diff --git a/.gitattributes b/.gitattributes
index b31f600f56923c69b68d62d2560cbcd1f53a8440..257fa171bef6614fa112f1e0a9fe63c266ebaed9 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2821,3 +2821,5 @@ dataset/bedroom_supplies/storage/b6971445d5f3564b949189b2661668c4/mesh/pill_orga
 dataset/bedroom_supplies/storage/b6971445d5f3564b949189b2661668c4/pill_organizer_007.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/jewelry_box_012.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/ae48d2dcd4ed5e4fa9c1a4292558ef1f/mesh/jewelry_box_012.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mesh/storage_bin_022.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/storage_bin_022.usd filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mesh/material.mtl b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0807f3ffb2f0c36dbde255f8dc9e3b244b29c84c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl storage_bin_022_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_022_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mesh/material_0.png b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..62543a9f7b5b793373d2fa6d0467f6ee42945fe2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d04587c7d5b7b72a4d812029cb485b92aeef8bf871b81166678971a523012c4
+size 14878077
diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mesh/storage_bin_022.glb b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mesh/storage_bin_022.glb
new file mode 100644
index 0000000000000000000000000000000000000000..49e27ca24bdc58b9d559b22b0101cafdb8ee8879
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mesh/storage_bin_022.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0ff6fc848b9f08b10de3f050f61d885f88c2b70ae1075b335a8d2e94ac27921
+size 18231352
diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mesh/storage_bin_022.mtl b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mesh/storage_bin_022.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..415c1cd8fc931db1e51c1ef6aba4990237d90916
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mesh/storage_bin_022.mtl
@@ -0,0 +1,6 @@
+newmtl storage_bin_022_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/b80e52dddf9b59d699e658bb02937f57/mesh/storage_bin_022.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mesh/storage_bin_022.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d08e1fbab73aea67982fe27c894be4ba828e579
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mesh/storage_bin_022.obj
@@ -0,0 +1,121958 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl storage_bin_022_geometry_Looks_material_0
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diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mesh/storage_bin_022_collision.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mesh/storage_bin_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f67e9f70da6272ff1a7e290428ff257e9f12afe9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mesh/storage_bin_022_collision.obj
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diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mesh/storage_bin_022_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mesh/storage_bin_022_geometry_Looks_material_0.png
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diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/material_0.png b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/material_0.png
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index 0000000000000000000000000000000000000000..62543a9f7b5b793373d2fa6d0467f6ee42945fe2
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diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022.obj
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diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cbe102d7d8507c0e130a21f5fd0b6cf1f35cf68
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision.obj
@@ -0,0 +1,6175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_0.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b5e71136c31ae38853276160a29a71bd07844cb
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_0.obj
@@ -0,0 +1,349 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_1.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecdc6248698df430eeb084e23f25ce70243bcd9a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_1.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_10.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24ac12c13919651fa80bc0fe0c6dc2b210333a62
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_10.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
+v 0.05334472 0.01966746 0.00461873
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diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_11.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efbc8b03d82e8b94b39583a137017847778b60d5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_11.obj
@@ -0,0 +1,22 @@
+# https://github.com/mikedh/trimesh
+v -0.00037731 0.00182699 -0.02062096
+v -0.00037731 -0.02830797 -0.02056859
+v -0.00037731 0.00182700 -0.02354226
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+
diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_12.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13e94dcb970d96f60584f661afb603c12a534ebf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_12.obj
@@ -0,0 +1,298 @@
+# https://github.com/mikedh/trimesh
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+f 72 86 75
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+f 75 87 76
+f 78 88 79
+f 79 88 89
+f 81 90 82
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+f 83 91 92
+f 83 92 84
+f 84 92 85
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+f 85 93 94
+f 85 94 86
+f 86 95 100
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+f 88 97 98
+f 88 98 99
+f 88 99 89
+f 96 100 97
+f 97 100 98
+
diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_13.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e419b6cd42196ad13bf39e111bfd0a68b7511968
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_13.obj
@@ -0,0 +1,196 @@
+# https://github.com/mikedh/trimesh
+v 0.05655177 -0.00535684 0.00461864
+v 0.05656616 -0.00535677 -0.01314131
+v 0.05342802 -0.00535684 0.00461864
+v 0.05740295 -0.03270904 0.00461854
+v 0.05741802 -0.03144361 0.00377191
+v 0.05743653 -0.03139311 0.00237594
+v 0.05344583 -0.00535677 -0.01314131
+v 0.05742282 -0.03141385 -0.01121000
+v 0.05741323 -0.03142275 -0.01248428
+v 0.05739746 -0.03238519 -0.01314141
+v 0.05342802 -0.00535683 0.00394933
+v 0.05043517 -0.03089998 -0.00538620
+v 0.05043517 -0.03090596 0.00431606
+v 0.05043517 -0.03091784 0.00461159
+v 0.05043517 -0.03092081 0.00461855
+v 0.05740295 -0.03279221 0.00461854
+v 0.05743653 -0.03200800 0.00237594
+v 0.05344241 -0.00535678 -0.01157671
+v 0.05043517 -0.03095639 -0.01314140
+v 0.05043517 -0.03090590 -0.01124650
+v 0.05741186 -0.03246243 -0.01102920
+v 0.05739541 -0.03254856 -0.01314141
+v 0.05343007 -0.00535682 0.00043420
+v 0.05043517 -0.03467847 0.00461853
+v 0.05739884 -0.03310411 0.00461854
+v 0.05344172 -0.00535678 -0.01120990
+v 0.05043517 -0.03466949 -0.01314142
+v 0.05343213 -0.00535681 -0.00187445
+v 0.05343898 -0.00535679 -0.00926806
+v 0.05737142 -0.03355263 -0.00264121
+v 0.05735977 -0.03353479 -0.00926816
+v 0.05735703 -0.03352883 -0.01026255
+v 0.05734881 -0.03266441 -0.01314141
+v 0.05043517 -0.03468438 -0.00148342
+v 0.05297364 -0.03570329 0.00431604
+v 0.05300311 -0.03568249 0.00461853
+v 0.05737690 -0.03353484 0.00461854
+v 0.05044407 -0.03467246 -0.01314142
+v 0.05304286 -0.03567056 -0.00926817
+v 0.05301339 -0.03569138 -0.00344786
+v 0.05043517 -0.03468438 -0.00150428
+v 0.05737142 -0.03355263 -0.00226397
+v 0.05550183 -0.03558148 0.00043409
+v 0.05546757 -0.03555766 -0.01275201
+v 0.05599184 -0.03492792 -0.01314142
+v 0.05620773 -0.03466652 -0.01314142
+v 0.05632629 -0.03452096 -0.01314142
+v 0.05664908 -0.03397440 -0.01314141
+v 0.05412911 -0.03570329 0.00431604
+v 0.05416132 -0.03568249 0.00461853
+v 0.05701574 -0.03389426 0.00461854
+v 0.05548127 -0.03557555 0.00205084
+v 0.05318678 -0.03556955 -0.01314142
+v 0.05319843 -0.03557252 -0.01314142
+v 0.05315594 -0.03562302 -0.01121001
+v 0.05453688 -0.03559925 -0.01314142
+v 0.05455607 -0.03563788 -0.01105181
+v 0.05420792 -0.03567056 -0.00926817
+v 0.05457321 -0.03569140 0.00256890
+v 0.05480691 -0.03558737 -0.01314142
+v 0.05541891 -0.03553390 -0.01314142
+v 0.05536682 -0.03548940 0.00334598
+v 0.05501113 -0.03542703 0.00461853
+v 0.05651339 -0.03431310 0.00461853
+v 0.05530377 -0.03527257 0.00461853
+v 0.05510434 -0.03539733 0.00461853
+f 1 2 7
+f 1 7 18
+f 1 18 26
+f 1 26 29
+f 1 29 28
+f 1 28 23
+f 1 23 11
+f 1 11 3
+f 1 3 15
+f 1 15 24
+f 1 24 36
+f 1 36 50
+f 1 50 63
+f 1 63 66
+f 1 66 65
+f 1 65 64
+f 1 64 51
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+f 1 25 16
+f 1 16 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 8
+f 2 8 9
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+f 2 10 22
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+f 10 21 22
+f 11 23 20
+f 11 20 12
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+f 12 27 41
+f 12 41 34
+f 12 34 24
+f 12 24 15
+f 12 15 14
+f 12 14 13
+f 16 25 17
+f 17 25 21
+f 18 20 26
+f 20 23 28
+f 20 28 29
+f 20 29 26
+f 21 25 30
+f 21 30 31
+f 21 31 32
+f 21 32 22
+f 22 32 33
+f 24 34 35
+f 24 35 36
+f 25 37 30
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+f 30 42 43
+f 30 43 31
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+f 32 46 47
+f 32 47 48
+f 32 48 33
+f 34 41 35
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+f 35 49 50
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+f 39 57 58
+f 39 58 40
+f 40 58 49
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+f 43 59 44
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+f 44 57 60
+f 44 60 61
+f 44 61 45
+f 49 58 59
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+f 50 62 63
+f 51 64 62
+f 51 62 52
+f 54 56 55
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+f 57 59 58
+f 62 65 66
+f 62 66 63
+f 62 64 65
+
diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_14.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f3aea3adddd30023b674c7e59a1ae882232943b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_14.obj
@@ -0,0 +1,94 @@
+# https://github.com/mikedh/trimesh
+v -0.05093276 0.02937116 -0.02000544
+v -0.05093276 0.03076818 0.00461877
+v -0.05093276 0.03727679 -0.02000541
+v -0.00037731 0.02976032 -0.02000544
+v -0.05093276 0.03443094 0.00461879
+v -0.00037731 0.03129350 0.00461877
+v -0.05093276 0.03727438 -0.01994997
+v -0.05046758 0.03732916 -0.02000541
+v -0.00037731 0.03751770 -0.02000541
+v -0.03806131 0.03734689 -0.01798071
+v -0.04386608 0.03733400 -0.01799758
+v -0.04879494 0.03741618 -0.01936666
+v -0.05071007 0.03724779 -0.01890869
+v -0.05093276 0.03722764 -0.01891593
+v -0.00037731 0.03441724 0.00461879
+v -0.00713222 0.03738073 -0.01793491
+v -0.02457623 0.03736784 -0.01795178
+v -0.05012118 0.03736784 -0.02000541
+v -0.00037731 0.03747258 -0.01894967
+v -0.00316340 0.03757249 -0.02000541
+v -0.03701714 0.03744035 -0.01893280
+v -0.00713222 0.03751367 -0.01897136
+v -0.04085730 0.03745244 -0.01932328
+v -0.03694786 0.03752495 -0.02000541
+v -0.04879494 0.03743229 -0.02000541
+v -0.05000736 0.03735736 -0.01951369
+v -0.04292089 0.03749030 -0.02000541
+v -0.00037731 0.03735897 -0.01800963
+v -0.00512802 0.03749272 -0.01885808
+v -0.00577134 0.03737670 -0.01794455
+v -0.00513792 0.03759585 -0.02000541
+v -0.00607816 0.03760149 -0.02000541
+f 1 2 5
+f 1 5 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 25
+f 1 25 27
+f 1 27 24
+f 1 24 32
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+f 1 20 9
+f 1 9 4
+f 1 4 2
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+f 4 15 6
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+f 16 22 17
+f 19 20 31
+f 19 31 32
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+f 19 29 28
+f 21 22 32
+f 21 32 24
+f 22 29 32
+
diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_15.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8de34762762e329ef3850af3cb766c49c9c4e7e9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_15.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
+v -0.05475843 0.03524396 0.00461879
+v -0.05304407 0.03498717 0.00461879
+v -0.05366353 0.03541400 0.00395353
+v -0.05410389 0.03541400 0.00395353
+v -0.05579793 0.03539665 0.00168297
+v -0.05542681 0.03529602 0.00297733
+v -0.05675804 0.03431050 0.00461879
+v -0.05289729 0.03495941 0.00461879
+v -0.05093368 0.03722547 -0.01891593
+v -0.05093368 0.03442848 0.00461879
+v -0.05276527 0.03705891 -0.01897136
+v -0.05474919 0.03681253 -0.02000541
+v -0.05567699 0.03645511 -0.02000542
+v -0.05673219 0.03597277 -0.01897137
+v -0.05774400 0.03537938 -0.01797349
+v -0.05779200 0.03349155 0.00461878
+v -0.05696483 0.03415087 0.00461879
+v -0.05093368 0.03727753 -0.02000541
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+v -0.05093368 0.03076753 0.00461877
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+v -0.05776892 0.03540367 -0.01897137
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+v -0.06008796 0.03044143 -0.01897139
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+v -0.05093368 0.02936917 -0.02000544
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+v -0.05401711 0.00182689 0.00461867
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+v -0.05776431 0.03540020 -0.02000542
+v -0.05853055 0.03437652 -0.02000542
+v -0.05948789 0.03265188 -0.02000543
+v -0.05988209 0.03186764 -0.02000543
+v -0.06019782 0.02939346 -0.02000544
+v -0.06024675 0.02847388 -0.02000545
+v -0.06019135 0.02847388 -0.01897140
+v -0.06006395 0.03047613 -0.02000544
+v -0.05789817 0.03240541 0.00461878
+v -0.05707469 0.00182689 0.00461867
+v -0.06035937 0.00182698 -0.02000554
+v -0.06027721 0.02742591 -0.02000545
+v -0.06036307 0.02151980 -0.02000547
+v -0.06025875 0.02256777 -0.01897142
+v -0.06026429 0.00288883 -0.01897149
+v -0.06026244 0.00182698 -0.01897149
+f 1 2 3
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+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 17
+f 1 17 16
+f 1 16 27
+f 1 27 41
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+f 1 10 8
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+f 5 7 6
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+f 14 21 15
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+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 27
+f 20 30 31
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+f 21 32 22
+f 22 32 33
+f 22 33 23
+f 23 34 24
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+f 24 34 35
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+f 24 36 25
+f 25 36 26
+f 26 37 38
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+f 26 39 27
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+f 26 40 37
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+f 28 29 31
+f 30 42 48
+f 30 48 43
+f 30 43 31
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+f 39 46 41
+f 41 46 45
+f 41 45 47
+f 41 47 48
+f 41 48 42
+f 43 48 47
+f 43 47 45
+
diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_16.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72ca616e00a60845999038f60d31c6266efe26ef
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_16.obj
@@ -0,0 +1,331 @@
+# https://github.com/mikedh/trimesh
+v -0.05562310 0.02845962 0.03250420
+v -0.05463845 0.02845962 0.03193093
+v -0.05588175 0.02845962 0.03250420
+v -0.05563599 0.01666425 0.03250416
+v -0.05564002 -0.02748352 0.03249853
+v -0.05463119 0.02845962 0.03192547
+v -0.05464811 -0.02748352 0.03189251
+v -0.05588901 0.02845962 0.03250147
+v -0.05588820 0.02650467 0.03250420
+v -0.05588095 0.01666425 0.03250416
+v -0.05586886 -0.02748352 0.03249853
+v -0.05341447 0.02845963 0.03096183
+v -0.05345476 -0.02748351 0.03092341
+v -0.05687366 0.02845962 0.03204831
+v -0.05687930 0.02650467 0.03206469
+v -0.05588739 0.02453330 0.03250419
+v -0.05686077 -0.02269747 0.03206724
+v -0.05588417 0.02059604 0.03250418
+v -0.05586967 -0.02662926 0.03249853
+v -0.05685996 -0.02748352 0.03205630
+v -0.05686157 -0.02466336 0.03206450
+v -0.05686077 -0.02662926 0.03206176
+v -0.05340642 0.02845963 0.03095364
+v -0.05300998 -0.02748351 0.02954757
+v -0.05289556 0.02845963 0.02955869
+v -0.05688252 0.02845962 0.03204285
+v -0.05818143 0.02650468 0.03109286
+v -0.05818224 0.02256742 0.03109557
+v -0.05818385 0.02059605 0.03109557
+v -0.05818466 0.01863015 0.03109556
+v -0.05818627 0.00878972 0.03109552
+v -0.05818788 -0.00301112 0.03109548
+v -0.05818788 -0.00891976 0.03109546
+v -0.05818627 -0.01876019 0.03109542
+v -0.05818466 -0.02466335 0.03109540
+v -0.05817499 -0.02748351 0.03108447
+v -0.05818304 -0.02662925 0.03109266
+v -0.05246044 -0.02748349 0.02565207
+v -0.05225094 0.02845965 0.02564954
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+v -0.05816612 0.02845963 0.03107921
+v -0.05917414 0.02650468 0.02963239
+v -0.05917979 -0.00301112 0.02967596
+v -0.05818304 0.02453331 0.03109285
+v -0.05918059 -0.00891976 0.02967048
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+v -0.05225497 0.02845965 0.02373591
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+v -0.05817337 0.02845963 0.03106829
+v -0.05972529 0.02756156 0.02860324
+v -0.05975994 0.02650468 0.02866056
+v -0.05979137 -0.00301112 0.02870686
+v -0.05978734 -0.00891976 0.02870138
+v -0.05973738 -0.02748350 0.02831094
+v -0.06014188 -0.02269745 0.02754114
+v -0.06003632 -0.02467429 0.02776498
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+v -0.06019104 -0.00891975 0.02760671
+v -0.05328152 0.02845972 0.00461876
+v -0.05379963 -0.02748342 0.00461856
+v -0.05912419 0.02845963 0.02947406
+v -0.05917817 0.02845963 0.02938125
+v -0.06001296 0.02845964 0.02772695
+v -0.06004277 0.02845964 0.02766417
+v -0.06004438 0.02832274 0.02769147
+v -0.06009918 0.02650469 0.02760684
+v -0.06009192 0.02246338 0.02775696
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+
diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_17.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcdbf8a2abc460458044febf2f5ed2d239d17a1f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_17.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v -0.00037731 -0.00535328 -0.02354282
+v -0.00037731 -0.00535329 -0.02062361
+v -0.00037731 0.02690570 -0.02355060
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+v 0.05040035 0.02690026 -0.02048953
+v 0.05043019 -0.00535871 -0.02357475
+v 0.05043019 -0.00535872 -0.02054166
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+
diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_18.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71ef1db8ba91142c3dd7d94256e56aef1ef7d9f8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_18.obj
@@ -0,0 +1,232 @@
+# https://github.com/mikedh/trimesh
+v -0.00037234 -0.03355014 -0.02578065
+v -0.00037234 -0.03394809 -0.02554853
+v -0.00037234 -0.03342584 -0.02578065
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+
diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_19.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6706ce7752cad59e47e9dbf641891a147096825
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_19.obj
@@ -0,0 +1,202 @@
+# https://github.com/mikedh/trimesh
+v -0.04878794 0.03129892 0.00461877
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diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_2.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ec9c4fb98e6b43e08a4aa4ccbbdd8bbdb076021
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_2.obj
@@ -0,0 +1,427 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_20.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c8bffa6a48b083a26dca06aeb20482d173fd1de
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_20.obj
@@ -0,0 +1,97 @@
+# https://github.com/mikedh/trimesh
+v -0.04888024 -0.03482284 -0.01424210
+v -0.04879478 -0.03463193 0.00461852
+v -0.04888024 -0.03463025 0.00461852
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+
diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_21.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a42fba2a7d4f509925334f916dbde5e4f9d1937
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_21.obj
@@ -0,0 +1,133 @@
+# https://github.com/mikedh/trimesh
+v -0.04888024 -0.03150289 0.00461853
+v -0.04888024 -0.03462968 0.00461852
+v -0.04888024 -0.03150074 0.00448930
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diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_22.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b9019d2adc3f495239f76c526f212ad1fca0316
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_22.obj
@@ -0,0 +1,328 @@
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diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_23.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e6fc6d18c878b13dd10e54b1279166c1695dd78
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_23.obj
@@ -0,0 +1,250 @@
+# https://github.com/mikedh/trimesh
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+f 61 74 75
+f 61 75 76
+f 61 76 62
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+f 62 77 63
+f 64 78 65
+f 65 78 66
+f 67 79 68
+f 68 72 80
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+f 70 75 74
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+f 73 81 74
+f 74 81 83
+f 75 82 84
+f 75 84 77
+f 75 77 76
+
diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_24.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..477f238eee0787116ce540daeb97f78e0d8c4f58
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_24.obj
@@ -0,0 +1,91 @@
+# https://github.com/mikedh/trimesh
+v -0.00037253 0.03130651 -0.01508663
+v -0.00037253 0.03130401 -0.01430737
+v -0.00037253 0.03483635 -0.01508661
+v 0.04843630 0.03125448 -0.01508663
+v 0.04843630 0.03123592 -0.01119223
+v 0.04843630 0.03122736 -0.00926721
+v -0.00037253 0.03129795 -0.01236692
+v -0.00037253 0.03441749 0.00461879
+v 0.02659323 0.03486379 -0.01508661
+v 0.04843630 0.03479216 -0.01508661
+v 0.04843630 0.03122271 -0.00343043
+v -0.00037253 0.03128831 -0.00732676
+v -0.00037253 0.03129009 -0.00848409
+v -0.00037253 0.03129331 -0.01042454
+v -0.00037253 0.03129473 -0.01120959
+v -0.00037253 0.03129325 0.00461877
+v 0.03850155 0.03441429 0.00461879
+v 0.03849677 0.03485346 -0.01508661
+v 0.04643884 0.03437187 0.00461879
+v 0.04843630 0.03434336 0.00461493
+v 0.04444615 0.03483314 -0.01508661
+v 0.04843630 0.03122378 -0.00150542
+v -0.00037253 0.03128830 -0.00538631
+v 0.04843630 0.03123087 0.00461877
+v 0.04048468 0.03441143 0.00461879
+v 0.04811136 0.03434764 0.00461879
+v 0.04612823 0.03437473 0.00461879
+v 0.04843630 0.03415839 0.00461879
+v 0.04842197 0.03434300 0.00461879
+v 0.04246780 0.03440324 0.00461879
+v 0.04445093 0.03438934 0.00461879
+f 1 2 7
+f 1 7 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 23
+f 1 23 16
+f 1 16 8
+f 1 8 3
+f 1 3 9
+f 1 9 18
+f 1 18 21
+f 1 21 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 3 8 9
+f 4 10 20
+f 4 20 28
+f 4 28 24
+f 4 24 22
+f 4 22 11
+f 4 11 6
+f 4 6 5
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+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 8 16 24
+f 8 24 28
+f 8 28 29
+f 8 29 26
+f 8 26 19
+f 8 19 27
+f 8 27 31
+f 8 31 30
+f 8 30 25
+f 8 25 17
+f 8 17 9
+f 9 17 18
+f 10 19 20
+f 10 21 19
+f 11 22 16
+f 11 16 23
+f 11 23 12
+f 16 22 24
+f 17 25 18
+f 18 25 21
+f 19 26 20
+f 19 21 27
+f 20 26 29
+f 20 29 28
+f 21 25 30
+f 21 30 31
+f 21 31 27
+
diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_25.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c987181ac80f26e9af98b5cb3fe69199f8cf88a6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_25.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v 0.05317410 0.02690570 -0.02493465
+v 0.04844108 0.02690570 -0.02354208
+v 0.04844108 0.03239037 -0.02560997
+v 0.05317410 0.03134876 -0.02577959
+v 0.05317410 0.02690567 -0.01508300
+v 0.04844108 0.02690569 -0.02059255
+v 0.04844108 0.03336415 -0.02576703
+v 0.04844108 0.03337250 -0.02576808
+v 0.05317410 0.03158567 -0.02577959
+v 0.05317410 0.03517078 -0.01508297
+v 0.05312406 0.02690567 -0.01508300
+v 0.04844108 0.03125479 -0.01508299
+v 0.04844108 0.03339859 -0.02576808
+v 0.04948303 0.03339651 -0.02576703
+v 0.05317410 0.03180172 -0.02573876
+v 0.04883951 0.03723523 -0.01823038
+v 0.05221461 0.03511128 -0.01508297
+v 0.05317410 0.03606419 -0.01684619
+v 0.05040777 0.03721227 -0.01836649
+v 0.04844108 0.03479087 -0.01508297
+v 0.04844108 0.03436611 -0.02517125
+v 0.05024978 0.03418346 -0.02523826
+v 0.05239113 0.03437863 -0.02500791
+v 0.05317410 0.03350505 -0.02518801
+v 0.05040777 0.03749303 -0.01933606
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+v 0.04844108 0.03670607 -0.01756761
+v 0.05317410 0.03702440 -0.01894970
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+v 0.04844108 0.03438072 -0.02516183
+v 0.05040777 0.03578033 -0.02414724
+v 0.05239113 0.03571249 -0.02412944
+v 0.05317410 0.03561125 -0.02405510
+v 0.05317410 0.03440368 -0.02478070
+v 0.04844108 0.03756819 -0.02091395
+v 0.04844108 0.03745232 -0.01894865
+v 0.05175039 0.03741893 -0.01955384
+v 0.05175039 0.03741893 -0.02025013
+v 0.05032530 0.03748469 -0.02090244
+v 0.05317410 0.03701710 -0.01970776
+v 0.04844108 0.03579598 -0.02419017
+v 0.04844108 0.03677184 -0.02304993
+v 0.04844108 0.03678123 -0.02303736
+v 0.04844108 0.03742311 -0.02207617
+v 0.04960905 0.03737092 -0.02197985
+v 0.05239113 0.03652135 -0.02285414
+v 0.05317410 0.03594732 -0.02352529
+v 0.04844108 0.03742729 -0.02206884
+v 0.05317410 0.03698580 -0.02090662
+v 0.05240364 0.03714027 -0.02090244
+v 0.05317410 0.03631052 -0.02288241
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 24
+f 1 24 34
+f 1 34 33
+f 1 33 47
+f 1 47 51
+f 1 51 49
+f 1 49 40
+f 1 40 28
+f 1 28 18
+f 1 18 10
+f 1 10 5
+f 1 5 11
+f 1 11 6
+f 1 6 2
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+f 2 12 20
+f 2 20 27
+f 2 27 26
+f 2 26 36
+f 2 36 35
+f 2 35 48
+f 2 48 44
+f 2 44 43
+f 2 43 42
+f 2 42 41
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+f 2 30 21
+f 2 21 13
+f 2 13 8
+f 2 8 7
+f 2 7 3
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+f 4 7 8
+f 4 8 13
+f 4 13 9
+f 5 10 17
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+f 5 12 11
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+f 9 13 14
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+f 10 18 19
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+f 13 21 14
+f 14 21 22
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+f 14 24 15
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+f 16 25 26
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+f 16 27 17
+f 17 27 20
+f 18 28 29
+f 18 29 19
+f 19 29 25
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+f 25 36 26
+f 25 29 37
+f 25 37 38
+f 25 38 39
+f 25 39 35
+f 28 40 38
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+f 28 37 29
+f 30 41 31
+f 31 41 42
+f 31 42 32
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+f 32 45 46
+f 32 46 47
+f 32 47 33
+f 35 39 48
+f 38 49 50
+f 38 50 45
+f 38 45 39
+f 38 40 49
+f 39 45 48
+f 44 48 45
+f 45 50 49
+f 45 49 46
+f 46 49 51
+f 46 51 47
+
diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_26.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8089e9f0bd62f20a0a5061ae06538b2f09a1cfb4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_26.obj
@@ -0,0 +1,67 @@
+# https://github.com/mikedh/trimesh
+v 0.05317410 0.02657367 0.00461876
+v 0.04844108 0.03122285 -0.00150630
+v 0.04844108 0.03122199 -0.00342948
+v 0.04844108 0.03122199 -0.00344697
+v 0.05317410 0.02657799 -0.00150631
+v 0.05317410 0.03488001 0.00461879
+v 0.04844108 0.03122968 0.00461877
+v 0.04844108 0.03122630 -0.00926704
+v 0.05317410 0.02663296 -0.01522699
+v 0.05317410 0.03526276 -0.00461640
+v 0.05241800 0.03482080 0.00461879
+v 0.04844108 0.03415750 0.00461879
+v 0.04844108 0.03123489 -0.01119023
+v 0.04844108 0.03125379 -0.01508128
+v 0.05314491 0.02673936 -0.01522699
+v 0.05317410 0.02690583 -0.01522699
+v 0.05317410 0.03533915 -0.01120769
+v 0.04844108 0.03479085 -0.01508126
+v 0.04844108 0.03434285 0.00461490
+v 0.05309951 0.02690583 -0.01522699
+v 0.05317410 0.03517098 -0.01508126
+v 0.05317410 0.03529540 -0.01243542
+v 0.05221415 0.03511178 -0.01508126
+f 1 2 3
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+f 1 22 17
+f 1 17 10
+f 1 10 6
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+f 1 12 7
+f 1 7 2
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+f 2 8 4
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+f 14 18 20
+f 14 20 15
+f 16 20 21
+f 17 22 18
+f 18 22 23
+f 18 23 20
+f 20 23 21
+f 21 23 22
+
diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_27.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ed88681ee51611116d357641b7299ce0bc88922
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_27.obj
@@ -0,0 +1,277 @@
+# https://github.com/mikedh/trimesh
+v -0.00037253 0.03332640 -0.02577419
+v -0.00037253 0.03234192 -0.02560888
+v -0.00037253 0.03341064 -0.02577419
+v 0.00477404 0.03332535 -0.02577419
+v 0.01668237 0.03332430 -0.02577419
+v 0.00080779 0.03234192 -0.02560888
+v -0.00037253 0.02690675 -0.02355090
+v -0.00037253 0.03439406 -0.02519559
+v 0.00080779 0.03439512 -0.02522175
+v 0.01469446 0.03439512 -0.02524477
+v 0.00874508 0.03341169 -0.02577419
+v 0.02858113 0.03332430 -0.02577419
+v 0.01668237 0.03234087 -0.02560783
+v 0.00080779 0.02690675 -0.02355090
+v -0.00037253 0.02690674 -0.02059521
+v -0.00037253 0.03529115 -0.02461701
+v -0.00037253 0.03588816 -0.02422571
+v 0.00080779 0.03587236 -0.02425082
+v 0.01469446 0.03590816 -0.02427384
+v 0.01668237 0.03341169 -0.02577419
+v 0.03453052 0.03439301 -0.02522803
+v 0.04843630 0.03339905 -0.02576896
+v 0.04246780 0.03340327 -0.02577105
+v 0.03254739 0.03340958 -0.02577419
+v 0.03056426 0.03341064 -0.02577419
+v 0.03056426 0.03332640 -0.02577419
+v 0.04643884 0.03238299 -0.02561097
+v 0.02858113 0.03233982 -0.02560678
+v 0.02420869 0.02690675 -0.02354776
+v -0.00037253 0.03130688 -0.01508663
+v 0.01510064 0.02690674 -0.02058998
+v 0.04843630 0.03125528 -0.01508663
+v -0.00037253 0.03647463 -0.02353413
+v 0.00874508 0.03683684 -0.02318990
+v 0.01668237 0.03683368 -0.02320664
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+v 0.03254739 0.03333061 -0.02577419
+v 0.04843630 0.03239036 -0.02560992
+v 0.04843630 0.02690675 -0.02354148
+v 0.03056426 0.03234192 -0.02560678
+v 0.04643884 0.02690675 -0.02354253
+v -0.00037253 0.03483626 -0.01508661
+v 0.04843630 0.02690674 -0.02059207
+v 0.04843630 0.03479204 -0.01508661
+v -0.00037253 0.03687157 -0.02306016
+v 0.00874508 0.03752017 -0.02222001
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+v 0.03453052 0.03687369 -0.02314386
+v 0.04643884 0.03587236 -0.02424663
+v 0.04843630 0.03438143 -0.02516211
+v 0.00080779 0.03737381 -0.01794290
+v -0.00033908 0.03735380 -0.01796696
+v -0.00037253 0.03731274 -0.01793034
+v 0.02659323 0.03486364 -0.01508661
+v 0.04843630 0.03670519 -0.01756834
+v 0.04751403 0.03734117 -0.01798893
+v 0.04444615 0.03483310 -0.01508661
+v -0.00037253 0.03742330 -0.02209028
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+v 0.00279091 0.03763915 -0.02091323
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+v 0.03651842 0.03749596 -0.02220851
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+v 0.04246780 0.03680629 -0.02313654
+v 0.04842197 0.03678102 -0.02304028
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+v 0.00080779 0.03749700 -0.01897346
+v -0.00037253 0.03747278 -0.01895045
+v 0.03524253 0.03737065 -0.01794604
+v -0.00037253 0.03735801 -0.01801195
+v -0.00037253 0.03735064 -0.01797428
+v 0.03849677 0.03485311 -0.01508661
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+v 0.04843630 0.03745277 -0.01894835
+v 0.04178924 0.03735906 -0.01796277
+v -0.00037253 0.03750859 -0.02139556
+v 0.00080779 0.03745489 -0.02210807
+v -0.00037253 0.03755808 -0.02091323
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+v 0.04842197 0.03756861 -0.02091323
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+v 0.04843630 0.03677155 -0.02304970
+v 0.04843630 0.03756755 -0.02091323
+f 1 2 7
+f 1 7 15
+f 1 15 30
+f 1 30 47
+f 1 47 59
+f 1 59 79
+f 1 79 78
+f 1 78 76
+f 1 76 86
+f 1 86 84
+f 1 84 64
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+f 1 17 16
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+f 1 20 25
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+f 1 26 12
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+f 89 93 90
+
diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_28.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9f17892665cb9317904747821cdada966c5d9cd
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_28.obj
@@ -0,0 +1,37 @@
+# https://github.com/mikedh/trimesh
+v 0.05317409 0.02690567 -0.01522699
+v 0.05309977 0.02690567 -0.01522699
+v 0.05317409 0.02663092 -0.01522699
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+v 0.05040743 0.02690569 -0.02048855
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diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_3.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47b8f313f3556505f987a3994cadb366b2e96f56
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_3.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_4.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc894b4d14ae4dd22fe5c7e173d6a7af9e920b8c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_4.obj
@@ -0,0 +1,328 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_5.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4242ca2a4960d3914f43765af8fd6692ac1ea0f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_5.obj
@@ -0,0 +1,436 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_6.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6d28c49863a6bd6c0ddbc65a224baabade2f2f4
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_6.obj
@@ -0,0 +1,115 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_7.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cec4e7d74a8254fa96790a1d04c975022193b056
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_7.obj
@@ -0,0 +1,382 @@
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diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_8.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..373c5038e2f3786a13b89beee9c1855362957541
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_8.obj
@@ -0,0 +1,244 @@
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diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_9.obj b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75bdb4ba367622baee8a1953dff58a8126d2e8e7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/mesh/storage_bin_022_collision_9.obj
@@ -0,0 +1,313 @@
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diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/storage_bin_022.xml b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/storage_bin_022.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0ed569b5de9296d63eec914aa8d8801631c3d84e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/mjcf/storage_bin_022.xml
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+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="storage_bin_022">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/storage_bin_022.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/storage_bin_022_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/storage_bin_022_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/storage_bin_022_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/storage_bin_022_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/storage_bin_022_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/storage_bin_022_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/storage_bin_022_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/storage_bin_022_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/storage_bin_022_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/storage_bin_022_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/storage_bin_022_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/storage_bin_022_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/storage_bin_022_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/storage_bin_022_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/storage_bin_022_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/storage_bin_022_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/storage_bin_022_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/storage_bin_022_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/storage_bin_022_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/storage_bin_022_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/storage_bin_022_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/storage_bin_022_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/storage_bin_022_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/storage_bin_022_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/storage_bin_022_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/storage_bin_022_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/storage_bin_022_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/storage_bin_022_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/storage_bin_022_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="storage_bin_022">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
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+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
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diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/storage_bin_022.urdf b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/storage_bin_022.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a673fa185cd50ba670ce439ce8899cec92a0c77b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/storage_bin_022.urdf
@@ -0,0 +1,65 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="storage_bin_022">
+   <link name="storage_bin_022">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/storage_bin_022.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_022_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>b80e52dddf9b59d699e658bb02937f57</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>storage_bin</category>
+         <name>woven storage bin</name>
+         <color>beige,brown</color>
+         <shape>cuboid</shape>
+         <material>wicker</material>
+         <description>rectangular woven storage bin with shallow open top</description>
+         <min_height>0.0580</min_height>
+         <max_height>0.0580</max_height>
+         <real_height>0.0580</real_height>
+         <min_mass>0.5</min_mass>
+         <max_mass>1.5</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611140030</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.060188 -0.037622 -0.025567</min>
+            <max>0.059812 0.037492 0.032464</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>14</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/storage_bin_022.usd b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/storage_bin_022.usd
new file mode 100644
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diff --git a/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/textures/material_0.png b/dataset/bedroom_supplies/storage/b80e52dddf9b59d699e658bb02937f57/textures/material_0.png
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