0.05535089
+v -0.05644866 -0.00008231 0.03188291
+v -0.06097587 0.04054821 0.03188306
+v -0.05533212 0.02848471 0.04548330
+v -0.05529686 0.03045946 0.04548331
+v -0.05533842 0.03440899 0.04351086
+v -0.05532394 0.03638374 0.04351086
+v -0.05533905 0.03835850 0.04351087
+v -0.05538880 0.04033326 0.04351088
+v -0.05543792 0.04134294 0.04351088
+v -0.06097083 0.04134298 0.03188306
+v -0.05623895 0.04134298 0.03188306
+f 1 2 3
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+f 1 8 4
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+f 5 13 6
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+f 44 47 45
+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_24.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dd00d96731c26d2178166c59c4e3173c6bdbcc8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_24.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v -0.05950938 -0.04407429 0.05866151
+v -0.06049871 -0.04407428 0.05805582
+v -0.05775879 -0.04407429 0.05865739
+v -0.05787073 -0.00008672 0.05862459
+v -0.05939625 -0.00008672 0.05862459
+v -0.06118113 -0.04259726 0.05705456
+v -0.06117512 -0.04407428 0.05706692
+v -0.05986022 -0.00008671 0.05831144
+v -0.06038618 -0.00008671 0.05795297
+v -0.06074785 -0.00008671 0.05749148
+v -0.06115706 -0.00008671 0.05696408
+v -0.05743684 -0.04407429 0.05854614
+v -0.05734477 -0.00008671 0.05843505
+v -0.05680196 -0.04407428 0.05832364
+v -0.06169927 -0.04062072 0.05534874
+v -0.06169626 -0.04259725 0.05534873
+v -0.06140500 -0.00008671 0.05621005
+v -0.06168603 -0.00008670 0.05534889
+v -0.06167701 -0.04407427 0.05534873
+v -0.05688139 -0.00008671 0.05826611
+v -0.05669665 -0.04407428 0.05812586
+v -0.05633618 -0.00008671 0.05728134
+v -0.06097593 -0.03272305 0.01657193
+v -0.06101143 -0.00008656 0.01657205
+v -0.06101143 -0.00113296 0.01657205
+v -0.06101083 -0.00439273 0.01657203
+v -0.06100963 -0.00705825 0.01657202
+v -0.06100842 -0.00903048 0.01657202
+v -0.06100722 -0.01031803 0.01657201
+v -0.06097292 -0.03401060 0.01657193
+v -0.06097111 -0.03469959 0.01657192
+v -0.06096509 -0.03598283 0.01657192
+v -0.06096148 -0.03667181 0.01657192
+v -0.06094945 -0.03795936 0.01657191
+v -0.06094223 -0.03864835 0.01657191
+v -0.06073461 -0.04407413 0.01657189
+v -0.06091936 -0.03993159 0.01657190
+v -0.06090492 -0.04062058 0.01657190
+v -0.06086339 -0.04190812 0.01657190
+v -0.06083872 -0.04259711 0.01657189
+v -0.06078516 -0.04372964 0.01657189
+v -0.06075628 -0.04406982 0.01657189
+v -0.05630308 -0.04407428 0.05737183
+v -0.05603047 -0.00008671 0.05625537
+v -0.05612796 -0.04407428 0.05682382
+v -0.05656485 -0.00008656 0.01657205
+v -0.05605575 -0.04407413 0.01657189
+v -0.05576147 -0.00008670 0.05534889
+v -0.05569648 -0.04407427 0.05534873
+v -0.05569829 -0.04259725 0.05534873
+v -0.05564714 -0.00008669 0.05140157
+v -0.05555205 -0.02679787 0.04548049
+v -0.05555807 -0.02877440 0.04548048
+v -0.05569347 -0.04407426 0.05140141
+f 1 2 7
+f 1 7 19
+f 1 19 36
+f 1 36 47
+f 1 47 54
+f 1 54 49
+f 1 49 45
+f 1 45 43
+f 1 43 21
+f 1 21 14
+f 1 14 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
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+f 2 5 8
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+f 44 45 48
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+f 47 52 53
+f 47 53 54
+f 48 50 51
+f 49 54 53
+f 49 53 52
+f 49 52 51
+f 49 51 50
+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_25.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f62729fe0bbe9e124dbdec7a457747bbe89eac8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_25.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
+v -0.06115924 -0.04407396 -0.02988891
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+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_26.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62705e7d3a905babdb785e5e36788b22fea96793
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_26.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_27.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da080b481cb2906ee44190225cb7662372bfddee
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_27.obj
@@ -0,0 +1,241 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_28.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f5b55f0dd0c950a082d441259efdb9dcbd79965
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_28.obj
@@ -0,0 +1,76 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_29.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b6f8528ad2371041a8ec75fc02566e143ceef42
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_29.obj
@@ -0,0 +1,487 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_3.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b587f329b1c358e816a7624d544b6d13da81f0f1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_3.obj
@@ -0,0 +1,388 @@
+# https://github.com/mikedh/trimesh
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+v -0.04693460 -0.05462872 0.00896046
+v -0.04592974 -0.05464662 0.00896046
+f 1 2 3
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+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_30.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8286e008b7d71fafd76dc7b0105c34f31052cf79
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_30.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00157007 0.04467887 -0.04079188
+v -0.00157007 0.04467887 -0.03540984
+v -0.00157007 0.04567887 -0.04079188
+v -0.00157007 0.04567887 -0.03540984
+v 0.05227922 0.04467887 -0.04079188
+v 0.05227922 0.04467887 -0.03540984
+v 0.05227922 0.04567887 -0.04079188
+v 0.05227922 0.04567887 -0.03540984
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_31.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9faf4da2d51427c4857d5cfbd60fd8de82d00828
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_31.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
+v -0.00157007 0.04934567 -0.02889020
+v -0.00157007 0.05004426 0.00128244
+v -0.00157007 0.05411749 -0.02889018
+v 0.02361512 0.04875208 -0.02889020
+v 0.04907440 0.04875197 0.00128244
+v -0.00157007 0.05451777 0.00128246
+v -0.00157007 0.05434107 -0.02754045
+v 0.04843660 0.05495897 -0.02889018
+v 0.05227922 0.04875208 -0.02889020
+v 0.05227922 0.04875197 0.00128244
+v -0.00157007 0.05478333 -0.01767291
+v -0.00151209 0.05451777 0.00128246
+v 0.04708194 0.05494620 -0.02754045
+v -0.00157007 0.05446744 -0.02638564
+v 0.04312336 0.05445579 0.00128246
+v 0.04510528 0.05442785 0.00128246
+v 0.04906386 0.05494864 -0.02889018
+v -0.00157007 0.05455613 -0.02556753
+v -0.00157007 0.05463512 -0.02441272
+v -0.00157007 0.05469101 -0.02359461
+v -0.00157007 0.05476573 -0.02161874
+v -0.00157007 0.05479185 -0.01964582
+v -0.00157007 0.05478699 -0.01849102
+v 0.05227922 0.05454157 -0.02889018
+v 0.05227922 0.05370242 0.00128246
+v 0.01026876 0.05451716 0.00128246
+v 0.02729433 0.05450804 0.00128246
+v 0.03005637 0.05450319 0.00128246
+v 0.03203302 0.05449954 0.00128246
+v 0.03322956 0.05449711 0.00128246
+v 0.03521148 0.05449286 0.00128246
+v 0.03718813 0.05448678 0.00128246
+v 0.03917005 0.05448010 0.00128246
+v 0.04114671 0.05447038 0.00128246
+v 0.02334102 0.05451169 0.00128246
+v 0.02531767 0.05451048 0.00128246
+v 0.04708194 0.05437074 0.00128246
+v 0.05041326 0.05489457 -0.02889018
+v 0.05104051 0.05482834 -0.02889018
+v 0.05104051 0.05402685 0.00128246
+v 0.05179428 0.05383182 0.00128246
+v 0.04906386 0.05425469 0.00128246
+f 1 2 6
+f 1 6 11
+f 1 11 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 19
+f 1 19 18
+f 1 18 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 38
+f 1 38 39
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+f 1 24 9
+f 1 9 4
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+f 1 5 2
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+f 2 26 12
+f 2 12 6
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+f 7 14 8
+f 8 13 15
+f 8 15 16
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+f 8 21 22
+f 8 22 23
+f 8 23 11
+f 8 11 13
+f 9 24 25
+f 9 25 10
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+f 13 29 30
+f 13 30 31
+f 13 31 32
+f 13 32 33
+f 13 33 34
+f 13 34 15
+f 13 26 35
+f 13 35 36
+f 13 36 27
+f 16 37 17
+f 17 37 38
+f 24 39 40
+f 24 40 41
+f 24 41 25
+f 37 42 38
+f 38 42 39
+f 39 42 40
+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_32.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..238f5a4787c60021ae800f925b2837f6d524706d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_32.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.04977160 0.04514224 -0.00268726
+v 0.04977160 0.04514224 -0.00168726
+v 0.04977160 0.04614224 -0.00268726
+v 0.04977160 0.04614224 -0.00168726
+v 0.05227922 0.04514224 -0.00268726
+v 0.05227922 0.04514224 -0.00168726
+v 0.05227922 0.04614224 -0.00268726
+v 0.05227922 0.04614224 -0.00168726
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_33.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13f6e31ca68234d120df63b2d4626747f513d8c8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_33.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.05227922 0.04875197 0.00128244
+v 0.04907846 0.04875197 0.00128244
+v 0.05227922 0.04564926 0.00128243
+v 0.05227922 0.04875208 -0.02889020
+v 0.04894122 0.04564532 -0.00334566
+v 0.04894122 0.04875198 -0.00392157
+v 0.05227922 0.04564531 0.00008923
+v 0.05227922 0.04564542 -0.02889021
+v 0.05103061 0.04875208 -0.02889020
+v 0.04894122 0.04564537 -0.01570002
+v 0.04894122 0.04875202 -0.01381274
+v 0.04948725 0.04875204 -0.01964584
+v 0.04923793 0.04875203 -0.01767293
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 12
+f 1 12 13
+f 1 13 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 4 8 9
+f 5 6 11
+f 5 11 10
+f 5 10 8
+f 5 8 7
+f 8 10 9
+f 9 10 12
+f 10 11 13
+f 10 13 12
+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_34.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42dedb809516f87974d6a52eadc886f1f34f0df6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_34.obj
@@ -0,0 +1,166 @@
+# https://github.com/mikedh/trimesh
+v 0.02867011 0.05516991 -0.03630000
+v 0.02867011 0.05510651 -0.03599813
+v 0.02867011 0.05516991 -0.03654623
+v 0.00354791 0.05516712 -0.03631878
+v 0.02867011 0.05496012 -0.03531301
+v 0.02867011 0.05494055 -0.03753183
+v 0.00354791 0.05516712 -0.03652675
+v -0.00157007 0.05516619 -0.03632226
+v 0.02867011 0.05476897 -0.03474614
+v -0.00157007 0.05504217 -0.03574495
+v -0.00157007 0.05495359 -0.03533527
+v 0.02867011 0.05395404 -0.03924080
+v 0.01542079 0.05395031 -0.03924080
+v -0.00157007 0.05394751 -0.03923385
+v -0.00157007 0.05493495 -0.03751027
+v -0.00157007 0.05516619 -0.03652397
+v 0.02867011 0.05433631 -0.03346632
+v -0.00157007 0.05431300 -0.03346632
+v 0.02867011 0.05309342 -0.03992592
+v 0.01542079 0.05271205 -0.04022780
+v -0.00040972 0.05394751 -0.03923454
+v 0.01146316 0.05271019 -0.04022641
+v -0.00157007 0.05342816 -0.03964353
+v 0.02867011 0.04853939 -0.03346634
+v -0.00157007 0.04850396 -0.03346634
+v 0.02867011 0.05271392 -0.04022780
+v 0.02867011 0.05172740 -0.04050255
+v 0.01344345 0.05172461 -0.04050116
+v 0.01146316 0.05172274 -0.04050116
+v -0.00157007 0.05170782 -0.04049837
+v -0.00040972 0.05269620 -0.04022154
+v -0.00157007 0.05269526 -0.04022085
+v 0.02867011 0.04564514 -0.03556414
+v 0.01956786 0.04564513 -0.03346635
+v -0.00157007 0.04564514 -0.03556135
+v 0.01944946 0.04564606 -0.03346635
+v 0.02867011 0.05067283 -0.04054984
+v 0.01937842 0.05021034 -0.04057211
+v -0.00157007 0.05021034 -0.04056516
+v 0.02867011 0.04564516 -0.04017913
+v -0.00157007 0.04564516 -0.04018679
+v 0.02867011 0.05021034 -0.04057003
+v 0.01937842 0.04857299 -0.04044135
+v 0.01739812 0.04857019 -0.04044065
+v -0.00157007 0.04859257 -0.04043787
+v 0.02867011 0.04859817 -0.04043857
+v 0.02729367 0.04564516 -0.04018122
+v 0.00948583 0.04564516 -0.04019096
+v 0.02867011 0.04909142 -0.04047891
+v 0.01739812 0.04564516 -0.04019166
+v 0.01603649 0.04564516 -0.04019235
+v 0.01344345 0.04564516 -0.04019235
+v 0.01146316 0.04564516 -0.04019166
+v 0.02531634 0.04564516 -0.04018400
+v 0.02197441 0.04564516 -0.04018818
+v 0.01937842 0.04564516 -0.04019026
+f 1 2 5
+f 1 5 9
+f 1 9 17
+f 1 17 24
+f 1 24 33
+f 1 33 40
+f 1 40 46
+f 1 46 49
+f 1 49 42
+f 1 42 37
+f 1 37 27
+f 1 27 26
+f 1 26 19
+f 1 19 12
+f 1 12 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 7 16
+f 4 16 8
+f 4 8 5
+f 5 8 10
+f 5 10 11
+f 5 11 9
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 8 16 15
+f 8 15 14
+f 8 14 23
+f 8 23 32
+f 8 32 30
+f 8 30 39
+f 8 39 45
+f 8 45 41
+f 8 41 35
+f 8 35 25
+f 8 25 18
+f 8 18 11
+f 8 11 10
+f 9 11 17
+f 11 18 17
+f 12 19 20
+f 12 20 13
+f 13 20 21
+f 13 21 14
+f 14 22 23
+f 14 21 20
+f 14 20 22
+f 17 18 25
+f 17 25 36
+f 17 36 34
+f 17 34 24
+f 19 26 20
+f 20 26 27
+f 20 27 28
+f 20 28 29
+f 20 29 22
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 22 32 23
+f 24 34 33
+f 25 35 36
+f 27 37 38
+f 27 38 29
+f 27 29 28
+f 29 38 30
+f 30 32 31
+f 30 38 39
+f 33 34 35
+f 33 35 41
+f 33 41 48
+f 33 48 53
+f 33 53 52
+f 33 52 51
+f 33 51 50
+f 33 50 56
+f 33 56 55
+f 33 55 54
+f 33 54 47
+f 33 47 40
+f 34 36 35
+f 37 42 38
+f 38 42 43
+f 38 43 44
+f 38 44 45
+f 38 45 39
+f 40 47 46
+f 41 45 48
+f 42 49 43
+f 43 49 46
+f 43 46 50
+f 43 50 51
+f 43 51 52
+f 43 52 44
+f 44 52 45
+f 45 52 53
+f 45 53 48
+f 46 47 54
+f 46 54 55
+f 46 55 56
+f 46 56 50
+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_35.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f55e690cb8ff776093f396f357d22673d6493fc4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_35.obj
@@ -0,0 +1,49 @@
+# https://github.com/mikedh/trimesh
+v 0.02867011 0.05433723 -0.03346632
+v 0.02864643 0.05416025 -0.02889018
+v 0.02867011 0.05416025 -0.02889018
+v 0.02867011 0.04853966 -0.03346634
+v -0.00157007 0.05431341 -0.03346632
+v -0.00157007 0.05411685 -0.02889018
+v 0.02867011 0.04939218 -0.02889020
+v 0.02867011 0.04884936 -0.03148959
+v 0.02430695 0.04564512 -0.02889021
+v 0.01956786 0.04564513 -0.03346635
+v -0.00157007 0.04850392 -0.03346634
+v -0.00157007 0.04934539 -0.02889020
+v 0.02867011 0.04913693 -0.03011039
+v 0.02393102 0.04564597 -0.02889021
+v 0.01944946 0.04564598 -0.03346635
+v -0.00157007 0.04879151 -0.03148959
+v -0.00157007 0.04910545 -0.02998272
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 8
+f 1 8 4
+f 1 4 10
+f 1 10 15
+f 1 15 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 12
+f 2 12 14
+f 2 14 9
+f 2 9 7
+f 2 7 3
+f 4 8 9
+f 4 9 10
+f 5 11 16
+f 5 16 17
+f 5 17 12
+f 5 12 6
+f 7 9 13
+f 8 13 9
+f 9 14 10
+f 10 14 15
+f 11 15 14
+f 11 14 16
+f 12 17 14
+f 14 17 16
+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_36.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9ffe7a0cd6f1aa6df4be219ffb8a8518b8e26c8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_36.obj
@@ -0,0 +1,70 @@
+# https://github.com/mikedh/trimesh
+v 0.04208029 0.04564544 -0.01035169
+v 0.03936656 0.04564545 -0.01312250
+v 0.03585552 0.04564515 -0.01670804
+v 0.03594953 0.04564485 -0.01670804
+v 0.03554275 0.04564242 -0.01803992
+v 0.03598750 0.04564241 -0.01761350
+v 0.04208029 0.04564544 -0.01172893
+v 0.04208029 0.04875170 -0.01068374
+v 0.03936656 0.04875171 -0.01335656
+v 0.02361029 0.04875177 -0.02888908
+v 0.02903775 0.04564518 -0.02367408
+v 0.03313817 0.04564303 -0.02021919
+v 0.03399153 0.04564273 -0.02021556
+v 0.03259398 0.04564335 -0.02367408
+v 0.03328643 0.04564273 -0.02021556
+v 0.03094694 0.04564304 -0.02248011
+v 0.03399153 0.04564334 -0.02193575
+v 0.04208029 0.04875170 -0.01069644
+v 0.02367718 0.04875177 -0.02888908
+v 0.02393391 0.04564551 -0.02888909
+v 0.02924928 0.04564457 -0.02367408
+v 0.02971031 0.04564335 -0.02367408
+v 0.02430996 0.04564551 -0.02888909
+v 0.04016748 0.04875171 -0.01258901
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 18
+f 1 18 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 3
+f 3 10 11
+f 3 11 4
+f 4 11 12
+f 4 12 5
+f 5 13 14
+f 5 14 6
+f 5 12 15
+f 5 15 16
+f 5 16 13
+f 6 14 17
+f 6 17 7
+f 7 17 18
+f 8 18 24
+f 8 24 19
+f 8 19 10
+f 8 10 9
+f 10 19 23
+f 10 23 20
+f 10 20 11
+f 11 20 21
+f 11 21 12
+f 12 21 16
+f 12 16 15
+f 13 16 14
+f 14 16 22
+f 14 22 20
+f 14 20 23
+f 14 23 19
+f 14 19 24
+f 14 24 18
+f 14 18 17
+f 16 21 20
+f 16 20 22
+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_37.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8f8367338368645609741169f2262d7509519c6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_37.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.03585809 0.04513760 -0.01670739
+v 0.03585809 0.04513760 -0.00249556
+v 0.03585809 0.04613760 -0.01670739
+v 0.03585809 0.04613760 -0.00249556
+v 0.05227922 0.04513760 -0.01670739
+v 0.05227922 0.04513760 -0.00249556
+v 0.05227922 0.04613760 -0.01670739
+v 0.05227922 0.04613760 -0.00249556
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_38.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..456feb6a7dc6b4e237426be78f564371d445a5cf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_38.obj
@@ -0,0 +1,172 @@
+# https://github.com/mikedh/trimesh
+v 0.05011187 0.05490671 -0.02889018
+v 0.04906494 0.05494873 -0.02889018
+v 0.05011187 0.04963838 -0.02889020
+v 0.05011187 0.05500890 -0.03055963
+v 0.04843741 0.05495828 -0.02889018
+v 0.04906494 0.05534703 -0.03543666
+v 0.04708661 0.05540147 -0.03543666
+v 0.03948130 0.04958299 -0.02889020
+v 0.05011187 0.04564514 -0.03533139
+v 0.05011187 0.05525629 -0.03543666
+v 0.04645907 0.05487710 -0.02889018
+v 0.04510723 0.05536995 -0.03543666
+v 0.03948130 0.05523433 -0.03593832
+v 0.05011187 0.05527826 -0.03641278
+v 0.04902227 0.05529546 -0.03753087
+v 0.04708661 0.05537760 -0.03741019
+v 0.03948130 0.05440432 -0.02889018
+v 0.03948130 0.04564514 -0.03557749
+v 0.05011187 0.04564516 -0.04052787
+v 0.04312889 0.05530692 -0.03720550
+v 0.03948130 0.05523434 -0.03684582
+v 0.05011187 0.05525917 -0.03715462
+v 0.04965293 0.05512068 -0.03827035
+v 0.04833438 0.05516079 -0.03842417
+v 0.04708661 0.05516652 -0.03843363
+v 0.04577430 0.05515793 -0.03841943
+v 0.04511139 0.05531170 -0.03757110
+v 0.03948130 0.04564516 -0.04018712
+v 0.03948130 0.05021053 -0.04066393
+v 0.05011187 0.04916661 -0.04087690
+v 0.04445576 0.05513119 -0.03833661
+v 0.03948130 0.05519995 -0.03700081
+v 0.05011187 0.05510062 -0.03805502
+v 0.05011187 0.05480550 -0.03863714
+v 0.05011187 0.05432126 -0.03929971
+v 0.04902227 0.05450655 -0.03920269
+v 0.04708661 0.05435087 -0.03942039
+v 0.04511139 0.05445402 -0.03919914
+v 0.03948130 0.05399653 -0.03936124
+v 0.03948130 0.05171099 -0.04058228
+v 0.04708661 0.05218376 -0.04083547
+v 0.05011187 0.05021053 -0.04097747
+v 0.03948130 0.05500893 -0.03783258
+v 0.05011187 0.05385136 -0.03987946
+v 0.05011187 0.05333179 -0.04048761
+v 0.04906494 0.05337764 -0.04051956
+v 0.04708661 0.05336331 -0.04050536
+v 0.04510723 0.05330505 -0.04046158
+v 0.03948130 0.05381316 -0.03954700
+v 0.04312889 0.05323341 -0.04041307
+v 0.04191337 0.05318853 -0.04038231
+v 0.03948130 0.05204145 -0.04055980
+v 0.04906494 0.05218376 -0.04087689
+v 0.05011187 0.05113984 -0.04094551
+v 0.04510723 0.05218376 -0.04075739
+v 0.05011187 0.05274632 -0.04067811
+v 0.05011187 0.05218376 -0.04084731
+v 0.03948130 0.05300037 -0.04031843
+f 1 2 5
+f 1 5 11
+f 1 11 17
+f 1 17 8
+f 1 8 3
+f 1 3 9
+f 1 9 19
+f 1 19 30
+f 1 30 42
+f 1 42 54
+f 1 54 57
+f 1 57 56
+f 1 56 45
+f 1 45 44
+f 1 44 35
+f 1 35 34
+f 1 34 33
+f 1 33 22
+f 1 22 14
+f 1 14 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 4 10 6
+f 5 7 12
+f 5 12 13
+f 5 13 11
+f 6 10 14
+f 6 14 15
+f 6 15 16
+f 6 16 7
+f 7 16 12
+f 8 17 13
+f 8 13 21
+f 8 21 32
+f 8 32 43
+f 8 43 39
+f 8 39 49
+f 8 49 58
+f 8 58 52
+f 8 52 40
+f 8 40 29
+f 8 29 28
+f 8 28 18
+f 8 18 9
+f 9 18 28
+f 9 28 19
+f 11 13 17
+f 12 16 20
+f 12 20 21
+f 12 21 13
+f 14 22 15
+f 15 23 24
+f 15 24 16
+f 15 22 23
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 16 27 20
+f 19 28 29
+f 19 29 30
+f 20 27 31
+f 20 31 21
+f 21 31 32
+f 22 33 23
+f 23 34 24
+f 23 33 34
+f 24 34 35
+f 24 35 36
+f 24 36 37
+f 24 37 25
+f 25 37 26
+f 26 31 27
+f 26 37 38
+f 26 38 39
+f 26 39 31
+f 29 40 41
+f 29 41 42
+f 29 42 30
+f 31 43 32
+f 31 39 43
+f 35 44 36
+f 36 44 45
+f 36 45 46
+f 36 46 37
+f 37 46 47
+f 37 47 48
+f 37 48 38
+f 38 48 39
+f 39 48 50
+f 39 50 51
+f 39 51 49
+f 40 52 41
+f 41 53 54
+f 41 54 42
+f 41 52 55
+f 41 55 51
+f 41 51 50
+f 41 50 48
+f 41 48 47
+f 41 47 53
+f 45 56 46
+f 46 56 57
+f 46 57 53
+f 46 53 47
+f 49 51 58
+f 51 55 52
+f 51 52 58
+f 53 57 54
+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_39.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0db3016657a132351efb9b4667c63249d4940073
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_39.obj
@@ -0,0 +1,43 @@
+# https://github.com/mikedh/trimesh
+v 0.03948026 0.05440501 -0.02889019
+v 0.03948026 0.04958261 -0.02889021
+v 0.03948026 0.05427897 -0.03223157
+v 0.02867011 0.05404831 -0.03223157
+v 0.02867011 0.05415977 -0.02889019
+v 0.03948026 0.04905528 -0.03166406
+v 0.03547195 0.04564597 -0.02889022
+v 0.03948026 0.04895067 -0.03223159
+v 0.02867011 0.04873458 -0.03223159
+v 0.02867011 0.04939225 -0.02889021
+v 0.03528043 0.04564597 -0.02889022
+v 0.03206045 0.04564598 -0.03223160
+v 0.03196522 0.04564598 -0.03223160
+v 0.02867011 0.04884948 -0.03148939
+v 0.02867011 0.04913673 -0.03011031
+f 1 2 6
+f 1 6 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 11
+f 1 11 7
+f 1 7 2
+f 2 7 6
+f 3 8 12
+f 3 12 13
+f 3 13 9
+f 3 9 4
+f 4 9 14
+f 4 14 15
+f 4 15 10
+f 4 10 5
+f 6 7 8
+f 7 11 13
+f 7 13 12
+f 7 12 8
+f 9 13 14
+f 10 15 13
+f 10 13 11
+f 13 15 14
+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_4.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea5fbc99f723d131222a48ff75404194a15f08d1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_4.obj
@@ -0,0 +1,361 @@
+# https://github.com/mikedh/trimesh
+v -0.05582240 0.05021022 -0.04102491
+v -0.05582240 0.04829477 -0.04099589
+v -0.05780582 0.04829477 -0.04094753
+v -0.05786998 0.05022496 -0.04068641
+v -0.05725746 0.05159805 -0.04054133
+v -0.05572906 0.05222671 -0.04064288
+v -0.05384482 0.05218392 -0.04084114
+v -0.05186723 0.05218392 -0.04087983
+v -0.00157008 0.05170821 -0.04049781
+v -0.00157008 0.05021022 -0.04056068
+v -0.00157008 0.04954087 -0.04051232
+v -0.00157008 0.04859296 -0.04043495
+v -0.00157008 0.04829477 -0.04040594
+v -0.05913587 0.04829477 -0.04058486
+v -0.05894336 0.04957665 -0.04047364
+v -0.05632408 0.05291361 -0.04020766
+v -0.05500570 0.05322865 -0.04041075
+v -0.05857585 0.05089361 -0.04023668
+v -0.05786998 0.05222671 -0.03979663
+v -0.05384482 0.05332196 -0.04047845
+v -0.05186723 0.05339704 -0.04052681
+v -0.04988381 0.05338651 -0.04051714
+v -0.00157008 0.05269541 -0.04021734
+v -0.00157008 0.04829474 -0.03394061
+v -0.05960256 0.04829477 -0.04006744
+v -0.06025008 0.04829476 -0.03934692
+v -0.06024425 0.04837755 -0.03932758
+v -0.05950339 0.05022496 -0.03950166
+v -0.05879169 0.05317180 -0.03839427
+v -0.05779998 0.05346930 -0.03876662
+v -0.05572906 0.05378715 -0.03948230
+v -0.05367564 0.05442492 -0.03919215
+v -0.05908337 0.05218391 -0.03879081
+v -0.05186723 0.05438422 -0.03943394
+v -0.04988381 0.05437370 -0.03945812
+v -0.00157008 0.05394711 -0.03923084
+v -0.00157008 0.05342861 -0.03964188
+v -0.00157008 0.05007252 0.00837174
+v -0.05302228 0.04829459 0.00837174
+v -0.06034342 0.04829476 -0.03922603
+v -0.06075177 0.04913110 -0.03822987
+v -0.06048343 0.05011058 -0.03750935
+v -0.05951506 0.05218391 -0.03740779
+v -0.05886753 0.05325670 -0.03740778
+v -0.05779998 0.05395342 -0.03740778
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+v -0.05831334 0.05279907 0.00837175
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+v -0.05423566 0.05408586 0.00837176
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+v -0.05186723 0.05430547 0.00837176
+v -0.05028049 0.05437914 0.00837176
+v -0.04988381 0.05439739 0.00837176
+v -0.04830291 0.05443527 0.00837176
+v -0.05383314 0.05525421 -0.02764451
+v -0.05384482 0.05414199 0.00837176
+v -0.05225808 0.05427320 0.00837176
+f 1 2 3
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+f 114 120 119
+f 115 119 121
+f 119 120 121
+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_40.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b0e8022e63b855d535e360c655b8dcb9cf33580
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_40.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.04980162 0.04471258 -0.03540943
+v 0.05011229 0.05525612 -0.03543667
+v 0.05011229 0.05527888 -0.03641289
+v 0.05011229 0.05525820 -0.03715307
+v 0.05011229 0.05509996 -0.03805337
+v 0.05011229 0.05480518 -0.03863697
+v 0.05011229 0.05432114 -0.03930004
+v 0.05011229 0.05385054 -0.03987889
+v 0.05011229 0.05333133 -0.04048740
+v 0.05011229 0.05274592 -0.04067838
+v 0.05011229 0.05218327 -0.04084682
+v 0.05011229 0.05113967 -0.04094646
+v 0.05011229 0.05020985 -0.04097612
+v 0.05011229 0.04916729 -0.04087648
+v 0.05011229 0.04564553 -0.04052776
+v 0.05227922 0.04564553 -0.04079228
+v 0.05156208 0.04471258 -0.03540943
+v 0.05156208 0.04471258 -0.03409634
+v 0.05227922 0.04653602 -0.02889021
+v 0.05011229 0.04963888 -0.02889020
+v 0.05011229 0.05490548 -0.02889018
+v 0.05011229 0.05500891 -0.03056150
+v 0.05054713 0.05521682 -0.03543667
+v 0.05069191 0.05523958 -0.03695379
+v 0.05104478 0.05504719 -0.03149027
+v 0.05122861 0.05505134 -0.03753146
+v 0.05227922 0.05417530 -0.03874491
+v 0.05227922 0.05383812 -0.03941154
+v 0.05104478 0.05416289 -0.03938426
+v 0.05104478 0.05329099 -0.04045774
+v 0.05104478 0.05218327 -0.04081954
+v 0.05227922 0.05095143 -0.04092155
+v 0.05227922 0.05020985 -0.04099154
+v 0.05104478 0.05020985 -0.04100815
+v 0.05227922 0.04700459 -0.04087768
+v 0.05227922 0.04897904 -0.04099985
+v 0.05227922 0.04564549 -0.03129459
+v 0.05227922 0.05454141 -0.02889018
+v 0.05041762 0.05489410 -0.02889018
+v 0.05153613 0.05509684 -0.03543667
+v 0.05227922 0.05491998 -0.03543667
+v 0.05227922 0.05479173 -0.03746029
+v 0.05104478 0.05488376 -0.02951648
+v 0.05227922 0.05476068 -0.03074892
+v 0.05227922 0.05482171 -0.03149027
+v 0.05227922 0.05330961 -0.04017069
+v 0.05210460 0.05319791 -0.04039251
+v 0.05227922 0.05296106 -0.04044115
+v 0.05227922 0.05216879 -0.04067364
+v 0.05104478 0.05482791 -0.02889018
+v 0.05227922 0.05314619 -0.04035574
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
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+f 1 16 17
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+f 1 22 2
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+f 3 24 4
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+f 12 33 34
+f 12 34 13
+f 13 35 16
+f 13 16 14
+f 13 34 36
+f 13 36 35
+f 14 16 15
+f 16 35 36
+f 16 36 33
+f 16 33 32
+f 16 32 49
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+f 33 36 34
+f 38 44 50
+f 39 50 43
+f 40 45 41
+f 43 50 44
+f 46 51 47
+f 47 51 48
+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_41.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7ba5e57d99155f2be6f5d9029ca832f55425ec9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_41.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.03948026 0.05523381 -0.03593996
+v 0.03948026 0.05504419 -0.03495269
+v 0.03948026 0.05523382 -0.03684634
+v 0.02867011 0.05516997 -0.03629987
+v 0.03948026 0.05427822 -0.03223272
+v 0.02867011 0.05510615 -0.03599857
+v 0.02867011 0.05496065 -0.03531342
+v 0.03948026 0.05520002 -0.03700071
+v 0.02867011 0.05516997 -0.03654504
+v 0.03948026 0.04895024 -0.03223274
+v 0.02867011 0.05404824 -0.03223272
+v 0.03948026 0.05500947 -0.03783279
+v 0.02867011 0.05494095 -0.03753232
+v 0.03948026 0.04564514 -0.03557926
+v 0.03206045 0.04564513 -0.03223275
+v 0.02867011 0.04873434 -0.03223274
+v 0.03948026 0.05399663 -0.03936076
+v 0.02867011 0.05395345 -0.03924107
+v 0.03948026 0.04564516 -0.04018710
+v 0.03196522 0.04564513 -0.03223275
+v 0.02867011 0.04564514 -0.03555202
+v 0.03948026 0.05381266 -0.03954649
+v 0.02867011 0.05309362 -0.03992622
+v 0.03948026 0.05300070 -0.04031833
+v 0.03948026 0.05020998 -0.04066504
+v 0.02867011 0.04564516 -0.04017967
+v 0.02867011 0.05271440 -0.04022753
+v 0.03948026 0.05204136 -0.04055937
+v 0.02867011 0.05172690 -0.04050241
+v 0.03948026 0.05171094 -0.04058331
+v 0.02867011 0.04859826 -0.04043886
+v 0.02867011 0.04909107 -0.04047931
+v 0.02867011 0.05020998 -0.04057011
+v 0.02867011 0.05067275 -0.04054947
+v 0.03917022 0.05198973 -0.04056102
+f 1 2 5
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+f 1 14 19
+f 1 19 25
+f 1 25 30
+f 1 30 28
+f 1 28 24
+f 1 24 22
+f 1 22 17
+f 1 17 12
+f 1 12 8
+f 1 8 3
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+f 1 4 2
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+f 4 7 6
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+f 12 18 13
+f 14 15 20
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+f 14 26 19
+f 16 21 20
+f 17 22 18
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+f 25 34 29
+f 25 29 30
+f 28 30 35
+f 28 35 29
+f 29 35 30
+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_42.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86418dfd2dd4011122959ee86963ed762bed62f1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_42.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.04833753 0.04875141 -0.01434524
+v 0.04833753 0.04564559 -0.01434525
+v 0.04833753 0.04875141 -0.01448047
+v 0.03522788 0.04875147 -0.02888668
+v 0.04505884 0.04564438 -0.01670809
+v 0.04791149 0.04564529 -0.01671094
+v 0.04833753 0.04564560 -0.01629388
+v 0.03526637 0.04875147 -0.02888668
+v 0.03528306 0.04564565 -0.02888669
+v 0.04594941 0.04564530 -0.01863111
+v 0.03547811 0.04564565 -0.02888669
+v 0.04416826 0.04564530 -0.02037334
+v 0.04581210 0.04564561 -0.01876775
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 7 8
+f 4 8 11
+f 4 11 9
+f 4 9 5
+f 5 10 6
+f 5 9 11
+f 5 11 12
+f 5 12 10
+f 6 10 11
+f 6 11 13
+f 6 13 7
+f 7 13 8
+f 8 13 11
+f 10 12 11
+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_43.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23df84eb563996b4270048e0b347e5c6dfb5a513
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_43.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.05142075 0.04467886 -0.03540788
+v 0.05142075 0.04467886 -0.01526125
+v 0.05142075 0.04567886 -0.03540788
+v 0.05142075 0.04567886 -0.01526125
+v 0.05242075 0.04467886 -0.03540788
+v 0.05242075 0.04467886 -0.01526125
+v 0.05242075 0.04567886 -0.03540788
+v 0.05242075 0.04567886 -0.01526125
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_44.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2efd76dcc2bde9286f8729ac0cc86405aad957b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_44.obj
@@ -0,0 +1,19 @@
+# https://github.com/mikedh/trimesh
+v 0.04833820 0.04875201 -0.01138788
+v 0.04833820 0.04875202 -0.01345708
+v 0.04208116 0.04666661 -0.01138789
+v 0.04833820 0.04564535 -0.01138789
+v 0.04833820 0.04564536 -0.01345709
+v 0.04208116 0.04564535 -0.01172816
+v 0.04208116 0.04564535 -0.01138789
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 7 6
+f 4 6 5
+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_45.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d92d34bc420ff5a535529509743d1ffff173a96
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_45.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.01733395 0.04467894 -0.03645144
+v 0.01733395 0.04467894 -0.02193750
+v 0.01733395 0.04567894 -0.03645144
+v 0.01733395 0.04567894 -0.02193750
+v 0.03598922 0.04467894 -0.03645144
+v 0.03598922 0.04467894 -0.02193750
+v 0.03598922 0.04567894 -0.03645144
+v 0.03598922 0.04567894 -0.02193750
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_46.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..061962744f12aa240ec6e24424ee2321d7498b74
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_46.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.03598922 0.04514353 -0.02838080
+v 0.03598922 0.04514353 -0.01670739
+v 0.03598922 0.04614353 -0.02838080
+v 0.03598922 0.04614353 -0.01670739
+v 0.03817290 0.04514353 -0.02838080
+v 0.03817290 0.04514353 -0.01670739
+v 0.03817290 0.04614353 -0.02838080
+v 0.03817290 0.04614353 -0.01670739
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_47.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9b678e66ee05db8c1a8cdf2af237bdc784bc0d5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_47.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.04813979 0.04564532 -0.01629098
+v 0.04813979 0.04564532 -0.00334362
+v 0.04813979 0.04875202 -0.01629098
+v 0.04813979 0.04875202 -0.00334362
+v 0.04913980 0.04564532 -0.01629098
+v 0.04913980 0.04564532 -0.00334362
+v 0.04913980 0.04875202 -0.01629098
+v 0.04913980 0.04875202 -0.00334362
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_48.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d92b7873033c0f36aec625963a5892433ed8608a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_48.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v 0.05177336 0.04513776 -0.01060879
+v 0.05177336 0.04513776 -0.00806723
+v 0.05177336 0.04613776 -0.01060879
+v 0.05177336 0.04613776 -0.00806723
+v 0.05277336 0.04513776 -0.01060879
+v 0.05277336 0.04513776 -0.00806723
+v 0.05277336 0.04613776 -0.01060879
+v 0.05277336 0.04613776 -0.00806723
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_49.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9bfac9e2cbd08201b2014daef474c34f9d9f54d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_49.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
+v 0.04833881 0.04875200 -0.00743101
+v 0.04833881 0.04564537 -0.00743102
+v 0.04833881 0.04875200 -0.00871958
+v 0.04833820 0.04875199 -0.00644859
+v 0.04833820 0.04875168 -0.00451428
+v 0.04833820 0.04564535 -0.00395872
+v 0.04833881 0.04564537 -0.00871959
+v 0.04833820 0.04564506 -0.00489315
+v 0.04833820 0.04875201 -0.01138689
+v 0.04637564 0.04875199 -0.00644859
+v 0.04637564 0.04875168 -0.00644786
+v 0.04208177 0.04875201 -0.01068225
+v 0.04367743 0.04564537 -0.00871959
+v 0.04833820 0.04564538 -0.01138690
+v 0.04208177 0.04564538 -0.01035066
+v 0.04208177 0.04564538 -0.01138690
+v 0.04208177 0.04666663 -0.01138690
+v 0.04208177 0.04875201 -0.01069243
+f 1 2 7
+f 1 7 3
+f 1 3 9
+f 1 9 18
+f 1 18 12
+f 1 12 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 7
+f 3 7 14
+f 3 14 9
+f 4 10 5
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 8
+f 7 8 14
+f 8 13 15
+f 8 15 16
+f 8 16 14
+f 9 14 16
+f 9 16 17
+f 9 17 18
+f 10 12 11
+f 12 18 17
+f 12 17 16
+f 12 16 15
+f 12 15 13
+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_5.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf6cc845d52964a9fc016d30722df2103f803609
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_5.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
+v -0.05582351 -0.05049773 -0.04103439
+v -0.05722837 -0.05184888 -0.04054016
+v -0.05785211 -0.05049098 -0.04068696
+v -0.05781130 -0.04874906 -0.04092672
+v -0.05757813 -0.04874906 -0.04096587
+v -0.05582351 -0.04874906 -0.04101480
+v -0.05384154 -0.05049773 -0.04101970
+v -0.05186540 -0.05247181 -0.04088759
+v -0.05384154 -0.05247181 -0.04084355
+v -0.05570109 -0.05249274 -0.04064292
+v -0.05495494 -0.05350374 -0.04040316
+v -0.05627819 -0.05316494 -0.04012913
+v -0.05854580 -0.05114428 -0.04019274
+v -0.05893053 -0.04982755 -0.04046675
+v -0.05908792 -0.04874906 -0.04056462
+v -0.00157008 -0.04874906 -0.04041293
+v -0.00157008 -0.04892116 -0.04043250
+v -0.00157008 -0.04957446 -0.04048633
+v -0.00157008 -0.05049773 -0.04055974
+v -0.00157008 -0.05197846 -0.04050102
+v -0.04988343 -0.05366707 -0.04051571
+v -0.05186540 -0.05367516 -0.04052549
+v -0.05384154 -0.05359485 -0.04047166
+v -0.05570109 -0.05395188 -0.03943918
+v -0.05384154 -0.05444051 -0.03938046
+v -0.05721671 -0.05373187 -0.03881773
+v -0.05788125 -0.05253458 -0.03950278
+v -0.05910541 -0.05190491 -0.03887644
+v -0.05943185 -0.05049099 -0.03947342
+v -0.06004976 -0.04874907 -0.03945384
+v -0.00157008 -0.04874909 -0.03332742
+v -0.00157008 -0.05296517 -0.04020252
+v -0.04988343 -0.05465446 -0.03940492
+v -0.00157008 -0.05419417 -0.03921409
+v -0.05176047 -0.05479551 -0.03919451
+v -0.05234923 -0.05539887 -0.03815713
+v -0.05381239 -0.05527199 -0.03746228
+v -0.05582351 -0.05471655 -0.03740846
+v -0.05102598 -0.05544409 -0.03841648
+v -0.05747903 -0.05390531 -0.03740846
+v -0.05847001 -0.05316023 -0.03740846
+v -0.05930944 -0.05217352 -0.03740845
+v -0.06036454 -0.05032631 -0.03731547
+v -0.06072013 -0.04929574 -0.03791734
+v -0.06078425 -0.04874907 -0.03819626
+v -0.06014886 -0.04874907 -0.03931683
+v -0.00157008 -0.04993774 0.00895560
+v -0.05261155 -0.04874924 0.00895560
+v -0.04988343 -0.05544679 -0.03842137
+v -0.00157008 -0.05459304 -0.03846541
+v -0.04871174 -0.05544139 -0.03840669
+v -0.05176047 -0.05554735 -0.03746228
+v -0.05313036 -0.05548998 -0.03684084
+v -0.05487333 -0.05544141 -0.03250537
+v -0.05564863 -0.05523287 -0.03148267
+v -0.05779964 -0.05427923 -0.03148756
+v -0.04988343 -0.05564116 -0.03740846
+v -0.05793955 -0.05402344 -0.03347914
+v -0.05887807 -0.05354899 -0.03283322
+v -0.05940853 -0.05261762 -0.03347913
+v -0.06048696 -0.05079876 -0.03345955
+v -0.06079008 -0.04955356 -0.03660104
+v -0.06090084 -0.04874907 -0.03745248
+v -0.00157008 -0.05461008 0.00895558
+v -0.06030042 -0.04874924 0.00895560
+v -0.00157008 -0.05515456 -0.03740846
+v -0.05186540 -0.05556828 -0.03573006
+v -0.05487333 -0.05544141 -0.03213837
+v -0.05186540 -0.05557641 -0.02753867
+v -0.05582351 -0.05394395 0.00895558
+v -0.05710012 -0.05359571 0.00895558
+v -0.05809111 -0.05296467 0.00895559
+v -0.05887223 -0.05353751 -0.03148756
+v -0.04790730 -0.05564387 -0.03543646
+v -0.05961256 -0.05247184 -0.03148755
+v -0.06052193 -0.05084803 -0.03148755
+v -0.06087752 -0.04981139 -0.03345954
+v -0.06101159 -0.04874908 -0.03569089
+v -0.06092415 -0.04874907 -0.03719803
+v -0.01822443 -0.05468837 0.00895558
+v -0.04790730 -0.05552783 -0.02359467
+v -0.04988343 -0.05557912 -0.02556667
+v -0.00157008 -0.05462291 0.00798181
+v -0.06112235 -0.04874909 -0.03148754
+v -0.06089501 -0.04986065 -0.03148754
+v -0.06006724 -0.04963741 0.00895560
+v -0.00157008 -0.05515929 -0.03659128
+v -0.05329941 -0.05549542 -0.02753867
+v -0.05384154 -0.05426588 0.00895558
+v -0.05186540 -0.05444068 0.00895558
+v -0.04890994 -0.05457971 0.00895558
+v -0.04988343 -0.05454799 0.00895558
+v -0.05089191 -0.05449400 0.00895558
+v -0.05862741 -0.05246390 0.00895559
+v -0.05914622 -0.05197797 0.00895559
+v -0.00157008 -0.05516537 -0.03543646
+v -0.05949014 -0.05125177 0.00895559
+v -0.05983990 -0.05049791 0.00895559
+v -0.06110486 -0.04874909 -0.03345954
+v -0.06102325 -0.04874908 -0.03543644
+v -0.02020639 -0.05469715 0.00895558
+v -0.02218253 -0.05470457 0.00895558
+v -0.03405102 -0.05470929 0.00895558
+v -0.03505949 -0.05470794 0.00895558
+v -0.03703563 -0.05470524 0.00895558
+v -0.03800912 -0.05470389 0.00895558
+v -0.03901759 -0.05470120 0.00895558
+v -0.03999109 -0.05469782 0.00895558
+v -0.04099373 -0.05469310 0.00895558
+v -0.04196723 -0.05468770 0.00895558
+v -0.04297570 -0.05467960 0.00895558
+v -0.04394919 -0.05467150 0.00895558
+v -0.04592533 -0.05464653 0.00895558
+v -0.04693380 -0.05462898 0.00895558
+v -0.04790730 -0.05461076 0.00895558
+v -0.00157008 -0.05463775 0.00682699
+v -0.02416450 -0.05470997 0.00895558
+v -0.02614064 -0.05471199 0.00895558
+v -0.02812261 -0.05471199 0.00895558
+v -0.03207488 -0.05471064 0.00895558
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 14
+f 2 14 3
+f 3 14 15
+f 3 15 4
+f 4 15 30
+f 4 30 46
+f 4 46 45
+f 4 45 63
+f 4 63 79
+f 4 79 78
+f 4 78 100
+f 4 100 99
+f 4 99 84
+f 4 84 65
+f 4 65 48
+f 4 48 31
+f 4 31 16
+f 4 16 6
+f 4 6 5
+f 6 16 17
+f 6 17 18
+f 6 18 19
+f 6 19 7
+f 7 19 20
+f 7 20 8
+f 8 21 22
+f 8 22 9
+f 8 20 21
+f 9 23 11
+f 9 11 10
+f 9 22 23
+f 11 24 12
+f 11 23 25
+f 11 25 24
+f 12 26 27
+f 12 27 13
+f 12 24 26
+f 13 27 28
+f 13 28 29
+f 13 29 14
+f 14 29 30
+f 14 30 15
+f 16 31 47
+f 16 47 64
+f 16 64 83
+f 16 83 116
+f 16 116 96
+f 16 96 87
+f 16 87 66
+f 16 66 50
+f 16 50 34
+f 16 34 32
+f 16 32 20
+f 16 20 19
+f 16 19 18
+f 16 18 17
+f 20 32 21
+f 21 33 22
+f 21 32 34
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+f 22 33 35
+f 22 35 23
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+f 29 44 45
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+f 29 46 30
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+f 34 50 51
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+f 36 39 52
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+f 38 55 56
+f 38 56 40
+f 39 49 57
+f 39 57 52
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+f 40 59 41
+f 41 59 42
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+f 43 62 44
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+f 44 63 45
+f 47 48 65
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+f 47 97 95
+f 47 95 94
+f 47 94 72
+f 47 72 71
+f 47 71 70
+f 47 70 89
+f 47 89 90
+f 47 90 93
+f 47 93 92
+f 47 92 91
+f 47 91 115
+f 47 115 114
+f 47 114 113
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+f 47 112 111
+f 47 111 110
+f 47 110 109
+f 47 109 108
+f 47 108 107
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+f 47 106 105
+f 47 105 104
+f 47 104 103
+f 47 103 120
+f 47 120 119
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+f 47 118 117
+f 47 117 102
+f 47 102 101
+f 47 101 80
+f 47 80 64
+f 49 51 57
+f 50 66 51
+f 51 66 57
+f 52 57 53
+f 53 57 67
+f 53 67 54
+f 54 68 55
+f 54 67 69
+f 54 69 68
+f 55 68 70
+f 55 70 71
+f 55 71 56
+f 56 71 72
+f 56 72 73
+f 56 73 59
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+f 57 69 67
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+f 62 78 79
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+f 65 84 85
+f 65 85 86
+f 66 87 74
+f 68 69 88
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+f 68 89 70
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+f 69 74 82
+f 69 82 91
+f 69 91 92
+f 69 92 93
+f 69 93 90
+f 72 94 73
+f 73 95 75
+f 73 94 95
+f 74 87 96
+f 74 96 82
+f 75 95 76
+f 76 85 77
+f 76 95 97
+f 76 97 98
+f 76 98 85
+f 77 85 99
+f 77 99 100
+f 77 100 78
+f 80 101 81
+f 81 101 102
+f 81 102 82
+f 82 103 104
+f 82 104 105
+f 82 105 106
+f 82 106 107
+f 82 107 108
+f 82 108 109
+f 82 109 110
+f 82 110 111
+f 82 111 112
+f 82 112 113
+f 82 113 114
+f 82 114 115
+f 82 115 91
+f 82 96 116
+f 82 116 83
+f 82 102 117
+f 82 117 118
+f 82 118 119
+f 82 119 120
+f 82 120 103
+f 84 99 85
+f 85 98 86
+f 88 90 89
+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_6.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6161350645fb89997d6c912926a9ab1bc95d8075
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_6.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
+v -0.05544817 -0.00008684 -0.02988983
+v -0.05186756 -0.00008682 -0.03558168
+v -0.06049826 -0.00008684 -0.02988983
+v -0.05420785 -0.04874910 -0.02989001
+v -0.05186756 -0.00008680 -0.04019636
+v -0.05186756 -0.04874432 -0.03468332
+v -0.06145882 -0.00008682 -0.03543791
+v -0.06120866 -0.04494282 -0.02989000
+v -0.06100146 -0.04874910 -0.02989001
+v -0.05186852 -0.04874908 -0.03468332
+v -0.05582724 -0.00008680 -0.04052964
+v -0.05186756 -0.04874906 -0.04070517
+v -0.05186756 -0.04874908 -0.03472471
+v -0.06144832 -0.00008682 -0.03636150
+v -0.06161446 -0.04062203 -0.03543806
+v -0.06122393 -0.04654822 -0.02989000
+v -0.06112177 -0.04874909 -0.03149105
+v -0.06101101 -0.04870146 -0.02989001
+v -0.05780469 -0.00008680 -0.04053400
+v -0.05559999 -0.04874906 -0.04101340
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+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_7.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f86b864a86ee8c7982aac68375e293a54943367b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_7.obj
@@ -0,0 +1,157 @@
+# https://github.com/mikedh/trimesh
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+v -0.06139717 0.04386651 -0.03388167
+v -0.06140285 0.04584114 -0.03388166
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+v -0.06152698 0.04428324 -0.03741091
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+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_8.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9fccb05c6fcf997271bccbc27f56a3be829944a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_8.obj
@@ -0,0 +1,160 @@
+# https://github.com/mikedh/trimesh
+v 0.04423055 -0.04834521 -0.04048697
+v 0.05302394 -0.04834521 -0.04100019
+v 0.04423055 -0.04834523 -0.03481570
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+
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_9.obj b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5f905e1258ce13c963cb57dc61a3d1dc1063b5e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/mesh/storage_bin_028_collision_9.obj
@@ -0,0 +1,295 @@
+# https://github.com/mikedh/trimesh
+v 0.05104306 -0.05049831 -0.04101170
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diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/storage_bin_028.xml b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/storage_bin_028.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bfcee9ecee93aac49b82cc4f7fd93bd8a9fc6aea
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/mjcf/storage_bin_028.xml
@@ -0,0 +1,114 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="storage_bin_028">
+  <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_028_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/storage_bin_028_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/storage_bin_028_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_6" file="mesh/storage_bin_028_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/storage_bin_028_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/storage_bin_028_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/storage_bin_028_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_11" file="mesh/storage_bin_028_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_28" file="mesh/storage_bin_028_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_36" file="mesh/storage_bin_028_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+  </asset>
+  <worldbody>
+    <body name="storage_bin_028">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/storage_bin_028.urdf b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/storage_bin_028.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..49fb48ed61789fc6b8e3359f6b94186962ecd8fe
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/storage_bin_028.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_028">
+   <link name="storage_bin_028">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_028.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_028_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.55</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.0000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>44e936d982b453179dec1b32bda057ea</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>fabric storage bin</name>
+         <color>beige,black</color>
+         <shape>cuboid</shape>
+         <material>fabric</material>
+         <description>square beige fabric storage bin with black wavy stripes</description>
+         <min_height>0.0994</min_height>
+         <max_height>0.0994</max_height>
+         <real_height>0.0994</real_height>
+         <min_mass>0.6</min_mass>
+         <max_mass>1.4</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611140308</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.061416 -0.055551 -0.040596</min>
+            <max>0.058584 0.055259 0.058777</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/storage_bin_028.usd b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/storage_bin_028.usd
new file mode 100644
index 0000000000000000000000000000000000000000..e1c1a27b0abda04b793f0fdbdc426d8cccd3fea8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/44e936d982b453179dec1b32bda057ea/storage_bin_028.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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